address comments

usdot-fhwa-OPS · Jul 26, 2023 · 9abb47b · 9abb47b
1 parent 85280e4
commit 9abb47b
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Showing 4 changed files with 5 additions and 73 deletions.
diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp
@@ -21,12 +21,12 @@ namespace CDASimAdapter{
 
     bool CDASimConnection::connect() {
         //Read local sensor file and populate the sensors JSON
-        _sensors_json_v = read_json_file(_sensor_json_file_path);
-        if(_sensors_json_v.empty())
+        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, sensors_json_v)) {
             _connected = false;
             return _connected;
         }
@@ -256,37 +256,4 @@ namespace CDASimAdapter{
         }
         return json_v;
     }
-
-    Json::Value CDASimConnection::get_sensor_by_id(const std::string &sensor_id)
-    {
-        Json::Value result;
-        if(_sensors_json_v.empty())
-        {
-            PLOG(logERROR) << "CDASimAdapter stored sensors are empty." << std::endl;
-            return result;
-        }
-
-        if(_sensors_json_v.isArray())
-        {
-           std::for_each( _sensors_json_v.begin(), _sensors_json_v.end(), [&result, &sensor_id](auto& item){
-                if(item.isMember("sensor_id") && item["sensor_id"] == sensor_id)
-                {
-                    result = item;
-                }
-           });
-        }
-        else if(_sensors_json_v.isObject())
-        {
-            if(_sensors_json_v.isMember("sensor_id") && _sensors_json_v["sensor_id"] == sensor_id)
-            {
-                result = _sensors_json_v;
-            }
-        }
-
-        if(result.empty())
-        {
-            PLOG(logERROR) << "CDASimAdapter stored sensors do not have sensor with id = " << sensor_id << std::endl;
-        }
-        return result;
-    }
 }
diff --git a/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp b/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp
@@ -122,11 +122,6 @@ namespace CDASimAdapter {
              * @return Returns true if CARMA-Simulation connection is active and false if the connection is inactive.
              */
             bool is_connected() const;
-            /**
-             * @brief Search the list of sensors stored by this plugin and identify the sensor based on the input id.
-             * @param sensor_id A unique sensor identifier
-            */
-            Json::Value get_sensor_by_id(const std::string &sensor_id);
 
         private:
             /**
@@ -164,8 +159,6 @@ namespace CDASimAdapter {
             tmx::utils::Point _location;
             bool _connected = false;
             std::string _sensor_json_file_path;
-            //Global variable to store the sensors information
-            Json::Value _sensors_json_v;
 
             std::shared_ptr<tmx::utils::UdpServer> carma_simulation_listener;
             std::shared_ptr<tmx::utils::UdpClient> carma_simulation_publisher;

diff --git a/src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp b/src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp
@@ -122,30 +122,4 @@ namespace CDASimAdapter {
         auto sensorJsonV = connection->string_to_json("Invalid Json");
         ASSERT_TRUE(sensorJsonV.empty());
     }
-
-    TEST_F(TestCARMASimulationConnection, get_sensor_by_id)
-    {
-        Point location; 
-        auto conn = std::make_shared<CDASimConnection>("127.0.0.1", "1212", 4567, 4678, "127.0.0.1", 1213, 1214, location, "");
-        std::string invalidId = "invalidId";
-        auto sensor = conn->get_sensor_by_id(invalidId);
-        ASSERT_TRUE(sensor.empty());
-        //Populate connection with sensors upon connect call.        
-        connection->connect();
-        std::ifstream in_strm;
-        in_strm.open(sensors_file_path, std::ifstream::binary);
-        if(in_strm.is_open())
-        {
-            std::string sensor_id = "SomeID";
-            sensor = connection->get_sensor_by_id(sensor_id);
-            ASSERT_FALSE(sensor.empty());
-            ASSERT_EQ("SematicLidar", sensor["type"].asString());
-
-            sensor_id = "not_found";
-            sensor = connection->get_sensor_by_id(sensor_id);
-            ASSERT_TRUE(sensor.empty());      
-        }
-
-    }
-
 }
diff --git a/src/v2i-hub/CDASimAdapter/test/sensors.json b/src/v2i-hub/CDASimAdapter/test/sensors.json
@@ -11,8 +11,7 @@
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
-      },
-    "proj_string": "+proj=tmerc +lat_0=38.95197911150576 +lon_0=-77.14835128349988 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs"  
+      }
   },
   {
     "sensor_id": "SomeID2",
@@ -26,7 +25,6 @@
        "x": 23.0,
        "y": 0.0,
        "z": 0.0
-      },
-    "proj_string": "+proj=tmerc +lat_0=38.95197911150576 +lon_0=-77.14835128349988 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs"  
+      }
   }
 ]