address comments

usdot-fhwa-OPS · Jul 28, 2023 · 4bafa7c · 4bafa7c
1 parent 8aa3778
commit 4bafa7c
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Showing 6 changed files with 18 additions and 13 deletions.
diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.h b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.h
@@ -49,7 +49,12 @@ class CARMAStreetsPlugin: public PluginClientClockAware {
 	void HandleMobilityOperationMessage(tsm3Message &msg, routeable_message &routeableMsg);
 	void HandleMobilityPathMessage(tsm2Message &msg, routeable_message &routeableMsg);
 	void HandleBasicSafetyMessage(BsmMessage &msg, routeable_message &routeableMsg);
-	void HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg);
+	/**
+	 * @brief Handler to be invoked when the plugin received detected object, and forward the detected object to Kafka topic.
+	 * @param msg Detected object received from TMX bus.
+	 * @param routeableMsg routeable_message for detected object.
+	 */
+	void HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg,  routeable_message &routeableMsg);
 	/**
 	 * @brief Overide PluginClientClockAware HandleTimeSyncMessage to producer TimeSyncMessage to kafka for CARMA Streets Time Synchronization.
 	 * @param msg TimeSyncMessage received by plugin when in simulation mode. Message provides current simulation time to all processes.

diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp
@@ -91,7 +91,7 @@ namespace CDASimAdapter{
             PLOG(logINFO) << "Simulation and local IP successfully initialized!"<< std::endl;
             uint simulation_registration_port = std::stoul(sim::get_sim_config(sim::SIMULATION_REGISTRATION_PORT));
             uint time_sync_port = std::stoul(sim::get_sim_config(sim::TIME_SYNC_PORT));
-            uint simulated_interaction_port = std::stoul(sim::get_sim_config(sim::SIM_INTERACTION_PORT));
+            uint simulated_interaction_port =static_cast<unsigned int>(std::stoi(sim::get_sim_config(sim::SIM_INTERACTION_PORT)));
             uint v2x_port = std::stoul(sim::get_sim_config(sim::V2X_PORT));
             uint sim_v2x_port = std::stoul(sim::get_sim_config(sim::SIM_V2X_PORT));
             std::string infrastructure_id = sim::get_sim_config(sim::INFRASTRUCTURE_ID);
@@ -172,11 +172,11 @@ namespace CDASimAdapter{
         PLOG(logDEBUG) << "Creating Thread Timer for simulated external object" << std::endl;
         try 
         {
-            if(!external_bject_detection_thread_timer)
+            if(!external_object_detection_thread_timer)
             {
-                external_bject_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>();
+                external_object_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>();
             }            
-            external_bject_detection_thread_timer->AddPeriodicTick([this](){
+            external_object_detection_thread_timer->AddPeriodicTick([this](){
                 PLOG(logDEBUG1) << "Listening for Sensor Detected Message from CDASim." << std::endl;
                 auto msg = connection->consume_sensor_detected_object_message();
                 if ( !msg.is_empty()) {             
@@ -188,7 +188,7 @@ namespace CDASimAdapter{
                 }
             }//End lambda
             , std::chrono::milliseconds(100));
-            external_bject_detection_thread_timer->Start();
+            external_object_detection_thread_timer->Start();
         }
         catch ( const UdpServerRuntimeError &e ) 
         {

diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
@@ -132,7 +132,7 @@ namespace CDASimAdapter{
             msg.set_contents( str_msg );
         }
         else {
-            throw std::runtime_error("Time Sync UDP Server is not initialized");
+            throw UdpServerRuntimeError("Time Sync UDP Server is not initialized");
         }
         return msg;
 
@@ -149,7 +149,7 @@ namespace CDASimAdapter{
         }
         else
         {
-            throw std::runtime_error("Simulated External Object UDP Server is not initialized.");
+            throw UdpServerRuntimeError("Simulated External Object UDP Server is not initialized.");
         }
         return externalObj;
     }
@@ -200,7 +200,7 @@ namespace CDASimAdapter{
             return msg;
         }
         else {
-            throw std::runtime_error("CARMA Simulation UDP Server is not initialized!");
+            throw UdpServerRuntimeError("CARMA Simulation UDP Server is not initialized!");
         }
         return "";
 
@@ -212,7 +212,7 @@ namespace CDASimAdapter{
             return msg;
         }
         else {
-            throw std::runtime_error("Immediate Forward UDP Server is not initialized!");
+            throw UdpServerRuntimeError("Immediate Forward UDP Server is not initialized!");
         }
         return "";
 

diff --git a/src/v2i-hub/CDASimAdapter/src/include/CDASimAdapter.hpp b/src/v2i-hub/CDASimAdapter/src/include/CDASimAdapter.hpp
@@ -119,7 +119,7 @@ namespace CDASimAdapter
         std::unique_ptr<CDASimConnection> connection;
         // Mutex for configuration parameter thread safety
         std::mutex _lock;
-        std::unique_ptr<tmx::utils::ThreadTimer> external_bject_detection_thread_timer;
+        std::unique_ptr<tmx::utils::ThreadTimer> external_object_detection_thread_timer;
         // Time sync thread to forward time sync messages to PluginClientClockAware V2X-Hub plugins.
         std::unique_ptr<tmx::utils::ThreadTimer> time_sync_timer;
         // Time sync thread id

diff --git a/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp b/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp
@@ -85,7 +85,7 @@ namespace CDASimAdapter {
             tmx::messages::TimeSyncMessage consume_time_sync_message() const;
             /**
              * @brief Method to consume incoming external object message.
-             * //To populate the simulation external object, this JSON string has to follow this specification: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification#CARMA-Street-and-V2xHub
+             * To populate the simulation external object, this JSON string has to follow this specification: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification#CARMA-Street-and-V2xHub
              * @return simulation::SensorDetectedObject.
              */
             tmx::messages::simulation::SensorDetectedObject consume_sensor_detected_object_message() const;

diff --git a/src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp b/src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp
@@ -22,7 +22,7 @@ namespace CDASimAdapter {
     class TestCARMASimulationConnection : public ::testing::Test {
         protected:
             void SetUp() override {
-                // Initialize CARMA Simulation connection with (0,0,0) location and mock kafka producer.
+                // Initialize CARMA Simulation connection with (0,0,0) location.
                 Point location; 
                 connection = std::make_shared<CDASimConnection>("127.0.0.1", "1212", 4567, 4678, "127.0.0.1", 1213, 1214, 1215, location, sensors_file_path);
             }