SimOneIOStruct.h

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// ==========================================================================
// Copyright (C) 2018 - 2021 Beijing 51WORLD Digital Twin Technology Co., Ltd. 
// , and/or its licensors.  All rights reserved.
//
// The coded instructions, statements, computer programs, and/or related 
// material (collectively the "Data") in these files contain unpublished
// information proprietary to Beijing 51WORLD Digital Twin Technology Co., Ltd. 
// ("51WORLD") and/or its licensors,  which is protected by the People's 
// Republic of China and/or other countries copyright law and by 
// international treaties.
//
// The Data may not be disclosed or distributed to third parties or be
// copied or duplicated, in whole or in part, without the prior written
// consent of 51WORLD.
//
// The copyright notices in the Software and this entire statement,
// including the above license grant, this restriction and the following
// disclaimer, must be included in all copies of the Software, in whole
// or in part, and all derivative works of the Software, unless such copies
// or derivative works are solely in the form of machine-executable object
// code generated by a source language processor.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND.
// 51WORLD DOES NOT MAKE AND HEREBY DISCLAIMS ANY EXPRESS OR IMPLIED
// WARRANTIES INCLUDING, BUT NOT LIMITED TO, THE WARRANTIES OF
// NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE,
// OR ARISING FROM A COURSE OF DEALING, USAGE, OR TRADE PRACTICE. IN NO
// EVENT WILL 51WORLD AND/OR ITS LICENSORS BE LIABLE FOR ANY LOST
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// CONSEQUENTIAL DAMAGES, EVEN IF 51WORLD AND/OR ITS LICENSORS HAS
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// ==========================================================================
#pragma once
#include <vector>
#include <map>
#ifndef WITHOUT_HDMAP
#include "SSD/SimVector.h"
#endif
#include <time.h>
#pragma pack(push) 
#pragma pack(1)
 
#define SimOne_Freq 60
 
struct SimOne_Data
{
    long long timestamp = 0; // timestamp millisecond
    int frame = 0;
    int version = 0; // API version
};
struct SimOne_Data_Vec3f
{
    float x;
    float y;
    float z;
};
// ----------------------------
// SimOne Map (SimOne Output) 
// ----------------------------
#define SOSM_CASE_START_EVENT_LABEL "SOSM_CASE_EVENT_START"
#define SOSM_CASE_STOP_EVENT_LABEL "SOSM_CASE_EVENT_STOP"
 
#define SOSM_MAP_LABEL "SOSM_MAP"
#define SOSM_MAP_OD_LENGT 128
#define SOSM_MAP_ODURL_LENGT 256
#define SOSM_MAP_ODMD5_LENGT 128
 
#define SOSM_CASENAME_LENGTH 256
#define SOSM_CASEID_LENGT 256
#define SOSM_TASKID_LENGT 256
#define SOSM_ACTORNAME_LENGT 256
 
#define SOSM_WEBTOKEN_LENGTH 256
#define SOSM_WEBIP_LENGTH 32
 
 
#define MAX_PREDICTION_TRAJECTORY_SIZE 20
struct SimOne_Data_Map
{
    char openDrive[SOSM_MAP_OD_LENGT];
    char openDriveUrl[SOSM_MAP_ODURL_LENGT];
    char opendriveMd5[SOSM_MAP_ODMD5_LENGT];
};
// ----------------------------
// SimOne MainVehicle WayPoints (SimOne Output) 
// ----------------------------
#define SOSM_WAYPOINTS_LABEL "SOSM_WAYPOINTS"
#define SOSM_WAYPOINTS_SIZE_MAX 100
#define MAX_MAINVEHICLE_NAME_LEN 64
struct SimOne_Data_WayPoints_Entry
{
    int index;
    float posX; // MainVehicle WayPoints X on Opendrive (by meter)
    float posY; // MainVehicle WayPoints Y on Opendrive (by meter)
 
    float heading_x; // MainVehicle WayPoints heading orientation x in quaternion
    float heading_y; // MainVehicle WayPoints heading orientation y in quaternion
    float heading_z; // MainVehicle WayPoints heading orientation z in quaternion
    float heading_w; // MainVehicle WayPoints heading orientation w in quaternion
};
 
struct SimOne_Data_WayPoints :public SimOne_Data
{
    char mainVehicleId[MAX_MAINVEHICLE_NAME_LEN];
    int wayPointsSize; // MainVehicle WayPoints size
    SimOne_Data_WayPoints_Entry wayPoints[SOSM_WAYPOINTS_SIZE_MAX]; // WayPoints, 100 max
};
// ----------------------------
// Vehicle pose control data (SimOne Input) 
// ----------------------------
#define SOSM_POSE_CONTROL_PREFIX "SOSM_POSE_CONTROL_"
struct SimOne_Data_Pose_Control : public SimOne_Data
{
    float posX = 0; // Position X on Opendrive (by meter)
    float posY = 0; // Position Y on Opendrive (by meter)
    float posZ = 0; // Position Z on Opendrive (by meter)
    float oriX = 0; // Rotation X on Opendrive (by radian)
    float oriY = 0; // Rotation Y on Opendrive (by radian)
    float oriZ = 0; // Rotation Z on Opendrive (by radian)
    float velX = 0;      // Velocity X on Opendrive (by m/s)
    float velY = 0;      // Velocity Y on Opendrive (by m/s)
    float velZ = 0;      // Velocity Z on Opendrive (by m/s)
    float accX = 0;      // Acceleration X on Opendrive (by m/s^2)
    float accY = 0;      // Acceleration Y on Opendrive (by m/s^2)
    float accZ = 0;      // Acceleration Z on Opendrive (by m/s^2)
    float velAngleX = 0; // Angular velocity X on Opendrive (by rad/s)
    float velAngleY = 0; // Angular velocity Y on Opendrive (by rad/s)
    float velAngleZ = 0; // Angular velocity Z on Opendrive (by rad/s)
    float accAngleX = 0; // Angular acceleration X on Opendrive (by rad/s^2)
    float accAngleY = 0; // Angular acceleration Y on Opendrive (by rad/s^2)
    float accAngleZ = 0; // Angular acceleration Z on Opendrive (by rad/s^2)
    bool autoZ = false;// Automatically set Z according to scene
};
 
// ----------------------------
// Vehicle control data (SimOne Input)
// ----------------------------
#define SOSM_CONTROL_PREFIX "SOSM_CONTROL_"
 
// Vehicle control data (SimOne Input)
// ----------------------------
#define SOSM_DRIVER_CONTROL_PREFIX "SOSM_DRIVER_CONTROL_"
 
enum ESimOne_Gear_Mode
{
    ESimOne_Gear_Mode_Neutral = 0,
    ESimOne_Gear_Mode_Drive = 1,      // forward gear for automatic gear
    ESimOne_Gear_Mode_Reverse = 2,
    ESimOne_Gear_Mode_Parking = 3,
 
    ESimOne_Gear_Mode_1 = 4,    // forward gear 1 for manual gear
    ESimOne_Gear_Mode_2 = 5,
    ESimOne_Gear_Mode_3 = 6,
    ESimOne_Gear_Mode_4 = 7,
    ESimOne_Gear_Mode_5 = 8,
    ESimOne_Gear_Mode_6 = 9,
    ESimOne_Gear_Mode_7 = 10,
    ESimOne_Gear_Mode_8 = 11
};
 
enum ESimOne_Throttle_Mode
{
    ESimOne_Throttle_Mode_Percent = 0,         //[0, 1]                                                            
    ESimOne_Throttle_Mode_Torque = 1,          //engine torque, N.m                                                
    ESimOne_Throttle_Mode_Speed = 2,           //vehicle speed, m/s,   in this mode, brake input is ignored        
    ESimOne_Throttle_Mode_Accel = 3,           //vehicle acceleration, m/s^2, in this mode, brake input is ignored 
    ESimOne_Throttle_Mode_EngineAV = 4,        //engine, rpm                                                       
    ESimOne_Throttle_Mode_WheelTorque = 5     //torques applied to each wheel, array, size is the wheel number, N.m
};
 
enum ESimOne_Brake_Mode
{
    ESimOne_Brake_Mode_Percent = 0,                 // [0, 1], factor of max brake pressure
    ESimOne_Brake_Mode_MasterCylinderPressure = 1,  // MPa
    ESimOne_Brake_Mode_PedalForce = 2,              // N
    ESimOne_Brake_Mode_WheelCylinderPressure = 3,   // Mpa for each wheel
    ESimOne_Brake_Mode_WheelTorque = 4              // Nm for each wheel
};
enum ESimOne_Steering_Mode
{
    ESimOne_Steering_Mode_Percent = 0,            // [-1, 1], left turn is negative, right is positive
    ESimOne_Steering_Mode_SteeringWheelAngle = 1, // steering wheel angle, degree
    ESimOne_Steering_Mode_Torque = 2,             // torque to steering wheel, N.m
    ESimOne_Steering_Mode_AngularSpeed = 3,       // steering wheel angualr speed, degree/s
    ESimOne_Steering_Mode_WheelAngle = 4,         // degree for each wheel
    ESimOne_Steering_Mode_WheelAnglarSpeed = 5,   // degree/s for each wheel
};
enum ESimOne_LogLevel_Type
{
    ESimOne_LogLevel_Type_Debug = 0,
    ESimOne_LogLevel_Type_Information = 1,
    ESimOne_LogLevel_Type_Warning = 2,
    ESimOne_LogLevel_Type_Error = 3,
    ESimOne_LogLevel_Type_Fatal = 4
};
 
#define SO_MAX_WHEEL_NUM  20
struct SimOne_Data_Control : public SimOne_Data
{
    ESimOne_Throttle_Mode throttleMode = ESimOne_Throttle_Mode_Percent;
    float throttle;
    ESimOne_Brake_Mode brakeMode = ESimOne_Brake_Mode_Percent;
    float brake;
    ESimOne_Steering_Mode steeringMode = ESimOne_Steering_Mode_Percent;
    float steering;
    bool handbrake = false;
    bool isManualGear = false;
    // gear location
    ESimOne_Gear_Mode  gear;
 
    float clutch;
 
    // array data for throttle input when throttle mode is EThrottleMode_WheelTorque
    // the data sequence is: L1 (left wheel of alxe 1), R1 (right wheel of alxe 1),
    //                       L2, R2, L3, R3...
    float throttle_input_data[SO_MAX_WHEEL_NUM];
    // array data for brake input when throttle mode is EBrakeMode_WheelCylinderPressure or
    // EBrakeMode_WheelTorque
    float brake_input_data[SO_MAX_WHEEL_NUM];
    // array data for steering input when throttle mode is ESteeringMode_WheelAngle,
    // ESteeringMode_WheelAnglarSpeed
    float steering_input_data[SO_MAX_WHEEL_NUM];
};
 
struct SimOne_Data_Control_Ex : public SimOne_Data_Control
{
    int controlRank[4] = { 0, 0, 0, 0 };    // {Throttle, Brake, Steering, Gear}
};
 
 
enum ESimOne_Drive_Mode
{
    ESimOne_Drive_Mode_API = 0,
    ESimOne_Drive_Mode_Driver = 1,
    ESimOne_Drive_Mode_API_Lateral = 2,
    ESimOne_Drive_Mode_API_Longitudinal = 3,
    ESimOne_Drive_Mode_API_Pose = 4,
    ESimOne_Drive_Mode_Driver_Pose = 5
 
};
 
struct SimOne_Trajectory_Point
{
    float posx;          // position x
    float posy;          // position y
    float speed;         // m/s
    float accel;         // accelelation m/s^2
    float theta;         // yaw   rad
    float kappa;         // curvature
    float relative_time; // time relative to the first trajectory point
    float s;             // distance from the first trajectory point
};
 
#define SO_MAX_TRAJECTORY_POINT_NUM 500
struct SimOne_Data_Control_Trajectory : public SimOne_Data
{
    int point_num;
    SimOne_Trajectory_Point points[SO_MAX_TRAJECTORY_POINT_NUM];
    bool isReverse;
};
 
struct SimOne_Data_ESP_Control : public SimOne_Data
{
    int stopDistance;
    float velocityLimit;
    float steering;
    float steerTorque;
    float accel;
    float accelUpperLimit;
    float accelLowerLimit;
    float accelUpperComfLimit;
    float accelLowerComfLimit;
    bool standStill;
    bool driveOff;
    int brakeMode;
    int vlcShutdown;
    int gearMode;
};
 
// ----------------------------
// Vehicle Event Information data (SimOne Input)
// ----------------------------
#define SOSM_VEHICLE_EVENT_PREFIX "SOSM_VEHICLE_EVENT_"
 
enum ESimone_Vehicle_EventInfo_Type
{
    ESimOne_VehicleEventInfo_V2XWarningInfoType_FCW = 0,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_ICW = 1,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_LTA = 2,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_BSW_LCW = 3,    
    ESimOne_VehicleEventInfo_V2XWarningInfoType_DNPW = 4,       
    ESimOne_VehicleEventInfo_V2XWarningInfoType_EBW = 5,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_AVW = 6,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_CLW = 7,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_HLW = 8,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_SLW = 9,        
    ESimOne_VehicleEventInfo_V2XWarningInfoType_RLVW = 10,      
    ESimOne_VehicleEventInfo_V2XWarningInfoType_VRUCW = 11,     
    ESimOne_VehicleEventInfo_V2XWarningInfoType_GLOSA = 12,     
    ESimOne_VehicleEventInfo_V2XWarningInfoType_IVS = 13,       
    ESimOne_VehicleEventInfo_V2XWarningInfoType_TJW = 14,       
    ESimOne_VehicleEventInfo_V2XWarningInfoType_EVW = 15,       
    ESimOne_VehicleEventInfo_V2XWarningInfoType_Unknown = 16
};
 
#define SO_MAX_WARNING_EVENT_NUM 1024
struct SimOne_Data_Vehicle_EventInfo : public SimOne_Data
{
    ESimone_Vehicle_EventInfo_Type  type;
    char warningInfo[SO_MAX_WARNING_EVENT_NUM];
};
 
 
// ----------------------------
// Trajectory planning data (SimOne Input, for display) 
// ----------------------------
#define SOSM_TRAJECTORY_PREFIX "SOSM_TRAJECTORY_"
#define SOSM_TRAJECTORY_SIZE_MAX 100
#define SO_MAX_TRAFFIC_EVENT_NUM 256
struct SimOne_Data_JudgeEvent {
    int hostVehicle;
    double time;
    char actualValue[SO_MAX_TRAFFIC_EVENT_NUM];
    char expectOp[SO_MAX_TRAFFIC_EVENT_NUM];
    char expectValue1[SO_MAX_TRAFFIC_EVENT_NUM];
    char expectValue2[SO_MAX_TRAFFIC_EVENT_NUM];
    char judgeId[SO_MAX_TRAFFIC_EVENT_NUM];
    char judgeType[SO_MAX_TRAFFIC_EVENT_NUM];
    char requireProperty[SO_MAX_TRAFFIC_EVENT_NUM];
    char taskId[SO_MAX_TRAFFIC_EVENT_NUM];
    char valueType[SO_MAX_TRAFFIC_EVENT_NUM];
    char version[SO_MAX_TRAFFIC_EVENT_NUM];
};
struct SimOne_Data_Trajectory_Entry
{
    float posX; // Trajectory Position X on Opendrive (by meter)
    float posY; // Trajectory Position Y on Opendrive (by meter)
    float vel;  // Velocity (by meter/second)
};
 
struct SimOne_Data_Trajectory : public SimOne_Data
{
    int trajectorySize; // Trajectory size
    SimOne_Data_Trajectory_Entry trajectory[SOSM_TRAJECTORY_SIZE_MAX]; // Trajectory, 100 max
};
 
// ----------------------------
// MainVehicle body data(SimOne OutPut)
// ---------------------------
struct SimOne_Data_MainVehicle_Body
{
    char mainVehicleId[MAX_MAINVEHICLE_NAME_LEN]; // main vehicle ID
    float axisDistance;   //vehicle axis distance unit: cm
    //float axisHeight;     //vehicle axie height  unit: cm
    float cmFrontAxisOffset;  // vehicle CM offset to front axis   unit: cm
    float cmHeight;       // the height of vehicle CM   unit: cm
    float cmYOffset;      // vehicle CM offset to Y shaft unit: cm
    float chassisHeight;  // the height of vehicle chassis   unit: cm
    float chassisWidth;   // the width of vehicle chassis unit: cm
    float frontLeftWheelOffset;   // unit: cm
    float frontRightWheelOffset;  // unit: cm
    float frontToFrontAxis;       // unit: cm
    float rearAxisToRear;   // unit: cm
    float RearLeftWheelOffset;   // unit: cm
    float RearRightWheelOffset;   // unit: cm
    char instanceId[SOSM_ACTORNAME_LENGT];
    char actorName[SOSM_ACTORNAME_LENGT];
};
 
// ----------------------------
// Trajectory planning data (SimOne Input, for display) 
// ----------------------------
#define SOSM_TRAJECTORY_PREFIX "SOSM_TRAJECTORY_"
#define SOSM_TRAJECTORY_SIZE_MAX 100
 
 
 
// ----------------------------
// Graph Marker data (SimOne Input, for display) 
// ----------------------------
#define SOSM_MARKER_PREFIX "SOSM_MARKER_"
#define SOSM_MARKER_SIZE_MAX 1024
#define SOSM_MARKER_STR_MAX 100
#define SOSM_MARKER_POINTS_MAX 3840
 
enum ESimone_Marker_Shape_Type
{
    ESimone_Marker_Shape_Type_ARROW = 0,
    ESimone_Marker_Shape_Type_CUBE = 1,
    ESimone_Marker_Shape_Type_SPHERE = 2,
    ESimone_Marker_Shape_Type_CYLINDER = 3,
    ESimone_Marker_Shape_Type_LINE_STRIP = 4,
    ESimone_Marker_Shape_Type_LINE_LIST = 5,
    ESimone_Marker_Shape_Type_CUBE_LIST = 6,
    ESimone_Marker_Shape_Type_SPHERE_LIST = 7,
    ESimone_Marker_Shape_Type_POINTS = 8,
    ESimone_Marker_Shape_Type_TEXT_VIEW_FACING = 9,
    ESimone_Marker_Shape_Type_MESH_RESOURCE = 10,
    ESimone_Marker_Shape_Type_TRIANGLE_LIST = 11,
    ESimone_Marker_Shape_Type_OBSTACLES = 12
};
 
enum ESimOne_Marker_SubType
{
    ESimOne_Marker_SubType_Unused = 0,
    ESimOne_Marker_OBSTACLE_PEDESTRIAN = 3,
    ESimOne_Marker_OBSTACLE_CYCLIST = 4,
    ESimOne_Marker_OBSTACLE_CAR = 5,
    ESimOne_Marker_OBSTACLE_TRICYCLE = 6,
    ESimOne_Marker_OBSTACLE_BIKE = 7
};
 
enum ESimOne_Marker_Action
{
    ESimOne_Marker_ADDMODIFY = 0,
    ESimOne_Marker_DELETE = 2,
    ESimOne_Marker_DELETEALL = 3
};
 
struct SimOne_Marker_Quaternion
{
    float x;
    float y;
    float z;
    float w;
};
 
struct SimOne_Marker_Color
{
    float r;
    float g;
    float b;
    float a;
};
 
struct SimOne_Marker_Pose
{
    SimOne_Data_Vec3f position;
    SimOne_Marker_Quaternion orientation;
};
 
struct SimOne_Data_Marker_Entry
{
    char ns[SOSM_MARKER_STR_MAX];
    int32_t id;
    ESimone_Marker_Shape_Type type;
    // int32_t action;
    ESimOne_Marker_Action action;
    SimOne_Marker_Pose pose;
    SimOne_Data_Vec3f scale;
    SimOne_Marker_Color color;
    float lifetime;
    bool frame_locked;
    int points_num;
    SimOne_Data_Vec3f points[SOSM_MARKER_POINTS_MAX];
    int colors_num;
    SimOne_Marker_Color colors[SOSM_MARKER_POINTS_MAX];
    // char text[SOSM_MARKER_STR_MAX];
    char resource[SOSM_MARKER_STR_MAX];
    char mesh_resource[SOSM_MARKER_STR_MAX];
    bool mesh_use_embedded_materials;
    ESimOne_Marker_SubType sub_type;
    int obstacle_id;
};
 
struct SimOne_Data_Marker : public SimOne_Data
{
    int markerSize; // Marker size
    SimOne_Data_Marker_Entry markers[SOSM_MARKER_SIZE_MAX]; // Marker, 100 max
};
 
// ----------------------------
//  MianVehicle data (SimOne Output) 
// ----------------------------
#define SOSM_POSE_PREFIX "SOSM_POSE_"
#define SOSM_EXTRA_STATES_SIZE_MAX 256
 
struct SimOne_Data_IMU
{
    float accelX; // Acceleration X on IMU coordinate system ( m/s^2 )
    float accelY; // Acceleration Y on IMU coordinate system ( m/s^2 )
    float accelZ; // Acceleration Z on IMU coordinate system ( m/s^2 )
 
    float velX; // Velocity X on Opendrive ( m/s )
    float velY; // Velocity Y on Opendrive ( m/s )
    float velZ; // Velocity Z on Opendrive ( m/s )
 
    float angVelX; // Angular Velocity Roll on IMU coordinate system ( rad/s )
    float angVelY; // Angular Velocity Pitch on IMU coordinate system ( rad/s )
    float angVelZ; // Angular Velocity Yaw on IMU coordinate system ( rad/s )
 
    float rotX; // Rotation Roll on Opendrive ( rad )
    float rotY; // Rotation Pitch on Opendrive ( rad )
    float rotZ; // Rotation Yaw on Opendrive ( rad )
};
 
struct SimOne_Data_Gps : public SimOne_Data
{
    float posX; // Position X on Opendrive (by meter)
    float posY; // Position Y on Opendrive (by meter)
    float posZ; // Position Z on Opendrive (by meter)
    float oriX; // Rotation X on Opendrive (by radian)
    float oriY; // Rotation Y on Opendrive (by radian)
    float oriZ; // Rotation Z on Opendrive (by radian)
    float velX; // MainVehicle Velocity X on Opendrive (by meter)
    float velY; // MainVehicle Velocity Y on Opendrive (by meter)
    float velZ; // MainVehicle Velocity Z on Opendrive (by meter)
    float throttle; //MainVehicle throttle
    float brake; //MainVehicle brake;
    float steering; //MainVehicle Wheel Steering angle (deg)
    int gear; // MainVehicle gear position
    float accelX; // MainVehicle Acceleration X on Opendrive (by meter)
    float accelY; // MainVehicle Acceleration Y on Opendrive (by meter)
    float accelZ; // MainVehicle Acceleration Z on Opendrive (by meter)
    float angVelX; // MainVehicle Angular Velocity X on Opendrive (by radian)
    float angVelY; // MainVehicle Angular Velocity Y on Opendrive (by radian)
    float angVelZ; // MainVehicle Angular Velocity Z on Opendrive (by radian)
    float wheelSpeedFL;  // Speed of front left wheel (by meter/sec)
    float wheelSpeedFR;  // Speed of front right wheel (by meter/sec)
    float wheelSpeedRL;  // Speed of rear left wheel (by meter/sec)
    float wheelSpeedRR;  // Speed of rear right wheel (by meter/sec)
    float engineRpm;// Speed of engine (by r/min)
    float odometer; // odometer in meter.
    int extraStateSize;
    float extraStates[SOSM_EXTRA_STATES_SIZE_MAX];// vehicle states subscripted by MainVehicleExtraDataIndics message
 
    bool isGPSLost;
    char mainCarName[SOSM_ACTORNAME_LENGT];   // encoding: utf-8
    SimOne_Data_IMU imuData;
 
};
 
struct SimOne_Vehicle_Init_State
{
    SimOne_Data_Vec3f initPos; //unit: m
    SimOne_Data_Vec3f initRot; //unit: rad
    float initSpeed;//unit:km/h
};
 
struct SimOne_Data_Road_Coefficient
{
    float roadCoefficient;//0-1
};
 
enum ESimOne_Data_Vehicle_State
{
    ESimOne_Data_Vehicle_State_SO_M_SW,       // Steering wheel torque, unit: N.m
    ESimOne_Data_Vehicle_State_S0_Vx_SM,      // Sprung Mass CG Vx
    ESimOne_Data_Vehicle_State_S0_Vy_SM,      // Sprung Mass CG Vy
    ESimOne_Data_Vehicle_State_S0_Vz_SM,      // Sprung Mass CG Vz
    ESimOne_Data_Vehicle_State_SO_M_ENGOUT,   // Engine Output Torque
    ESimOne_Data_Vehicle_State_SO_My_DR_L1,      // Wheels Driving Torque
    ESimOne_Data_Vehicle_State_SO_My_DR_R1,
    ESimOne_Data_Vehicle_State_SO_My_DR_L2,
    ESimOne_Data_Vehicle_State_SO_My_DR_R2,
    ESimOne_Data_Vehicle_State_SO_My_DR_L3,
    ESimOne_Data_Vehicle_State_SO_My_DR_R3,
 
    ESimOne_Data_Vehicle_State_SO_F_Pedal,    // Brake Pedal Force
    ESimOne_Data_Vehicle_State_SO_Pbk_Con,    // BrakeMasterCylinder Pressure
    ESimOne_Data_Vehicle_State_SO_My_Bk_L3,   // Brake Torque at Left Rear Wheel
    ESimOne_Data_Vehicle_State_SO_My_Bk_R3,   // Brake Torque at Right Rear Wheel
 
    ESimOne_Data_Vehicle_State_SO_ClutchTr,   // Transmission clutch control
 
    ESimOne_Data_Vehicle_State_SO_X_L1,       // x coordinate, wheel center L1
    ESimOne_Data_Vehicle_State_SO_Y_L1,
    ESimOne_Data_Vehicle_State_SO_Z_L1,
    ESimOne_Data_Vehicle_State_SO_X_L2,
    ESimOne_Data_Vehicle_State_SO_Y_L2,
    ESimOne_Data_Vehicle_State_SO_Z_L2,
    ESimOne_Data_Vehicle_State_SO_X_R1,
    ESimOne_Data_Vehicle_State_SO_Y_R1,
    ESimOne_Data_Vehicle_State_SO_Z_R1,
    ESimOne_Data_Vehicle_State_SO_X_R2,
    ESimOne_Data_Vehicle_State_SO_Y_R2,
    ESimOne_Data_Vehicle_State_SO_Z_R2,
    ESimOne_Data_Vehicle_State_SO_X_L3,       // x coordinate, wheel center L3
    ESimOne_Data_Vehicle_State_SO_Y_L3,
    ESimOne_Data_Vehicle_State_SO_Z_L3,
    ESimOne_Data_Vehicle_State_SO_X_R3,
    ESimOne_Data_Vehicle_State_SO_Y_R3,
    ESimOne_Data_Vehicle_State_SO_Z_R3,
 
    ESimOne_Data_Vehicle_State_SO_Xctc_L1,      // x coordinate, center of tire contact L1
    ESimOne_Data_Vehicle_State_SO_Yctc_L1,      // y coordinate, center of tire contact L1
    ESimOne_Data_Vehicle_State_SO_Zctc_L1,      // z coordinate, center of tire contact L1
    ESimOne_Data_Vehicle_State_SO_Xctc_L2,
    ESimOne_Data_Vehicle_State_SO_Yctc_L2,
    ESimOne_Data_Vehicle_State_SO_Zctc_L2,
    ESimOne_Data_Vehicle_State_SO_Xctc_R1,
    ESimOne_Data_Vehicle_State_SO_Yctc_R1,
    ESimOne_Data_Vehicle_State_SO_Zctc_R1,
    ESimOne_Data_Vehicle_State_SO_Xctc_R2,
    ESimOne_Data_Vehicle_State_SO_Yctc_R2,
    ESimOne_Data_Vehicle_State_SO_Zctc_R2,
 
    ESimOne_Data_Vehicle_State_SO_AVy_L1,     // Wheel L1 spin    unit: rpm
    ESimOne_Data_Vehicle_State_SO_Kappa_L1,   // Longitudinal slip, tire L1   ratio, no unit
    ESimOne_Data_Vehicle_State_SO_Alpha_L1,   // Lateral slip angle, tire L1  unit: degree
    ESimOne_Data_Vehicle_State_SO_Fz_L1,      // Vertical force, tire L1   unit: N
    ESimOne_Data_Vehicle_State_SO_My_WC_L1,   // Tire My at wheel center L1   unit: N.m
    ESimOne_Data_Vehicle_State_SO_Fx_L1,      // Longitudinal force, tire L1   unit: N
    ESimOne_Data_Vehicle_State_SO_Fy_L1,      // lateral force, tire L1  unit: N
    ESimOne_Data_Vehicle_State_SO_Jnc_L1,     // Wheel L1 jounce (compression)   unit: mm
    ESimOne_Data_Vehicle_State_SO_JncR_L1,    // Wheel L1 jounce rate         unit: mm/s
    ESimOne_Data_Vehicle_State_SO_Mz_L1,      // Aligning moment, tire L1   unit: Nm
 
    ESimOne_Data_Vehicle_State_SO_AVy_L2,     //  Wheel L2 spin    unit: rpm
    ESimOne_Data_Vehicle_State_SO_Kappa_L2,   // Longitudinal slip, tire L2   ratio, no unit
    ESimOne_Data_Vehicle_State_SO_Alpha_L2,   // Lateral slip angle, tire L2  unit: rad
    ESimOne_Data_Vehicle_State_SO_Fz_L2,
    ESimOne_Data_Vehicle_State_SO_My_WC_L2,
    ESimOne_Data_Vehicle_State_SO_Fx_L2,       // Longitudinal force, tire L2
    ESimOne_Data_Vehicle_State_SO_Fy_L2,       // lateral force, tire L2
    ESimOne_Data_Vehicle_State_SO_Jnc_L2,      // Wheel L2 jounce (compression)  unit: cm
    ESimOne_Data_Vehicle_State_SO_JncR_L2,     // Wheel L2 jounce rate   unit: cm/s
    ESimOne_Data_Vehicle_State_SO_Mz_L2,       // Aligning moment, tire L2  unit: Nm
 
    ESimOne_Data_Vehicle_State_SO_AVy_R1,
    ESimOne_Data_Vehicle_State_SO_Kappa_R1,
    ESimOne_Data_Vehicle_State_SO_Alpha_R1,    // Lateral slip angle, tire R1  unit: degree
    ESimOne_Data_Vehicle_State_SO_Fz_R1,
    ESimOne_Data_Vehicle_State_SO_My_WC_R1,
    ESimOne_Data_Vehicle_State_SO_Fx_R1,       // Longitudinal force, tire R1
    ESimOne_Data_Vehicle_State_SO_Fy_R1,       // lateral force, tire R1
    ESimOne_Data_Vehicle_State_SO_Jnc_R1,      // Wheel R1 jounce (compression)
    ESimOne_Data_Vehicle_State_SO_JncR_R1,     // Wheel R1 jounce rate
    ESimOne_Data_Vehicle_State_SO_Mz_R1,       // Aligning moment, tire R1
 
    ESimOne_Data_Vehicle_State_SO_AVy_R2,
    ESimOne_Data_Vehicle_State_SO_Kappa_R2,
    ESimOne_Data_Vehicle_State_SO_Alpha_R2,    // Lateral slip angle, tire R2  unit: degree
    ESimOne_Data_Vehicle_State_SO_Fz_R2,
    ESimOne_Data_Vehicle_State_SO_My_WC_R2,
    ESimOne_Data_Vehicle_State_SO_Fx_R2,       // Longitudinal force, tire R2
    ESimOne_Data_Vehicle_State_SO_Fy_R2,       // lateral force, tire R2
    ESimOne_Data_Vehicle_State_SO_Jnc_R2,      // Wheel R2 jounce (compression)
    ESimOne_Data_Vehicle_State_SO_JncR_R2,     // Wheel R2 jounce rate
    ESimOne_Data_Vehicle_State_SO_Mz_R2,       // Aligning moment, tire R2
 
    ESimOne_Data_Vehicle_State_SO_AVy_L3,     // Wheel L3 spin    unit: rpm
    ESimOne_Data_Vehicle_State_SO_Kappa_L3,   // Longitudinal slip, tire L3   ratio, no unit
    ESimOne_Data_Vehicle_State_SO_Alpha_L3,   // Lateral slip angle, tire L3  unit: degree
    ESimOne_Data_Vehicle_State_SO_Fz_L3,      // Vertical force, tire L3   unit: N
    ESimOne_Data_Vehicle_State_SO_My_WC_L3,   // Tire My at wheel center L3   unit: N.m
    ESimOne_Data_Vehicle_State_SO_Fx_L3,      // Longitudinal force, tire L3   unit: N
    ESimOne_Data_Vehicle_State_SO_Fy_L3,      // lateral force, tire L3  unit: N
    ESimOne_Data_Vehicle_State_SO_Jnc_L3,     // Wheel L3 jounce (compression)   unit: mm
    ESimOne_Data_Vehicle_State_SO_JncR_L3,    // Wheel L3 jounce rate         unit: mm/s
    ESimOne_Data_Vehicle_State_SO_Mz_L3,      // Aligning moment, tire L3   unit: Nm
 
    ESimOne_Data_Vehicle_State_SO_AVy_R3,
    ESimOne_Data_Vehicle_State_SO_Kappa_R3,
    ESimOne_Data_Vehicle_State_SO_Alpha_R3,    // Lateral slip angle, tire R3  unit: degree
    ESimOne_Data_Vehicle_State_SO_Fz_R3,
    ESimOne_Data_Vehicle_State_SO_My_WC_R3,
    ESimOne_Data_Vehicle_State_SO_Fx_R3,       // Longitudinal force, tire R3
    ESimOne_Data_Vehicle_State_SO_Fy_R3,       // lateral force, tire R3
    ESimOne_Data_Vehicle_State_SO_Jnc_R3,      // Wheel R3 jounce (compression)
    ESimOne_Data_Vehicle_State_SO_JncR_R3,     // Wheel R3 jounce rate
    ESimOne_Data_Vehicle_State_SO_Mz_R3,       // Aligning moment, tire R3
 
    ESimOne_Data_Vehicle_State_SO_Steer_L3,
    ESimOne_Data_Vehicle_State_SO_Steer_R3,
 
    ESimOne_Data_Vehicle_State_SO_Steer_SW,   // Steering wheel angle  unit: deg
    ESimOne_Data_Vehicle_State_SO_TimePassed,
 
    ESimOne_Data_Vehicle_State_SO_ConverterTorqueIn,    //Input torque of torque-converter unit: NM
    ESimOne_Data_Vehicle_State_SO_ConverterTorqueOut,   //Output torque of torque-converter unit: NM
    ESimOne_Data_Vehicle_State_SO_CurrentGearRatio,     //Current Gear Ratio unit: none
    ESimOne_Data_Vehicle_State_SO_GearBoxOutputSpeed,   //Output angular speed of gear-box unit:rad/s
    ESimOne_Data_Vehicle_State_SO_TransmissionInputSpeed,//Input angular speed of transmission unit:rad/s
 
    ESimOne_Data_Vehicle_State_SO_AntiTorquex_F,    // x coordinate, AntiTorque at Front unit: NM
    ESimOne_Data_Vehicle_State_SO_AntiTorquey_F,    // y coordinate, AntiTorque at Front unit: NM
    ESimOne_Data_Vehicle_State_SO_AntiTorquez_F,    // z coordinate, AntiTorque at Front unit: NM
    ESimOne_Data_Vehicle_State_SO_AntiTorquex_R,    // x coordinate, AntiTorque at Rear unit: NM
    ESimOne_Data_Vehicle_State_SO_AntiTorquey_R,    // y coordinate, AntiTorque at Rear unit: NM
    ESimOne_Data_Vehicle_State_SO_AntiTorquez_R,    // z coordinate, AntiTorque at Rear unit: NM
 
    ESimOne_Data_Vehicle_State_SO_My_Bk_L1,   // Brake Torque at L1 Wheel unit: NM
    ESimOne_Data_Vehicle_State_SO_WheelAngle_L1,   //Wheel angle L1 unit:deg Clockwise is positive
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcex_L1,  //x coordinate, Suspension spring force at L1 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcey_L1,  //y coordinate, Suspension spring force at L1 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcez_L1,  //z coordinate, Suspension spring force at L1 unit: N
 
    ESimOne_Data_Vehicle_State_SO_My_Bk_R1,   // Brake Torque at R1 Wheel unit: NM
    ESimOne_Data_Vehicle_State_SO_WheelAngle_R1,   //Wheel angle R1 unit:deg Clockwise is positive
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcex_R1,  //x coordinate, Suspension spring force at R1 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcey_R1,  //y coordinate, Suspension spring force at R1 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcez_R1,  //z coordinate, Suspension spring force at R1 unit: N
 
    ESimOne_Data_Vehicle_State_SO_My_Bk_L2,   // Brake Torque at L2 Wheel unit: NM
    ESimOne_Data_Vehicle_State_SO_WheelAngle_L2,   //Wheel angle L2 unit:deg Clockwise is positive
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcex_L2,  //x coordinate, Suspension spring force at L2 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcey_L2,  //y coordinate, Suspension spring force at L2 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcez_L2,  //z coordinate, Suspension spring force at L2 unit: N
 
    ESimOne_Data_Vehicle_State_SO_My_Bk_R2,   // Brake Torque at R2 Wheel unit: NM
    ESimOne_Data_Vehicle_State_SO_WheelAngle_R2,   //Wheel angle R2 unit:deg Clockwise is positive
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcex_R2,  //x coordinate, Suspension spring force at R2 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcey_R2,  //y coordinate, Suspension spring force at R2 unit: N
    ESimOne_Data_Vehicle_State_SO_SuspSpringForcez_R2,  //z coordinate, Suspension spring force at R2 unit: N
};
 
#define SOSM_VEHICLE_EXTRA_STATE_MAX_SIZE 600
struct SimOne_Data_Vehicle_Extra
{
    int dataSize;
    float extra_states[SOSM_VEHICLE_EXTRA_STATE_MAX_SIZE];
};
 
#define VEHICLE_WHEEL_FLOAT_MAX 64
 
struct SimOne_Data_Vehicle_Status
{
    //necessary data
    SimOne_Data_Vec3f pos; // global system position x/y/z (m)
    SimOne_Data_Vec3f rot; // global system pitch/roll/yaw (rad)
    SimOne_Data_Vec3f vel; // global system velocity x/y/z (m/s)
    SimOne_Data_Vec3f angleVel; // global system angle velocity pitch/roll/yaw (rad/s)
    SimOne_Data_Vec3f acc; // global system acceleration x/y/z (m/s^2)
    SimOne_Data_Vec3f angleAcc; // global system angular acceleration pitch/roll/yaw (rad/s^2)
 
    //optional data for wheel animation
    double wheel_speed_left[VEHICLE_WHEEL_FLOAT_MAX]; // left wheel rpm
    double wheel_steerAngle_left[VEHICLE_WHEEL_FLOAT_MAX]; // left wheel steer angle (-.61, .79) rad
    double wheel_speed_right[VEHICLE_WHEEL_FLOAT_MAX]; // right wheel rpm
    double wheel_steerAngle_right[VEHICLE_WHEEL_FLOAT_MAX]; // right wheel steer angle (-.79, .61) rad
 
    //optional data for external tire position
    //if no data,simone will use parameters for front-end page configuration
    SimOne_Data_Vec3f wheel_pos_left[VEHICLE_WHEEL_FLOAT_MAX]; // left wheel global system position, xyz (-∞, +∞) m
    SimOne_Data_Vec3f wheel_pos_right[VEHICLE_WHEEL_FLOAT_MAX]; // right wheel global system position, xyz  (-∞, +∞) m
 
    //custom data
    double custom_data[VEHICLE_WHEEL_FLOAT_MAX];
    int custom_data_size;
 
    //switch data
    bool bRoadExcitation;//是否有路面激励
    int axisNum;
 
    //view data
    double throttle = 0;//percent (0,1)
    double brake = 0;//percent (0,1)
    double steering = 0;//deg
    int gear = 0;//P=-2,R=-1,N=0,D=1/2/3...
    double rpm = 0;//engine rpm
};
 
struct SimOne_Data_Wheel_Contact_Point
{
    int dataSize;
    SimOne_Data_Vec3f wheel_contactpoint_left[VEHICLE_WHEEL_FLOAT_MAX]; // left wheel contact point (m)
    SimOne_Data_Vec3f wheel_contactpoint_roll_left[VEHICLE_WHEEL_FLOAT_MAX]; // left wheel contact point slope angle
    SimOne_Data_Vec3f wheel_contactpoint_right[VEHICLE_WHEEL_FLOAT_MAX]; // right wheel contact point(m)
    SimOne_Data_Vec3f wheel_contactpoint_roll_right[VEHICLE_WHEEL_FLOAT_MAX]; // right wheel contact point slope angle
};
 
// ----------------------------
// Obstacle GroundTruth data (SimOne Output) 
// ----------------------------
#define SOSM_OBSTACLE_PREFIX "SOSM_OBSTACLE_"
#define SOSM_OBSTACLE_SIZE_MAX 255
 
enum ESimOne_Obstacle_Type
{
    ESimOne_Obstacle_Type_Unknown = 0,
    ESimOne_Obstacle_Type_Pedestrian = 4,
    ESimOne_Obstacle_Type_Pole = 5,
    ESimOne_Obstacle_Type_Car = 6,
    ESimOne_Obstacle_Type_Static = 7,
    ESimOne_Obstacle_Type_Bicycle = 8,
    ESimOne_Obstacle_Type_Fence = 9,
    ESimOne_Obstacle_Type_RoadMark = 12,
    ESimOne_Obstacle_Type_TrafficSign = 13,
    ESimOne_Obstacle_Type_TrafficLight = 15,
    ESimOne_Obstacle_Type_Rider = 17,
    ESimOne_Obstacle_Type_Truck = 18,
    ESimOne_Obstacle_Type_Bus = 19,
    ESimOne_Obstacle_Type_SpecialVehicle = 20,
    ESimOne_Obstacle_Type_Motorcycle = 21,
    ESimOne_Obstacle_Type_Dynamic = 22,
    ESimOne_Obstacle_Type_GuardRail = 23,
    ESimOne_Obstacle_Type_SpeedLimitSign = 26,
    ESimOne_Obstacle_Type_BicycleStatic = 27,
    ESimOne_Obstacle_Type_RoadObstacle = 29
};
 
struct Rotation
{
    float yaw;      // Obstacle Rotation Z on Opendrive (by radian)
    float pitch;    // Obstacle Rotation Y on Opendrive (by radian)
    float roll;     // Obstacle Rotation X on Opendrive (by radian)
};
 
struct Prediction
{
    uint32_t trajectorySize; // point number of prediction trajectory
    float trajectoryInterval; // time interval between two adjacent points of prediction trajector. unit is second.
    SimOne_Data_Vec3f trajectory[MAX_PREDICTION_TRAJECTORY_SIZE]; // Obstacle prediction trajectory. Positions on Opendrive (by meter)
    float speed[MAX_PREDICTION_TRAJECTORY_SIZE]; // point speed of prediction trajectory
    Rotation rotation[MAX_PREDICTION_TRAJECTORY_SIZE]; // Obstacle prediction trajectory. Rotation on Opendrive
};
 
struct SimOne_Data_Obstacle_Entry
{
    int id; // Obstacle global unique ID
    int viewId; // Obstacle view ID in Sim-One observer.
    ESimOne_Obstacle_Type type; // Obstacle Type
    float theta; // [deprecated] Please use oriZ for obstacle heading angle instead
    float posX; // Obstacle Position X on Opendrive (by meter), this point is the centroid of the obstacle.
    float posY; // Obstacle Position Y on Opendrive (by meter), this point is the centroid of the obstacle.
    float posZ; // Obstacle Position Z on Opendrive (by meter), this point is the centroid of the obstacle.
    float oriX; // Obstacle Rotation X on Opendrive (by radian)
    float oriY; // Obstacle Rotation Y on Opendrive (by radian)
    float oriZ; // Obstacle Rotation Z on Opendrive (by radian)
    float velX; // Obstacle Velocity X on Opendrive (by meter)
    float velY; // Obstacle Velocity Y on Opendrive (by meter)
    float velZ; // Obstacle Velocity Z on Opendrive (by meter)
    float length; // Obstacle length
    float width; // Obstacle width
    float height; // Obstacle height
    float accelX; // Obstacle Acceleration X on Opendrive (by meter)
    float accelY; // Obstacle Acceleration Y on Opendrive (by meter)
    float accelZ; // Obstacle Acceleration Z on Opendrive (by meter)
    Prediction prediction;
    char actorCarName[SOSM_ACTORNAME_LENGT];   // encoding: utf-8
};
 
struct SimOne_Data_Obstacle : public SimOne_Data
{
    int obstacleSize; // Obstacle size
    SimOne_Data_Obstacle_Entry obstacle[SOSM_OBSTACLE_SIZE_MAX]; // Obstacle, 255 max
};
 
 
struct SimOne_Data_CaseInfo
{
    char caseName[SOSM_CASENAME_LENGTH];
    char caseId[SOSM_CASEID_LENGT];
    char taskId[SOSM_TASKID_LENGT];
};
 
struct SimOne_Web_TaskServerInfo
{
    char webToken[SOSM_WEBTOKEN_LENGTH];
    char webIP[SOSM_WEBIP_LENGTH];
    int webPort;
};
 
enum ESimOne_Case_Status
{
    ESimOne_Case_Status_Unknown = 0,
    ESimOne_Case_Status_Stop = 1,
    ESimOne_Case_Status_Running = 2,
    ESimOne_Case_Status_Pause = 3
};
 
#define SOSM_SIGNAL_LIGHTS_PREFIX "SOSM_SIGNAL_LIGHTS_"
enum ESimOne_Signal_Light
{
    ESimOne_Signal_Light_None = 0,
    ESimOne_Signal_Light_RightBlinker = 1,
    ESimOne_Signal_Light_LeftBlinker = (1 << 1),
    ESimOne_Signal_Light_DoubleFlash = (1 << 2),
    ESimOne_Signal_Light_BrakeLight = (1 << 3),
    ESimOne_Signal_Light_FrontLight = (1 << 4),
    ESimOne_Signal_Light_HighBeam = (1 << 5),
    ESimOne_Signal_Light_BackDrive = (1 << 6)
};
struct SimOne_Data_Signal_Lights : public SimOne_Data
{
    uint32_t signalLights = 0;
};
 
#define SOSM_ENVIRONMENT "SOSM_ENVIRONMENT"
struct SimOne_Data_Environment
{
    float timeOfDay = 1200;     // [0, 2400], (HHmm). Time of day in the scence.
    // Simulate Reality
    bool simulateReality = true;    // Whether to use the location & date & time attributes to determine the position of the sun, moon and stars.
    float longitude = 121.4737; // [-180, 180]. When simulateReality is true, it is used as the weather simulation location.
    float latitude = 31.2304;   // [-90, 90]. When simulateReality is true, it is used as the weather simulation location.
    int timeZone = 8;           // [-12, 12]. When simulateReality is true, it is used as the weather simulation timeZone.
    int date = 20230921;        // [18000101, 21001231], (yyyyMMdd). When simulateReality is true, it is used as the weather simulation date.
    // Sun
    float sunIntensity = 5;     // [0, 30]. The intensity of Sun light.
    float sunAzimuth = 0;       // [0, 360]. Measure the angle clockwise from true north (0) along the horizon to determine the direction 
                                //           in which the sun rises or sets. Invalid when simulateReality is true.
    float sunInclination = 30;  // [-85, 85]. The angle between the incident direction of sunlight and the zenith direction. 
                                //           Invalid when simulateReality is true.
    float sunSize = 1;          // [0, 5]. The size of the sun in the scene.
    // Moon
    float moonIntensity = 0.12; // [0, 10]. The intensity of moon light.
    float moonAzimuth = 15;     // [0, 360]. Same as attribute sunAzimuth.
    float moonInclination = 35; // [-90, 90]. Same as attribute sunAzimuth.
    float moonSize = 0.7;       // [0, 12]. The size of the moon in the scene.
    float moonPhase = 0;        // [0, 30]. The phases of the moon in the scene.
    float moonColorA = 0.87;    // [0, 1]. The color of the moon in the scene A channel.
    int moonColorR = 178;       // [0, 255]. The color of the moon in the scene R channel.
    int moonColorG = 197;       // [0, 255]. The color of the moon in the scene G channel.
    int moonColorB = 239;       // [0, 255]. The color of the moon in the scene B channel.
 
    // Weather
    // Cloud
    float cloudDensity = 3;     // [0, 10]. Cloud coverage density in the scene.
    float cloudHeight = 1;      // [0, 2]. Cloud height coefficient in the scene.
    float cloudThickness = 1;   // [0.1, 2]. Cloud thickness coefficient in the scene.
    // Fog Wind
    float fogDensity = 3;       // [0, 10]. The density of fog in the scene
    float windDensity = 3;      // [0, 10]. The density of wind in the scene.
    float windDirection = 180;  // [0, 360]. The direction the wind is blowing from. North as 0 with clockwise.
    // Rain
    float rainDensity = 3;      // [0, 10]. The density of rain in the scene.
    float raindropDensity = 2000;   // [0, 20000]. The raindrop density coefficient in the scene.
    float raindropParticle = 1; // [0, 3]. The raindrop particle size coefficient in the scene.
    // Snow
    float snowDensity = 3;      // [0, 10]. The density of snow in the scene.
    float snowflakeDensity = 2000;  // [0, 30000]. The snowflake density coefficient in the scene.
    float snowflakeParticle = 1;// [0, 3]. The snowflake particle size coefficient in the scene.
    // Thunder
    float thunderLightning = 0; // [0, 10]. The density of lightning in the scene.
    float thunderInterval = 7;  // [0, 10]. Time interval between lightning occurrences.
    float thunderBrightness = 14;   // [1, 25]. Lightning brightness
    // Dust
    float dustDensity = 0;      // [0, 10]. The density of dust in the scene.
    float dustDensityCoefficient = 300; // [0, 3000]. The dust density coefficient in the scene.
    float dustParticle = 0;     // [0, 3]. The dust particle size coefficient in the scene.
 
    // Material
    // Coverage
    float wetness = 0;          // [0, 1]. The degree of rain coverage in the scene.
    float snowCoverage = 0;     // [0, 1]. The degree of snow coverage in the scene.
    float dustCoverage = 0;     // [0, 1]. The degree of dust coverage in the scene
    // Damage & Dirty
    float roadDirtyLevel = 0;   // [0, 1]. The degree of dirtiness of the road in the scene.
    float lineDamageLevel = 0;  // [0, 1]. The degree of damage to the road lines in the scene
    float signDirtyLevel = 0;   // [0, 1]. The degree of dirtiness of the sign in the scene.
    float signDamageLevel = 0;  // [0, 1]. The degree of damage to the sign in the scene
};
 
enum ESimOneCaseControl_State
{
    ESimOneCaseControl_State_None = 0,
    ESimOneCaseControl_State_Play = 1,
    ESimOneCaseControl_State_Pause = 2,
    ESimOneCaseControl_State_Stop = 3,
    ESimOneCaseControl_State_SkipAndPause = 4,
    ESimOneCaseControl_State_SkipAndPlay = 5,
};
 
struct SimOneCaseControl {
    ESimOneCaseControl_State caseControlState;
    int skipStep;
};
// ----------------------------
// Sensor Configuration API.
// ----------------------------
 
enum ESimOne_Node_Type
{
    ESimOne_Node_Type_Vehicle = 0,
    ESimOne_Node_Type_Camera = 1,
    ESimOne_Node_Type_LiDAR = 2,
    ESimOne_Node_Type_MMWRadar = 3,
    ESimOne_Node_Type_UltrasonicRadar = 4,
    ESimOne_Node_Type_AllUltrasonicRadar = 5,
    ESimOne_Node_Type_GNSSINS = 6,
    ESimOne_Node_Type_PerfectPerception = 7,
    ESimOne_Node_Type_V2X = 8,
    ESimOne_Node_Type_SensorFusion = 9
};
 
enum ESimOne_Sensor_Data_Type
{
    ESimOne_Sensor_Data_Type_ImageWithGroundTruth = 0,
    ESimOne_Sensor_Data_Type_PointCloudWithGroundTruth = 1,
    ESimOne_Sensor_Data_Type_RadarDetections = 2,
    ESimOne_Sensor_Data_Type_UltrasonicRadar = 3,
    ESimOne_Sensor_Data_Type_ObstacleDetection = 4,
    ESimOne_Sensor_Data_Type_GroundTruth = 5,
    ESimOne_Sensor_Data_Type_V2X = 6,
    ESimOne_Sensor_Data_Type_V2XNFS = 7
 
};
 
enum ESimOne_V2X_MessageFrame_PR {
    ESimOne_V2X_MessageFrame_PR_NOTHING,    /* No components present */
    ESimOne_V2X_MessageFrame_PR_bsmFrame,
    ESimOne_V2X_MessageFrame_PR_mapFrame,
    ESimOne_V2X_MessageFrame_PR_rsmFrame,
    ESimOne_V2X_MessageFrame_PR_spatFrame,
    ESimOne_V2X_MessageFrame_PR_rsiFrame,
    ESimOne_V2X_MessageFrame_PR_ipprFrame,
    ESimOne_V2X_MessageFrame_PR_rsvFrame,
    ESimOne_V2X_MessageFrame_PR_bsiFrame
    /* Extensions may appear below */
 
};
 
 
#define SENSOR_IDTYPE_MAX 64
struct SimOne_Data_SensorConfiguration
{
    int id;
    char mainVehicleId[SENSOR_IDTYPE_MAX];
    char sensorId[SENSOR_IDTYPE_MAX];
    char sensorType[SENSOR_IDTYPE_MAX];
    float x;
    float y;
    float z;
    float roll;
    float pitch;
    float yaw;
    int hz;
};
 
#define SOSM_SENSOR_CONFIGURATION_LABEL "SOSM_SENSOR_CONFIGURATION"
#define SOSM_SENSOR_CONFIGURATION_SIZE_MAX 100
struct SimOne_Data_SensorConfigurations
{
    int dataSize; // data size  
    SimOne_Data_SensorConfiguration data[SOSM_SENSOR_CONFIGURATION_SIZE_MAX];
};
 
// ----------------------------
// Sensor Detections data (SimOne Output) 
// ----------------------------
#define SOSM_SENSOR_DETECTIONS_PREFIX "SOSM_SENSOR_DETECTIONS_"
#define SOSM_SENSOR_DETECTIONS_OBJECT_SIZE_MAX 256
#define SOSM_SENSOR_LANE_OBJECT_SIZE_MAX 256
#define SOSM_SENSOR_Boundary_OBJECT_SIZE_MAX 250
#define SOSM_SENSOR_DETECTIONS_CORNERPOINT_SIZE_MAX 8
struct SimOne_Data_SensorDetections_Entry
{
    int id;                 // Detection Object ID
    ESimOne_Obstacle_Type type; // Detection Object Type
    float posX;             // Detection Object Position X in meter
    float posY;             // Detection Object Position Y in meter
    float posZ;             // Detection Object Position Z in meter
    float oriX;             // Rotation X in radian
    float oriY;             // Rotation Y in radian
    float oriZ;             // Rotation Z in radian
    float length;           // Detection Object Length in meter
    float width;            // Detection Object Width in meter
    float height;           // Detection Object Height in meter
    float range;            // Detection Object relative range in meter
    float velX;             // Detection Object Velocity X
    float velY;             // Detection Object Velocity Y
    float velZ;             // Detection Object Velocity Z
    float accelX;           // Detection Object accel X
    float accelY;           // Detection Object accel Y
    float accelZ;           // Detection Object accel Z
    float probability;      // Detection probability
    float relativePosX;     // Relative position X in sensor space
    float relativePosY;     // Relative position Y in sensor space
    float relativePosZ;     // Relative position Z in sensor space
    float relativeRotX;     // Relative rotation X in sensor space
    float relativeRotY;     // Relative rotation Y in sensor space
    float relativeRotZ;     // Relative rotation Z in sensor space
    float relativeVelX;     // Relative velocity X in sensor space
    float relativeVelY;     // Relative velocity Y in sensor space
    float relativeVelZ;     // Relative velocity Z in sensor space
    float bbox2dMinX = 0;   // bbox2d minX in pixel if have
    float bbox2dMinY = 0;   // bbox2d minY in pixel if have
    float bbox2dMaxX = 0;   // bbox2d maxX in pixel if have
    float bbox2dMaxY = 0;   // bbox2d maxY in pixel if have
    int cornerPointSize = 0;
    SimOne_Data_Vec3f cornerPoints[SOSM_SENSOR_DETECTIONS_CORNERPOINT_SIZE_MAX];
    char name[SOSM_ACTORNAME_LENGT]; //Detection Object name same with case edit
};
 
struct SimOne_Data_SensorDetections : public SimOne_Data
{
    int objectSize = 0; // Detection Object size
    SimOne_Data_SensorDetections_Entry objects[SOSM_SENSOR_DETECTIONS_OBJECT_SIZE_MAX]; // Detection Objects, 256 max
};
 
struct SimOne_Data_SensorFusionObstacles : public SimOne_Data
{
    int obstacleSize;
    SimOne_Data_SensorDetections_Entry obstacle[SOSM_SENSOR_DETECTIONS_OBJECT_SIZE_MAX];
};
 
enum ESimOne_Lane_Type {
    ESimOne_Lane_Type_none = 0,
    ESimOne_Lane_Type_driving = 1,
    ESimOne_Lane_Type_stop = 2,
    ESimOne_Lane_Type_shoulder = 3,
    ESimOne_Lane_Type_biking = 4,
    ESimOne_Lane_Type_sidewalk = 5,
    ESimOne_Lane_Type_border = 6,
    ESimOne_Lane_Type_restricted = 7,
    ESimOne_Lane_Type_parking = 8,
    ESimOne_Lane_Type_bidirectional = 9,
    ESimOne_Lane_Type_median = 10,
    ESimOne_Lane_Type_special1 = 11,
    ESimOne_Lane_Type_special2 = 12,
    ESimOne_Lane_Type_special3 = 13,
    ESimOne_Lane_Type_roadWorks = 14,
    ESimOne_Lane_Type_tram = 15,
    ESimOne_Lane_Type_rail = 16,
    ESimOne_Lane_Type_entry = 17,
    ESimOne_Lane_Type_exit = 18,
    ESimOne_Lane_Type_offRamp = 19,
    ESimOne_Lane_Type_onRamp = 20,
    ESimOne_Lane_Type_connectingRamp = 21,
    ESimOne_Lane_Type_bus = 22,
    ESimOne_Lane_Type_taxi = 23,
    ESimOne_Lane_Type_HOV = 24,
    ESimOne_Lane_Type_mwyEntry = 25,
    ESimOne_Lane_Type_mwyExit = 26
};
 
enum ESimOne_Boundary_Type {
    ESimOne_Boundary_Type_none = 0,
    ESimOne_Boundary_Type_solid = 1,
    ESimOne_Boundary_Type_broken = 2,
    ESimOne_Boundary_Type_solid_solid = 3,
    ESimOne_Boundary_Type_solid_broken = 4,
    ESimOne_Boundary_Type_broken_solid = 5,
    ESimOne_Boundary_Type_broken_broken = 6,
    ESimOne_Boundary_Type_botts_dots = 7,
    ESimOne_Boundary_Type_grass = 8,
    ESimOne_Boundary_Type_curb = 9
};
 
enum ESimOne_Boundary_Color {
    ESimOne_Boundary_Color_standard = 0,
    ESimOne_Boundary_Color_blue = 1,
    ESimOne_Boundary_Color_green = 2,
    ESimOne_Boundary_Color_red = 3,
    ESimOne_Boundary_Color_white = 4,
    ESimOne_Boundary_Color_yellow = 5
};
 
struct SimOne_LineCurve_Parameter {
    float C0;
    float C1;
    float C2;
    float C3;
    SimOne_Data_Vec3f firstPoints;
    SimOne_Data_Vec3f endPoints;
    int length = 0;
};
 
struct SimOne_Data_LaneLineInfo
{
    int lineID = 0;
    ESimOne_Boundary_Type lineType = ESimOne_Boundary_Type_none;//laneline BoundaryType
    ESimOne_Boundary_Color lineColor = ESimOne_Boundary_Color_standard;//laneline BoundaryColor
    float linewidth;//laneline width
    SimOne_Data_Vec3f linePoints[SOSM_SENSOR_Boundary_OBJECT_SIZE_MAX];//total laneline Boundary points ,MaX 80
    SimOne_LineCurve_Parameter linecurveParameter;//laneline boundary curveParameter
 
};
struct SimOne_Data_LaneInfo :public SimOne_Data
{
    int id = 0;//Lane ID 
    ESimOne_Lane_Type laneType = ESimOne_Lane_Type_none;//Lane type
    int laneLeftID = 0;//The Lane's leftLane ID  
    int laneRightID = 0;//The Lane's rightLane ID 
    int lanePredecessorID[SOSM_SENSOR_LANE_OBJECT_SIZE_MAX];//total of lane predecessor ID,max 256
    int laneSuccessorID[SOSM_SENSOR_LANE_OBJECT_SIZE_MAX];//total of lane successor ID,max 256
    SimOne_Data_LaneLineInfo l_Line;//lane left lineBoundary;
    SimOne_Data_LaneLineInfo c_Line;//lane center lineBoundary;
    SimOne_Data_LaneLineInfo r_Line;//lane right lineBoundary;
    SimOne_Data_LaneLineInfo ll_Line;//laneleft left lineBoundary;
    SimOne_Data_LaneLineInfo rr_Line;//laneright right lineBoundary;
 
};
 
 
 
enum SimOne_RoadMark_Type {
    RoadMarkType_UnKnown = 0,
    RoadMarkType_Graphics = 1,
    RoadMarkType_StopLine = 2,
    RoadMarkType_CrossWalk = 3
};
 
enum SimOne_RoadMark_SubType {
    MarkSubType__UnKnown = 0,
    RoadMarkType_StraightAheadArrow = 1,
    RoadMarkType_LeftOrRightTurnArrow = 2,
    RoadMarkType_LeftOrUTurnArrow = 3,
    RoadMarkType_LeftTurnArrow = 4,
    RoadMarkType_LeftChangeArrow = 5,
    RoadMarkType_RightChangeArrow = 6,
    RoadMarkType_RightTurnArrow = 7,
    RoadMarkType_StraightOrLeftTurnArrow = 8,
    RoadMarkType_StraightOrLeftOrRightTurnArrow = 9,
    RoadMarkType_StraightOrRightTurnArrow = 10,
    RoadMarkType_StraightOrUTurnArrow = 11,
    RoadMarkType_UTurnArrow = 12
};
 
 
// ----------------------------
// Millimeter-wave Radar data (SimOne Output) 
// ----------------------------
#define SOSM_ROADMARK_SIZE_MAX 256
#define SOSM_PIX_SIZE_MAX 64
 
struct RoadMark_Entry {
    int id;                                         //road mark id same as opendrive road mark id
    SimOne_RoadMark_Type type;                      //road mark type define in SimOne_RoadMark_Type
    SimOne_RoadMark_SubType subtype;                //road mark sub define in SimOne_RoadMark_SubType
    SimOne_Data_Vec3f center;                       //center position in vehicle coordinate
    SimOne_Data_Vec3f rotation;                     //rotation in opendrive
    SimOne_Data_Vec3f size;                         //size as length width and hight
    int pointSize;                                  //point size in vehicle coordinate and camera pix
    SimOne_Data_Vec3f bbox3d[SOSM_PIX_SIZE_MAX];    //road mark bbox in vehicle coordinate
    SimOne_Data_Vec3f pixs2d[SOSM_PIX_SIZE_MAX];    //road mark bbox in pix coordinate
};
 
struct SimOne_Data_RoadMarkInfo : public SimOne_Data
{
    int detectNum; // Detection Object number
    RoadMark_Entry roadMarks[SOSM_ROADMARK_SIZE_MAX]; // Detection Objects, 256 max
};
 
 
 
enum ESimOne_Client_Type {
    ESimOne_Client_Type_None = 0,
    ESimOne_Client_Type_Web = 1,
    ESimOne_Client_Type_TrafficProvider = 2,
    ESimOne_Client_Type_VehicleDynamic = 3,
    ESimOne_Client_Type_BridgeIO = 4,
    ESimOne_Client_Type_SimOneDLL = 5,
    ESimOne_Client_Type_Observer = 6,
    ESimOne_Client_Type_Sensor = 7,
    ESimOne_Client_Type_Traffic = 8
};
// ----------------------------
// Image data (SimOne Output) 
// ----------------------------
#define SOSM_IMAGE_PREFIX "SOSM_IMAGE_"
#define SOSM_SIMONE_IMAGE_WIDTH_MAX 3840
#define SOSM_SIMONE_IMAGE_HEIGHT_MAX 2160
#define SOSM_SIMONE_IMAGE_DATA_SIZE_MAX SOSM_SIMONE_IMAGE_WIDTH_MAX*SOSM_SIMONE_IMAGE_HEIGHT_MAX*3
enum ESimOne_Image_Format
{
    ESimOne_Image_Format_RGB = 0
};
 
struct SimOne_Data_Image : public SimOne_Data
{
    int width; // Image resolution width 1920 max
    int height; // Image resolution height 1200 max
    ESimOne_Image_Format format; // Image format, RGB only for now
    int imageDataSize; // image data size   
    char imageData[SOSM_SIMONE_IMAGE_DATA_SIZE_MAX]; // 1920 x 1200 x 3 max
};
 
 
// ----------------------------
// Point cloud data (SimOne Output) 
// ----------------------------
struct SimOne_Data_Point_XYZI
{
    float x;
    float y;
    float z;
    float intensity;
};
 
#define SOSM_POINT_CLOUD_PREFIX "SOSM_POINT_CLOUD_"
#define SOSM_SIMONE_POINT_DATA_SIZE_MAX 3686400 // Max Memory Size
struct SimOne_Data_Point_Cloud : public SimOne_Data
{
    int width;
    int height;
    int pointStep;
    int pointCloudDataSize;
    char pointCloudData[SOSM_SIMONE_POINT_DATA_SIZE_MAX];
};
 
// ----------------------------
// Millimeter-wave Radar data (SimOne Output) 
// ----------------------------
#define SOSM_RADAR_PREFIX "SOSM_RADAR_"
#define SOSM_RADAR_SIZE_MAX 256
 
struct SimOne_Data_RadarDetection_Entry {
    int id; // Detection Object ID
    int subId; // Detection Object Sub ID
    ESimOne_Obstacle_Type type; // Detection Object Type
    float posX; // Detection Object Position X in meter
    float posY; // Detection Object Position Y in meter
    float posZ; // Detection Object Position Z in meter
    float velX; // Detection Object Velocity X
    float velY; // Detection Object Velocity Y
    float velZ; // Detection Object Velocity Z
    float accelX; // Obstacle Acceleration X no Opendrive (m/s^2)
    float accelY; // Obstacle Acceleration Y no Opendrive (m/s^2)
    float accelZ; // Obstacle Acceleration Z no Opendrive (m/s^2)
    float oriX; // Obstacle Rotation X (by radian)
    float oriY; // Obstacle Rotation Y (by radian)
    float oriZ; // Obstacle Rotation Z (by radian)
    float length; // Obstacle length
    float width; // Obstacle width
    float height; // Obstacle height
    float range; // Detection Object relative range in meter
    float rangeRate; // Detection Object relative range rate in m/s
    float azimuth; // Detection Object azimuth angle
    float vertical; // Detection Object vertical angle
    float snrdb; // Signal noise ratio
    float rcsdb; // Detection Object RCS
    float probability; // Detection probability
    char name[SOSM_ACTORNAME_LENGT]; //Detection Object name same with case edit
};
 
struct SimOne_Data_RadarDetection : public SimOne_Data
{
    int detectNum; // Detection Object number
    SimOne_Data_RadarDetection_Entry detections[SOSM_RADAR_SIZE_MAX]; // Detection Objects, 256 max
};
 
// ----------------------------
// Ultrasonic Radar data (SimOne Output) 
// ----------------------------
#define SOSM_MUCHULTRASONICRADAR_PREFIX "SOSM_MUCHULTRASONICRADAR_"
#define SOSM_OSIULTRASONICRADAR_PREFIX "SOSM_OSIULTRASONICRADAR_"
#define SOSM_ULTRASONICRADAR_SIZE_MAX 100
 
 
struct SimOne_Data_UltrasonicRadarDetection_Entry {
    float obstacleRanges = 0;
    float x = 0;
    float y = 0;
    float z = 0;
};
 
 
struct SimOne_Data_UltrasonicRadarDetection_Pys_Entry {
    float obstacleRanges = 0;
    float x = 0;
    float y = 0;
    float z = 0;
    int sourceid = 0;
    int dstid = 0;
    int semantictype = 0;
    int objectid = 0;
};
 
 
struct SimOne_Data_UltrasonicRadar : public SimOne_Data {
    char sensorId[SENSOR_IDTYPE_MAX];   //UltrasonicRadar's ID
    int obstacleNum;    // Obstacle Range number
    SimOne_Data_UltrasonicRadarDetection_Entry obstacleDetections[SOSM_OBSTACLE_SIZE_MAX];
};
 
 
struct SimOne_Data_UltrasonicRadar_Pys : public SimOne_Data {
    char sensorId[SENSOR_IDTYPE_MAX];   //UltrasonicRadar's ID
    int obstacleNum;    // Obstacle Range number
    SimOne_Data_UltrasonicRadarDetection_Pys_Entry obstacleDetections[SOSM_OBSTACLE_SIZE_MAX];
};
 
 
struct SimOne_Data_UltrasonicRadars : public SimOne_Data
{
    int ultrasonicRadarNum;                                                         // ultrasonic radar count
    SimOne_Data_UltrasonicRadar ultrasonicRadars[SOSM_ULTRASONICRADAR_SIZE_MAX];    // ultrasonic radars
};
 
struct SimOne_Data_UltrasonicRadars_Pys : public SimOne_Data
{
    int ultrasonicRadarNum;                                                         // ultrasonic radar count
    SimOne_Data_UltrasonicRadar_Pys ultrasonicRadars[SOSM_ULTRASONICRADAR_SIZE_MAX];    // ultrasonic radars
};
 
#ifndef WITHOUT_HDMAP
#define SOSM_V2X_MSGFRAME_SIZE_MAX 20000 // Max Memory Size
 
struct SimOne_Data_V2XNFS :public SimOne_Data
{
    int V2XMsgFrameSize;
    char MsgFrameData[SOSM_V2X_MSGFRAME_SIZE_MAX];
};
#endif
 
// ----------------------------
// HDMap data
// ----------------------------
 
// ----------------------------
// Prediction data (SimOne Output) 
// ----------------------------
#define SOSM_PREDICTION_PREFIX "SOSM_PREDICTION_"
struct SimOne_Data_Traffic_Info
{
    int id;
    float x;
    float y;
    float speed;
    float orientation;
};
 
struct SimOne_Data_Position_Info : public SimOne_Data
{
    float mean_x;
    float mean_y;
    float var_x;
    float var_y;
    float covar_xy;
};
 
struct SimOne_Data_Prediction : public SimOne_Data
{
    std::map<int, SSD::SimVector<SimOne_Data_Position_Info>> ped_predictions;
    std::map<int, SSD::SimVector<SimOne_Data_Position_Info>> veh_predictions;
    float ped_delta_t;
    float veh_delta_t;
};
#define MAX_MAINVEHICLE_NUM 10
struct SimOne_Data_MainVehicle_Info
{
    int size;
    char id_list[MAX_MAINVEHICLE_NUM][MAX_MAINVEHICLE_NAME_LEN];
    char type_list[MAX_MAINVEHICLE_NUM][MAX_MAINVEHICLE_NAME_LEN];
};
 
struct SimOne_Data_MainVehicle_Status
{
    char mainVehicleId[MAX_MAINVEHICLE_NAME_LEN];
    int mainVehicleStatus;
};
 
// ----------------------------
// TrafficLight data (SimOne Output) 
// ----------------------------
#define SOSM_TRAFFICLIGHT_PREFIX "SOSM_TRAFFICLIGHT_"
#define SOSM_TRAFFICLIGHT_SIZE_MAX 100
 
enum ESimOne_TrafficLight_Status
{
    ESimOne_TrafficLight_Status_Invalid = 0,
    ESimOne_TrafficLight_Status_Red = 1,
    ESimOne_TrafficLight_Status_Green = 2,
    ESimOne_TrafficLight_Status_Yellow = 3,
    ESimOne_TrafficLight_Status_RedBlink = 4,
    ESimOne_TrafficLight_Status_GreenBlink = 5,
    ESimOne_TrafficLight_Status_YellowBlink = 6,
    ESimOne_TrafficLight_Status_Off = 7
};
 
struct SimOne_Data_TrafficLight
{
    bool isMainVehicleNextTrafficLight = false;
    int opendriveLightId = 0;
    int countDown = 0;
    ESimOne_TrafficLight_Status status = ESimOne_TrafficLight_Status_Invalid;
};
 
struct SimOne_Data_TrafficLights : public SimOne_Data
{
    int trafficlightNum = 0;    // Obstacle number
    SimOne_Data_TrafficLight trafficlights[SOSM_TRAFFICLIGHT_SIZE_MAX]; // trafficlights, 100 max
};
 
// ----------------------------
// SimOneDriver status data (SimOne Output) 
// ----------------------------
#define SOSM_DRIVER_PREFIX "SOSM_DRIVER_"
 
enum ESimOne_Driver_Status
{
    ESimOne_Driver_Status_Unknown = 0,
    ESimOne_Driver_Status_Controlling = 1,
    ESimOne_Driver_Status_Disabled = 2
};
 
struct SimOne_Data_Driver_Status : public SimOne_Data
{
    ESimOne_Driver_Status driverStatus;
};
 
// ----------------------------
// Vehicle control mode (SimOne Output) 
// ----------------------------
#define SOSM_CONTROLMODE_PREFIX "SOSM_CONTROLMODE_"
 
enum SimOne_Control_Mode
{
    ESimOne_Control_Mode_Unknown = 0,
    ESimOne_Control_Mode_Manual = 1,
    ESimOne_Control_Mode_API = 2,
    ESimOne_Control_Mode_Auto = 3
};
 
struct SimOne_Data_Control_Mode : public SimOne_Data
{
    SimOne_Control_Mode controlMode;
};
 
// ----------------------------
// Scenario event
// ----------------------------
#define ENABLE_SCENARIO_EVENT
#define SCENARIO_EVENT_PREFIX "SCENARIO_EVENT_"
 
struct SimOne_Data_ScenarioEvent_ReaderStatus
{
    int readerState = 0;
};
 
struct SimOne_Data_ScenarioEvent_WriterStatus
{
    int writeState = 0;
};
 
struct SimOne_Data_ScenarioEvent : public SimOne_Data_ScenarioEvent_WriterStatus
{
    char event[64];
    char data[64];
};
#pragma pack(pop)