Add head and eye signals for driver

Signed-off-by: Erik Jaegervall <[email protected]>

spec/Driver/Driver.vspec

@@ -52,3 +52,19 @@ HeartRate:
   type: sensor
   unit: bpm
   description: Heart rate of the driver.
+
+HeadPosition:
+  type: branch
+  description: The current position of the driver head on vehicle axis according to ISO 8855.
+#include HeadPosition.vspec HeadPosition
+
+MidEyePosition:
+  type: branch
+  description: Mid eye position on vehicle axis according to ISO 8855.
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+#include MidEyePosition.vspec MidEyePosition
+
+MidEyeGaze:
+  type: branch
+  description: Direction from mid eye position to object driver is looking at
+#include MidEyeGaze.vspec MidEyeGaze

spec/Driver/HeadPosition.vspec

@@ -0,0 +1,75 @@
+# Copyright (c) 2024 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+# This file intends to provide data related to head position.
+# It uses axis definition from ISO 8855, where origin is at center of (first) rear axle.
+# Definition of "head center" is implementation dependent.
+#
+# With the definitions given below example values for a regular LHD passenger vehicle
+# could be something like
+#           X = 2000 mm (head position 2 meters in front of rear axle)
+#           Y = 600 mm (head position 60 cm left of vehicle center)
+#           Z = 1000 mm (head position 100 cm above center of rear axis)
+#
+
+X:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Longitudinal position of head center on vehicle X-axis.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = forward of rear axle. Negative values = backward of rear axle.
+
+Y:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Lateral position of head center on vehicle Y-axis.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = left of origin. Negative values = right of origin.
+
+Z:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Height position of head center on vehicle Z-axis.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = above center of rear axle. Negative values = below center of rear axle.
+
+Roll:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Head roll (right-hand rule) on vehicle X-axis.
+               Axis definitions according to ISO 8855.
+               0 = Head in normal position.
+               Positive values = head leaned to the right. Negative values = head leaned to the left.
+
+Pitch:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Head pitch (right-hand rule) on vehicle Y-axis.
+               Axis definitions according to ISO 8855.
+               0 = Head in normal position.
+               Positive values = head leaning down. Negative values = head leaning up.
+
+Yaw:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Head yaw (right-hand rule) on vehicle Z-axis.
+               Axis definitions according to ISO 8855.
+               0 = Head in normal position.
+               Positive values = head turned left. Negative values = head turned right.

spec/Driver/MidEyeGaze.vspec

@@ -0,0 +1,46 @@
+# Copyright (c) 2024 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+# This file intends to provide data related to mid eye gaze.
+# Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+# Gaze refers to the direction to the object the driver is looking at measured from
+# mid eye position.
+# Axis definitions according to ISO 8855.
+#
+# Some examples (at long distance from vehicle)
+#            Object in front of vehicle (at far distance) - Azimuth==0, Elevation == 0
+#            Object to the left of vehicle (at far distance) - Azimuth==90, Elevation == 0
+#            Object to the right of vehicle (at far distance)- Azimuth==-90, Elevation == 0
+#            Object behind the vehicle (at far distance) - Azimuth==180 or -180, Elevation == 0
+#            Object right above the vehicle (at height) - Azimuth==<any>, Elevation == 90
+#            Object deep down below the vehicle - Azimuth==<any>, Elevation == -90
+
+Azimuth:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -180
+  max: 180
+  description: Mid eye azimuth gaze (right-hand rule) on vehicle Z-axis.
+               Axis definitions according to ISO 8855.
+               0 = Driver looking forward.
+               Positive values = Driver looking at something on the left side of driver.
+               Negative values = Driver looking at something on the right side of driver.
+
+Elevation:
+  datatype: float
+  type: sensor
+  unit: degrees
+  min: -90
+  max: 90
+  description: Elevation to observed object measured
+               as angle between vehicle X/Y plane at driver mid eye position and object.
+               Axis definitions according to ISO 8855.
+               0 = Driver looking at something at same height as mid eye position.
+               Positive values = Driver looking at something above mid eye position.
+               Negative values = Driver looking at something below mid eye position.

spec/Driver/MidEyePosition.vspec

@@ -0,0 +1,48 @@
+# Copyright (c) 2024 Contributors to COVESA
+#
+# This program and the accompanying materials are made available under the
+# terms of the Mozilla Public License 2.0 which is available at
+# https://www.mozilla.org/en-US/MPL/2.0/
+#
+# SPDX-License-Identifier: MPL-2.0
+
+# This file intends to provide data related to mid eye position.
+# Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+# It uses axis definition from ISO 8855, where origin is at center of (first) rear axle.
+# Definition of mid eye position for one-eyed drivers is implementation dependent.
+# It may be the position of the only existing eye, or the hypothetical mid eye position
+# if the driver would have had two eyes.
+#
+# With the definitions given below example values for a regular LHD passenger vehicle
+# could be something like
+#           X = 2000 mm (head position 2 meters in front of rear axle)
+#           Y = 600 mm (head position 60 cm left of vehicle center)
+#           Z = 1000 mm (head position 100 cm above center of rear axis)
+#
+
+X:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Longitudinal mid eye position on vehicle X-axis.
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = forward of rear axle. Negative values = backward of rear axle.
+
+Y:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Lateral mid eye position on vehicle Y-axis.
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = left of origin. Negative values = right of origin.
+
+Z:
+  datatype: int16
+  type: sensor
+  unit: mm
+  description: Lateral mid eye position on vehicle Z-axis.
+               Mid eye position refers to the center of a line drawn between the center of the drivers eyes.
+               Axis definitions according to ISO 8855. Origin at center of (first) rear axle.
+               Positive values = above center of rear axle. Negative values = below center of rear axle.