Updates to unit test

usdot-fhwa-OPS · Jun 18, 2024 · 31a3b0f · 31a3b0f
1 parent 1e80c46
commit 31a3b0f
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Showing 5 changed files with 46 additions and 20 deletions.
diff --git a/src/tmx/Messages/include/simulation/SensorDetectedObject.h b/src/tmx/Messages/include/simulation/SensorDetectedObject.h
@@ -3,6 +3,7 @@
 
 #include <tmx/messages/message.hpp>
 #include <MessageTypes.h>
+#include <Point.h>
 
 namespace tmx
 {
@@ -26,8 +27,16 @@ namespace tmx
 
                 // // Message sub type for routing this message through TMX core
                 static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
-            };
 
+                std::string type;
+                double confidence;
+                std::string sensorId;
+                std::string projString;
+                int objectId;
+                tmx::utils::Point position;
+                tmx::utils::Point velocity;
+                long timestamp;
+            };
         }
     }
 

diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/CMakeLists.txt b/src/v2i-hub/MUSTSensorDriverPlugin/CMakeLists.txt
@@ -13,6 +13,7 @@ TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC tmxutils )
 #############
 enable_testing()
 add_library(${PROJECT_NAME}_lib src/MUSTSensorDetection.cpp)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_lib PUBLIC tmxutils )
 
 set(BINARY ${PROJECT_NAME}_test)
 file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)

diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp
@@ -12,19 +12,20 @@ namespace MUSTSensorDriverPlugin {
             std::getline(ss, substr, ',');
             csv_values.push_back(substr);
         }
-        if (csv.size() != 9 ){
-            throw std::runtime_error("Failed to parse csv MUST Detection data");
+        if (csv_values.size() != 9 ){
+            FILE_LOG(tmx::utils::logWARNING) << "CSV data " << csv <<" is size " << csv_values.size() << std::endl;
+            throw std::runtime_error("Failed to parse CSV MUST Detection data");
         }
         // Read out CSV information
-        detection.cl = fromStringToDetectionClassification(&csv.at(0));
-        detection.position_x = std::stod(&csv.at(1));
-        detection.position_y = std::stod(&csv.at(2));
-        detection.heading = std::stod(&csv.at(3));
-        detection.speed = std::stod(&csv.at(4));
-        detection.size = fromStringToDetectionSize(&csv.at(5));
-        detection.confidence = std::stod(&csv.at(6));
-        detection.trackID = std::stoi(&csv.at(7));
-        detection.timestamp = std::stoll(&csv.at(8));
+        detection.cl = fromStringToDetectionClassification(csv_values.at(0));
+        detection.position_x = std::stod(csv_values.at(1));
+        detection.position_y = std::stod(csv_values.at(2));
+        detection.heading = std::stod(csv_values.at(3));
+        detection.speed = std::stod(csv_values.at(4));
+        detection.size = fromStringToDetectionSize(csv_values.at(5));
+        detection.confidence = std::stod(csv_values.at(6));
+        detection.trackID = std::stoi(csv_values.at(7));
+        detection.timestamp = std::stoll(csv_values.at(8));
         return detection;
     }
 

diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h
@@ -3,6 +3,7 @@
 #include <unordered_map>
 #include <stdexcept>      // std::out_of_range
 #include <simulation/SensorDetectedObject.h>
+#include <PluginLog.h>
 
 namespace MUSTSensorDriverPlugin {
 

diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp b/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
@@ -5,18 +5,32 @@ using namespace MUSTSensorDriverPlugin;
 
 TEST(TestMUSTSensorDetection, fromStringToDetectionSize)
 {
-    ASSERT_EQ(DetectionSize::SMALL, fromStringToDetectionSize("small"));
-    ASSERT_EQ(DetectionSize::MEDIUM, fromStringToDetectionSize("medium"));
-    ASSERT_EQ(DetectionSize::LARGE, fromStringToDetectionSize("large"));
-    ASSERT_EQ(DetectionSize::NA, fromStringToDetectionSize("not_a_size"));
+    EXPECT_EQ(DetectionSize::SMALL, fromStringToDetectionSize("small"));
+    EXPECT_EQ(DetectionSize::MEDIUM, fromStringToDetectionSize("medium"));
+    EXPECT_EQ(DetectionSize::LARGE, fromStringToDetectionSize("large"));
+    EXPECT_EQ(DetectionSize::NA, fromStringToDetectionSize("not_a_size"));
 
 }
 
 TEST(TestMUSTSensorDetection, fromStringToDetectionClassification)
 {
-    ASSERT_EQ(DetectionClassification::SEDAN, fromStringToDetectionClassification("sedan"));
-    ASSERT_EQ(DetectionClassification::VAN, fromStringToDetectionClassification("van"));
-    ASSERT_EQ(DetectionClassification::TRUCK, fromStringToDetectionClassification("truck"));
-    ASSERT_EQ(DetectionClassification::NA, fromStringToDetectionClassification("not_a_classification"));
+    EXPECT_EQ(DetectionClassification::SEDAN, fromStringToDetectionClassification("sedan"));
+    EXPECT_EQ(DetectionClassification::VAN, fromStringToDetectionClassification("van"));
+    EXPECT_EQ(DetectionClassification::TRUCK, fromStringToDetectionClassification("truck"));
+    EXPECT_EQ(DetectionClassification::NA, fromStringToDetectionClassification("not_a_classification"));
 
+}
+
+TEST(TestMUSTSensorDetection, csvToDectection ){
+    std::string valid_csv_data = "truck,13.3,22.4,30.5,35.8,large,95.1,1,1714374738";
+    auto detection = csvToDectection(valid_csv_data);
+    EXPECT_EQ(detection.cl, DetectionClassification::TRUCK);
+    EXPECT_DOUBLE_EQ(detection.position_x, 13.3);
+    EXPECT_DOUBLE_EQ(detection.position_y, 22.4);
+    EXPECT_DOUBLE_EQ(detection.heading, 30.5);
+    EXPECT_DOUBLE_EQ(detection.speed, 35.8);
+    EXPECT_EQ(detection.size, DetectionSize::LARGE);
+    EXPECT_DOUBLE_EQ(detection.confidence, 95.1);
+    EXPECT_EQ(detection.trackID, 1);
+    EXPECT_EQ(detection.timestamp, 1714374738);
 }