MOSAIC-CARMA-Streets: CDASimAdapter listens on port for incoming Simulated Object Dectections and publish the serialized object to Kafka #552
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dan-du-car
changed the title
| - SIM_INTERACTION_PORT=7576 | ||
| - V2X_PORT=8686 | ||
| - INFRASTRUCTURE_ID=1 | ||
| - KAFKA_BROKER_ADDRESS=127.0.0.1:9092 |
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This is no required. Also we do not want our default docker-compose file to assume simulation.
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addressed. Which docker-compose file is used for simulation other than the devcontainer?
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| void CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg) | ||
| { | ||
| PLOG(logINFO) << "Produce sensor detected message in JSON format: " << msg.to_string() <<std::endl; |
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Lets make this debug.
| "payload": { | ||
| "sensor": { | ||
| "id": "SomeID", | ||
| "type": "SematicLidar", |
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We talked about removing sensor type and location from this message. The message should now only include sensor id and projection string.
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Do we only have proj_string for sensor? or this proj_string is for both sensor and detected object?
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We talked about removing sensor type and location from this message. The message should now only include sensor id and projection string.
addressed
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I guess technically we do not need it for sensor registration. We definitely need it for sensor detected object.
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How do we know the location (x,y,z) of the sensor if no proj_string is applied to sensor?
| }, | ||
| "payload": { | ||
| "sensor": { | ||
| "id": "SomeID", |
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also maybe we should rename this field everywhere to sensorId instead of id which may be ambiguous. We can also avoid the nested sensor JSON altogether.
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{ "sensorId": "sensor1",
"proj_string": "asdlasdkasd",
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A test case is still failing so we are not getting any sonar scanner report. |
| } | ||
| }//End lambda | ||
| , std::chrono::milliseconds(100)); | ||
| external_bject_detection_thread_timer->Start(); |
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looks like there may be a type in this variable name. Not a big deal,just in case you didnt notice
| @@ -22,9 +22,9 @@ namespace CDASimAdapter { | |||
| class TestCARMASimulationConnection : public ::testing::Test { | |||
| protected: | |||
| void SetUp() override { | |||
| // Initialize CARMA Simulation connection with (0,0,0) location. | |||
| // Initialize CARMA Simulation connection with (0,0,0) location and mock kafka producer. | |||
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There is no mock kafka producer
PR Details
Description
Implement the design from https://usdot-carma.atlassian.net/browse/CDAR-148
Part 2.B: Implement the logic in CDASimAdapter to listen to UDP socket and receive DetectedObject. Then serialize this C++ object to TMX bus so that CARMAStreetPlugin can receive it form the TMX bus.
As a V2X-Hub user, I need the CDASimAdapter to listen for Simulated Object Detection Messages on an open port and broadcast received messages on the TMX message bus.
Related Issue
#590
Related Jira Key
https://usdot-carma.atlassian.net/browse/CDAR-191
https://usdot-carma.atlassian.net/browse/CDAR-184
Motivation and Context
CDA research
How Has This Been Tested?
Unit test
Local integration test
Types of changes
Checklist:
V2XHUB Contributing Guide