From 576e484a89033b1b406901e19c16d509beab12d6 Mon Sep 17 00:00:00 2001
From: dan-du-car <62157949+dan-du-car@users.noreply.github.com>
Date: Thu, 22 Aug 2024 08:23:36 -0400
Subject: [PATCH] Update detection classifications in MUSTSensorDriverPlugin 
 (#631)

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# PR Details
## Description
Update detection classifications in MUSTSensorDriverPlugin
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## Related Issue
https://usdot-carma.atlassian.net/browse/FCP-28
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## Motivation and Context
Freight Cooperative Perception
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## How Has This Been Tested?
Unit test
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## Types of changes

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the boxes that apply: -->

- [x] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
---
 .../MUSTSensorDriverPlugin/src/MUSTSensorDetection.h      | 8 +++++++-
 .../test/TestMUSTSensorDetection.cpp                      | 6 ++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h
index 37e0858ec..9140b0252 100644
--- a/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h
+++ b/src/v2i-hub/MUSTSensorDriverPlugin/src/MUSTSensorDetection.h
@@ -16,6 +16,9 @@ namespace MUSTSensorDriverPlugin {
     enum class DetectionClassification {
         SEDAN,
         TRUCK,
+        BUS,
+        PICKUP_TRUCK,
+        PEDESTRIAN,
         VAN,
         NA
     };
@@ -46,7 +49,10 @@ namespace MUSTSensorDriverPlugin {
     const static std::unordered_map<std::string, DetectionClassification> stringToDetectionClassificationMap = {
         {"sedan", DetectionClassification::SEDAN},
         {"truck", DetectionClassification::TRUCK},
-        {"van", DetectionClassification::VAN}
+        {"van", DetectionClassification::VAN},
+        {"bus", DetectionClassification::BUS},
+        {"pickup truck", DetectionClassification::PICKUP_TRUCK},
+        {"pedestrian", DetectionClassification::PEDESTRIAN}
     };
 
     /**
diff --git a/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp b/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
index 0f745df77..8a62e1c99 100644
--- a/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
+++ b/src/v2i-hub/MUSTSensorDriverPlugin/test/TestMUSTSensorDetection.cpp
@@ -18,6 +18,9 @@ TEST(TestMUSTSensorDetection, fromStringToDetectionClassification)
     EXPECT_EQ(DetectionClassification::SEDAN, fromStringToDetectionClassification("sedan"));
     EXPECT_EQ(DetectionClassification::VAN, fromStringToDetectionClassification("van"));
     EXPECT_EQ(DetectionClassification::TRUCK, fromStringToDetectionClassification("truck"));
+    EXPECT_EQ(DetectionClassification::BUS, fromStringToDetectionClassification("bus"));
+    EXPECT_EQ(DetectionClassification::PICKUP_TRUCK, fromStringToDetectionClassification("pickup truck"));
+    EXPECT_EQ(DetectionClassification::PEDESTRIAN, fromStringToDetectionClassification("pedestrian"));
     EXPECT_EQ(DetectionClassification::NA, fromStringToDetectionClassification("not_a_classification"));
 
 }
@@ -78,6 +81,9 @@ TEST(TestMUSTSensorDetection, detectionClassificationToSensorDetectedObjectType
     EXPECT_STRCASEEQ("SEDAN", detectionClassificationToSensorDetectedObjectType(DetectionClassification::SEDAN).c_str());
     EXPECT_STRCASEEQ("VAN", detectionClassificationToSensorDetectedObjectType(DetectionClassification::VAN).c_str());
     EXPECT_STRCASEEQ("TRUCK", detectionClassificationToSensorDetectedObjectType(DetectionClassification::TRUCK).c_str());
+    EXPECT_STRCASEEQ("BUS", detectionClassificationToSensorDetectedObjectType(DetectionClassification::BUS).c_str());
+    EXPECT_STRCASEEQ("PICKUP TRUCK", detectionClassificationToSensorDetectedObjectType(DetectionClassification::PICKUP_TRUCK).c_str());
+    EXPECT_STRCASEEQ("PEDESTRIAN", detectionClassificationToSensorDetectedObjectType(DetectionClassification::PEDESTRIAN).c_str());
     EXPECT_THROW(detectionClassificationToSensorDetectedObjectType(DetectionClassification::NA).c_str(), std::runtime_error);
 
 }