FCP-5: SensorDetectedObject TMX message definition (#628)

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# PR Details
## Description
Updating SensorDetectedObject message to allow for TMX JSON
serialization/deserialization.
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## Related Issue
https://usdot-carma.atlassian.net/browse/FCP-5
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issue first -->
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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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to -->
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## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
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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that apply. -->
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here to help! -->

- [ ] 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.

.sonarqube/sonar-scanner.properties

@@ -58,14 +58,16 @@ sonar.modules=  PedestrianPlugin, \
   CDASimAdapter, \
   RSUHealthMonitorPlugin, \
   TelematicBridgePlugin, \
-  MUSTSensorDriverPlugin
+  MUSTSensorDriverPlugin, \
+  Messages
 
 
 
 TmxCore.sonar.projectBaseDir                    =src/tmx/TmxCore
 TmxCtl.sonar.projectBaseDir                     =src/tmx/TmxCtl
 TmxTools.sonar.projectBaseDir                   =src/tmx/TmxTools
 TmxUtils.sonar.projectBaseDir                   =src/tmx/TmxUtils
+Messages.sonar.projectBaseDir                   =src/tmx/Messages
 CARMACloudPlugin.sonar.projectBaseDir		=src/v2i-hub/CARMACloudPlugin
 CommandPlugin.sonar.projectBaseDir		=src/v2i-hub/CommandPlugin
 CswPlugin.sonar.projectBaseDir			=src/v2i-hub/CswPlugin
@@ -97,6 +99,7 @@ TmxCore.sonar.sources                     =src
 TmxCtl.sonar.sources                      =src
 TmxTools.sonar.sources                    =src
 TmxUtils.sonar.sources                    =src
+Messages.sonar.sources                    =include
 TmxUtils.sonar.exclusions                  =test/**
 MessageLoggerPlugin.sonar.sources             =src
 CswPlugin.sonar.sources                   =src
@@ -132,6 +135,7 @@ MUSTSensorDriverPlugin.sonar.sources  =src
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
 TmxUtils.sonar.tests=test
+Messages.sonar.tests=test
 #TmxCore.sonar.tests=test
 #TmxCtl.sonar.tests=test
 #TmxTools.sonar.tests=test

src/tmx/Messages/CMakeLists.txt

@@ -5,3 +5,18 @@ SET (TMXMESSAGES_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include" PARENT_SCOPE)
 INSTALL (DIRECTORY include
          DESTINATION . COMPONENT ${PROJECT_NAME}
          FILES_MATCHING PATTERN "*.h*")
+
+#############
+## Testing ##
+#############
+enable_testing()
+
+set(BINARY ${PROJECT_NAME}_test)
+
+file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
+
+add_executable(${BINARY} ${TEST_SOURCES})
+
+add_test(NAME ${BINARY} COMMAND ${BINARY})
+target_include_directories(${BINARY} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(${BINARY} PUBLIC ${TMXAPI_LIBRARIES} gtest)

src/tmx/Messages/include/Covariance.h

@@ -0,0 +1,20 @@
+#pragma once
+#include <tmx/messages/message.hpp>
+namespace tmx::messages
+{
+    struct Covariance{
+        double value;             
+        Covariance()=default;
+        explicit Covariance(double value):value(value){};
+        static message_tree_type to_tree(const Covariance& cov){
+            message_tree_type tree;
+            tree.put("",cov.value);
+            return tree;
+        }
+        static Covariance from_tree(const message_tree_type& tree){
+            Covariance cov;
+            cov.value = tree.get<double>("");
+            return cov;
+        }
+    };   
+}

src/tmx/Messages/include/Position.h

@@ -0,0 +1,27 @@
+#pragma once
+#include <tmx/messages/message.hpp>
+namespace tmx::messages
+{
+    // Cartesian positiion of object. Assumed to be ENU coordinate frame.
+    struct Position{
+        double x;
+        double y;
+        double z;
+        Position()=default;
+        explicit Position(double x, double y, double z):x(x),y(y),z(z){};
+        static message_tree_type to_tree(const Position& pos){
+            message_tree_type tree;
+            tree.put("x", pos.x);
+            tree.put("y", pos.y);
+            tree.put("z", pos.z);
+            return tree;
+        }
+        static Position from_tree(const message_tree_type& tree){
+            Position pos;
+            pos.x = tree.get<double>("x");
+            pos.y = tree.get<double>("y");
+            pos.z = tree.get<double>("z");
+            return pos;
+        }
+    };       
+}

src/tmx/Messages/include/SensorDetectedObject.h

@@ -1,54 +1,61 @@
-#ifndef INCLUDE_SIMULATED_SensorDetectedObject_H_
-#define INCLUDE_SIMULATED_SensorDetectedObject_H_
+#pragma once
 
 #include <tmx/messages/message.hpp>
 #include <MessageTypes.h>
-#include <Vector3d.h>
-#include <Point.h>
+#include "Position.h"
+#include "Covariance.h"
+#include "Velocity.h"
+#include "Size.h"
 
-namespace tmx
+namespace tmx::messages
 {
-    namespace messages
-    {
 
-        /**
-         * This SensorDetectedObject is used to communicate the sensor detected object information with various applications.
-         * This message is the generic representation of a sensor detection.
-         */
-        class SensorDetectedObject : public tmx::message
-        {
-        public:
-            SensorDetectedObject(){};
-            SensorDetectedObject(const tmx::message_container_type &contents) : tmx::message(contents) {};
-            ~SensorDetectedObject(){};
-            // Message type for routing this message through TMX core
-            static constexpr const char *MessageType = MSGTYPE_APPLICATION_STRING;
+    /**
+     * This SensorDetectedObject is used to communicate the sensor detected object information with various applications.
+     * This message is the generic representation of a sensor detection.
+     */
+    class SensorDetectedObject : public tmx::message
+    {
+    public:
+        SensorDetectedObject()=default;
+        explicit SensorDetectedObject(const tmx::message_container_type &contents) : tmx::message(contents) {};
+        ~SensorDetectedObject() override{};
+        // Message type for routing this message through TMX core
+        static constexpr const char *MessageType = MSGTYPE_APPLICATION_STRING;
+
+        // // Message sub type for routing this message through TMX core
+        static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
 
-            // // Message sub type for routing this message through TMX core
-            static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
+        //Flag to indicate whether sensor detected object is simulated.
+        std_attribute(this->msg, bool, isSimulated, false,);
+        // Classification of detected object.
+        std_attribute(this->msg, std::string, type, "",);
+        // Confidence of type classification
+        std_attribute(this->msg, double, confidence, 0.0,);
+        // Unique indentifier of sensor reporting detection.
+        std_attribute(this->msg, std::string, sensorId, "", );
+        // String describing projection used to convert cartesian data to WGS84 data.
+        std_attribute(this->msg, std::string, projString, "", );
+        // Unique identifier of detected object.
+        std_attribute(this->msg, int, objectId, 0, );
 
-            // TODO: Convert this member variable to std::attributes and handle nested object and arrays. (see [CloudHeartbeatMessage.h](./CloudHearbeatMessage.h) array_attribute )
-
-            // Classification of detected object
-            std::string type = "";
-            // Confidence of type classification
-            double confidence = 0.0;
-            // Unique indentifier of sensor reporting detection
-            std::string sensorId = "";
-            // String describing projection used to convert cartesian data to WGS84 data 
-            std::string projString = "";
-            // Unique identifier of detected object
-            int objectId = 0;
-            // Cartesian positiion of object. Assumed to be ENU coordinate frame.
-            tmx::utils::Point position = tmx::utils::Point();
-            // Cartesian velocity vector of object. Assumed to be ENU coordinate frame.
-            tmx::utils::Vector3d velocity = tmx::utils::Vector3d();
-            // Epoch time in milliseconds
-            long timestamp = 0;
-
-        };
+
+        object_attribute(Position, position);    
+        two_dimension_array_attribute(Covariance, positionCovariance);       
+        //Linear velocity in meter per second
+        object_attribute(Velocity, velocity);
+        //Covariance associated with linear velocity.
+        two_dimension_array_attribute(Covariance, velocityCovariance);
+        //Angular velocity in radians per second.
+        object_attribute(Velocity, angularVelocity);
+        //Covariance associated with angular velocity.
+        two_dimension_array_attribute(Covariance, angularVelocityCovariance);
 
-    }
+        // Epoch time in milliseconds.
+        // long timestamp = 0;
+        std_attribute(this->msg, long, timestamp, 0, );            
+        object_attribute(Size, size);
+
+    };
 
-}; // namespace tmx
-#endif
+}

src/tmx/Messages/include/Size.h

@@ -0,0 +1,27 @@
+#pragma once
+#include <tmx/messages/message.hpp>
+namespace tmx::messages
+{
+    //Length, width and height of object in meter.
+    struct Size{
+        double length;
+        double width;
+        double height;
+        Size()=default;
+        explicit Size(double length, double width, double height): length(length), width(width), height(height){};
+        static message_tree_type to_tree(const Size& size){
+            message_tree_type tree;
+            tree.put("length", size.length);
+            tree.put("width", size.width);
+            tree.put("height", size.height);
+            return tree;
+        }
+        static Size from_tree(const message_tree_type & tree){
+            Size size;
+            size.length = tree.get<double>("length");
+            size.width = tree.get<double>("width");
+            size.height = tree.get<double>("height");
+            return size;
+        }
+    };
+}

src/tmx/Messages/include/Velocity.h

@@ -0,0 +1,27 @@
+#pragma once
+#include <tmx/messages/message.hpp>
+namespace tmx::messages
+{
+    // Cartesian velocity vector of object. Assumed to be ENU coordinate frame.
+    struct Velocity{
+        double x;
+        double y;
+        double z;
+        Velocity()=default;
+        explicit Velocity(double x, double y, double z):x(x),y(y),z(z){};
+        static message_tree_type to_tree(const Velocity& velocity){
+            message_tree_type tree;
+            tree.put("x", velocity.x);
+            tree.put("y", velocity.y);
+            tree.put("z", velocity.z);
+            return tree;
+        }
+        static Velocity from_tree(const message_tree_type& tree){
+            Velocity velocity;
+            velocity.x = tree.get<double>("x");
+            velocity.y = tree.get<double>("y");
+            velocity.z = tree.get<double>("z");
+            return velocity;
+        }
+    }; 
+}