update external object converter

usdot-fhwa-OPS · Jul 18, 2023 · c98778d · c98778d
1 parent c3b7ba8
commit c98778d
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Showing 14 changed files with 668 additions and 111 deletions.
diff --git a/src/tmx/Messages/include/simulation/BSMID.h b/src/tmx/Messages/include/simulation/BSMID.h
@@ -0,0 +1,38 @@
+#ifndef INCLUDE_SIMULATED_BSMID_H_
+#define INCLUDE_SIMULATED_BSMID_H_
+
+#include <iostream>
+#include <tmx/messages/message.hpp>
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+
+            struct BSMID
+            {
+                uint8_t BsmId = 0;
+
+                BSMID() {}
+                BSMID(std::uint8_t bsmId) : BsmId(bsmId) {}
+
+                static message_tree_type to_tree(BSMID element)
+                {
+                    message_tree_type treeElement;
+                    treeElement.put("BsmId", element.BsmId);
+                    return treeElement;
+                }
+
+                static BSMID from_tree(message_tree_type &treeElement)
+                {
+                    BSMID element;
+                    element.BsmId = treeElement.get<std::uint8_t>("BsmId");
+                    return element;
+                }
+            };
+        }
+    }
+}
+#endif
diff --git a/src/tmx/Messages/include/simulation/Covariance.h b/src/tmx/Messages/include/simulation/Covariance.h
@@ -0,0 +1,41 @@
+#ifndef INCLUDE_SIMULATED_COVARIANCE_H_
+#define INCLUDE_SIMULATED_COVARIANCE_H_
+
+#include <iostream>
+#include <tmx/messages/message.hpp>
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+            // Row-major representation of the 6x6 covariance matrix
+            //  # The orientation parameters use a fixed-axis representation.
+            //  # In order, the parameters are:
+            //  # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+            struct Covariance
+            {
+                double covariance = 0;
+
+                Covariance() {}
+                Covariance(double covariance) : covariance(covariance) {}
+
+                static message_tree_type to_tree(Covariance element)
+                {
+                    message_tree_type treeElement;
+                    treeElement.put("Covariance", element.covariance);
+                    return treeElement;
+                }
+
+                static Covariance from_tree(message_tree_type &treeElement)
+                {
+                    Covariance element;
+                    element.covariance = treeElement.get<double>("Covariance");
+                    return element;
+                }
+            };
+        }
+    }
+}
+#endif
diff --git a/src/tmx/Messages/include/simulation/ExternalObject.h b/src/tmx/Messages/include/simulation/ExternalObject.h
@@ -3,9 +3,10 @@
 
 #include <tmx/messages/message.hpp>
 #include <MessageTypes.h>
-// #include <simulation/Header.h>
 #include <simulation/PresenceVectorEnumTypes.h>
 #include <simulation/ObjectEnumTypes.h>
+#include <simulation/BSMID.h>
+#include <simulation/Covariance.h>
 
 namespace tmx
 {
@@ -35,9 +36,9 @@ namespace tmx
                 std_attribute(this->msg, bool, MetadataIsSimulation, false, );
                 std_attribute(this->msg, std::string, MetadataDatum, "", );
                 std_attribute(this->msg, std::string, MetadataProjString, "", );
-                std_attribute(this->msg, std::string, MetadataSensorX, "", );
-                std_attribute(this->msg, std::string, MetadataSensorY, "", );
-                std_attribute(this->msg, std::string, MetadataSensorZ, "", );
+                std_attribute(this->msg, double, MetadataSensorX, 0, );
+                std_attribute(this->msg, double, MetadataSensorY, 0, );
+                std_attribute(this->msg, double, MetadataSensorZ, 0, );
                 std_attribute(this->msg, std::string, MetadataInfrastructureId, "", );
                 std_attribute(this->msg, std::string, MetadataSensorId, "", );
                 /**
@@ -56,34 +57,12 @@ namespace tmx
 
                 // A presence vector, this message is used to describe objects coming from potentially different
                 // sources. The presence vector is used to determine what items are set by the producer.
-                std_attribute(this->msg, PRESENCE_VECTOR_TYPES, PresenceVector, PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR, );
+                std_attribute(this->msg, PRESENCE_VECTOR_TYPES, PresenceVector, PRESENCE_VECTOR_TYPES::UNAVAILABLE, );
 
                 // Object id. Matching ids on a topic should refer to the same object within some time period, expanded
                 std_attribute(this->msg, uint32_t, Id, 0, );
 
-                // bsm id is of form [0xff, 0xff, 0xff, 0xff]. It is not required.
-                // uint8[] bsm_id
-                struct BSMID
-                {
-                    uint8_t BsmId = 0;
-
-                    BSMID() {}
-                    BSMID(std::uint8_t bsmId) : BsmId(bsmId) {}
-
-                    static message_tree_type to_tree(BSMID element)
-                    {
-                        message_tree_type treeElement;
-                        treeElement.put("BsmId", element.BsmId);
-                        return treeElement;
-                    }
-
-                    static BSMID from_tree(message_tree_type &treeElement)
-                    {
-                        BSMID element;
-                        element.BsmId = treeElement.get<std::uint8_t>("BsmId");
-                        return element;
-                    }
-                };
+                // bsm id is of form [0xff, 0xff, 0xff, 0xff]. It is not required.                
                 array_attribute( BSMID, BsmId);
 
                 // Pose of the object within the frame specified in header
@@ -92,38 +71,11 @@ namespace tmx
                 std_attribute(this->msg, double, PosePosePositionX, 0, );
                 std_attribute(this->msg, double, PosePosePositionY, 0, );
                 std_attribute(this->msg, double, PosePosePositionZ, 0, );
-
                 // This represents an orientation in free space in quaternion form.
                 std_attribute(this->msg, double, PosePoseOrientationX, 0, );
                 std_attribute(this->msg, double, PosePoseOrientationY, 0, );
                 std_attribute(this->msg, double, PosePoseOrientationZ, 0, );
                 std_attribute(this->msg, double, PosePoseOrientationW, 0, );
-
-                // Row-major representation of the 6x6 covariance matrix
-                //  # The orientation parameters use a fixed-axis representation.
-                //  # In order, the parameters are:
-                //  # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
-                struct Covariance
-                {
-                    double covariance = 0;
-
-                    Covariance() {}
-                    Covariance(double covariance) : covariance(covariance) {}
-
-                    static message_tree_type to_tree(Covariance element)
-                    {
-                        message_tree_type treeElement;
-                        treeElement.put("Covariance", element.covariance);
-                        return treeElement;
-                    }
-
-                    static Covariance from_tree(message_tree_type &treeElement)
-                    {
-                        Covariance element;
-                        element.covariance = treeElement.get<std::uint8_t>("Covariance");
-                        return element;
-                    }
-                };
                 array_attribute( Covariance, PoseCovariance);
 
                 // #Average velocity of the object within the frame specified in header
@@ -169,7 +121,7 @@ namespace tmx
                 // # Binary value to show if the object is static or dynamic (1: dynamic, 0: static)
                 std_attribute(this->msg, bool, DynamticObj, false, );
 
-                // Predictions for the object. It is not required.
+                // Ignored: Predictions for the object. 
                 // carma_perception_msgs/PredictedState[] predictions
             };
 

diff --git a/src/tmx/Messages/include/simulation/PresenceVectorEnumTypes.h b/src/tmx/Messages/include/simulation/PresenceVectorEnumTypes.h
@@ -9,6 +9,7 @@ namespace tmx
         {
             enum PRESENCE_VECTOR_TYPES
             {
+                UNAVAILABLE = 0,
                 ID_PRESENCE_VECTOR = 1,
                 POSE_PRESENCE_VECTOR = 2,
                 VELOCITY_PRESENCE_VECTOR = 4,

diff --git a/src/tmx/TmxUtils/CMakeLists.txt b/src/tmx/TmxUtils/CMakeLists.txt
@@ -25,6 +25,7 @@ TARGET_LINK_LIBRARIES (${PROJECT_NAME} PUBLIC
                        rdkafka++ 
                        ::carma-clock
                        gmock
+                       jsoncpp
                        pthread m rt)
 
 SET (TMXUTILS_LIBRARIES ${PROJECT_NAME} PARENT_SCOPE)
@@ -54,4 +55,4 @@ add_executable(${BINARY} ${TEST_SOURCES})
 
 add_test(NAME ${BINARY} COMMAND ${BINARY})
 
-target_link_libraries(${BINARY} PUBLIC ${PROJECT_NAME} rdkafka++ gmock ${TMXAPI_LIBRARIES} ${ASN_J2735_LIBRARIES} ${UUID_LIBRARY} gtest)
+target_link_libraries(${BINARY} PUBLIC ${PROJECT_NAME} rdkafka++ gmock ${TMXAPI_LIBRARIES} ${ASN_J2735_LIBRARIES} ${UUID_LIBRARY} gtest jsoncpp)