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Added sourceID/lights, plugin manifest changes
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@willjohnsonk
willjohnsonk committed Sep 11, 2023
1 parent 794866a commit 39550fe
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Showing 5 changed files with 47 additions and 16 deletions.
10 changes: 10 additions & 0 deletions src/v2i-hub/CARMAStreetsPlugin/manifest.json
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Expand Up @@ -116,6 +116,16 @@
"key": "SimSensorDetectedObjTopic",
"default": "v2xhub_sim_sensor_detected_object",
"description": "Apache Kafka topic plugin will transmit simulated sensor detected object to."
},
{
"key": "SdsmSubscribeTopic",
"default": "v2xhub_sdsm_sub",
"description": "Apache Kafka topic plugin that will subscribe to SDSM streams."
},
{
"key": "SdsmTransmitTopic",
"default": "v2xhub_sdsm_tra",
"description": "Apache Kafka topic plugin that will transmit SDSMs."
}

]
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4 changes: 2 additions & 2 deletions src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
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Expand Up @@ -49,8 +49,8 @@ void CARMAStreetsPlugin::UpdateConfigSettings() {
GetConfigValue<string>("MapTopic", _transmitMAPTopic);
GetConfigValue<string>("SRMTopic", _transmitSRMTopic);
GetConfigValue<string>("SimSensorDetectedObjTopic", _transmitSimSensorDetectedObjTopic);
GetConfigValue<string>("SdsmTopic", _subscribeToSdsmTopic);
GetConfigValue<string>("SdsmTopic", _transmitSDSMTopic);
GetConfigValue<string>("SdsmSubscribeTopic", _subscribeToSdsmTopic);
GetConfigValue<string>("SdsmTransmitTopic", _transmitSDSMTopic);
// Populate strategies config
string config;
GetConfigValue<string>("MobilityOperationStrategies", config);
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2 changes: 1 addition & 1 deletion src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.h
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Expand Up @@ -70,7 +70,7 @@ class CARMAStreetsPlugin: public PluginClientClockAware {
*/
void HandleMapMessage(MapDataMessage &msg, routeable_message &routeableMsg);
/**
* @brief Subscribe to SDSM broadcast.
* @brief Subscribes to incoming ASN.1, C-Struct formatted SDSMs generated from broadcasting RSUs. These SDSM C-Structs are then converted to JSON to be forwarded to CARMA Streets/Kafka by the handler.
* @param msg The J3224 SDSM received from the internal
* @param routeableMsg
*/
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34 changes: 25 additions & 9 deletions src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp
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Expand Up @@ -42,7 +42,18 @@ namespace CARMAStreetsPlugin
std::vector<std::shared_ptr<void>> shared_ptrs;

sdsm->msgCnt = sdsm_json["msg_cnt"].asInt64();
// TODO: convert input sourceID from JSON to C struct octet appropriately

// TODO: confirm input sourceID from JSON to C struct constructs octet appropriately
// sourceID
TemporaryID_t tempID;

std::string id_data = sdsm_json["source_id"].asString();
std::vector<uint8_t> id_vector(id_data.begin(), id_data.end());
uint8_t *id_ptr = &id_vector[0];
tempID.buf = id_ptr;
tempID.size = sizeof(id_ptr);
sdsm->sourceID = tempID;

sdsm->equipmentType = sdsm_json["equipment_type"].asInt64();


Expand Down Expand Up @@ -190,14 +201,18 @@ namespace CARMAStreetsPlugin
// set presence val to veh
optional_data_ptr->present = DetectedObjectOptionalData_PR_detVeh;

// TODO: fix casting issue, won't take the json input value
// // lights
// auto lights = static_cast<int16_t>((*itr)["detected_object_data"]["detected_object_optional_data"]["detected_vehicle_data"]["lights"].asInt());
// optional_data_ptr->choice.detVeh.lights->buf = (uint8_t *)calloc(2, sizeof(uint8_t)); // TODO: find calloc alternative if possible
// optional_data_ptr->choice.detVeh.lights->size = 2 * sizeof(uint8_t);
// optional_data_ptr->choice.detVeh.lights->bits_unused = 0;
// optional_data_ptr->choice.detVeh.lights->buf[1] = static_cast<int8_t>(lights);
// optional_data_ptr->choice.detVeh.lights->buf[0] = (lights >> 8);
// TODO: find a better way to convert lights val
// lights
auto lights_ptr = CARMAStreetsPlugin::create_store_shared<ExteriorLights_t>(shared_ptrs);
auto lights = static_cast<int16_t>((*itr)["detected_object_data"]["detected_object_optional_data"]["detected_vehicle_data"]["lights"].asInt());
lights_ptr->buf = (uint8_t *)calloc(2, sizeof(uint8_t)); // TODO: find calloc alternative if possible, causes a memory leak
lights_ptr->size = 2 * sizeof(uint8_t);
lights_ptr->bits_unused = 0;
lights_ptr->buf[1] = static_cast<int8_t>(lights);
lights_ptr->buf[0] = (lights >> 8);

optional_data_ptr->choice.detVeh.lights = lights_ptr;


// vehAttitude
auto attitude_ptr = CARMAStreetsPlugin::create_store_shared<Attitude_t>(shared_ptrs);
Expand Down Expand Up @@ -338,6 +353,7 @@ namespace CARMAStreetsPlugin
// Set the data to the ASN.1 C struct
sdsm->objects = *object_list;


}


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13 changes: 9 additions & 4 deletions src/v2i-hub/CARMAStreetsPlugin/test/test_JsonToJ3224SDSMConverter.cpp
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Expand Up @@ -31,15 +31,17 @@ namespace CARMAStreetsPlugin
TEST_F(test_JsonToJ3224SDSMConverter, convertJsonToSDSM_header)
{
JsonToJ3224SDSMConverter converter;
std::string valid_json_str = "{\"equipment_type\":1,\"msg_cnt\":1,\"ref_pos\":{\"Long\":600000000,\"elevation\":30,\"lat\":400000000},\"ref_pos_el_conf\":10,\"ref_pos_xy_conf\":{\"orientation\":25000,\"semi_major\":235,\"semi_minor\":200},\"sdsm_time_stamp\":{\"day\":4,\"hour\":19,\"minute\":15,\"month\":7,\"offset\":400,\"second\":5000,\"year\":2007},\"source_id\":\"01020304\",\"objects\":[{\"detected_object_data\":{\"detected_object_common_data\":{\"acc_cfd_x\":4,\"acc_cfd_y\":5,\"acc_cfd_yaw\":3,\"acc_cfd_z\":6,\"accel_4_way\":{\"lat\":-500,\"Long\":200,\"vert\":1,\"yaw\":400},\"heading\":16000,\"heading_conf\":4,\"measurement_time\":-1100,\"object_id\":12200,\"obj_type\":1,\"obj_type_cfd\":65,\"pos\":{\"offset_x\":4000,\"offset_y\":-720,\"offset_z\":20},\"pos_confidence\":{\"elevation\":5,\"pos\":2},\"speed\":2100,\"speed_confidence\":3,\"speed_confidence_z\":4,\"speed_z\":1000,\"time_confidence\":2}}}]}";
std::string valid_json_str = "{\"equipment_type\":1,\"msg_cnt\":1,\"ref_pos\":{\"Long\":600000000,\"elevation\":30,\"lat\":400000000},\"ref_pos_el_conf\":10,\"ref_pos_xy_conf\":{\"orientation\":25000,\"semi_major\":235,\"semi_minor\":200},\"sdsm_time_stamp\":{\"day\":4,\"hour\":19,\"minute\":15,\"month\":7,\"offset\":400,\"second\":5000,\"year\":2007},\"source_id\":\"1234\",\"objects\":[{\"detected_object_data\":{\"detected_object_common_data\":{\"acc_cfd_x\":4,\"acc_cfd_y\":5,\"acc_cfd_yaw\":3,\"acc_cfd_z\":6,\"accel_4_way\":{\"lat\":-500,\"Long\":200,\"vert\":1,\"yaw\":400},\"heading\":16000,\"heading_conf\":4,\"measurement_time\":-1100,\"object_id\":12200,\"obj_type\":1,\"obj_type_cfd\":65,\"pos\":{\"offset_x\":4000,\"offset_y\":-720,\"offset_z\":20},\"pos_confidence\":{\"elevation\":5,\"pos\":2},\"speed\":2100,\"speed_confidence\":3,\"speed_confidence_z\":4,\"speed_z\":1000,\"time_confidence\":2}}}]}";
Json::Value root;
bool result = converter.parseJsonString(valid_json_str, root);
ASSERT_TRUE(result);
auto sdsmPtr = std::make_shared<SensorDataSharingMessage>();
converter.convertJsonToSDSM(root, sdsmPtr);
ASSERT_EQ(1, sdsmPtr->msgCnt);

// ASSERT_EQ("01020304", sdsmPtr->sourceID);
// TODO: find a way to generate test octet strings for unit test comparisons
size_t test_size = 8;
ASSERT_EQ(test_size, sdsmPtr->sourceID.size); // this only compares size since size is an int, 1234 -> size 8 in hex

ASSERT_EQ(1, sdsmPtr->equipmentType);
ASSERT_EQ(2007, *sdsmPtr->sDSMTimeStamp.year);
Expand Down Expand Up @@ -105,14 +107,17 @@ namespace CARMAStreetsPlugin
TEST_F(test_JsonToJ3224SDSMConverter, convertJsonToSDSM_veh)
{
JsonToJ3224SDSMConverter converter;
std::string valid_json_str = "{\"equipment_type\":1,\"msg_cnt\":1,\"objects\":[{\"detected_object_data\":{\"detected_object_common_data\":{\"acc_cfd_x\":4,\"acc_cfd_y\":5,\"acc_cfd_yaw\":3,\"acc_cfd_z\":6,\"accel_4_way\":{\"lat\":-500,\"long\":200,\"vert\":1,\"yaw\":400},\"heading\":16000,\"heading_conf\":4,\"measurement_time\":-1100,\"object_id\":12200,\"obj_type\":1,\"obj_type_cfd\":65,\"pos\":{\"offset_x\":4000,\"offset_y\":-720,\"offset_z\":20},\"pos_confidence\":{\"elevation\":5,\"pos\":2},\"speed\":2100,\"speed_confidence\":3,\"speed_confidence_z\":4,\"speed_z\":1000,\"time_confidence\":2},\"detected_object_optional_data\":{\"detected_vehicle_data\":{\"height\":70,\"lights\":\"8\",\"size\":{\"length\":700,\"width\":300},\"veh_ang_vel\":{\"pitch_rate\":600,\"roll_rate\":-800},\"veh_ang_vel_confidence\":{\"pitch_rate_confidence\":3,\"roll_rate_confidence\":4},\"veh_attitude\":{\"pitch\":2400,\"roll\":-12000,\"yaw\":400},\"veh_attitude_confidence\":{\"pitch_confidence\":2,\"roll_confidence\":3,\"yaw_confidence\":4},\"vehicle_class\":11,\"vehicle_class_conf\":75,\"vehicle_size_confidence\":{\"vehicle_height_confidence\":5,\"vehicle_length_confidence\":6,\"vehicle_width_confidence\":7}}}}}],\"ref_pos\":{\"Long\":600000000,\"elevation\":30,\"lat\":400000000},\"ref_pos_el_conf\":10,\"ref_pos_xy_conf\":{\"orientation\":25000,\"semi_major\":235,\"semi_minor\":200},\"sdsm_time_stamp\":{\"day\":4,\"hour\":19,\"minute\":15,\"month\":7,\"offset\":400,\"second\":5000,\"year\":2007},\"source_id\":\"01020304\"}";
std::string valid_json_str = "{\"equipment_type\":1,\"msg_cnt\":1,\"objects\":[{\"detected_object_data\":{\"detected_object_common_data\":{\"acc_cfd_x\":4,\"acc_cfd_y\":5,\"acc_cfd_yaw\":3,\"acc_cfd_z\":6,\"accel_4_way\":{\"lat\":-500,\"long\":200,\"vert\":1,\"yaw\":400},\"heading\":16000,\"heading_conf\":4,\"measurement_time\":-1100,\"object_id\":12200,\"obj_type\":1,\"obj_type_cfd\":65,\"pos\":{\"offset_x\":4000,\"offset_y\":-720,\"offset_z\":20},\"pos_confidence\":{\"elevation\":5,\"pos\":2},\"speed\":2100,\"speed_confidence\":3,\"speed_confidence_z\":4,\"speed_z\":1000,\"time_confidence\":2},\"detected_object_optional_data\":{\"detected_vehicle_data\":{\"height\":70,\"lights\":8,\"size\":{\"length\":700,\"width\":300},\"veh_ang_vel\":{\"pitch_rate\":600,\"roll_rate\":-800},\"veh_ang_vel_confidence\":{\"pitch_rate_confidence\":3,\"roll_rate_confidence\":4},\"veh_attitude\":{\"pitch\":2400,\"roll\":-12000,\"yaw\":400},\"veh_attitude_confidence\":{\"pitch_confidence\":2,\"roll_confidence\":3,\"yaw_confidence\":4},\"vehicle_class\":11,\"vehicle_class_conf\":75,\"vehicle_size_confidence\":{\"vehicle_height_confidence\":5,\"vehicle_length_confidence\":6,\"vehicle_width_confidence\":7}}}}}],\"ref_pos\":{\"Long\":600000000,\"elevation\":30,\"lat\":400000000},\"ref_pos_el_conf\":10,\"ref_pos_xy_conf\":{\"orientation\":25000,\"semi_major\":235,\"semi_minor\":200},\"sdsm_time_stamp\":{\"day\":4,\"hour\":19,\"minute\":15,\"month\":7,\"offset\":400,\"second\":5000,\"year\":2007},\"source_id\":\"01020304\"}";
Json::Value root;
bool result = converter.parseJsonString(valid_json_str, root);
ASSERT_TRUE(result);
auto sdsmPtr = std::make_shared<SensorDataSharingMessage>();
converter.convertJsonToSDSM(root, sdsmPtr);

// ASSERT_EQ("0106", sdsmPtr->objects.list.array[0]->detObjOptData->choice.detVeh.lights);
// Similar to sourceID, need a better way to compare retrieved ASN.1 values (in this case bit strings) to verify conversion
size_t test_size = 2;
ASSERT_EQ(test_size, sdsmPtr->objects.list.array[0]->detObjOptData->choice.detVeh.lights->size);

ASSERT_EQ(2400, sdsmPtr->objects.list.array[0]->detObjOptData->choice.detVeh.vehAttitude->pitch);
ASSERT_EQ(-12000, sdsmPtr->objects.list.array[0]->detObjOptData->choice.detVeh.vehAttitude->roll);
ASSERT_EQ(400, sdsmPtr->objects.list.array[0]->detObjOptData->choice.detVeh.vehAttitude->yaw);
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