Updates

src/tmx/Messages/include/SensorDetectedObject.h

@@ -12,9 +12,8 @@ namespace tmx
     {
 
         /**
-         * This SensorDetectedObject is used to communicate the sensor detected object information with various applications
-         * including internal infrastructure applications and external road user applications through simulated environment.
-         * It defines the message type and sub type and all data members.
+         * This SensorDetectedObject is used to communicate the sensor detected object information with various applications.
+         * This message is the generic representation of a sensor detection.
          */
         class SensorDetectedObject : public tmx::message
         {
@@ -29,13 +28,22 @@ namespace tmx
             static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
 
             // TODO: Convert this member variable to std::attributes and handle nested object and arrays. (see [CloudHeartbeatMessage.h](./CloudHearbeatMessage.h) array_attribute )
+
+            // Classification of detected object
             std::string type = "";
+            // Confidence of type classification
             double confidence = 0.0;
+            // Unique indentifier of sensor reporting detection
             std::string sensorId = "";
+            // String describing projection used to convert cartesian data to WGS84 data 
             std::string projString = "";
+            // Unique identifier of detected object
             int objectId = 0;
+            // Cartesian positiion of object. Assumed to be ENU coordinate frame.
             tmx::utils::Point position = tmx::utils::Point();
+            // Cartesian velocity vector of object. Assumed to be ENU coordinate frame.
             tmx::utils::Vector3d velocity = tmx::utils::Vector3d();
+            // Epoch time in milliseconds
             long timestamp = 0;
 
         };

src/v2i-hub/MUSTSensorDriverPlugin/scripts/MockMUSTSensor.py

@@ -42,10 +42,8 @@ def move_detection():
     return 
 
 def create_socket():       
-    try:
-        return socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM)
-    except socket.error as err:
-        print('Socket error because of %s' %(err))
+    return socket.socket(family=socket.AF_INET, type=socket.SOCK_DGRAM)
+
 def send_detection(sock, detection, host):
     try:
         msg = detection.to_csv()

src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.cpp

@@ -25,7 +25,7 @@ namespace MUSTSensorDriverPlugin {
         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));
+        detection.timestamp = std::stod(csv_values.at(8));
         return detection;
     }
 
@@ -35,7 +35,7 @@ namespace MUSTSensorDriverPlugin {
         detectedObject.position.X = detection.position_x;
         detectedObject.position.Y = detection.position_y;
         detectedObject.confidence = detection.confidence;
-        detectedObject.timestamp = detection.timestamp;
+        detectedObject.timestamp = static_cast<long>(detection.timestamp*1000); // convert decimal seconds to int milliseconds.
         detectedObject.velocity = headingSpeedToVelocity(detection.heading, detection.speed);
         detectedObject.type = detectionClassificationToSensorDetectedObjectType(detection.cl);
         detectedObject.sensorId = sensorId;

src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h

@@ -64,7 +64,8 @@ namespace MUSTSensorDriverPlugin {
     DetectionClassification fromStringToDetectionClassification(const std::string &str) noexcept;
 
     /**
-     * @brief Converts DetectionClassification enumeration to string type for SensorDetectedObject
+     * @brief Converts DetectionClassification enumeration to string type for SensorDetectedObject. All types are 
+     * assumed to be capitalize versions of the DetectionClassifications.
      * @param classifcation DetectionClassification
      * @return std::string type for SensorDetectedObject
      * @throws tmx::TmxException if DetectionClassification is not included in map.
@@ -88,9 +89,9 @@ namespace MUSTSensorDriverPlugin {
         // Confidence in type
         double confidence = 0;
         // Unique ID
-        unsigned trackID = 0;
+        unsigned int trackID = 0;
         // Timestamp in seconds
-        unsigned long timestamp = 0; 
+        double timestamp = 0; 
 
     };
 

src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp

@@ -56,7 +56,7 @@ TEST(TestMUSTSensorDetection, mustDetectionToSensorDetectedObject ) {
     detection.position_x = 10.5;
     detection.position_y = -20.3;
     detection.size = DetectionSize::SMALL;
-    detection.timestamp = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
+    detection.timestamp = 1719506355.4;
     detection.trackID = 324;
     detection.speed = 5;
 
@@ -69,7 +69,7 @@ TEST(TestMUSTSensorDetection, mustDetectionToSensorDetectedObject ) {
     EXPECT_NEAR(4.33, sensorDetectedObject.velocity.Y, 0.001);
     EXPECT_NEAR(2.5, sensorDetectedObject.velocity.X, 0.001);
     EXPECT_STRCASEEQ("SEDAN", sensorDetectedObject.type.c_str());
-    EXPECT_EQ(detection.timestamp, sensorDetectedObject.timestamp);
+    EXPECT_EQ(1719506355400, sensorDetectedObject.timestamp);
     EXPECT_EQ("MUSTSensor1", sensorDetectedObject.sensorId);
     EXPECT_EQ("PROJ String", sensorDetectedObject.projString);
 }