Updates

src/tmx/TmxUtils/src/UdpServer.cpp

@@ -198,9 +198,9 @@ namespace tmx::utils {
         return -1;
     }
 
-    std::string UdpServer::stringTimedReceive() {
+    std::string UdpServer::stringTimedReceive(int maxWait_ms) {
         std::vector<char> msg(4000);
-        int num_of_bytes = this->TimedReceive(msg.data(),4000, 5);
+        int num_of_bytes = this->TimedReceive(msg.data(),4000, maxWait_ms);
         if (num_of_bytes > 0 ) {
             msg.resize(num_of_bytes);
             std::string ret(msg.data());

src/tmx/TmxUtils/src/UdpServer.h

@@ -37,7 +37,7 @@ class UdpServer
 	virtual int Receive(char *msg, size_t maxSize);
 	virtual int TimedReceive(char *msg, size_t maxSize, int maxWait_ms);
 
-	virtual std::string stringTimedReceive();
+	virtual std::string stringTimedReceive(int maxWait_ms=5);
 
 private:
 	int _socket;

src/v2i-hub/MUSTSensorDriverPlugin/README.md

@@ -2,7 +2,7 @@
 
 ## Introduction
 
-[MUST](https://www.aiwaysion.com/technology) (Mobile Unit for Sensing Traffic) Sensor from AI Waysion is a camera based sensor, planned to be used for cooperative perception in freight use cases.<Some sentence about what ever university is developing the detection algorythms for this sensor>. The MUST Sensor provides detections via UDP packets made up of CSV (Comma Separated Values) string data. The V2X-Hub MUST Sensor Driver Plugin will then consume these messages and translate them to **Sensor Detected Object** messages, which is V2X-Hub's generic detection message. This message is consumable by the  **CARMA Streets [Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** which will generate **Sensor Data Sharing Message**s according to the J3224 standard for broadcast to other traffic actors in the area.
+[MUST](https://www.aiwaysion.com/technology) (Mobile Unit for Sensing Traffic) Sensor from AI Waysion is a camera based sensor, planned to be used for cooperative perception in freight use cases. The MUST Sensor provides detections via UDP packets made up of CSV (Comma Separated Values) string data. The V2X-Hub MUST Sensor Driver Plugin will then consume these messages and translate them to **Sensor Detected Object** messages, which is V2X-Hub's generic detection message. This message is consumable by the  **CARMA Streets [Sensor Data Sharing Service](https://github.com/usdot-fhwa-stol/carma-streets/blob/develop/sensor_data_sharing_service/README.md)** which will generate **Sensor Data Sharing Message**s according to the J3224 standard for broadcast to other traffic actors in the area.
 
 ## Related Plugins
 

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

@@ -35,8 +35,8 @@ class MUSTDetection:
     track_id: int
     timestamp: int
 
-    def to_csv():
-        return f'{self.classification},{self.x},{self.y},{self.heading},{self.speed},{self.size},{self.confidence},{self.track_id},{self.timstamp}'
+    def to_csv(self):
+        return f'{self.classification.value},{self.x},{self.y},{self.heading},{self.speed},{self.size.value},{self.confidence},{self.track_id},{self.timestamp}'
 
 def move_detection():
     return 
@@ -48,7 +48,7 @@ def create_socket():
         print('Socket error because of %s' %(err))
 def send_detection(sock, detection, host):
     try:
-        msg = detection
+        msg = detection.to_csv()
         encoded_msg = str.encode(msg)
         sock.sendto(encoded_msg,host)
         print( encoded_msg.decode(encoding= 'UTF-8'), 'was sent to ', host)

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

@@ -27,7 +27,12 @@ namespace MUSTSensorDriverPlugin {
 		SubscribeToMessages();
 	}
 
-
+	void  MUSTSensorDriverPlugin::OnStateChange(IvpPluginState state) {
+		PluginClientClockAware::OnStateChange(state);
+		if (state == IvpPluginState_registered) {
+			UpdateConfigSettings();
+		}
+	}
 
 	void MUSTSensorDriverPlugin::UpdateConfigSettings()
 	{
@@ -44,7 +49,7 @@ namespace MUSTSensorDriverPlugin {
 			GetConfigValue<std::string>("DetectionReceiverIP", ip_address);
 			GetConfigValue<uint>("DetectionReceiverPort", port);
 			createUdpServer(ip_address, port);
-			SetStatus(keyMUSTSensorConnectionStatus, "IDLE", true);
+			SetStatus(keyMUSTSensorConnectionStatus, "IDLE");
 
 			mustSensorPacketReceiverThreadId = mustSensorPacketReceiverThread->AddPeriodicTick([this]() {
             	this->processMUSTSensorDetection();
@@ -60,18 +65,24 @@ namespace MUSTSensorDriverPlugin {
 				MUSTSensorDetection detection = csvToDectection(mustSensorPacketReceiver->stringTimedReceive());
 				if ( !connected ) {
 					connected = true;
-					SetStatus(keyMUSTSensorConnectionStatus, "CONNECTED", true);
+					SetStatus(keyMUSTSensorConnectionStatus, "CONNECTED");
 				}
 				tmx::messages::SensorDetectedObject msg = mustDetectionToSensorDetectedObject(detection, sensorId, projString);
 				PLOG(logDEBUG1) << "Sending Simulated SensorDetectedObject Message " << msg << std::endl;
 				this->BroadcastMessage<tmx::messages::SensorDetectedObject>(msg, _name, 0 , IvpMsgFlags_None);
 			}
 			catch( const tmx::utils::UdpServerRuntimeError &e) {
-				SetStatus(keyMUSTSensorConnectionStatus, "DISCONNECTED", true);
+				PLOG(logERROR) << "Error occurred processing MUSTSensorDetection" << e << std::endl;
+				SetStatus(keyMUSTSensorConnectionStatus, "DISCONNECTED");
 				connected = false;
 			}
+			catch ( const std::runtime_error &e){
+				PLOG(logERROR) << "Error occurred processing MUSTSensorDetection" << e.what() << std::endl;
+				SetStatus(keyMUSTSensorConnectionStatus, "DISCONNECTED");
+				connected = false;
+			} 
 		}else {
-			SetStatus(keyMUSTSensorConnectionStatus, "DISCONNECTED", true);
+			SetStatus(keyMUSTSensorConnectionStatus, "DISCONNECTED");
 			connected = false;
 		}
 	}

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

@@ -58,7 +58,7 @@ namespace MUSTSensorDriverPlugin
             void UpdateConfigSettings();
             void OnConfigChanged(const char *key, const char *value) override;
             void createUdpServer(const std::string &address, unsigned int port);
-
+            void OnStateChange(IvpPluginState state);
             void processMUSTSensorDetection();
 
         public: