Skip to content

Commit

Permalink
address comments
Browse files Browse the repository at this point in the history
  • Loading branch information
@dan-du-car
dan-du-car committed Jul 26, 2023
1 parent 9abb47b commit 55221e3
Show file tree
Hide file tree
Showing 3 changed files with 15 additions and 18 deletions.
21 changes: 11 additions & 10 deletions src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,13 +20,7 @@ namespace CDASimAdapter{
}

bool CDASimConnection::connect() {
//Read local sensor file and populate the sensors JSON
auto sensors_json_v = read_json_file(_sensor_json_file_path);
if(sensors_json_v.empty())
{
PLOG(logWARNING) << "Sensors JSON is empty!" << std::endl;
}
if (!carma_simulation_handshake(_simulation_ip, _infrastructure_id, _simulation_registration_port, _local_ip, _time_sync_port, _v2x_port, _location, sensors_json_v)) {
if (!carma_simulation_handshake(_simulation_ip, _infrastructure_id, _simulation_registration_port, _local_ip, _time_sync_port, _v2x_port, _location)) {
_connected = false;
return _connected;
}
Expand All @@ -40,7 +34,7 @@ namespace CDASimAdapter{
}

std::string CDASimConnection::get_handshake_json(const std::string &infrastructure_id, const std::string &local_ip, const uint time_sync_port, const uint v2x_port,
const Point &location, const Json::Value& sensors_json_v) const
const Point &location) const

{
Json::Value message;
Expand All @@ -53,6 +47,13 @@ namespace CDASimAdapter{
message["location"]["x"] = location.X;
message["location"]["y"] = location.Y;
message["location"]["z"] = location.Z;

//Read local sensor file and populate the sensors JSON
auto sensors_json_v = read_json_file(_sensor_json_file_path);
if(sensors_json_v.empty())
{
PLOG(logWARNING) << "Sensors JSON is empty!" << std::endl;
}
message["sensors"] = sensors_json_v;
Json::StyledWriter writer;
message_str = writer.write(message);
Expand All @@ -61,12 +62,12 @@ namespace CDASimAdapter{

bool CDASimConnection::carma_simulation_handshake(const std::string &simulation_ip, const std::string &infrastructure_id, const uint simulation_registration_port,
const std::string &local_ip, const uint time_sync_port, const uint v2x_port,
const Point &location, const Json::Value& sensors_json_v )
const Point &location)
{
// Create JSON message with the content
std::string payload = "";

payload = get_handshake_json(infrastructure_id, local_ip, time_sync_port, v2x_port, location, sensors_json_v);
payload = get_handshake_json(infrastructure_id, local_ip, time_sync_port, v2x_port, location);

try
{
Expand Down
6 changes: 2 additions & 4 deletions src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -93,12 +93,11 @@ namespace CDASimAdapter {
* @param time_sync_port port assigned to listening for time sychronization messages from CARMA-Simulation.
* @param v2x_port port assigned to listening for v2x messages from CARMA-Simulation.
* @param location simulated location of infrastructure hardware.
* @param sensors_json_v A list of sensors sent to CARLA for sensor generation.
* @return true if handshake successful and false if handshake unsuccessful.
*/
bool carma_simulation_handshake(const std::string &simulation_ip, const std::string &infrastructure_id, const uint simulation_registration_port,
const std::string &local_ip, const uint time_sync_port, const uint v2x_port,
const tmx::utils::Point &location, const Json::Value& sensors_json_v);
const tmx::utils::Point &location);

/**
* @brief Method to setup UDP Servers and Clients after handshake to facilate message forwarding.
Expand Down Expand Up @@ -130,11 +129,10 @@ namespace CDASimAdapter {
* @param time_sync_port port assigned to listening for time sychronization messages from CARMA-Simulation.
* @param v2x_port port assigned to listening for v2x messages from CARMA-Simulation.
* @param location simulated location of infrastructure hardware.
* @param sensors_json_v A list of sensors sent to CARLA for sensor generation.
* @return true if handshake successful and false if handshake unsuccessful.
*/
std::string get_handshake_json(const std::string &infrastructure_id, const std::string &local_ip, const uint time_sync_port,
const uint v2x_port, const tmx::utils::Point &location, const Json::Value& sensors_json_v) const;
const uint v2x_port, const tmx::utils::Point &location) const;

/**
* @brief Read local file that has the sensor information in JSON format from disk. Populate global sensor json variable with the information.
Expand Down
6 changes: 2 additions & 4 deletions src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -87,17 +87,15 @@ namespace CDASimAdapter {
location.X = 1000;
location.Y = 38.955;
location.Z = -77.149;
Json::Value sensorsJsonV;
ASSERT_EQ(connection->get_handshake_json("4566", "127.0.0.1", 4567, 4568, location, sensorsJsonV),
ASSERT_EQ(connection->get_handshake_json("4566", "127.0.0.1", 4567, 4568, location),
"{\n \"infrastructureId\" : \"4566\",\n \"location\" : {\n \"x\" : 1000.0,\n \"y\" : 38.954999999999998,\n \"z\" : -77.149000000000001\n },\n \"rxMessageIpAddress\" : \"127.0.0.1\",\n \"rxMessagePort\" : 4568,\n \"sensors\" : null,\n \"timeSyncPort\" : 4567\n}\n");
}

TEST_F( TestCARMASimulationConnection, carma_simulation_handshake) {
Point location;
Json::Value sensorsJsonV;
// UDP creation error
ASSERT_FALSE(connection->carma_simulation_handshake("", "45", NULL,
"", 45, 45, location, sensorsJsonV));
"", 45, 45, location));
}

TEST_F(TestCARMASimulationConnection, connect) {
Expand Down

0 comments on commit 55221e3

Please sign in to comment.