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SDSM Common Properties encoding
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@paulbourelly999
paulbourelly999 committed Dec 17, 2023
1 parent 8394980 commit 9d4153b
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Showing 3 changed files with 147 additions and 37 deletions.
91 changes: 63 additions & 28 deletions src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,39 +35,65 @@ namespace CARMAStreetsPlugin
}
return parseResult;
}
void JsonToJ3224SDSMConverter::convertJson2SDSM(const Json::Value &sdsm_json, std::shared_ptr<SensorDataSharingMessage_t> sdsm) const {
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_SignalStatusMessage, sdsm.get());
void JsonToJ3224SDSMConverter::convertJson2SDSM(const Json::Value &sdsm_json, const std::shared_ptr<SensorDataSharingMessage_t> &sdsm) const {
ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_SensorDataSharingMessage, sdsm.get());
// Message Count
sdsm->msgCnt = sdsm_json["msg_cnt"].asInt64();
// Source ID
std::string id_data = sdsm_json["source_id"].asString();
TemporaryID_t tempID;
std::vector<uint8_t> id_vector(id_data.begin(), id_data.end());
uint8_t *id_ptr = &id_vector[0];
tempID.buf = id_ptr;
tempID.size = sizeof(4);
sdsm->sourceID = tempID;
// Source ID (Expecting format "rsu_<4-digit-number>")
std::string id_data = sdsm_json["source_id"].asString().substr(4);
TemporaryID_t *tempID = (TemporaryID_t *)calloc(1, sizeof(TemporaryID_t));
OCTET_STRING_fromString(tempID, id_data.c_str());
sdsm->sourceID = *tempID;
free(tempID);

// Equipment Type
sdsm->equipmentType = sdsm_json["equipment_type"].asInt64();

// SDSM DateTime timestamp
auto sDSMTimeStamp = (DDateTime_t*) calloc(1, sizeof(DDateTime_t));
auto year = (DYear_t*) calloc(1, sizeof(DYear_t));
*year = sdsm_json["sdsm_time_stamp"]["year"].asInt64();
sDSMTimeStamp->year = year;
auto month = (DMonth_t*) calloc(1, sizeof(DMonth_t));
*month = sdsm_json["sdsm_time_stamp"]["month"].asInt64();
sDSMTimeStamp->month = month;
auto day = (DDay_t*) calloc(1, sizeof(DDay_t));
*day = sdsm_json["sdsm_time_stamp"]["day"].asInt64();
sDSMTimeStamp->day = day;
auto minute = (DMinute_t*) calloc(1, sizeof(DMinute_t));
*minute = sdsm_json["sdsm_time_stamp"]["minute"].asInt64();
sDSMTimeStamp->minute = minute;
auto second = (DSecond_t*) calloc(1, sizeof(DSecond_t));
*second = sdsm_json["sdsm_time_stamp"]["second"].asInt64();
sDSMTimeStamp->second = second;
sdsm->sDSMTimeStamp = *sDSMTimeStamp;
DDateTime_t sDSMTimeStamp;
// Optional Year
if ( sdsm_json["sdsm_time_stamp"].isMember("year") ) {
auto year = (DYear_t*) calloc(1, sizeof(DYear_t));
*year = sdsm_json["sdsm_time_stamp"]["year"].asInt64();
sDSMTimeStamp.year = year;
}
// Optional Month
if ( sdsm_json["sdsm_time_stamp"].isMember("month") ) {
auto month = (DMonth_t*) calloc(1, sizeof(DMonth_t));
*month = sdsm_json["sdsm_time_stamp"]["month"].asInt64();
sDSMTimeStamp.month = month;
}
// Optional Day
if ( sdsm_json["sdsm_time_stamp"].isMember("day") ) {
auto day = (DDay_t*) calloc(1, sizeof(DDay_t));
*day = sdsm_json["sdsm_time_stamp"]["day"].asInt64();
sDSMTimeStamp.day = day;
}
// Optional Hour
if ( sdsm_json["sdsm_time_stamp"].isMember("hour") ) {
auto hour = (DHour_t*) calloc(1, sizeof(DHour_t));
*hour = sdsm_json["sdsm_time_stamp"]["hour"].asInt64();
sDSMTimeStamp.hour = hour;
}
// Optional Minute
if ( sdsm_json["sdsm_time_stamp"].isMember("minute") ) {
auto minute = (DMinute_t*) calloc(1, sizeof(DMinute_t));
*minute = sdsm_json["sdsm_time_stamp"]["minute"].asInt64();
sDSMTimeStamp.minute = minute;
}
// Optional Second
if ( sdsm_json["sdsm_time_stamp"].isMember("second") ) {
auto second = (DSecond_t*) calloc(1, sizeof(DSecond_t));
*second = sdsm_json["sdsm_time_stamp"]["second"].asInt64();
sDSMTimeStamp.second = second;
}
// Optional Offset
if ( sdsm_json["sdsm_time_stamp"].isMember("offset") ) {
auto offset = (DOffset_t*) calloc( 1, sizeof(DOffset_t));
*offset = sdsm_json["sdsm_time_stamp"]["offset"].asInt64();
sDSMTimeStamp.offset = offset;
}
sdsm->sDSMTimeStamp = sDSMTimeStamp;
// Reference Position
sdsm->refPos.lat = sdsm_json["ref_pos"]["lat"].asInt64();
sdsm->refPos.Long = sdsm_json["ref_pos"]["long"].asInt64();
Expand Down Expand Up @@ -170,7 +196,7 @@ namespace CARMAStreetsPlugin
std::vector<uint8_t> id_vector(id_data.begin(), id_data.end());
uint8_t *id_ptr = &id_vector[0];
tempID.buf = id_ptr;
tempID.size = sizeof(id_ptr);
tempID.size = sizeof(id_vector);
sdsm->sourceID = tempID;

sdsm->equipmentType = sdsm_json["equipment_type"].asInt64();
Expand Down Expand Up @@ -485,5 +511,14 @@ namespace CARMAStreetsPlugin
free(frame.get_j2735_data().get());
}

void JsonToJ3224SDSMConverter::encodeSDSM(SensorDataSharingMessage_t *sdsmPtr, tmx::messages::SdsmEncodedMessage &encodedSDSM) const
{
auto _sdsmMessage = new tmx::messages::SdsmMessage(sdsmPtr);
tmx::messages::MessageFrameMessage frame(_sdsmMessage->get_j2735_data());
encodedSDSM.set_data(tmx::messages::TmxJ2735EncodedMessage<SensorDataSharingMessage>::encode_j2735_message<tmx::messages::codec::uper<tmx::messages::MessageFrameMessage>>(frame));
asn_fprint(stdout, &asn_DEF_MessageFrame, frame.get_j2735_data().get());
free(frame.get_j2735_data().get());
}


}
12 changes: 10 additions & 2 deletions src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,17 +31,25 @@ namespace CARMAStreetsPlugin
* @param json Incoming Json value with sdsm information that is consumed from a Kafka topic.
* @param sdsm Outgoing J3224 sdsm object that is populated by the json value.
*/
void convertJsonToSDSM(const Json::Value &sdsm_json, std::shared_ptr<SensorDataSharingMessage> sdsm) const;

void convertJson2SDSM(const Json::Value &sdsm_json, std::shared_ptr<SensorDataSharingMessage_t> sdsm) const;
void convertJson2SDSM(const Json::Value &sdsm_json, const std::shared_ptr<SensorDataSharingMessage_t> &sdsm) const;

/**
* @brief Convert the Json value with sdsm information info tmx SDSM object.
* @param json Incoming Json value with sdsm information that is consumed from a Kafka topic.
* @param sdsm Outgoing J3224 sdsm object that is populated by the json value.
*/

void convertJsonToSDSM(const Json::Value &sdsm_json, std::shared_ptr<SensorDataSharingMessage> sdsm) const;
/***
* @brief Encode J3224 SDSM
* @param Pointer to J3224 SDSM object
* @param Encoded J3224 SDSM
*/
void encodeSDSM(const std::shared_ptr<SensorDataSharingMessage_t> &sdsmPtr, tmx::messages::SdsmEncodedMessage &encodedSDSM) const;

void encodeSDSM(SensorDataSharingMessage_t *sdsmPtr, tmx::messages::SdsmEncodedMessage &encodedSDSM) const;

~JsonToJ3224SDSMConverter() = default;
};

Expand Down
81 changes: 74 additions & 7 deletions src/v2i-hub/CARMAStreetsPlugin/test/test_JsonToJ3224SDSMConverter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,14 +67,79 @@ namespace CARMAStreetsPlugin
TEST_F(test_JsonToJ3224SDSMConverter, convert2Sdsm)
{
JsonToJ3224SDSMConverter converter;
std::string valid_json_str = "{\"equipment_type\":1,\"msg_cnt\":1,\"ref_pos\":{\"long\":600000000,\"elevation\":30,\"lat\":400000000},\"ref_pos_el_conf\":10,\"ref_pos_xy_conf\":{\"orientation\":25000,\"semi_major\":235,\"semi_minor\":200},\"sdsm_time_stamp\":{\"day\":4,\"hour\":19,\"minute\":15,\"month\":7,\"offset\":400,\"second\":5000,\"year\":2007},\"source_id\":\"01020304\",\"objects\":[{\"detected_object_data\":{\"detected_object_common_data\":{\"acc_cfd_x\":4,\"acc_cfd_y\":5,\"acc_cfd_yaw\":3,\"acc_cfd_z\":6,\"accel_4_way\":{\"lat\":-500,\"long\":200,\"vert\":1,\"yaw\":400},\"heading\":16000,\"heading_conf\":4,\"measurement_time\":-1100,\"object_id\":12200,\"obj_type\":1,\"obj_type_cfd\":65,\"pos\":{\"offset_x\":4000,\"offset_y\":-720,\"offset_z\":20},\"pos_confidence\":{\"elevation\":5,\"pos\":2},\"speed\":2100,\"speed_confidence\":3,\"speed_confidence_z\":4,\"speed_z\":1000,\"time_confidence\":2}}}]}";
std::string valid_json_str = R"(
{
"equipment_type":1,
"msg_cnt":1,
"ref_pos":{
"long":600000000,
"elevation":30,
"lat":400000000
},
"ref_pos_el_conf":10,
"ref_pos_xy_conf":{
"orientation":25000,
"semi_major":235,
"semi_minor":200
},
"sdsm_time_stamp":{
"day":4,
"hour":19,
"minute":15,
"month":7,
"offset":400,
"second":5000,
"year":2007
},
"source_id":"rsu_1234",
"objects":[
{
"detected_object_data":{
"detected_object_common_data":{
"acc_cfd_x":4,
"acc_cfd_y":5,
"acc_cfd_yaw":3,
"acc_cfd_z":6,
"accel_4_way":{
"lat":-500,
"long":200,
"vert":1,
"yaw":400
},
"heading":16000,
"heading_conf":4,
"measurement_time":-1100,
"object_id":12200,
"obj_type":1,
"obj_type_cfd":65,
"pos":{
"offset_x":4000,
"offset_y":-720,
"offset_z":20
},
"pos_confidence":{
"elevation":5,
"pos":2
},
"speed":2100,
"speed_confidence":3,
"speed_confidence_z":4,
"speed_z":1000,
"time_confidence":2
}
}
}
]
}
)";
Json::Value root;
bool result = converter.parseJsonString(valid_json_str, root);
ASSERT_TRUE(result);
auto sdsmPtr = std::make_shared<SensorDataSharingMessage>();
auto sdsmPtr = std::make_shared<SensorDataSharingMessage_t>();
converter.convertJson2SDSM(root, sdsmPtr);
asn_fprint(stdout, &asn_DEF_SensorDataSharingMessage, sdsmPtr.get());

tmx::messages::SdsmEncodedMessage encodedSdsm;
converter.encodeSDSM(sdsmPtr, encodedSdsm);
ASSERT_EQ(1, sdsmPtr->objects.list.array[0]->detObjCommon.objType);
ASSERT_EQ(65, sdsmPtr->objects.list.array[0]->detObjCommon.objTypeCfd);
ASSERT_EQ(12200, sdsmPtr->objects.list.array[0]->detObjCommon.objectID);
Expand All @@ -100,10 +165,12 @@ namespace CARMAStreetsPlugin
ASSERT_EQ(-500, sdsmPtr->objects.list.array[0]->detObjCommon.accel4way->lat);
ASSERT_EQ(1, sdsmPtr->objects.list.array[0]->detObjCommon.accel4way->vert);
ASSERT_EQ(400, sdsmPtr->objects.list.array[0]->detObjCommon.accel4way->yaw);

ASSERT_EQ(41, encodedSdsm.get_msgId());
// std::string expectedSDSMEncHex = "00293681c0de24f33d9f5dc8789c429af8da011e1a2ffe203dd790c35140070304bea06402c7cfbe97c00992a0d18fa23e809130bb901031e0";
// ASSERT_EQ(expectedSDSMEncHex, encodedSdsm.get_payload_str());
converter.encodeSDSM(sdsmPtr, encodedSdsm);

ASSERT_EQ(41, encodedSdsm.get_msgId());

std::string expectedSDSMEncHex = "00293881313233343fdf5dc933c4e226c29af8da011e1a2ffe203dd790c35140070304bea06402c7cfbe97c00992a0d18fa23e809130bb901031e0";
ASSERT_EQ(expectedSDSMEncHex, encodedSdsm.get_payload_str());
}

// // Test for SDSM common data
Expand Down

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