..
  *******************************************************************************
  Copyright (c) 2021 in-tech GmbH
                2023-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)

  This program and the accompanying materials are made available under the
  terms of the Eclipse Public License 2.0 which is available at
  http://www.eclipse.org/legal/epl-2.0.

  SPDX-License-Identifier: EPL-2.0
  *******************************************************************************

.. _observation_log:

Observation_Log
###############

This section describes the parameters and outputs of the ``Observation_Log`` observer.

.. _observationlog_parameterization:

Parameterization
================

Following parameters are supported:

.. table::
   :class: tight-table

   =================== ============= ==========================================================================
   Parameter           Type          Description
   =================== ============= ==========================================================================
   OutputFilename      String        Name of the output file (normally ``simulationOutput.xml``)
   LoggingCyclicsToCsv Bool          If ``true``, cyclics are written an additional file (one CSV file per run)
   LoggingGroup_<NAME> StringVector  Defines which columns belong to the logging group named NAME
   LoggingGroups       StringVector  Defines active logging groups
   =================== ============= ==========================================================================

The columns, defined by the ``LoggingGroup_<NAME>`` correspond to cyclic data entries written by the world and other components.
Cyclics are named data values of a single agent during a specific timestep.
Simulation components including agent components can write this values into the DataBuffer component using the PublisherInterface.
The Observation_Log can then read this values and write them into the output.

The world publishes the following cyclics (see source of ``AgentNetwork.cpp``):

.. table::
   :class: tight-table

   ====================== ============== ===== =================================================================================================
   Cyclics                Type           Unit  Description
   ====================== ============== ===== =================================================================================================
   XPosition              Double         m     Position x of the reference point (in world coordinates)
   YPosition              Double         m     Position y of the reference point (in world coordinates)
   VelocityEgo            Double         m/s   Absolute velocity (length of the velocity vector) at the reference point
                                               (including spin caused by YawRate)
   AccelerationEgo        Double         m/s²  Longitudinal acceleration (including angular acceleration) at the reference point.
                                               Longitudinal refers to the angle of the vehicle regardless of the curvature of the road it is on.
   YawAngle               Double         rad   Yaw angle w.r.t. x-axis
   YawRate                Double         rad/s Yaw rate of the agent
   SteeringAngle          Double         rad   Steering wheel angle
   TotalDistanceTraveled  Double         m     Total traveled distance of all agents
   PositionRoute\*        Double         m     Position of the agent's front center in **road's** s coordinate
                                               (distance to the start of the road)
   TCoordinate\*          Double         m     Position of the agent's front center in **lane's** t coordinate
                                               (distance to the middle of the lane respecting intended driving direction)
   Lane\*                 Integer              Id of the lane
   Road\*                 String               OpenDRIVE id of the road on which the agent is on (i.e. the front center).
   SecondaryLanes\*       IntegerVector        List of secondary lanes on a specific road
   AgentInFront\*         Integer              Id of the next object on the agent's route
   ====================== ============== ===== =================================================================================================

The longitudinal driver publishes the following cyclics (see source of ``longitudinalDriver.cpp``):

   ========================= ======= ========================================================
   Cyclics                   Type    Description
   ========================= ======= ========================================================
   AccelerationPedalPosition Double  Position of the acceleration pedal position in percent
   BrakePedalPosition        Double  Position of the brake pedal position in percent
   Gear                      Integer Current gear position
   ========================= ======= ========================================================

The component Action_SecondaryDriverTasks publishes the following cyclics (see source of ``secondaryDriverTasks.cpp``):

   ============== ======= ===================================================================
   Cyclics        Type    Description
   ============== ======= ===================================================================
   BrakeLight     Boolean True if BrakeLight is on
   IndicatorState Enum    State of the turning indicator (left, center/off, right)
   LightStatus    Enum    State of the headlight (off, low beam, fog light, high beam, flash)
   ============== ======= ===================================================================

The component AgentUpdater publishes the following cyclics (see source of ``agentUpdaterImpl.cpp``):

   ====================== ====== =================================================
   Cyclics                Type   Description
   ====================== ====== =================================================
   LongitudinalController String Component that is active for longitudinal control
   LateralController      String Component that is active for lateral control
   ====================== ====== =================================================

The component Dynamics_RegularDriving publishes the following cyclics (see source of ``regularDriving.cpp``):

   ============= ====== ==== ===========================
   Cyclics       Type   Unit Description
   ============= ====== ==== ===========================
   EngineMoment  Double Nm   Torque of the engine
   SteeringAngle Double rad  Angle of the steering wheel
   ============= ====== ==== ===========================

The component Sensor_Driver publishes the following cyclics (see source of ``sensor_driverImpl.cpp``):

   ============ ======= =======================
   Cyclics      Type    Description
   ============ ======= =======================
   AgentInFront Integer Id of the agent infront
   ============ ======= =======================

The component Sensor_OSI publishes the following cyclics (see source of ``sensorCar2X.cpp``):

   ============== ====== ==============================
   Cyclics        Type   Description
   ============== ====== ==============================
   DetectedAgents String List of ids of detected agents
   VisibleAgents  String List of ids of visible agents
   ============== ====== ==============================

.. admonition:: **Wildcards in LoggingGroup definitions**

   | It is possible to use the wildcard character ``*`` in a ``LoggingGroup_<NAME>`` entry.
   | The wildcard can be used only once per column reference.

**Example**

.. literalinclude:: /../../../repo/sim/contrib/examples/Common/simulationConfig.xml
   :language: xml
   :start-at: <Library>Observation_Log</Library>
   :end-at: </Parameters>

Output Files
============

.. _observationlog_simout:

SimulationOutput
~~~~~~~~~~~~~~~~

Every successful run (single experiment) generates a single file, normally called ``simulationOutput.xml`` (see :ref:'observationlog_parameterization').
The output can contain multiple invocations of the same configuration with different random seeds.
For each invocation a RunResult is stored, which contains information about the agents and their parameters.
As well as run specific events and parameters.

.. code-block:: xml

   <SimulationOutput>
       <RunResults>
           <RunResult RunId="0">
               ...
           </RunResult>
           <RunResult RunId="1">
               ...
           </RunResult>
       </RunResults>
   </SimulationOutput>

The RunResult consist out of the following parts:

- :ref:`observationlog_runstatistics`
- :ref:`observationlog_events`
- :ref:`observationlog_agents`
- :ref:`observationlog_cyclics`

.. _observationlog_runstatistics:

RunStatistics
-------------

This section contains the RandomSeed and general statistics of the invocation.

.. table::
   :class: tight-table

   ======================= ==================================================================
   Tag                     Description
   ======================= ==================================================================
   RandomSeed              Random seed used for this invocation
   VisibilityDistance      Visibility distance of the world
   StopReason              Displays the reason why the simulation stopped.
                           Currently only due to time out.
   StopTime                Currently not used and set to -1
   EgoAccident             Flag which shows whether the ego agent was involved in an accident
   TotalDistanceTraveled   Total traveled distance of all agents
   EgoDistanceTraveled     Total traveled distance of ego vehicle only
   ======================= ==================================================================

.. _observationlog_events:

Events
------

This section contains all events that occurred during the invocation.
Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components.
They are used to track special behavior in the simulation.

.. table::
   :class: tight-table

   ====================== =====================================================================================
   Attribute              Description
   ====================== =====================================================================================
   Time                   Time in ms when the event occurred.
   Source                 Name of the component which created the event.
                          ``OpenSCENARIO``, if triggered by an OpenSCENARIO condition.
   Name                   In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event
                          using the names of the corresponding tags as described in the OpenSCENARIO file.
                          Otherwise determined by the triggering component.
   TriggeringEntities     List of entity IDs triggering this event.
   AffectedEntities       List of entity IDs affected by this event.
   Parameters             List of generic key/value string pairs.
   ====================== =====================================================================================

Important Events
----------------

Some of the Events are logged for other applications to use, for instance the |op| Visualizer.
These Events can be identified by their Name and are listed below:

.. table::
   :class: tight-table

   ====================== =====================================================================================
   Attribute              Description
   ====================== =====================================================================================
   TrafficLight           TrafficLight Events are triggered once a TrafficLightController changes the state of it's
                          Trafficlight bulbs. Parameters include the traffic_light_state and the opendrive_id which
                          links to a dynamic signal in the scenery configuration. traffic_light_state is going to
                          be used by the |op| Visualizer. The initial state of the ThreeSignalsTrafficLight is posted too.
   ====================== =====================================================================================

The change in the active component of longitudinal and/or lateral control is also logged as event with name "ActiveComponentChange".

.. _observationlog_agents:

Agents
------

This section contains some information on how each agent is configured.

.. table::
   :class: tight-table

   ====================== ==============================================================
   Attribute              Description
   ====================== ==============================================================
   Id                     Identification number
   AgentTypeGroupName     The agent category. This can either be Ego, Scenario or Common
   AgentTypeName          Name of the agent profile
   VehicleModelType       Name of the vehicle model
   DriverProfileName      Name of the driver profile
   ====================== ==============================================================

.. code-block:: xml

   <Agent Id="0"
          AgentTypeGroupName="Ego"
          AgentTypeName="MiddleClassCarAgent"
          VehicleModelType="car_bmw_7"
          DriverProfileName="Regular">

The VehicleAttributes tag lists basic information of the vehicle parameters.

.. table::
   :class: tight-table

   ======================= =============================================================================
   Attribute               Description
   ======================= =============================================================================
   Width                   Width of the vehicles bounding box
   Length                  Length of the vehicles bounding box
   Height                  Height of the vehicles bounding box
   LongitudinalPivotOffset Distance between center of the bounding box and reference point of the agent.
                           Positive distances are closer to the front of the vehicle.
                           Negative distances are closer to the rear of the vehicle.
   ======================= =============================================================================

The Components tag lists all instantiated components from the SystemProfile.

.. table::
   :class: tight-table

   ======================= =============================================================================
   Attribute               Description
   ======================= =============================================================================
   Type                    Type of the component
   Profile                 Name of the component profile
   ======================= =============================================================================

The Sensors tag lists all sensors of the agent and their parameters.

.. table::
   :class: tight-table

   ======================= =====================================================================
   Attribute               Description
   ======================= =====================================================================
   Name                    Name of the component
   Model                   Type of the sensor
   MountingPosLongitudinal Relative longitudinal position of the sensor in relation to the agent
   MountingPosLateral      Relative lateral position of the sensor in relation to the agent
   MountingPosHeight       Relative height of the sensor in relation to the agent
   OrientationPitch        Pitch rotation of the sensor in relation to the agent
   OrientationYaw          Yaw rotation of the sensor in relation to the agent
   OpeningAngleH           Horizontal opening angle of the sensor
   OpeningAngleV           Vertical opening angle of the sensor
   DetectionRange          Range how far the sensor reaches in m
   ======================= =====================================================================

.. note::

   Calculation of visual obstruction is currently supported only by the Geometric2D sensor.
   See :ref:`systemconfigblueprint` for configuration.

.. code-block:: xml

   <Sensor Name="Geometric2DFront"
           Model="Geometric2D"
           MountingPosLongitudinal="0"
           MountingPosLateral="0"
           MountingPosHeight="0.5"
           OrientationPitch="0"
           OrientationYaw="0"
           OpeningAngleH="20"
           OpeningAngleV="-999"
           DetectionRange="300" />

.. _observationlog_cyclics:

Cyclics
-------

If the parameter ``LoggingCyclicsToCsv`` is set to ``false``, this section contains all logged parameters of the agents per time step.
The tag ``header`` defines the layout of all samples.
Each entry of the header consists of the agent id and the name of the logged value, in the form ``ID:SAMPLE_NAME``.
A sample contains all information for one specific time step.
If an agent does not exist at the current time step, the value is ' '.

**Example**

In this example exist two agents with the ids 0 and 1.
Two time steps were being tracked, one at 0 seconds and one at 100 ms.
Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50.
Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.

.. code-block:: xml

   <Cyclics>
       <Header>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle</Header>
       <Samples>
           <Sample Time="0">30, 100, 50, 0, 40, 200, 50, 0</Sample>
           <Sample Time="100">30, 103, 50, 0, 40, 204, 50, 0</Sample>
       </Samples>
   </Cyclics>

If the parameter ``LoggingCyclicsToCsv`` is set to ``true``, this section only contains a reference to the corresponding CSV file, e.g.

.. code-block:: xml

   <Cyclics>
       <CyclicsFile>Cyclics_Run_000.csv</CyclicsFile>
   </Cyclics>

For each invocation, the file number of the filename is incremented, starting with ``Cyclics_Run_000.csv``.

Cyclics_Run_###
~~~~~~~~~~~~~~~

This file contains the samples as described in :ref:'observationlog_cyclics', but with the time step as leading column.

**Example**

======== ============== ============ ============ =========== ============== ============ ============ ===========
Timestep 00:VelocityEgo 00:XPosition 00:YPosition 00:YawAngle 01:VelocityEgo 01:XPosition 01:YPosition 01:YawAngle
======== ============== ============ ============ =========== ============== ============ ============ ===========
0        30             100          50           0           40             200          50           0
100      30             103          50           0           40             204          50           0
======== ============== ============ ============ =========== ============== ============ ============ ===========
