MUST Sensor Driver

.sonarqube/sonar-scanner.properties

@@ -57,7 +57,8 @@ sonar.modules=  PedestrianPlugin, \
   ERVCloudForwardingPlugin, \
   CDASimAdapter, \
   RSUHealthMonitorPlugin, \
-  TelematicBridgePlugin
+  TelematicBridgePlugin, \
+  MUSTSensorDriverPlugin
 
 
 
@@ -86,6 +87,7 @@ ERVCloudForwardingPlugin.sonar.projectBaseDir         =src/v2i-hub/ERVCloudForwa
 CDASimAdapter.sonar.projectBaseDir         =src/v2i-hub/CDASimAdapter
 RSUHealthMonitorPlugin.sonar.projectBaseDir     =src/v2i-hub/RSUHealthMonitorPlugin
 TelematicBridgePlugin.sonar.projectBaseDir     =src/v2i-hub/TelematicBridgePlugin
+MUSTSensorDriverPlugin.sonar.projectBaseDir     =src/v2i-hub/MUSTSensorDriverPlugin
 
 
 
@@ -125,6 +127,7 @@ RSUHealthMonitorPlugin.sonar.sources    =src
 RSUHealthMonitorPlugin.sonar.exclusions =test/**
 TelematicBridgePlugin.sonar.sources    =src
 TelematicBridgePlugin.sonar.exclusions =test/**
+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.
@@ -154,3 +157,4 @@ ERVCloudForwardingPlugin.sonar.tests=test
 CDASimAdapter.sonar.tests=test
 RSUHealthMonitorPlugin.sonar.tests=test
 TelematicBridgePlugin.sonar.tests=test
+MUSTSensorDriverPlugin.sonar.tests=test

src/tmx/Messages/include/SensorDetectedObject.h

@@ -0,0 +1,46 @@
+#ifndef INCLUDE_SIMULATED_SensorDetectedObject_H_
+#define INCLUDE_SIMULATED_SensorDetectedObject_H_
+
+#include <tmx/messages/message.hpp>
+#include <MessageTypes.h>
+#include <Vector3d.h>
+#include <Point.h>
+
+namespace tmx
+{
+    namespace messages
+    {
+
+        /**
+         * This SensorDetectedObject is used to communicate the sensor detected object information with various applications
+         * including internal infrastructure applications and external road user applications through simulated environment.
+         * It defines the message type and sub type and all data members.
+         */
+        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;
+
+            // // Message sub type for routing this message through TMX core
+            static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
+
+            // TODO: Convert this member variable to std::attributes and handle nested object and arrays. (see [CloudHeartbeatMessage.h](./CloudHearbeatMessage.h) array_attribute )
+            std::string type = "";
+            double confidence = 0.0;
+            std::string sensorId = "";
+            std::string projString = "";
+            int objectId = 0;
+            tmx::utils::Point position = tmx::utils::Point();
+            tmx::utils::Vector3d velocity = tmx::utils::Vector3d();
+            long timestamp = 0;
+
+        };
+
+    }
+
+}; // namespace tmx
+#endif

src/tmx/TmxUtils/src/UdpServer.cpp

@@ -198,4 +198,22 @@ namespace tmx::utils {
         return -1;
     }
 
+    std::string UdpServer::stringTimedReceive(int maxWait_ms) {
+        std::vector<char> msg(4000);
+        int num_of_bytes = this->TimedReceive(msg.data(),4000, maxWait_ms);
+        if (num_of_bytes > 0 ) {
+            msg.resize(num_of_bytes);
+            std::string ret(msg.data());
+            FILE_LOG(logDEBUG) << "UDP Server message received : " << ret << " of size " << num_of_bytes << std::endl;
+            return ret;
+        }
+        else if ( num_of_bytes == 0 ) {
+            throw UdpServerRuntimeError("Received empty message!");
+        }
+        else {
+            throw UdpServerRuntimeError("Listen timed out after 5 ms!");
+        }
+        return "";
+    }
+
 } // namespace tmx::utils

src/tmx/TmxUtils/src/UdpServer.h

@@ -13,6 +13,7 @@
 #include <netdb.h>
 #include <stdexcept>
 #include <tmx/TmxException.hpp>
+#include <PluginLog.h>
 
 namespace tmx {
 namespace utils {
@@ -36,6 +37,8 @@ class UdpServer
 	virtual int Receive(char *msg, size_t maxSize);
 	virtual int TimedReceive(char *msg, size_t maxSize, int maxWait_ms);
 
+	virtual std::string stringTimedReceive(int maxWait_ms=5);
+
 private:
 	int _socket;
 	int _port;

src/tmx/TmxUtils/src/Vector3d.h

@@ -0,0 +1,19 @@
+#pragma once
+
+namespace tmx::utils {
+
+
+    /// Three dimensional Vector
+    using Vector3d = struct Vector3d
+    {
+        Vector3d() : X(0), Y(0), Z(0) {}
+
+        Vector3d(double x, double y, double z = 0.0):
+            X(x), Y(y), Z(z) { }
+
+        double X;
+        double Y;
+        double Z;
+    };
+
+} // namespace tmx::utils

src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp

@@ -25,7 +25,7 @@ CARMAStreetsPlugin::CARMAStreetsPlugin(string name) :
 	AddMessageFilter < tsm2Message > (this, &CARMAStreetsPlugin::HandleMobilityPathMessage);
 	AddMessageFilter < MapDataMessage > (this, &CARMAStreetsPlugin::HandleMapMessage);
 	AddMessageFilter < SrmMessage > (this, &CARMAStreetsPlugin::HandleSRMMessage);
-	AddMessageFilter < simulation::SensorDetectedObject > (this, &CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage );
+	AddMessageFilter < SensorDetectedObject > (this, &CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage );
 
 	SubscribeToMessages();
 }
@@ -704,7 +704,7 @@ void CARMAStreetsPlugin::SubscribeSDSMKafkaTopic(){
 
 }
 
-void CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg)
+void CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage(SensorDetectedObject &msg, routeable_message &routeableMsg)
 {
 	// TODO: This is a temporary fix for tmx message container property tree
 	// serializing all attributes as strings. This issue needs to be fixed but

src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.h

@@ -20,7 +20,7 @@
 #include <kafka/kafka_client.h>
 #include <kafka/kafka_consumer_worker.h>
 #include "JsonToJ2735SSMConverter.h"
-#include <simulation/SensorDetectedObject.h>
+#include <SensorDetectedObject.h>
 #include "JsonToJ3224SDSMConverter.h"
 #include "J3224ToSDSMJsonConverter.h"
 #include "PluginClientClockAware.h"
@@ -56,7 +56,7 @@ class CARMAStreetsPlugin: public PluginClientClockAware {
 	 * @param msg Detected object received from TMX bus.
 	 * @param routeableMsg routeable_message for detected object.
 	 */
-	void HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg,  routeable_message &routeableMsg);
+	void HandleSimulatedSensorDetectedMessage(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.

src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp

@@ -87,9 +87,9 @@ namespace CDASimAdapter{
 
     }
 
-    void CDASimAdapter::forward_simulated_detected_message(tmx::messages::simulation::SensorDetectedObject &msg) {
+    void CDASimAdapter::forward_simulated_detected_message(tmx::messages::SensorDetectedObject &msg) {
         PLOG(logDEBUG1) << "Sending Simulated SensorDetectedObject Message " << msg << std::endl;
-        this->BroadcastMessage<tmx::messages::simulation::SensorDetectedObject>(msg, _name, 0 , IvpMsgFlags_None);
+        this->BroadcastMessage<tmx::messages::SensorDetectedObject>(msg, _name, 0 , IvpMsgFlags_None);
     }
 
     bool CDASimAdapter::connect() {

src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp

@@ -132,7 +132,7 @@ namespace CDASimAdapter{
         tmx::messages::TimeSyncMessage msg;
         msg.clear();
         if (time_sync_listener) {
-            std::string str_msg = consume_server_message(time_sync_listener);
+            std::string str_msg = time_sync_listener->stringTimedReceive();
             msg.set_contents( str_msg );
         }
         else {
@@ -142,13 +142,13 @@ namespace CDASimAdapter{
 
     }
 
-    tmx::messages::simulation::SensorDetectedObject CDASimConnection::consume_sensor_detected_object_message() const
+    tmx::messages::SensorDetectedObject CDASimConnection::consume_sensor_detected_object_message() const
     {
-        tmx::messages::simulation::SensorDetectedObject externalObj;
+        tmx::messages::SensorDetectedObject externalObj;
         externalObj.clear();
         if(sensor_detected_object_listener)
         {
-            std::string str_msg = consume_server_message(sensor_detected_object_listener);
+            std::string str_msg = sensor_detected_object_listener->stringTimedReceive();
             externalObj.set_contents(str_msg);
         }
         else
@@ -180,23 +180,6 @@ namespace CDASimAdapter{
         return "";
     }
 
-    std::string CDASimConnection::consume_server_message( const std::shared_ptr<UdpServer> _server) const {
-        std::vector<char> msg(4000);
-        int num_of_bytes = _server->TimedReceive(msg.data(),4000, 5);
-        if (num_of_bytes > 0 ) {
-            msg.resize(num_of_bytes);
-            std::string ret(msg.data());
-            PLOG(logDEBUG) << "UDP Server message received : " << ret << " of size " << num_of_bytes << std::endl;
-            return ret;
-        }
-        else if ( num_of_bytes == 0 ) {
-            throw UdpServerRuntimeError("Received empty message!");
-        }
-        else {
-            throw UdpServerRuntimeError("Listen timed out after 5 ms!");
-        }
-        return "";
-    }
 
     std::string CDASimConnection::consume_v2x_message_from_simulation() const {
         if ( carma_simulation_listener) {

src/v2i-hub/CDASimAdapter/src/include/CDASimAdapter.hpp

@@ -93,7 +93,7 @@ namespace CDASimAdapter
          * @brief Forward simulated sensor detected object message to TMX message bus for other V2X-Hub Plugin 
          * @param msg simulation::SensorDetectedObject.
          */
-        void forward_simulated_detected_message(tmx::messages::simulation::SensorDetectedObject &msg);
+        void forward_simulated_detected_message(tmx::messages::SensorDetectedObject &msg);
         /**
          * @brief Method to start thread timer for regular interval actions lauched on seperate thread.
          */

src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp

@@ -4,7 +4,7 @@
 #include <tmx/tmx.h>
 #include <Point.h>
 #include <TimeSyncMessage.h>
-#include <simulation/SensorDetectedObject.h>
+#include <SensorDetectedObject.h>
 #include <jsoncpp/json/json.h>
 #include <PluginLog.h>
 #include <gtest/gtest.h>
@@ -64,12 +64,6 @@ namespace CDASimAdapter {
              * @param _client UDP client to forward message with.
              */
             void forward_message(const std::string &v2x_message, const std::shared_ptr<tmx::utils::UdpClient> _client ) const ;
-            /**
-             * @brief Method to consume incoming std::string message from UDP Server.
-             * @param _server UDP Server to consume string message from.
-             * @return string of message.
-             */
-            std::string consume_server_message( const std::shared_ptr<tmx::utils::UdpServer> _server ) const;
 
             /**
              * @brief Method to consume incoming std::string message in hex format from UDP Server.
@@ -88,7 +82,7 @@ namespace CDASimAdapter {
              * 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
              * @return simulation::SensorDetectedObject.
              */
-            tmx::messages::simulation::SensorDetectedObject consume_sensor_detected_object_message() const;
+            tmx::messages::SensorDetectedObject consume_sensor_detected_object_message() const;
             /**
              * @brief Perform handshake with CARMA-Simulation. Will return true on successful handshakes and false if 
              * unsuccessful. As part of the handshake should set simulation_v2x_port for forwarding v2x messages to simulation,

src/v2i-hub/CDASimAdapter/test/TestCDASimConnection.cpp

@@ -59,25 +59,6 @@ namespace CDASimAdapter {
         connection->forward_message(test_message, client);
     } 
 
-    TEST_F( TestCDASimConnection, consume_msg){
-
-        std::shared_ptr<MockUpdServer> server = std::make_shared<MockUpdServer>();
-        char *msg_data  = new char();
-        char test_string[] = "Test Message";
-        EXPECT_CALL( *server, TimedReceive(_, _, _) ).Times(2).
-            WillOnce(testing::DoAll(Return(-1))).
-            WillRepeatedly( testing::DoAll( SetArrayArgument<0>(test_string, test_string + strlen(test_string) + 1),Return(10)));
-        ASSERT_THROW(connection->consume_server_message(server), UdpServerRuntimeError);
-
-        std::string msg = connection->consume_server_message(server);
-
-        std::string compare_str;
-        compare_str = test_string;
-        ASSERT_EQ(compare_str.compare( msg ) , 0);
-        delete msg_data;
-
-    }
-
     TEST_F( TestCDASimConnection, setup_upd_connection) {
         ASSERT_TRUE(connection->setup_udp_connection("127.0.0.1", "127.0.0.1", 4567, 4568, 4569, 4570));
     }

src/v2i-hub/MUSTSensorDriverPlugin/CMakeLists.txt

@@ -0,0 +1,27 @@
+PROJECT(MUSTSensorDriverPlugin VERSION 7.6.0 LANGUAGES CXX)
+set(CMAKE_CXX_STANDARD 17)
+
+set(TMX_PLUGIN_NAME "Must Sensor Driver Plugin")
+
+
+BuildTmxPlugin()
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC tmxutils )
+
+#############
+## Testing ##
+#############
+enable_testing()
+add_library(${PROJECT_NAME}_lib src/MUSTSensorDetection.cpp)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_lib PUBLIC tmxutils )
+
+set(BINARY ${PROJECT_NAME}_test)
+file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
+set(SOURCES ${TEST_SOURCES} WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
+add_executable(${BINARY} ${TEST_SOURCES})
+add_test(NAME ${BINARY} COMMAND ${BINARY})
+TARGET_INCLUDE_DIRECTORIES(${BINARY} PUBLIC /usr/local/lib src/) 
+
+target_link_libraries(${BINARY} PUBLIC 
+        ${PROJECT_NAME}_lib 
+        gtest)