From 1615eb5dcf61e3bb34fe58b20e23eab7fe8a2816 Mon Sep 17 00:00:00 2001
From: dan-du-car <62157949+dan-du-car@users.noreply.github.com>
Date: Wed, 28 Aug 2024 11:37:25 -0400
Subject: [PATCH] MustSensorDriverPlugin: Convert the classification confidence
 to decimal from percentage unit  % (#634)

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# PR Details
## Description
The MUST Sensor provides classification confidence as a decimal value
between 0 and 100 % while the Sensor Detected Object message expects
confidence as a decimal value between 0 and 1. PR includes appropriate
conversion logic
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## Related Issue
[FCP-30](https://usdot-carma.atlassian.net/browse/FCP-30)
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to reproduce -->
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## Motivation and Context
Provide correct data translation between MUST sensor output and Sensor
Detected Object message for data accuracy in the SDMS Pipeline
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## How Has This Been Tested?
Unit Testing and Local Integration Testing
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## Types of changes

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the boxes that apply: -->

- [x] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [x] All new and existing tests passed.


[FCP-30]:
https://usdot-carma.atlassian.net/browse/FCP-30?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ
---
 src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp       | 2 +-
 src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp  | 2 +-
 .../MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
index 9a23f0324..ab5d3d71f 100755
--- a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
+++ b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
@@ -711,7 +711,7 @@ void CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage(SensorDetectedObje
 	// is currently out of scope. TMX Messages should be correctly serialize to 
 	// and from json. This temporary fix simply using regex to look for numeric,
 	// null, and bool values and removes the quotations around them.
-	PLOG(logDEBUG) <<  "Produce sensor detected message in JSON format:  " << msg.to_string() <<std::endl;
+	PLOG(logDEBUG) <<  "Receive sensor detected message in JSON format:  " << msg.to_string() <<std::endl;
 	boost::regex exp("\"(null|true|false|-?[0-9]+(\\.[0-9]+)?)\"");
 	std::stringstream ss;
 	std::string rv = boost::regex_replace(msg.to_string(), exp, "$1");
diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp
index 8d37af661..0256bb93a 100644
--- a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp
+++ b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp
@@ -34,7 +34,7 @@ namespace MUSTSensorDriverPlugin {
         detectedObject.set_objectId(detection.trackID);
         tmx::messages::Position pos(detection.position_x, detection.position_y, 0);
         detectedObject.set_position(pos);
-        detectedObject.set_confidence(detection.confidence);
+        detectedObject.set_confidence(detection.confidence/100.0);
         detectedObject.set_timestamp(static_cast<long>(detection.timestamp*1000)); // convert decimal seconds to int milliseconds.
         detectedObject.set_velocity(headingSpeedToVelocity(detection.heading, detection.speed));
         detectedObject.set_type(detectionClassificationToSensorDetectedObjectType(detection.cl));
diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp b/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
index 8a62e1c99..d065d31a3 100644
--- a/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
+++ b/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
@@ -66,7 +66,7 @@ TEST(TestMUSTSensorDetection, mustDetectionToSensorDetectedObject ) {
     auto sensorDetectedObject = mustDetectionToSensorDetectedObject(detection, "MUSTSensor1", "PROJ String");
 
     EXPECT_EQ(detection.trackID, sensorDetectedObject.get_objectId());
-    EXPECT_DOUBLE_EQ(detection.confidence, sensorDetectedObject.get_confidence());
+    EXPECT_DOUBLE_EQ(detection.confidence/100.0, sensorDetectedObject.get_confidence());
     EXPECT_DOUBLE_EQ(detection.position_x, sensorDetectedObject.get_position().x);
     EXPECT_DOUBLE_EQ(detection.position_y, sensorDetectedObject.get_position().y);
     EXPECT_NEAR(4.33, sensorDetectedObject.get_velocity().y, 0.001);