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usdot-fhwa-OPS · Sep 3, 2024 · 904e31e · 904e31e
1 parent 9bdf571
commit 904e31e
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Showing 4 changed files with 59 additions and 1 deletion.
diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
@@ -298,7 +298,7 @@ namespace CDASimAdapter{
             }
             sensor["location"] = sensor_configuration[index]["ref"]["location"];
             sensor["orientation"] =sensor_configuration[index]["ref"]["orientation"];
-            sensors_registration[index] = sensor;
+            sensors_registration.append(sensor);
         }
         /** Sensor Registration JSON Format
         [

diff --git a/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp b/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp
@@ -180,6 +180,8 @@ namespace CDASimAdapter {
             FRIEND_TEST(TestCDASimConnection, get_handshake_json_no_sensor_config);
             FRIEND_TEST(TestCDASimConnection, read_json_file);
             FRIEND_TEST(TestCDASimConnection, string_to_json);
+            FRIEND_TEST(TestCDASimConnection, read_sensor_configuration_file);
+
 
 
     };

diff --git a/src/v2i-hub/CDASimAdapter/test/TestCDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/test/TestCDASimConnection.cpp
@@ -115,4 +115,12 @@ namespace CDASimAdapter {
     {        
         EXPECT_THROW(connection->string_to_json("Invalid Json"), std::invalid_argument);
     }
+
+    TEST_F(TestCDASimConnection, read_sensor_configuration_file) {
+        auto sensor_registration = connection->read_sensor_configuration_file("../../CDASimAdapter/test/sensors_including_invalid_entries.json");
+        EXPECT_EQ(2, sensor_registration.size());
+        EXPECT_EQ("SomeID", sensor_registration[0]["sensorId"].asString());
+        EXPECT_EQ("SomeID2", sensor_registration[1]["sensorId"].asString());
+
+    }
 }
diff --git a/src/v2i-hub/CDASimAdapter/test/sensors_including_invalid_entries.json b/src/v2i-hub/CDASimAdapter/test/sensors_including_invalid_entries.json
@@ -0,0 +1,48 @@
+[
+  {
+    "sensorId": "SomeID",
+    "type": "SemanticLidar",
+    "ref": {
+      "type": "CARTESIAN",
+      "location": {
+        "x": 0.0,
+        "y": 0.0,
+        "z": 0.0
+      },
+      "orientation": {
+        "yaw": 0.0,
+        "pitch": 0.0,
+        "roll": 0.0
+        }
+    }
+  },
+  {
+    "sensorId": "sensor_1",
+    "type": "SemanticLidar",
+    "ref": {
+      "type": "WGS84",
+      "location": {
+        "latitude": 38.9549716548523, 
+        "longitude": -77.14935313519123, 
+        "altitude": 5.5 
+      }
+    }
+  }, 
+  {
+    "sensorId": "SomeID2",
+    "type": "SemanticLidar",
+    "ref": {
+      "type": "CARTESIAN",
+      "location": {
+        "x": 1.0,
+        "y": 2.0,
+        "z": 0.0
+      },
+      "orientation": {
+        "yaw": 23.0,
+        "pitch": 0.0,
+        "roll": 0.0
+        }
+    }
+  }
+]