From e9e32c71e462f237c105e29ed790d1a51add1bcc Mon Sep 17 00:00:00 2001 From: dan-du-car Date: Mon, 24 Jul 2023 22:25:12 +0000 Subject: [PATCH] update --- .../src/CARMAStreetsPlugin.cpp | 7 ----- .../src/CARMAStreetsPlugin.h | 2 -- .../CDASimAdapter/src/CDASimConnection.cpp | 3 +- .../src/include/CDASimConnection.hpp | 1 - .../test/TestSimulationMessages.cpp | 29 ------------------- 5 files changed, 1 insertion(+), 41 deletions(-) delete mode 100644 src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp index e163fbeb3..46d8c3d55 100755 --- a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp +++ b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp @@ -25,7 +25,6 @@ CARMAStreetsPlugin::CARMAStreetsPlugin(string name) : AddMessageFilter < tsm2Message > (this, &CARMAStreetsPlugin::HandleMobilityPathMessage); AddMessageFilter < MapDataMessage > (this, &CARMAStreetsPlugin::HandleMapMessage); AddMessageFilter < SrmMessage > (this, &CARMAStreetsPlugin::HandleSRMMessage); - AddMessageFilter < simulation::SensorDetectedObject > (this, &CARMAStreetsPlugin::HandleSimulatedExternalMessage ); SubscribeToMessages(); } @@ -630,12 +629,6 @@ void CARMAStreetsPlugin::SubscribeSSMKafkaTopic(){ } -void CARMAStreetsPlugin::HandleSimulatedExternalMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg) -{ - auto json_str = tmx::utils::sim::SimulationSensorDetectedObjectConverter::simExternalObjToJsonStr(msg); - PLOG(logINFO) << "Produce External Object Message in JSON format: " << json_str < #include "JsonToJ2735SSMConverter.h" #include -#include #include "PluginClientClockAware.h" @@ -50,7 +49,6 @@ class CARMAStreetsPlugin: public PluginClientClockAware { void HandleMobilityOperationMessage(tsm3Message &msg, routeable_message &routeableMsg); void HandleMobilityPathMessage(tsm2Message &msg, routeable_message &routeableMsg); void HandleBasicSafetyMessage(BsmMessage &msg, routeable_message &routeableMsg); - void HandleSimulatedExternalMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg); /** * @brief Overide PluginClientClockAware HandleTimeSyncMessage to producer TimeSyncMessage to kafka for CARMA Streets Time Synchronization. * @param msg TimeSyncMessage received by plugin when in simulation mode. Message provides current simulation time to all processes. diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp index b6eee42eb..81ce3aa93 100644 --- a/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp +++ b/src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp @@ -136,8 +136,7 @@ namespace CDASimAdapter{ if(external_object_listener) { std::string str_msg = consume_server_message(external_object_listener); - //To populate the simulation external object, this JSON string has to follow this specification: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification#CARMA-Street-and-V2xHub - tmx::utils::sim::SimulationSensorDetectedObjectConverter::jsonToSimExternalObj(str_msg, externalObj); + //ToDo: To populate the simulation detected object, this JSON string has to follow this specification: https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2563899417/Detected+Objects+Specification#CARMA-Street-and-V2xHub } else { diff --git a/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp b/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp index 560561da7..4b2ba5201 100644 --- a/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp +++ b/src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp @@ -8,7 +8,6 @@ #include #include #include -#include namespace CDASimAdapter { diff --git a/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp b/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp deleted file mode 100644 index 4f119fbe1..000000000 --- a/src/v2i-hub/CDASimAdapter/test/TestSimulationMessages.cpp +++ /dev/null @@ -1,29 +0,0 @@ -#include -#include -#include -#include -#include - -using namespace std; -using namespace tmx; -using namespace tmx::messages; - -TEST(SimulationMessages, SensorDetectedObjectToRoutableMessage) -{ - simulation::SensorDetectedObject externalObj; - string expectedStr = "{\"metadata\":{\"is_simulation\":false,\"datum\":\"\",\"proj_string\":\"\",\"sensor_x\":0.0,\"sensor_y\":0.0,\"sensor_z\":0.0,\"infrastructure_id\":\"\",\"sensor_id\":\"\"},\"header\":{\"seq\":0,\"stamp\":{\"secs\":0,\"nsecs\":0}},\"id\":0,\"pose\":{\"pose\":{\"position\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"orientation\":{\"x\":0.0,\"y\":0.0,\"z\":0.0,\"w\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"velocity\":{\"twist\":{\"linear\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"angular\":{\"x\":0.0,\"y\":0.0,\"z\":0.0}},\"covariance\":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]},\"size\":{\"x\":0.0,\"y\":0.0,\"z\":0.0},\"confidence\":0.0,\"object_type\":\"\",\"dynamic_obj\":false}"; - tmx::utils::sim::SimulationSensorDetectedObjectConverter::jsonToSimExternalObj(expectedStr, externalObj); - ASSERT_EQ("SensorDetectedObject", std::string(simulation::SensorDetectedObject::MessageSubType)); - ASSERT_EQ("Application", std::string(simulation::SensorDetectedObject::MessageType)); - tmx::routeable_message routeableMsg; - routeableMsg.initialize(externalObj, "CDASimAdapter", 0, IvpMsgFlags_None); - ASSERT_EQ("json", routeableMsg.get_encoding()); - ASSERT_EQ(0, routeableMsg.get_flags()); - auto current_time_mill = boost::chrono::duration_cast(boost::chrono::system_clock::now().time_since_epoch()).count(); - ASSERT_NEAR(current_time_mill, routeableMsg.get_timestamp(), 1000); - ASSERT_NEAR(current_time_mill, routeableMsg.get_millisecondsSinceEpoch(), 1000); - ASSERT_EQ(0, routeableMsg.get_sourceId()); - ASSERT_EQ("CDASimAdapter", routeableMsg.get_source()); - ASSERT_EQ("SensorDetectedObject",routeableMsg.get_subtype()); - ASSERT_EQ("Application", routeableMsg.get_type()); -} \ No newline at end of file