fix - get sim env variable

telematic_system/telematic_units/carma_vehicle_bridge/ros2_nats_bridge/ros2_nats_bridge/api.py

@@ -59,6 +59,9 @@ def __init__(self):
         self.registered = False
         self.subscribers_list = {}
         self.exclusion_list = []
+
+        # Get is_sim env variable as boolean
+        self.is_sim = os.getenv("IS_SIM", 'False').lower() in ('true', '1', 't')
 
         self.vehicle_info = {
             UnitKeys.UNIT_ID.value: os.getenv("VEHICLE_BRIDGE_UNIT_ID"),
@@ -75,7 +78,6 @@ def __init__(self):
         self.log_rotation = int(os.getenv("VEHICLE_BRIDGE_LOG_ROTATION_SIZE_BYTES"))
 
         self.log_handler_type = os.getenv('VEHICLE_BRIDGE_LOG_HANDLER_TYPE')
-        self.is_sim = os.getenv('IS_SIM')
 
         # Create ROS2NatsBridge logger
         if self.log_handler_type == LogType.ALL.value:
@@ -277,7 +279,8 @@ async def topic_request(msg):
                     exec("from " + msg_type[0] + '.' +
                             msg_type[1] + " import " + msg_type[2])
                     call_back = self.CallBack(i[1][0], topic, self.nc, self.vehicle_info[UnitKeys.UNIT_ID.value], self.vehicle_info[UnitKeys.UNIT_TYPE.value],
-                                                self.vehicle_info[UnitKeys.UNIT_NAME.value], self.vehicle_info[EventKeys.EVENT_NAME.value], self.vehicle_info[EventKeys.TESTING_TYPE.value], self.vehicle_info[EventKeys.LOCATION.value], self.logger)
+                                                self.vehicle_info[UnitKeys.UNIT_NAME.value], self.vehicle_info[EventKeys.EVENT_NAME.value], self.vehicle_info[EventKeys.TESTING_TYPE.value], self.vehicle_info[EventKeys.LOCATION.value], 
+                                                self.is_sim, self.logger)
                     try:
                         self.subscribers_list[topic] = self.create_subscription(
                             eval(msg_type[2]), topic, call_back.listener_callback, 10)
@@ -299,7 +302,7 @@ async def topic_request(msg):
 
 
     class CallBack():
-        def __init__(self, msg_type, topic_name, nc, unit_id, unit_type, unit_name, event_name, testing_type, location, logger):
+        def __init__(self, msg_type, topic_name, nc, unit_id, unit_type, unit_name, event_name, testing_type, location, is_sim, logger):
             """
                 initilize CallBack class
                 declare Nats client 
@@ -317,6 +320,7 @@ def __init__(self, msg_type, topic_name, nc, unit_id, unit_type, unit_name, even
             self.logger = logger
             self.logger.info("Publishing on topic: "+ self.topic_name)
             self.nc = nc
+            self.is_sim = is_sim
 
         async def listener_callback(self, msg):
             """
@@ -339,7 +343,7 @@ async def listener_callback(self, msg):
             secondToMicro = 1000000 #convert seconds to microseconds
 
             # If simulation environment - use current system time instead of ros header time
-            if self.is_sim :
+            if self.is_sim:
                 ordereddict_msg["timestamp"] = datetime.now(timezone.utc).timestamp()*secondToMicro  # microseconds
             else:   
                 #Check if the ROS message has a timestamp and use it for the NATS message