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--- a/carma-streets/bsm_8h_source.html +++ b/carma-streets/bsm_8h_source.html @@ -152,7 +152,7 @@ diff --git a/carma-streets/bsm__worker_8cpp.html b/carma-streets/bsm__worker_8cpp.html index db9dd935964..af6e8d0aeb0 100644 --- a/carma-streets/bsm__worker_8cpp.html +++ b/carma-streets/bsm__worker_8cpp.html @@ -144,7 +144,7 @@ diff --git a/carma-streets/bsm__worker_8cpp_source.html b/carma-streets/bsm__worker_8cpp_source.html index 2bab5462c43..c4f1efff788 100644 --- a/carma-streets/bsm__worker_8cpp_source.html +++ b/carma-streets/bsm__worker_8cpp_source.html @@ -170,7 +170,7 @@ diff --git a/carma-streets/bsm__worker_8h.html b/carma-streets/bsm__worker_8h.html index 370b7bbdd9a..d3b00518349 100644 --- a/carma-streets/bsm__worker_8h.html +++ b/carma-streets/bsm__worker_8h.html @@ -167,7 +167,7 @@ diff --git a/carma-streets/bsm__worker_8h_source.html b/carma-streets/bsm__worker_8h_source.html index 912cf8b87a1..7c0835d398d 100644 --- a/carma-streets/bsm__worker_8h_source.html +++ b/carma-streets/bsm__worker_8h_source.html @@ -149,7 +149,7 @@ diff --git a/carma-streets/build__scripts_2README_8md.html b/carma-streets/build__scripts_2README_8md.html index c9fd5d49961..c624dec95c4 100644 --- a/carma-streets/build__scripts_2README_8md.html +++ b/carma-streets/build__scripts_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/cartesian__point_8hpp.html b/carma-streets/cartesian__point_8hpp.html index 9a0970ded36..f10f94f5868 100644 --- a/carma-streets/cartesian__point_8hpp.html +++ b/carma-streets/cartesian__point_8hpp.html @@ -138,7 +138,7 @@ diff --git a/carma-streets/cartesian__point_8hpp_source.html b/carma-streets/cartesian__point_8hpp_source.html index f1c06dd50e1..e2e7e37cc35 100644 --- a/carma-streets/cartesian__point_8hpp_source.html +++ b/carma-streets/cartesian__point_8hpp_source.html @@ -129,7 +129,7 @@ diff --git a/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler-members.html b/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler-members.html index 6a72dede234..115473a05e1 100644 --- a/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler-members.html +++ b/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler-members.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler.html b/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler.html index 4114d4048de..a5e7908982a 100644 --- a/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler.html +++ b/carma-streets/classIntersectionModelAPI_1_1IntersectionModelHandler.html @@ -670,7 +670,7 @@

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  • OpenAPI
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    • -
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    • +
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  • OpenAPI
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    • -
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    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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    • -
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    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
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    • +
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  • OpenAPI
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    • +
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  • OpenAPI
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    • +
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  • OpenAPI
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    • -
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    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
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  • OpenAPI
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    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classOpenAPI_1_1OptionalParam-members.html b/carma-streets/classOpenAPI_1_1OptionalParam-members.html index 8ab7a809ece..5c2d539834a 100644 --- a/carma-streets/classOpenAPI_1_1OptionalParam-members.html +++ b/carma-streets/classOpenAPI_1_1OptionalParam-members.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/classOpenAPI_1_1OptionalParam.html b/carma-streets/classOpenAPI_1_1OptionalParam.html index bb0939d9998..714d140aaa4 100644 --- a/carma-streets/classOpenAPI_1_1OptionalParam.html +++ b/carma-streets/classOpenAPI_1_1OptionalParam.html @@ -317,7 +317,7 @@

  • OpenAPI
  • OptionalParam
    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classQObject.html b/carma-streets/classQObject.html index 1402dc38960..421cc2fefed 100644 --- a/carma-streets/classQObject.html +++ b/carma-streets/classQObject.html @@ -122,7 +122,7 @@ diff --git a/carma-streets/classdpp__script_1_1SimulationHelper-members.html b/carma-streets/classdpp__script_1_1SimulationHelper-members.html index 6ad9b83fe54..e6523cfa018 100644 --- a/carma-streets/classdpp__script_1_1SimulationHelper-members.html +++ b/carma-streets/classdpp__script_1_1SimulationHelper-members.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/classdpp__script_1_1SimulationHelper.html b/carma-streets/classdpp__script_1_1SimulationHelper.html index e1114df9707..2295b1425d7 100644 --- a/carma-streets/classdpp__script_1_1SimulationHelper.html +++ b/carma-streets/classdpp__script_1_1SimulationHelper.html @@ -365,7 +365,7 @@

  • dpp_script
  • SimulationHelper
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classes.html b/carma-streets/classes.html index b678a17d020..886d7b67ff4 100644 --- a/carma-streets/classes.html +++ b/carma-streets/classes.html @@ -151,7 +151,7 @@ diff --git a/carma-streets/classintersection__client-members.html b/carma-streets/classintersection__client-members.html index 1666930d1f7..311578b5eb5 100644 --- a/carma-streets/classintersection__client-members.html +++ b/carma-streets/classintersection__client-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classintersection__client.html b/carma-streets/classintersection__client.html index e5e8e194a1c..aca2ab42ddb 100644 --- a/carma-streets/classintersection__client.html +++ b/carma-streets/classintersection__client.html @@ -290,7 +290,7 @@

  • intersection_client
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classintersection__model_1_1intersection__model-members.html b/carma-streets/classintersection__model_1_1intersection__model-members.html index 2bf331147e8..0b1118080b3 100644 --- a/carma-streets/classintersection__model_1_1intersection__model-members.html +++ b/carma-streets/classintersection__model_1_1intersection__model-members.html @@ -141,7 +141,7 @@ diff --git a/carma-streets/classintersection__model_1_1intersection__model.html b/carma-streets/classintersection__model_1_1intersection__model.html index f6e2c200243..3b20f236dad 100644 --- a/carma-streets/classintersection__model_1_1intersection__model.html +++ b/carma-streets/classintersection__model_1_1intersection__model.html @@ -2203,7 +2203,7 @@

diff --git a/carma-streets/classintersection__model_1_1map__msg__worker-members.html b/carma-streets/classintersection__model_1_1map__msg__worker-members.html index 13b6b31cd2b..2a090367bab 100644 --- a/carma-streets/classintersection__model_1_1map__msg__worker-members.html +++ b/carma-streets/classintersection__model_1_1map__msg__worker-members.html @@ -108,7 +108,7 @@ diff --git a/carma-streets/classintersection__model_1_1map__msg__worker.html b/carma-streets/classintersection__model_1_1map__msg__worker.html index ec8193421c0..0c0f9f2e88d 100644 --- a/carma-streets/classintersection__model_1_1map__msg__worker.html +++ b/carma-streets/classintersection__model_1_1map__msg__worker.html @@ -714,7 +714,7 @@

  • intersection_model
  • map_msg_worker
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classkafka__clients_1_1consumer__event__cb-members.html b/carma-streets/classkafka__clients_1_1consumer__event__cb-members.html index 73d6b7db73e..f2da904275e 100644 --- a/carma-streets/classkafka__clients_1_1consumer__event__cb-members.html +++ b/carma-streets/classkafka__clients_1_1consumer__event__cb-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classkafka__clients_1_1consumer__event__cb.html b/carma-streets/classkafka__clients_1_1consumer__event__cb.html index eb876fe4528..9b1d55c53f0 100644 --- a/carma-streets/classkafka__clients_1_1consumer__event__cb.html +++ b/carma-streets/classkafka__clients_1_1consumer__event__cb.html @@ -245,7 +245,7 @@

  • kafka_clients
  • consumer_event_cb
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classkafka__clients_1_1consumer__rebalance__cb-members.html b/carma-streets/classkafka__clients_1_1consumer__rebalance__cb-members.html index d82f29fdc5e..f410afa2199 100644 --- a/carma-streets/classkafka__clients_1_1consumer__rebalance__cb-members.html +++ b/carma-streets/classkafka__clients_1_1consumer__rebalance__cb-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classkafka__clients_1_1consumer__rebalance__cb.html b/carma-streets/classkafka__clients_1_1consumer__rebalance__cb.html index 04f0d5ef352..40462a98545 100644 --- a/carma-streets/classkafka__clients_1_1consumer__rebalance__cb.html +++ b/carma-streets/classkafka__clients_1_1consumer__rebalance__cb.html @@ -271,7 +271,7 @@

diff --git a/carma-streets/classkafka__clients_1_1kafka__client-members.html b/carma-streets/classkafka__clients_1_1kafka__client-members.html index 612915509a9..6b9f5092074 100644 --- a/carma-streets/classkafka__clients_1_1kafka__client-members.html +++ b/carma-streets/classkafka__clients_1_1kafka__client-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classkafka__clients_1_1kafka__client.html b/carma-streets/classkafka__clients_1_1kafka__client.html index 7d75c6d8f5f..dc872a16967 100644 --- a/carma-streets/classkafka__clients_1_1kafka__client.html +++ b/carma-streets/classkafka__clients_1_1kafka__client.html @@ -291,7 +291,7 @@

  • kafka_clients
  • kafka_client
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classkafka__clients_1_1kafka__consumer__worker-members.html b/carma-streets/classkafka__clients_1_1kafka__consumer__worker-members.html index c1cf9ece427..d8ee4c80b93 100644 --- a/carma-streets/classkafka__clients_1_1kafka__consumer__worker-members.html +++ b/carma-streets/classkafka__clients_1_1kafka__consumer__worker-members.html @@ -121,7 +121,7 @@ diff --git a/carma-streets/classkafka__clients_1_1kafka__consumer__worker.html b/carma-streets/classkafka__clients_1_1kafka__consumer__worker.html index 3101a09a884..7afdd5a9841 100644 --- a/carma-streets/classkafka__clients_1_1kafka__consumer__worker.html +++ b/carma-streets/classkafka__clients_1_1kafka__consumer__worker.html @@ -1285,7 +1285,7 @@

diff --git a/carma-streets/classkafka__clients_1_1kafka__producer__worker-members.html b/carma-streets/classkafka__clients_1_1kafka__producer__worker-members.html index 1a638b97327..2ab7e4b7e01 100644 --- a/carma-streets/classkafka__clients_1_1kafka__producer__worker-members.html +++ b/carma-streets/classkafka__clients_1_1kafka__producer__worker-members.html @@ -112,7 +112,7 @@ diff --git a/carma-streets/classkafka__clients_1_1kafka__producer__worker.html b/carma-streets/classkafka__clients_1_1kafka__producer__worker.html index 87e783db879..19411f9a04d 100644 --- a/carma-streets/classkafka__clients_1_1kafka__producer__worker.html +++ b/carma-streets/classkafka__clients_1_1kafka__producer__worker.html @@ -942,7 +942,7 @@

diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__client-members.html b/carma-streets/classkafka__clients_1_1mock__kafka__client-members.html index f94c1eb9013..761a527c7ef 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__client-members.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__client-members.html @@ -101,7 +101,7 @@ diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__client.html b/carma-streets/classkafka__clients_1_1mock__kafka__client.html index 3442d2be5a4..78feb1a39aa 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__client.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__client.html @@ -280,7 +280,7 @@

  • kafka_clients
  • mock_kafka_client
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker-members.html b/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker-members.html index 51e81ccb969..eddc3d2bffc 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker-members.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker-members.html @@ -129,7 +129,7 @@ diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker.html b/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker.html index 425baeb16e6..f959bdc3b81 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__consumer__worker.html @@ -521,7 +521,7 @@

diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker-members.html b/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker-members.html index b61504747e6..8a79b498a46 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker-members.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker-members.html @@ -119,7 +119,7 @@ diff --git a/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker.html b/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker.html index cde3e98f9f2..a11d1f30e0d 100644 --- a/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker.html +++ b/carma-streets/classkafka__clients_1_1mock__kafka__producer__worker.html @@ -461,7 +461,7 @@

diff --git a/carma-streets/classkafka__clients_1_1producer__delivery__report__cb-members.html b/carma-streets/classkafka__clients_1_1producer__delivery__report__cb-members.html index 3dececcd9a2..8e095a2bfe7 100644 --- a/carma-streets/classkafka__clients_1_1producer__delivery__report__cb-members.html +++ b/carma-streets/classkafka__clients_1_1producer__delivery__report__cb-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classkafka__clients_1_1producer__delivery__report__cb.html b/carma-streets/classkafka__clients_1_1producer__delivery__report__cb.html index 9982ac4edbf..fbdc8929ce5 100644 --- a/carma-streets/classkafka__clients_1_1producer__delivery__report__cb.html +++ b/carma-streets/classkafka__clients_1_1producer__delivery__report__cb.html @@ -226,7 +226,7 @@

diff --git a/carma-streets/classkafka__clients_1_1producer__event__cb-members.html b/carma-streets/classkafka__clients_1_1producer__event__cb-members.html index f4d23bcbc45..db75f0dbcad 100644 --- a/carma-streets/classkafka__clients_1_1producer__event__cb-members.html +++ b/carma-streets/classkafka__clients_1_1producer__event__cb-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classkafka__clients_1_1producer__event__cb.html b/carma-streets/classkafka__clients_1_1producer__event__cb.html index 48f7cda1a9d..2af71108e63 100644 --- a/carma-streets/classkafka__clients_1_1producer__event__cb.html +++ b/carma-streets/classkafka__clients_1_1producer__event__cb.html @@ -239,7 +239,7 @@

  • kafka_clients
  • producer_event_cb
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception-members.html b/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception-members.html index a030427ec75..fabf373818b 100644 --- a/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception-members.html +++ b/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception.html b/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception.html index 3f869962886..b98b5fdadac 100644 --- a/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception.html +++ b/carma-streets/classmessage__services_1_1exceptions_1_1message__lanelet2__translation__exception.html @@ -202,7 +202,7 @@

diff --git a/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation-members.html b/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation-members.html index 6ffbcad8be9..18a7742746a 100644 --- a/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation-members.html +++ b/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation-members.html @@ -117,7 +117,7 @@ diff --git a/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation.html b/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation.html index f423a4a19cc..e8bd86f523a 100644 --- a/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation.html +++ b/carma-streets/classmessage__services_1_1message__translations_1_1message__lanelet2__translation.html @@ -1419,7 +1419,7 @@

diff --git a/carma-streets/classmessage__services_1_1models_1_1baseMessage-members.html b/carma-streets/classmessage__services_1_1models_1_1baseMessage-members.html index 2fe9f46f0fd..74756f0becb 100644 --- a/carma-streets/classmessage__services_1_1models_1_1baseMessage-members.html +++ b/carma-streets/classmessage__services_1_1models_1_1baseMessage-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/classmessage__services_1_1models_1_1baseMessage.html b/carma-streets/classmessage__services_1_1models_1_1baseMessage.html index d3d8127189b..4d052227379 100644 --- a/carma-streets/classmessage__services_1_1models_1_1baseMessage.html +++ b/carma-streets/classmessage__services_1_1models_1_1baseMessage.html @@ -329,7 +329,7 @@

diff --git a/carma-streets/classmessage__services_1_1models_1_1bsm-members.html b/carma-streets/classmessage__services_1_1models_1_1bsm-members.html index bfb4ba2da8e..47b7dc464fc 100644 --- a/carma-streets/classmessage__services_1_1models_1_1bsm-members.html +++ b/carma-streets/classmessage__services_1_1models_1_1bsm-members.html @@ -106,7 +106,7 @@ diff --git a/carma-streets/classmessage__services_1_1models_1_1bsm.html b/carma-streets/classmessage__services_1_1models_1_1bsm.html index 4308de93778..a98b84597b2 100644 --- a/carma-streets/classmessage__services_1_1models_1_1bsm.html +++ b/carma-streets/classmessage__services_1_1models_1_1bsm.html @@ -753,7 +753,7 @@

  • message_services
  • models
  • bsm
    • -
  • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classmessage__services_1_1models_1_1mobilityoperation-members.html b/carma-streets/classmessage__services_1_1models_1_1mobilityoperation-members.html index 3730911923c..b8e270fc473 100644 --- a/carma-streets/classmessage__services_1_1models_1_1mobilityoperation-members.html +++ b/carma-streets/classmessage__services_1_1models_1_1mobilityoperation-members.html @@ -114,7 +114,7 @@ diff --git a/carma-streets/classmessage__services_1_1models_1_1mobilityoperation.html b/carma-streets/classmessage__services_1_1models_1_1mobilityoperation.html index abd63a39b50..1eba5200740 100644 --- a/carma-streets/classmessage__services_1_1models_1_1mobilityoperation.html +++ b/carma-streets/classmessage__services_1_1models_1_1mobilityoperation.html @@ -959,7 +959,7 @@

diff --git a/carma-streets/classmessage__services_1_1models_1_1mobilitypath-members.html b/carma-streets/classmessage__services_1_1models_1_1mobilitypath-members.html index 6c4386b64c2..858d675e02e 100644 --- a/carma-streets/classmessage__services_1_1models_1_1mobilitypath-members.html +++ b/carma-streets/classmessage__services_1_1models_1_1mobilitypath-members.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/classmessage__services_1_1models_1_1mobilitypath.html b/carma-streets/classmessage__services_1_1models_1_1mobilitypath.html index 3bde72ec1b7..2b73014c737 100644 --- a/carma-streets/classmessage__services_1_1models_1_1mobilitypath.html +++ b/carma-streets/classmessage__services_1_1models_1_1mobilitypath.html @@ -796,7 +796,7 @@

diff --git a/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent-members.html b/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent-members.html index 2cabdb65b19..209dfe9a43a 100644 --- a/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent-members.html +++ b/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent-members.html @@ -170,7 +170,7 @@ diff --git a/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent.html b/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent.html index dc7ed1df3b2..22e13ca1d30 100644 --- a/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent.html +++ b/carma-streets/classmessage__services_1_1models_1_1vehicle__status__intent.html @@ -2898,7 +2898,7 @@

diff --git a/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service-members.html b/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service-members.html index 82d5789ac1b..d7c15f69316 100644 --- a/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service-members.html +++ b/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service-members.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service.html b/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service.html index ac42891fd9a..368564bfdb0 100644 --- a/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service.html +++ b/carma-streets/classmessage__services_1_1services_1_1mobility__operation__service.html @@ -386,7 +386,7 @@

diff --git a/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service-members.html b/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service-members.html index 85a65011f38..0972248c0d0 100644 --- a/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service-members.html +++ b/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service-members.html @@ -126,7 +126,7 @@ diff --git a/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service.html b/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service.html index d908b876608..148df552e82 100644 --- a/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service.html +++ b/carma-streets/classmessage__services_1_1services_1_1vehicle__status__intent__service.html @@ -1701,7 +1701,7 @@

diff --git a/carma-streets/classmessage__services_1_1workers_1_1base__worker-members.html b/carma-streets/classmessage__services_1_1workers_1_1base__worker-members.html index b3c7fb113fd..9d42de464ee 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1base__worker-members.html +++ b/carma-streets/classmessage__services_1_1workers_1_1base__worker-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/classmessage__services_1_1workers_1_1base__worker.html b/carma-streets/classmessage__services_1_1workers_1_1base__worker.html index e824be928ac..21e6a14b141 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1base__worker.html +++ b/carma-streets/classmessage__services_1_1workers_1_1base__worker.html @@ -205,7 +205,7 @@

diff --git a/carma-streets/classmessage__services_1_1workers_1_1bsm__worker-members.html b/carma-streets/classmessage__services_1_1workers_1_1bsm__worker-members.html index 7aa9eef195a..34d24dd3433 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1bsm__worker-members.html +++ b/carma-streets/classmessage__services_1_1workers_1_1bsm__worker-members.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/classmessage__services_1_1workers_1_1bsm__worker.html b/carma-streets/classmessage__services_1_1workers_1_1bsm__worker.html index b8f75c0931c..f3b9e337e58 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1bsm__worker.html +++ b/carma-streets/classmessage__services_1_1workers_1_1bsm__worker.html @@ -447,7 +447,7 @@

diff --git a/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker-members.html b/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker-members.html index 99d2001feff..30d8ea40d01 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker-members.html +++ b/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker-members.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker.html b/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker.html index 98ef7d13b79..2441a03942f 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker.html +++ b/carma-streets/classmessage__services_1_1workers_1_1mobilityoperation__worker.html @@ -407,7 +407,7 @@

diff --git a/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker-members.html b/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker-members.html index a1ea4b5307e..7554edb62f7 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker-members.html +++ b/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker-members.html @@ -106,7 +106,7 @@ diff --git a/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker.html b/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker.html index b55537888b4..3402d7b344a 100644 --- a/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker.html +++ b/carma-streets/classmessage__services_1_1workers_1_1mobilitypath__worker.html @@ -465,7 +465,7 @@

diff --git a/carma-streets/classscheduling__service_1_1intersection__client-members.html b/carma-streets/classscheduling__service_1_1intersection__client-members.html index d7f92768795..fb2167489b4 100644 --- a/carma-streets/classscheduling__service_1_1intersection__client-members.html +++ b/carma-streets/classscheduling__service_1_1intersection__client-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/classscheduling__service_1_1intersection__client.html b/carma-streets/classscheduling__service_1_1intersection__client.html index 245cdc760c9..f1b49c469b0 100644 --- a/carma-streets/classscheduling__service_1_1intersection__client.html +++ b/carma-streets/classscheduling__service_1_1intersection__client.html @@ -396,7 +396,7 @@

diff --git a/carma-streets/classscheduling__service_1_1scheduling__service-members.html b/carma-streets/classscheduling__service_1_1scheduling__service-members.html index 59e50ce551d..0c1a9e8df5e 100644 --- a/carma-streets/classscheduling__service_1_1scheduling__service-members.html +++ b/carma-streets/classscheduling__service_1_1scheduling__service-members.html @@ -122,7 +122,7 @@ diff --git a/carma-streets/classscheduling__service_1_1scheduling__service.html b/carma-streets/classscheduling__service_1_1scheduling__service.html index fd372451aed..8001818b010 100644 --- a/carma-streets/classscheduling__service_1_1scheduling__service.html +++ b/carma-streets/classscheduling__service_1_1scheduling__service.html @@ -1313,7 +1313,7 @@

diff --git a/carma-streets/classscheduling__service_1_1scheduling__worker-members.html b/carma-streets/classscheduling__service_1_1scheduling__worker-members.html index ad33b5ee11b..db1370fb9a1 100644 --- a/carma-streets/classscheduling__service_1_1scheduling__worker-members.html +++ b/carma-streets/classscheduling__service_1_1scheduling__worker-members.html @@ -95,7 +95,7 @@ diff --git a/carma-streets/classscheduling__service_1_1scheduling__worker.html b/carma-streets/classscheduling__service_1_1scheduling__worker.html index 38bb4aa4ce9..449446880d7 100644 --- a/carma-streets/classscheduling__service_1_1scheduling__worker.html +++ b/carma-streets/classscheduling__service_1_1scheduling__worker.html @@ -193,7 +193,7 @@

diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service-members.html b/carma-streets/classsensor__data__sharing__service_1_1sds__service-members.html index d07dc2bdf79..eedcc59feea 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service-members.html +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service-members.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service.html b/carma-streets/classsensor__data__sharing__service_1_1sds__service.html index a0e0301d2c9..bfd2faacc82 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service.html +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service.html @@ -354,42 +354,55 @@

104 SPDLOG_WARN("Skipping incoming detection at {0}ms is not current or has invalid timestamp of {1}ms!" , ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
105 continue;
106 }
-
107 // if delay is negative, detection message was processed before time sync message. Wait on time sync message
-
108 else if ( delay < 0 ) {
-
109 SPDLOG_WARN("Current sim time {0} waiting for sim time {1}ms from detection ...",ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
-
110 ss::streets_clock_singleton::sleep_for(abs(delay));
-
111 }
-
112 // Write Lock
-
113 std::unique_lock lock(detected_objects_lock);
-
114 detected_objects[detected_object._object_id] = detected_object;
-
115 SPDLOG_DEBUG("Detected Object List Size {0} after consumed: {1}", detected_objects.size(), payload);
-
116
-
117 }
-
118 }
-
119 catch (const streets_utils::json_utils::json_parse_exception &e) {
-
120 SPDLOG_ERROR("Exception occured consuming detection message : {0}", e.what());
-
121 }
-
122 }
-
123 SPDLOG_ERROR("Something went wrong, no longer consuming detections." );
-
124
-
125 }
+
107 // if delay is negative, and service is in simulation mode
+
108 // the detection message was processed before time sync message. Wait on time sync message
+
109 else if (is_simulation_mode() && delay < 0 ) {
+
110 SPDLOG_WARN("Current sim time {0} waiting for sim time {1}ms from detection ...",ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
+
111 ss::streets_clock_singleton::sleep_for(abs(delay));
+
112 }
+
113 // If delay is negative and service is not in simulation mode
+
114 // indicates sensor and service are not time sychronized.
+
115 else if( delay < 0 ) {
+
116 SPDLOG_WARN(
+
117 R"(Current time is {0}ms and detection time stamp is {1}ms. Sensor Data Sharing Service and sensor producing detections to not appear to be time synchronized)",
+
118 ss::streets_clock_singleton::time_in_ms(),
+
119 detected_object._timestamp );
+
120
+
121 }
+
122
+
123 // Write Lock
+
124 std::unique_lock lock(detected_objects_lock);
+
125 detected_objects[detected_object._object_id] = detected_object;
+
126 SPDLOG_DEBUG("Detected Object List Size {0} after consumed: {1}", detected_objects.size(), payload);
+
127
+
128 }
+
129 }
+
130 catch (const streets_utils::json_utils::json_parse_exception &e) {
+
131 SPDLOG_ERROR("Exception occured consuming detection message : {0}", e.what());
+
132 }
+
133 }
+
134 SPDLOG_ERROR("Something went wrong, no longer consuming detections." );
+
135
+
136 }
sensor_data_sharing_service::sds_service::detected_objects_lock
std::shared_mutex detected_objects_lock
Mutex for thread safe operations on detected objects map.
Definition: sensor_data_sharing_service.hpp:70
sensor_data_sharing_service::sds_service::detected_objects
std::map< int, streets_utils::messages::detected_objects_msg::detected_objects_msg > detected_objects
Map of detected objects. New detections of existing objects will replace old detections.
Definition: sensor_data_sharing_service.hpp:66
streets_service::streets_clock_singleton::sleep_for
static void sleep_for(uint64_t ms)
Sleep/block calling thread for provided duration in milliseconds. TODO: Add this functionality to the...
Definition: streets_clock_singleton.cpp:19
streets_service::streets_clock_singleton::time_in_ms
static uint64_t time_in_ms()
Static access to the CarmaClock timeInMilliseconds method (see https://github.com/usdot-fhwa-stol/car...
Definition: streets_clock_singleton.cpp:11
+
streets_service::streets_service::is_simulation_mode
bool is_simulation_mode() const
Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
Definition: streets_service.cpp:150
streets_utils::json_utils::json_parse_exception
Runtime exception related to json_utils functions. Thrown when :
Definition: json_utils_exception.hpp:16
streets_utils::messages::detected_objects_msg::from_json
detected_objects_msg from_json(const std::string &val)
Definition: detected_obj_msg_deserializer.cpp:20
-

References detected_objects, detected_objects_lock, detection_consumer, streets_utils::messages::detected_objects_msg::from_json(), streets_service::streets_clock_singleton::sleep_for(), and streets_service::streets_clock_singleton::time_in_ms().

+

References detected_objects, detected_objects_lock, detection_consumer, streets_utils::messages::detected_objects_msg::from_json(), streets_service::streets_service::is_simulation_mode(), streets_service::streets_clock_singleton::sleep_for(), and streets_service::streets_clock_singleton::time_in_ms().

-

Referenced by start().

+

Referenced by start().

Here is the call graph for this function:
- + + @@ -444,37 +457,37 @@

Returns
sensor_data_sharing_msg created from detected objects.
-

Definition at line 160 of file sensor_data_sharing_service.cpp.

-
160 {
-
161 streets_utils::messages::sdsm::sensor_data_sharing_msg msg;
-
162 // Read lock
-
163 uint64_t timestamp = ss::streets_clock_singleton::time_in_ms();
-
164 msg._time_stamp = to_sdsm_timestamp(timestamp);
-
165 // Populate with rolling counter
-
166 msg._msg_count = this->_message_count;
-
167 // Populate with infrastructure id
-
168 msg._source_id = this->_infrastructure_id;
-
169 // Populate equipement type
-
170 msg._equipment_type = sdsm::equipment_type::RSU;
-
171 // Polulate ref position
-
172 msg._ref_positon = to_position_3d(this->sdsm_reference_point);
-
173 std::shared_lock lock(detected_objects_lock);
-
174 for (const auto &[object_id, object] : detected_objects){
-
175 auto ned_object = detected_object_enu_to_ned(object);
-
176 auto detected_object_data = to_detected_object_data(ned_object);
-
177 // TODO: Update time offset. Currently CARMA-Streets detected object message does not support timestamp
-
178 // This is a bug and needs to be addressed.
-
179 msg._objects.push_back(detected_object_data);
-
180 }
-
181 return msg;
-
182 }
+

Definition at line 171 of file sensor_data_sharing_service.cpp.

+
171 {
+
172 streets_utils::messages::sdsm::sensor_data_sharing_msg msg;
+
173 // Read lock
+
174 uint64_t timestamp = ss::streets_clock_singleton::time_in_ms();
+
175 msg._time_stamp = to_sdsm_timestamp(timestamp);
+
176 // Populate with rolling counter
+
177 msg._msg_count = this->_message_count;
+
178 // Populate with infrastructure id
+
179 msg._source_id = this->_infrastructure_id;
+
180 // Populate equipement type
+
181 msg._equipment_type = sdsm::equipment_type::RSU;
+
182 // Polulate ref position
+
183 msg._ref_positon = to_position_3d(this->sdsm_reference_point);
+
184 std::shared_lock lock(detected_objects_lock);
+
185 for (const auto &[object_id, object] : detected_objects){
+
186 auto ned_object = detected_object_enu_to_ned(object);
+
187 auto detected_object_data = to_detected_object_data(ned_object,timestamp);
+
188 // TODO: Update time offset. Currently CARMA-Streets detected object message does not support timestamp
+
189 // This is a bug and needs to be addressed.
+
190 msg._objects.push_back(detected_object_data);
+
191 }
+
192 return msg;
+
193 }
sensor_data_sharing_service::sds_service::_infrastructure_id
std::string _infrastructure_id
Infrastructure ID used as source ID for SDSM broadcast.
Definition: sensor_data_sharing_service.hpp:90
sensor_data_sharing_service::sds_service::sdsm_reference_point
lanelet::GPSPoint sdsm_reference_point
Location of sensor.This is also the sensor's coordinate frame orignin meaning all offsets are interpr...
Definition: sensor_data_sharing_service.hpp:85
sensor_data_sharing_service::sds_service::_message_count
uint8_t _message_count
Message count for SDSM.
Definition: sensor_data_sharing_service.hpp:95
sensor_data_sharing_service::detected_object_enu_to_ned
streets_utils::messages::detected_objects_msg::detected_objects_msg detected_object_enu_to_ned(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
Converts detected_objects_msg from ENU coordinate frame to NED.
Definition: detected_object_enu_to_ned_converter.cpp:18
-
sensor_data_sharing_service::to_position_3d
streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
Definition: sensor_data_sharing_service.cpp:194
+
sensor_data_sharing_service::to_position_3d
streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
Definition: sensor_data_sharing_service.cpp:205
sensor_data_sharing_service::to_sdsm_timestamp
streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp(const uint64_t _epoch_time_ms)
convert epoch millisecond timestamp to sdsm timestamp object
Definition: detected_object_to_sdsm_converter.cpp:18
-
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
+
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
simulate_mobilityoperation.timestamp
int timestamp
Definition: simulate_mobilityoperation.py:26
streets_utils::messages::sdsm::sensor_data_sharing_msg
Definition: sensor_data_sharing_msg.hpp:32
streets_utils::messages::sdsm::sensor_data_sharing_msg::_msg_count
std::size_t _msg_count
– a count value which is incremented with each use [0,255] the next value after 255 shall be one valu...
Definition: sensor_data_sharing_msg.hpp:38
@@ -484,9 +497,9 @@

streets_utils::messages::sdsm::sensor_data_sharing_msg::_objects
std::vector< detected_object_data > _objects
Definition: sensor_data_sharing_msg.hpp:45

streets_utils::messages::sdsm::sensor_data_sharing_msg::_time_stamp
time_stamp _time_stamp
Definition: sensor_data_sharing_msg.hpp:43
-

References streets_utils::messages::sdsm::sensor_data_sharing_msg::_equipment_type, _infrastructure_id, _message_count, streets_utils::messages::sdsm::sensor_data_sharing_msg::_msg_count, streets_utils::messages::sdsm::sensor_data_sharing_msg::_objects, streets_utils::messages::sdsm::sensor_data_sharing_msg::_ref_positon, streets_utils::messages::sdsm::sensor_data_sharing_msg::_source_id, streets_utils::messages::sdsm::sensor_data_sharing_msg::_time_stamp, sensor_data_sharing_service::detected_object_enu_to_ned(), detected_objects, detected_objects_lock, sdsm_reference_point, streets_service::streets_clock_singleton::time_in_ms(), simulate_mobilityoperation::timestamp, sensor_data_sharing_service::to_detected_object_data(), sensor_data_sharing_service::to_position_3d(), and sensor_data_sharing_service::to_sdsm_timestamp().

+

References streets_utils::messages::sdsm::sensor_data_sharing_msg::_equipment_type, _infrastructure_id, _message_count, streets_utils::messages::sdsm::sensor_data_sharing_msg::_msg_count, streets_utils::messages::sdsm::sensor_data_sharing_msg::_objects, streets_utils::messages::sdsm::sensor_data_sharing_msg::_ref_positon, streets_utils::messages::sdsm::sensor_data_sharing_msg::_source_id, streets_utils::messages::sdsm::sensor_data_sharing_msg::_time_stamp, sensor_data_sharing_service::detected_object_enu_to_ned(), detected_objects, detected_objects_lock, sdsm_reference_point, streets_service::streets_clock_singleton::time_in_ms(), simulate_mobilityoperation::timestamp, sensor_data_sharing_service::to_detected_object_data(), sensor_data_sharing_service::to_position_3d(), and sensor_data_sharing_service::to_sdsm_timestamp().

-

Referenced by produce_sdsms().

+

Referenced by produce_sdsms().

Here is the call graph for this function:
@@ -495,7 +508,7 @@

- + @@ -668,11 +681,11 @@

sensor_data_sharing_service::sds_service::map_projector
std::unique_ptr< lanelet::projection::LocalFrameProjector > map_projector
WSG84 Map projection.
Definition: sensor_data_sharing_service.hpp:79

sensor_data_sharing_service::sds_service::read_lanelet_map
bool read_lanelet_map(const std::string &filepath)
Method to read lanelet2 map.
Definition: sensor_data_sharing_service.cpp:62
streets_service::streets_configuration::get_string_config
static std::string get_string_config(const std::string &config_param_name)
Retreive configuration parameter string value with provided name.
Definition: streets_configuration.cpp:104
-
streets_service::streets_service::initialize_kafka_producer
bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
Helper method to initialize Kafka producer for a given topic.
Definition: streets_service.cpp:55
-
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:72
+
streets_service::streets_service::initialize_kafka_producer
bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
Helper method to initialize Kafka producer for a given topic.
Definition: streets_service.cpp:56
+
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:73
sensor_data_sharing_service::parse_sensor_location
lanelet::BasicPoint3d parse_sensor_location(const std::string &filepath, const std::string &sensor_id)
Method to parse sensor configuration json file.
Definition: sensor_configuration_parser.cpp:18

-

References _infrastructure_id, detection_consumer, streets_service::streets_configuration::get_string_config(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), map_projector, sensor_data_sharing_service::parse_sensor_location(), read_lanelet_map(), sdsm_producer, and sdsm_reference_point.

+

References _infrastructure_id, detection_consumer, streets_service::streets_configuration::get_string_config(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), map_projector, sensor_data_sharing_service::parse_sensor_location(), read_lanelet_map(), sdsm_producer, and sdsm_reference_point.

Referenced by main().

@@ -764,45 +777,45 @@

Definition at line 127 of file sensor_data_sharing_service.cpp.

-
127 {
-
128 if ( !sdsm_producer ) {
-
129 throw std::runtime_error("SDSM consumer is null!");
-
130 }
-
131 SPDLOG_INFO("Starting SDSM Producer!");
-
132 while ( sdsm_producer->is_running() ) {
-
133 try{
-
134 if ( !detected_objects.empty() ) {
-
135 streets_utils::messages::sdsm::sensor_data_sharing_msg msg = create_sdsm();
-
136 const std::string json_msg = streets_utils::messages::sdsm::to_json(msg);
-
137 SPDLOG_DEBUG("Sending SDSM : {0}", json_msg);
-
138 sdsm_producer->send(json_msg);
-
139 // Message Count max is 127, reset after max value
-
140 if ( this->_message_count <= 127) {
-
141 this->_message_count++;
-
142 }else {
-
143 this->_message_count = 0;
-
144 }
-
145 // Write Lock
-
146 std::unique_lock lock(detected_objects_lock);
-
147 // Clear detected object
-
148 detected_objects.clear();
-
149 }
-
150 }
-
151 catch( const streets_utils::json_utils::json_parse_exception &e) {
-
152 SPDLOG_ERROR("Exception occurred producing SDSM : {0}", e.what());
-
153 }
-
154 ss::streets_clock_singleton::sleep_for(100); // Sleep for 100 ms between publish
-
155 }
-
156 SPDLOG_CRITICAL("SDSM Producers no longer running.");
-
157
-
158 }
-
sensor_data_sharing_service::sds_service::create_sdsm
streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
Method to create SDSM from detected objects.
Definition: sensor_data_sharing_service.cpp:160
+

Definition at line 138 of file sensor_data_sharing_service.cpp.

+
138 {
+
139 if ( !sdsm_producer ) {
+
140 throw std::runtime_error("SDSM consumer is null!");
+
141 }
+
142 SPDLOG_INFO("Starting SDSM Producer!");
+
143 while ( sdsm_producer->is_running() ) {
+
144 try{
+
145 if ( !detected_objects.empty() ) {
+
146 streets_utils::messages::sdsm::sensor_data_sharing_msg msg = create_sdsm();
+
147 const std::string json_msg = streets_utils::messages::sdsm::to_json(msg);
+
148 SPDLOG_DEBUG("Sending SDSM : {0}", json_msg);
+
149 sdsm_producer->send(json_msg);
+
150 // Message Count max is 127, reset after max value
+
151 if ( this->_message_count <= 127) {
+
152 this->_message_count++;
+
153 }else {
+
154 this->_message_count = 0;
+
155 }
+
156 // Write Lock
+
157 std::unique_lock lock(detected_objects_lock);
+
158 // Clear detected object
+
159 detected_objects.clear();
+
160 }
+
161 }
+
162 catch( const streets_utils::json_utils::json_parse_exception &e) {
+
163 SPDLOG_ERROR("Exception occurred producing SDSM : {0}", e.what());
+
164 }
+
165 ss::streets_clock_singleton::sleep_for(100); // Sleep for 100 ms between publish
+
166 }
+
167 SPDLOG_CRITICAL("SDSM Producers no longer running.");
+
168
+
169 }
+
sensor_data_sharing_service::sds_service::create_sdsm
streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
Method to create SDSM from detected objects.
Definition: sensor_data_sharing_service.cpp:171
streets_utils::messages::sdsm::to_json
std::string to_json(const sensor_data_sharing_msg &val)
Definition: sensor_data_sharing_msg_json_serializer.cpp:18
-

References _message_count, create_sdsm(), detected_objects, detected_objects_lock, sdsm_producer, streets_service::streets_clock_singleton::sleep_for(), and streets_utils::messages::sdsm::to_json().

+

References _message_count, create_sdsm(), detected_objects, detected_objects_lock, sdsm_producer, streets_service::streets_clock_singleton::sleep_for(), and streets_utils::messages::sdsm::to_json().

-

Referenced by start().

+

Referenced by start().

Here is the call graph for this function:
@@ -814,7 +827,7 @@

- + @@ -967,20 +980,20 @@

streets_service::streets_service.

-

Definition at line 185 of file sensor_data_sharing_service.cpp.

-
185 {
-
186 SPDLOG_DEBUG("Starting Sensor Data Sharing Service");
-
187 streets_service::start();
-
188 std::thread detection_thread(&sds_service::consume_detections, this);
-
189 std::thread sdsm_thread(&sds_service::produce_sdsms, this);
-
190 detection_thread.join();
-
191 sdsm_thread.join();
-
192 }
-
sensor_data_sharing_service::sds_service::produce_sdsms
void produce_sdsms()
Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
Definition: sensor_data_sharing_service.cpp:127
+

Definition at line 196 of file sensor_data_sharing_service.cpp.

+
196 {
+
197 SPDLOG_DEBUG("Starting Sensor Data Sharing Service");
+
198 streets_service::start();
+
199 std::thread detection_thread(&sds_service::consume_detections, this);
+
200 std::thread sdsm_thread(&sds_service::produce_sdsms, this);
+
201 detection_thread.join();
+
202 sdsm_thread.join();
+
203 }
+
sensor_data_sharing_service::sds_service::produce_sdsms
void produce_sdsms()
Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
Definition: sensor_data_sharing_service.cpp:138
sensor_data_sharing_service::sds_service::consume_detections
void consume_detections()
Loop to consume detections from kafka detection consumer. Will terminate if kafka consumer is no long...
Definition: sensor_data_sharing_service.cpp:87
simulate_timestep.start
int start
Definition: simulate_timestep.py:15
-

References consume_detections(), produce_sdsms(), and simulate_timestep::start.

+

References consume_detections(), produce_sdsms(), and simulate_timestep::start.

Referenced by main().

@@ -988,60 +1001,61 @@

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

@@ -1081,7 +1095,7 @@

Definition at line 90 of file sensor_data_sharing_service.hpp.

-

Referenced by create_sdsm(), and initialize().

+

Referenced by create_sdsm(), and initialize().

@@ -1109,7 +1123,7 @@

Definition at line 95 of file sensor_data_sharing_service.hpp.

-

Referenced by create_sdsm(), and produce_sdsms().

+

Referenced by create_sdsm(), and produce_sdsms().

@@ -1137,7 +1151,7 @@

Definition at line 66 of file sensor_data_sharing_service.hpp.

-

Referenced by consume_detections(), create_sdsm(), and produce_sdsms().

+

Referenced by consume_detections(), create_sdsm(), and produce_sdsms().

@@ -1165,7 +1179,7 @@

Definition at line 70 of file sensor_data_sharing_service.hpp.

-

Referenced by consume_detections(), create_sdsm(), and produce_sdsms().

+

Referenced by consume_detections(), create_sdsm(), and produce_sdsms().

@@ -1275,7 +1289,7 @@

Definition at line 58 of file sensor_data_sharing_service.hpp.

-

Referenced by ~sds_service(), initialize(), and produce_sdsms().

+

Referenced by ~sds_service(), initialize(), and produce_sdsms().

@@ -1303,7 +1317,7 @@

Definition at line 85 of file sensor_data_sharing_service.hpp.

-

Referenced by create_sdsm(), and initialize().

+

Referenced by create_sdsm(), and initialize().

@@ -1317,7 +1331,7 @@

diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.map b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.map index 5de28d050df..69cd0000fb5 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.map +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.map @@ -2,7 +2,7 @@ - + diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.md5 b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.md5 index e8a60310b60..ba699c27f5a 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.md5 +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a49b81dd177ed2ea506fac8f3a9a7b273_cgraph.md5 @@ -1 +1 @@ -57dccbc5a0c5e3136d540a060ff08f02 \ No newline at end of file +92f3bd51cc9ca4cc861b4aa9da5ef0bc \ No newline at end of file diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.map b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.map index c9f507f3e5f..927acc330f2 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.map +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.map @@ -5,7 +5,7 @@ - + diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.md5 b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.md5 index f795bbc7485..71988f6d8dd 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.md5 +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a784bcc97ce58546f2d5a172c96ba7e8f_cgraph.md5 @@ -1 +1 @@ -5e522e75a5fd3e6547b0a93689e07091 \ No newline at end of file +6caa2c4743aaf4b1f3bee7b2a9d03cf5 \ No newline at end of file diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.map b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.map index 1f38683aae7..05c2c84f626 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.map +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.map @@ -1,56 +1,57 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.md5 b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.md5 index d765df5985c..144329b4f13 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.md5 +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.md5 @@ -1 +1 @@ -f4826adc279a1aaeb0cee68d1aed5c72 \ No newline at end of file +f6f46d07d716e8d2ad1c037aa0409f4c \ No newline at end of file diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.png b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.png index f67ba60fdcd..7dce876de41 100644 Binary files a/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.png and b/carma-streets/classsensor__data__sharing__service_1_1sds__service_a9ee2b8ce146ec179703350d609652785_cgraph.png differ diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.map b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.map index c8da33dd2ba..419acf291b3 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.map +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.map @@ -1,8 +1,9 @@ - + - - + + + @@ -13,5 +14,5 @@ - + diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.md5 b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.md5 index 01c691f165f..98339a8ef80 100644 --- a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.md5 +++ b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.md5 @@ -1 +1 @@ -6f70f997791e9a42526005d645687956 \ No newline at end of file +147bb86f45ac2c5fbb37c76d4b6060b1 \ No newline at end of file diff --git a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.png b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.png index 4ebcb4c1df7..82f8d28ccf1 100644 Binary files a/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.png and b/carma-streets/classsensor__data__sharing__service_1_1sds__service_ae1c6b5529f6d39f6baebe028179cb3b2_cgraph.png differ diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker-members.html b/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker-members.html index 6950022e0a0..893028bff6b 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker-members.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker-members.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker.html b/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker.html index 3067cf8d268..566bfb1d526 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__messages__worker.html @@ -472,7 +472,7 @@

diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker-members.html b/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker-members.html index 8fe9aed1575..84992067ab5 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker-members.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker-members.html @@ -106,7 +106,7 @@ diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker.html b/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker.html index 2f5b57ba69c..d0999e1a46a 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__processing__worker.html @@ -678,7 +678,7 @@

diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__service-members.html b/carma-streets/classsignal__opt__service_1_1signal__opt__service-members.html index d80b22fb4bc..f12eb2f9dd4 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__service-members.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__service-members.html @@ -136,7 +136,7 @@ diff --git a/carma-streets/classsignal__opt__service_1_1signal__opt__service.html b/carma-streets/classsignal__opt__service_1_1signal__opt__service.html index 5b2bd0aafe1..6d411ead876 100644 --- a/carma-streets/classsignal__opt__service_1_1signal__opt__service.html +++ b/carma-streets/classsignal__opt__service_1_1signal__opt__service.html @@ -1956,7 +1956,7 @@

diff --git a/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception-members.html b/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception-members.html index 5059d39b75e..d9cd7b29d15 100644 --- a/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception-members.html +++ b/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception.html b/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception.html index 828eb61520f..cc7d1c15431 100644 --- a/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception.html +++ b/carma-streets/classsignal__phase__and__timing_1_1signal__phase__and__timing__exception.html @@ -202,7 +202,7 @@

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  • signal_phase_and_timing
  • spat
    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/classstatic_01std_1_1unique__ptr_3_01fwha__stol_1_1lib_1_1time_1_1CarmaClock_01_4.html b/carma-streets/classstatic_01std_1_1unique__ptr_3_01fwha__stol_1_1lib_1_1time_1_1CarmaClock_01_4.html index 4d4146c2ac3..18dfe8c9237 100644 --- a/carma-streets/classstatic_01std_1_1unique__ptr_3_01fwha__stol_1_1lib_1_1time_1_1CarmaClock_01_4.html +++ b/carma-streets/classstatic_01std_1_1unique__ptr_3_01fwha__stol_1_1lib_1_1time_1_1CarmaClock_01_4.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/classstatic_01std_1_1unique__ptr_3_01streets__configuration_01_4.html b/carma-streets/classstatic_01std_1_1unique__ptr_3_01streets__configuration_01_4.html index 4ad15807eb9..1143843b218 100644 --- a/carma-streets/classstatic_01std_1_1unique__ptr_3_01streets__configuration_01_4.html +++ b/carma-streets/classstatic_01std_1_1unique__ptr_3_01streets__configuration_01_4.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception-members.html b/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception-members.html index cf967891ddf..d49369849d3 100644 --- a/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception-members.html +++ b/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception.html b/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception.html index aeb8c7c5c9a..71409faa53d 100644 --- a/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception.html +++ b/carma-streets/classstreets__desired__phase__plan_1_1streets__desired__phase__plan__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception-members.html b/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception-members.html index b0183be31d9..64a99485a6c 100644 --- a/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception-members.html +++ b/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception.html b/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception.html index b6bd8504bbf..685cc702192 100644 --- a/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception.html +++ b/carma-streets/classstreets__phase__control__schedule_1_1streets__phase__control__schedule__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classstreets__service_1_1streets__clock__singleton-members.html b/carma-streets/classstreets__service_1_1streets__clock__singleton-members.html index 9a0213c2f4e..827af47ec2c 100644 --- a/carma-streets/classstreets__service_1_1streets__clock__singleton-members.html +++ b/carma-streets/classstreets__service_1_1streets__clock__singleton-members.html @@ -108,7 +108,7 @@ diff --git a/carma-streets/classstreets__service_1_1streets__clock__singleton.html b/carma-streets/classstreets__service_1_1streets__clock__singleton.html index 868a3c9d487..3b8939d97f6 100644 --- a/carma-streets/classstreets__service_1_1streets__clock__singleton.html +++ b/carma-streets/classstreets__service_1_1streets__clock__singleton.html @@ -302,7 +302,7 @@

References get_singleton().

-

Referenced by sensor_data_sharing_service::sds_service::consume_detections(), traffic_signal_controller_service::tsc_service::control_tsc_phases(), sensor_data_sharing_service::sds_service::produce_sdsms(), traffic_signal_controller_service::tsc_service::produce_tsc_config_json(), and traffic_signal_controller_service::tsc_service::set_tsc_hold_and_omit_forceoff_call().

+

Referenced by sensor_data_sharing_service::sds_service::consume_detections(), traffic_signal_controller_service::tsc_service::control_tsc_phases(), sensor_data_sharing_service::sds_service::produce_sdsms(), traffic_signal_controller_service::tsc_service::produce_tsc_config_json(), and traffic_signal_controller_service::tsc_service::set_tsc_hold_and_omit_forceoff_call().

Here is the call graph for this function:
@@ -421,7 +421,7 @@

References get_singleton().

-

Referenced by sensor_data_sharing_service::sds_service::consume_detections(), traffic_signal_controller_service::tsc_service::control_tsc_phases(), signal_phase_and_timing::time_change_details::convert_hour_tenth_secs2epoch_ts(), signal_phase_and_timing::intersection_state::convert_min_mills2epoch_ts(), signal_phase_and_timing::time_change_details::convert_msepoch_to_hour_tenth_secs(), signal_phase_and_timing::intersection_state::convert_offset(), sensor_data_sharing_service::sds_service::create_sdsm(), traffic_signal_controller_service::monitor_desired_phase_plan::fix_upcoming_green(), traffic_signal_controller_service::monitor_desired_phase_plan::fix_upcoming_yell_red(), traffic_signal_controller_service::tsc_service::log_spat_latency(), traffic_signal_controller_service::tsc_service::produce_spat_json(), traffic_signal_controller_service::monitor_desired_phase_plan::prune_expired_greens_from_dpp(), signal_phase_and_timing::intersection_state::set_timestamp_local(), signal_phase_and_timing::intersection_state::set_timestamp_ntcip(), traffic_signal_controller_service::tsc_service::set_tsc_hold_and_omit_forceoff_call(), and traffic_signal_controller_service::control_tsc_state::update_tsc_control_queue().

+

Referenced by sensor_data_sharing_service::sds_service::consume_detections(), traffic_signal_controller_service::tsc_service::control_tsc_phases(), signal_phase_and_timing::time_change_details::convert_hour_tenth_secs2epoch_ts(), signal_phase_and_timing::intersection_state::convert_min_mills2epoch_ts(), signal_phase_and_timing::time_change_details::convert_msepoch_to_hour_tenth_secs(), signal_phase_and_timing::intersection_state::convert_offset(), sensor_data_sharing_service::sds_service::create_sdsm(), traffic_signal_controller_service::monitor_desired_phase_plan::fix_upcoming_green(), traffic_signal_controller_service::monitor_desired_phase_plan::fix_upcoming_yell_red(), traffic_signal_controller_service::tsc_service::log_spat_latency(), traffic_signal_controller_service::tsc_service::produce_spat_json(), traffic_signal_controller_service::monitor_desired_phase_plan::prune_expired_greens_from_dpp(), signal_phase_and_timing::intersection_state::set_timestamp_local(), signal_phase_and_timing::intersection_state::set_timestamp_ntcip(), traffic_signal_controller_service::tsc_service::set_tsc_hold_and_omit_forceoff_call(), and traffic_signal_controller_service::control_tsc_state::update_tsc_control_queue().

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@@ -529,7 +529,7 @@

References get_singleton().

-

Referenced by streets_service::streets_service::consume_time_sync_message().

+

Referenced by streets_service::streets_service::consume_time_sync_message().

Here is the call graph for this function:
@@ -586,7 +586,7 @@

diff --git a/carma-streets/classstreets__service_1_1streets__configuration-members.html b/carma-streets/classstreets__service_1_1streets__configuration-members.html index 431236759df..619137e1846 100644 --- a/carma-streets/classstreets__service_1_1streets__configuration-members.html +++ b/carma-streets/classstreets__service_1_1streets__configuration-members.html @@ -125,7 +125,7 @@ diff --git a/carma-streets/classstreets__service_1_1streets__configuration.html b/carma-streets/classstreets__service_1_1streets__configuration.html index d7017baac99..ee9e922cf45 100644 --- a/carma-streets/classstreets__service_1_1streets__configuration.html +++ b/carma-streets/classstreets__service_1_1streets__configuration.html @@ -830,7 +830,7 @@

References get_singleton(), and streets_service::streets_singleton< streets_configuration, std::string >::instance.

-

Referenced by streets_service::streets_service::initialize().

+

Referenced by streets_service::streets_service::initialize().

Here is the call graph for this function:
@@ -976,7 +976,7 @@

References streets_service::config_string, get_singleton(), and streets_service::streets_singleton< streets_configuration, std::string >::instance.

-

Referenced by scheduling_service::scheduling_service::config_scheduler(), scheduling_service::scheduling_service::config_vehicle_list(), scheduling_service::scheduling_service::configure_csv_logger(), message_services::services::vehicle_status_intent_service::initialize(), sensor_data_sharing_service::sds_service::initialize(), traffic_signal_controller_service::tsc_service::initialize(), scheduling_service::scheduling_service::initialize(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), main(), signal_opt_service::signal_opt_service::read_configuration_params(), scheduling_service::scheduling_worker::schedule_vehicles(), and scheduling_service::scheduling_service::start().

+

Referenced by scheduling_service::scheduling_service::config_scheduler(), scheduling_service::scheduling_service::config_vehicle_list(), scheduling_service::scheduling_service::configure_csv_logger(), message_services::services::vehicle_status_intent_service::initialize(), sensor_data_sharing_service::sds_service::initialize(), traffic_signal_controller_service::tsc_service::initialize(), scheduling_service::scheduling_service::initialize(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), main(), signal_opt_service::signal_opt_service::read_configuration_params(), scheduling_service::scheduling_worker::schedule_vehicles(), and scheduling_service::scheduling_service::start().

Here is the call graph for this function:
@@ -1642,7 +1642,7 @@

diff --git a/carma-streets/classstreets__service_1_1streets__configuration__exception-members.html b/carma-streets/classstreets__service_1_1streets__configuration__exception-members.html index c5556ef1c74..6f59796e447 100644 --- a/carma-streets/classstreets__service_1_1streets__configuration__exception-members.html +++ b/carma-streets/classstreets__service_1_1streets__configuration__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classstreets__service_1_1streets__configuration__exception.html b/carma-streets/classstreets__service_1_1streets__configuration__exception.html index 5a33cb083b0..e62e11815c4 100644 --- a/carma-streets/classstreets__service_1_1streets__configuration__exception.html +++ b/carma-streets/classstreets__service_1_1streets__configuration__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classstreets__service_1_1streets__service-members.html b/carma-streets/classstreets__service_1_1streets__service-members.html index 7dbfcdb8ae0..b2d4aea6324 100644 --- a/carma-streets/classstreets__service_1_1streets__service-members.html +++ b/carma-streets/classstreets__service_1_1streets__service-members.html @@ -125,7 +125,7 @@ diff --git a/carma-streets/classstreets__service_1_1streets__service.html b/carma-streets/classstreets__service_1_1streets__service.html index ce279ca238d..afdefd416a7 100644 --- a/carma-streets/classstreets__service_1_1streets__service.html +++ b/carma-streets/classstreets__service_1_1streets__service.html @@ -255,13 +255,13 @@

Definition at line 5 of file streets_service.cpp.

-
5 {
-
6 SPDLOG_INFO("Destructor called for streets service {0}!", _service_name);
-
7 if ( _time_consumer ) {
-
8 _time_consumer->stop();
-
9 }
-
10 }
+

Definition at line 6 of file streets_service.cpp.

+
6 {
+
7 SPDLOG_INFO("Destructor called for streets service {0}!", _service_name);
+
8 if ( _time_consumer ) {
+
9 _time_consumer->stop();
+
10 }
+
11 }
streets_service::streets_service::_service_name
std::string _service_name
Definition: streets_service.h:111
streets_service::streets_service::_time_consumer
std::shared_ptr< kafka_clients::kafka_consumer_worker > _time_consumer
Definition: streets_service.h:117
@@ -345,31 +345,42 @@

streets_clock_singleton with received data.

-

Definition at line 87 of file streets_service.cpp.

-
87 {
-
88 _time_consumer->subscribe();
-
89 while (_time_consumer->is_running())
-
90 {
-
91 const std::string payload = _time_consumer->consume(1000);
-
92 if (payload.length() != 0)
-
93 {
-
94 try {
-
95 SPDLOG_DEBUG("Consumed: {0}", payload);
-
96 simulation::time_sync_message msg;
-
97 msg.fromJson(payload);
-
98 streets_clock_singleton::update(msg.timestep);
-
99 }
-
100 catch( const std::runtime_error &e) {
-
101 SPDLOG_WARN( "{0} exception occured will consuming {1} msg! Skipping message!", e.what(), payload);
-
102 }
-
103
-
104 }
-
105
-
106 }
-
107 }
+

Definition at line 88 of file streets_service.cpp.

+
88 {
+
89 _time_consumer->subscribe();
+
90 while (_time_consumer->is_running())
+
91 {
+
92 const std::string payload = _time_consumer->consume(1000);
+
93 if (payload.length() != 0)
+
94 {
+
95 try {
+
96 SPDLOG_DEBUG("Consumed: {0}", payload);
+
97 simulation::time_sync_message msg;
+
98 msg.fromJson(payload);
+
99 streets_clock_singleton::update(msg.timestep);
+
100 // A script to validate time synchronization of tools in CDASim currently relies on the following
+
101 // log line. TODO: This line is meant to be removed in the future upon completion of this work:
+
102 // https://github.com/usdot-fhwa-stol/carma-analytics-fotda/pull/43
+
103 if (spdlog::get_level() == spdlog::level::debug)
+
104 {
+
105 auto time_now = std::chrono::system_clock::now();
+
106 auto epoch = time_now.time_since_epoch();
+
107 auto milliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(epoch);
+
108 SPDLOG_DEBUG("Simulation Time: {0} where current system time is: {1}", msg.timestep, milliseconds.count());
+
109 }
+
110 }
+
111 catch( const std::runtime_error &e) {
+
112 SPDLOG_WARN( "{0} exception occured will consuming {1} msg! Skipping message!", e.what(), payload);
+
113 }
+
114
+
115 }
+
116
+
117 }
+
118 }
streets_service::streets_clock_singleton::update
static void update(uint64_t time)
Static access to the CarmaClock update method (see https://github.com/usdot-fhwa-stol/carma-time-lib)...
Definition: streets_clock_singleton.cpp:5
+
simulate_detected_object.epoch
epoch
Definition: simulate_detected_object.py:19
-

References streets_service::simulation::time_sync_message::fromJson(), streets_service::simulation::time_sync_message::timestep, and streets_service::streets_clock_singleton::update().

+

References simulate_detected_object::epoch, streets_service::simulation::time_sync_message::fromJson(), streets_service::simulation::time_sync_message::timestep, and streets_service::streets_clock_singleton::update().

Here is the call graph for this function:
@@ -441,20 +452,20 @@

Definition at line 40 of file streets_service.cpp.

-
42 {
-
43 auto logger = spdlog::daily_logger_mt<spdlog::async_factory>(
-
44 name, // logger name
-
45 _logs_directory +name + extension, // log file name and path
-
46 23, // hours to rotate
-
47 59 // minutes to rotate
-
48 );
-
49 // Only log log statement content
-
50 logger->set_pattern(pattern);
-
51 logger->set_level(level);
-
52 logger->flush_on(level);
-
53 return logger;
-
54 }
+

Definition at line 41 of file streets_service.cpp.

+
43 {
+
44 auto logger = spdlog::daily_logger_mt<spdlog::async_factory>(
+
45 name, // logger name
+
46 _logs_directory +name + extension, // log file name and path
+
47 23, // hours to rotate
+
48 59 // minutes to rotate
+
49 );
+
50 // Only log log statement content
+
51 logger->set_pattern(pattern);
+
52 logger->set_level(level);
+
53 logger->flush_on(level);
+
54 return logger;
+
55 }
streets_service::streets_service::_logs_directory
std::string _logs_directory
Definition: streets_service.h:119

Referenced by traffic_signal_controller_service::tsc_service::configure_snmp_cmd_logger(), and traffic_signal_controller_service::tsc_service::configure_veh_ped_call_logger().

@@ -895,10 +906,10 @@

Returns
Returns service name set in configuration file.
-

Definition at line 135 of file streets_service.cpp.

-
135 {
-
136 return _service_name;
-
137 }
+

Definition at line 146 of file streets_service.cpp.

+
146 {
+
147 return _service_name;
+
148 }

@@ -952,24 +963,24 @@

Returns
value of environment variable.
-

Definition at line 117 of file streets_service.cpp.

-
117 {
-
118 // Check for config_name nullptr and use default value
-
119 if (config_name == nullptr ) {
-
120 SPDLOG_WARN("System config_name was nullptr! Using default value {0}!" , default_val);
-
121 return default_val;
-
122 }
-
123 // If std::getenv(config_name) returns value, use this value
-
124 if (const auto config = std::getenv(config_name)) {
-
125 SPDLOG_DEBUG("Reading system config {0} as : {1}!", config_name, config);
-
126 return config;
-
127 }
-
128 // If std::getenv(config_name) returns nullptr, environment variable was not set so use default
-
129 else {
-
130 SPDLOG_WARN("System config {0} was not set! Using default value {1}!" ,config_name, default_val);
-
131 return default_val;
-
132 }
-
133 }
+

Definition at line 128 of file streets_service.cpp.

+
128 {
+
129 // Check for config_name nullptr and use default value
+
130 if (config_name == nullptr ) {
+
131 SPDLOG_WARN("System config_name was nullptr! Using default value {0}!" , default_val);
+
132 return default_val;
+
133 }
+
134 // If std::getenv(config_name) returns value, use this value
+
135 if (const auto config = std::getenv(config_name)) {
+
136 SPDLOG_DEBUG("Reading system config {0} as : {1}!", config_name, config);
+
137 return config;
+
138 }
+
139 // If std::getenv(config_name) returns nullptr, environment variable was not set so use default
+
140 else {
+
141 SPDLOG_WARN("System config {0} was not set! Using default value {1}!" ,config_name, default_val);
+
142 return default_val;
+
143 }
+
144 }

@@ -1001,37 +1012,37 @@

sensor_data_sharing_service::sds_service, and traffic_signal_controller_service::tsc_service.

-

Definition at line 12 of file streets_service.cpp.

-
12 {
-
13 try {
-
14 std::string config_file_path = get_system_config(CONFIG_FILE_PATH_ENV.c_str(), DEFAULT_CONFIG_FILE_PATH);
-
15 streets_configuration::create(config_file_path);
-
16 std::string sim_mode_string = get_system_config(SIMULATION_MODE_ENV.c_str(),DEFAULT_SIMULATION_MODE);
-
17 _simulation_mode = sim_mode_string.compare("true") == 0 || sim_mode_string.compare("TRUE") == 0 ;
-
18 streets_clock_singleton::create(_simulation_mode);
-
19 _service_name = streets_configuration::get_service_name();
-
20 SPDLOG_INFO("Initializing {0} streets service in simulation mode : {1}!", _service_name, _simulation_mode);
-
21 if ( _simulation_mode ) {
-
22 std::string time_sync_topic = get_system_config(TIME_SYNC_TOPIC_ENV.c_str(), DEFAULT_TIME_SYNC_TOPIC);
-
23 if (!initialize_kafka_consumer(time_sync_topic, _time_consumer)){
-
24 return false;
-
25 }
-
26 }
-
27 _logs_directory = get_system_config(LOGS_DIRECTORY_ENV.c_str(), DEFAULT_LOGS_DIRECTORY);
-
28 } catch( const streets_configuration_exception &e) {
-
29 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
-
30 return false;
-
31 }
-
32 catch ( const std::runtime_error &e ) {
-
33 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
-
34 return false;
-
35 }
-
36 return true;
-
37
-
38 }
+

Definition at line 13 of file streets_service.cpp.

+
13 {
+
14 try {
+
15 std::string config_file_path = get_system_config(CONFIG_FILE_PATH_ENV.c_str(), DEFAULT_CONFIG_FILE_PATH);
+
16 streets_configuration::create(config_file_path);
+
17 std::string sim_mode_string = get_system_config(SIMULATION_MODE_ENV.c_str(),DEFAULT_SIMULATION_MODE);
+
18 _simulation_mode = sim_mode_string.compare("true") == 0 || sim_mode_string.compare("TRUE") == 0 ;
+
19 streets_clock_singleton::create(_simulation_mode);
+
20 _service_name = streets_configuration::get_service_name();
+
21 SPDLOG_INFO("Initializing {0} streets service in simulation mode : {1}!", _service_name, _simulation_mode);
+
22 if ( _simulation_mode ) {
+
23 std::string time_sync_topic = get_system_config(TIME_SYNC_TOPIC_ENV.c_str(), DEFAULT_TIME_SYNC_TOPIC);
+
24 if (!initialize_kafka_consumer(time_sync_topic, _time_consumer)){
+
25 return false;
+
26 }
+
27 }
+
28 _logs_directory = get_system_config(LOGS_DIRECTORY_ENV.c_str(), DEFAULT_LOGS_DIRECTORY);
+
29 } catch( const streets_configuration_exception &e) {
+
30 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
+
31 return false;
+
32 }
+
33 catch ( const std::runtime_error &e ) {
+
34 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
+
35 return false;
+
36 }
+
37 return true;
+
38
+
39 }
streets_service::streets_configuration::get_service_name
static std::string get_service_name()
Definition: streets_configuration.cpp:165
-
streets_service::streets_service::get_system_config
std::string get_system_config(const char *config_name, const std::string &default_val) const noexcept
Returns string value of environment variable with given name. If no value is found,...
Definition: streets_service.cpp:117
-
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:72
+
streets_service::streets_service::get_system_config
std::string get_system_config(const char *config_name, const std::string &default_val) const noexcept
Returns string value of environment variable with given name. If no value is found,...
Definition: streets_service.cpp:128
+
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:73
streets_service::streets_service::_simulation_mode
bool _simulation_mode
Definition: streets_service.h:113
streets_service::streets_singleton< streets_configuration, std::string >::create
static streets_configuration & create(Args...args)
Method to intialize streets_singleton with constructor params ...Args of templated class.
streets_service::DEFAULT_CONFIG_FILE_PATH
const std::string DEFAULT_CONFIG_FILE_PATH
Definition: streets_environment_variables.h:17
@@ -1114,21 +1125,21 @@

Returns
true if initialization is successful and false if initialization fails.
-

Definition at line 72 of file streets_service.cpp.

-
72 {
-
73 if ( !_kafka_client ) {
-
74 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
-
75 }
-
76 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
-
77 kafka_consumer = _kafka_client->create_consumer(bootstrap_server, consumer_topic, _service_name);
-
78 if (!kafka_consumer->init())
-
79 {
-
80 SPDLOG_CRITICAL("Kafka initialize error");
-
81 return false;
-
82 }
-
83 SPDLOG_DEBUG("Initialized Kafka consumer!");
-
84 return true;
-
85 }
+

Definition at line 73 of file streets_service.cpp.

+
73 {
+
74 if ( !_kafka_client ) {
+
75 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
+
76 }
+
77 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
+
78 kafka_consumer = _kafka_client->create_consumer(bootstrap_server, consumer_topic, _service_name);
+
79 if (!kafka_consumer->init())
+
80 {
+
81 SPDLOG_CRITICAL("Kafka initialize error");
+
82 return false;
+
83 }
+
84 SPDLOG_DEBUG("Initialized Kafka consumer!");
+
85 return true;
+
86 }
streets_service::streets_configuration::get_string_config
static std::string get_string_config(const std::string &config_param_name)
Retreive configuration parameter string value with provided name.
Definition: streets_configuration.cpp:104
streets_service::streets_service::_kafka_client
std::unique_ptr< kafka_clients::kafka_client > _kafka_client
Definition: streets_service.h:115
@@ -1204,23 +1215,23 @@

Returns
true if initialization is successful and false if initialization fails.
-

Definition at line 55 of file streets_service.cpp.

-
55 {
-
56
-
57 if ( !_kafka_client ) {
-
58 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
-
59 }
-
60 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
-
61
-
62 producer = _kafka_client->create_producer(bootstrap_server, producer_topic);
-
63 if (!producer->init())
-
64 {
-
65 SPDLOG_CRITICAL("Kafka producer initialize error on topic {0}", producer_topic);
-
66 return false;
-
67 }
-
68 SPDLOG_DEBUG("Initialized Kafka producer on topic {0}!", producer_topic);
-
69 return true;
-
70 }
+

Definition at line 56 of file streets_service.cpp.

+
56 {
+
57
+
58 if ( !_kafka_client ) {
+
59 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
+
60 }
+
61 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
+
62
+
63 producer = _kafka_client->create_producer(bootstrap_server, producer_topic);
+
64 if (!producer->init())
+
65 {
+
66 SPDLOG_CRITICAL("Kafka producer initialize error on topic {0}", producer_topic);
+
67 return false;
+
68 }
+
69 SPDLOG_DEBUG("Initialized Kafka producer on topic {0}!", producer_topic);
+
70 return true;
+
71 }
simulate_bsm.producer
producer
Definition: simulate_bsm.py:16

References streets_service::streets_configuration::get_string_config(), and simulate_bsm::producer.

@@ -1277,22 +1288,25 @@

streets_clock_singleton uses simulation time for kafka or system time.

Returns
true if in simulation mode, false if in real time more
-

Definition at line 139 of file streets_service.cpp.

-
139 {
-
140 return _simulation_mode;
-
141 }
+

Definition at line 150 of file streets_service.cpp.

+
150 {
+
151 return _simulation_mode;
+
152 }
-

Referenced by traffic_signal_controller_service::tsc_service::initialize(), and traffic_signal_controller_service::tsc_service::produce_spat_json().

+

Referenced by sensor_data_sharing_service::sds_service::consume_detections(), traffic_signal_controller_service::tsc_service::initialize(), and traffic_signal_controller_service::tsc_service::produce_spat_json().

Here is the caller graph for this function:
- - - - - + + + + + + + +
@@ -1377,13 +1391,13 @@

sensor_data_sharing_service::sds_service, and traffic_signal_controller_service::tsc_service.

-

Definition at line 110 of file streets_service.cpp.

-
110 {
-
111 if ( _simulation_mode ) {
-
112 std::thread time_sync_thread(&streets_service::consume_time_sync_message, this);
-
113 time_sync_thread.detach();
-
114 }
-
115 }
+

Definition at line 121 of file streets_service.cpp.

+
121 {
+
122 if ( _simulation_mode ) {
+
123 std::thread time_sync_thread(&streets_service::consume_time_sync_message, this);
+
124 time_sync_thread.detach();
+
125 }
+
126 }

Referenced by traffic_signal_controller_service::tsc_service::start().

@@ -1530,7 +1544,7 @@

  • streets_service
  • streets_service
    • -
  • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
    • +
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    • +
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  • streets_vehicles
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  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
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diff --git a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state-members.html b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state-members.html index eb1d6367d9c..8acec1aaeac 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state-members.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state.html b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state.html index dcc813c6a47..08390306b87 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state.html @@ -738,7 +738,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception-members.html b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception-members.html index f178640c573..a36fe4fc936 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception.html b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception.html index 157f92783fc..9dd109d920a 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1control__tsc__state__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1intersection__client-members.html b/carma-streets/classtraffic__signal__controller__service_1_1intersection__client-members.html index be08a3f5ad0..fe873c77f56 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1intersection__client-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1intersection__client-members.html @@ -99,7 +99,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1intersection__client.html b/carma-streets/classtraffic__signal__controller__service_1_1intersection__client.html index 5b866a4e507..d0eb6f95783 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1intersection__client.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1intersection__client.html @@ -324,7 +324,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client-members.html b/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client-members.html index 956bcfbfbfa..c933b04a8ef 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client-members.html @@ -111,7 +111,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client.html b/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client.html index 622145e59b4..f972816cd7d 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1mock__snmp__client.html @@ -274,7 +274,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan-members.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan-members.html index ba80ee90af8..fdffb9bded7 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan-members.html @@ -111,7 +111,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan.html index 8275b6d2c39..576eac3f064 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan.html @@ -1114,7 +1114,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception-members.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception-members.html index 626e1389e92..ff5e2a832d3 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception.html index 9eb061e90e8..d23992999bb 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__desired__phase__plan__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception-members.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception-members.html index 020a8ad8519..54eaa2584eb 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception.html b/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception.html index 1e877c844a1..3ef822617c4 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1monitor__states__exception.html @@ -201,7 +201,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client-members.html b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client-members.html index 316b5016f4e..8e090b697d9 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client-members.html @@ -108,7 +108,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client.html b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client.html index 1600393d677..cfe8527d5c8 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client.html @@ -864,7 +864,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception-members.html b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception-members.html index 0dc6fce0dbc..8c67245fad4 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception.html b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception.html index c314852b77a..9140cf729d4 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1snmp__client__exception.html @@ -202,7 +202,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1spat__worker-members.html b/carma-streets/classtraffic__signal__controller__service_1_1spat__worker-members.html index 25ddacdb837..0a950c29d5d 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1spat__worker-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1spat__worker-members.html @@ -103,7 +103,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1spat__worker.html b/carma-streets/classtraffic__signal__controller__service_1_1spat__worker.html index fd9777c5255..6f023ccf96b 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1spat__worker.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1spat__worker.html @@ -457,7 +457,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1tsc__service-members.html b/carma-streets/classtraffic__signal__controller__service_1_1tsc__service-members.html index ad9a0d05ac4..c7345a506f9 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1tsc__service-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1tsc__service-members.html @@ -161,7 +161,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1tsc__service.html b/carma-streets/classtraffic__signal__controller__service_1_1tsc__service.html index f37148fc172..5724f8ba65d 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1tsc__service.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1tsc__service.html @@ -448,10 +448,10 @@

415 SPDLOG_ERROR( "SNMP Command Logger initialization failed: {0}!",ex.what());
416 }
417 }
-
streets_service::streets_service::create_daily_logger
std::shared_ptr< spdlog::logger > create_daily_logger(const std::string &name, const std::string &extension=".log", const std::string &pattern="[%Y-%m-%d %H:%M:%S.%e] %v", const spdlog::level::level_enum &level=spdlog::level::info) const
Method to create SPDLOG Daily rotating file logger. The logger is accessible by calling spdlog::get(n...
Definition: streets_service.cpp:40
+
streets_service::streets_service::create_daily_logger
std::shared_ptr< spdlog::logger > create_daily_logger(const std::string &name, const std::string &extension=".log", const std::string &pattern="[%Y-%m-%d %H:%M:%S.%e] %v", const spdlog::level::level_enum &level=spdlog::level::info) const
Method to create SPDLOG Daily rotating file logger. The logger is accessible by calling spdlog::get(n...
Definition: streets_service.cpp:41
traffic_signal_controller_service::tsc_service::SNMP_COMMAND_LOGGER_NAME
static const std::string SNMP_COMMAND_LOGGER_NAME
Definition: tsc_service.h:116
-

References streets_service::streets_service::create_daily_logger(), and SNMP_COMMAND_LOGGER_NAME.

+

References streets_service::streets_service::create_daily_logger(), and SNMP_COMMAND_LOGGER_NAME.

Referenced by initialize().

@@ -507,7 +507,7 @@

430 }

traffic_signal_controller_service::tsc_service::VEH_PED_CALL_LOGGER_NAME
static const std::string VEH_PED_CALL_LOGGER_NAME
Definition: tsc_service.h:118
-

References streets_service::streets_service::create_daily_logger(), and VEH_PED_CALL_LOGGER_NAME.

+

References streets_service::streets_service::create_daily_logger(), and VEH_PED_CALL_LOGGER_NAME.

Referenced by initialize().

@@ -1084,10 +1084,10 @@

streets_service::streets_configuration::get_string_config
static std::string get_string_config(const std::string &config_param_name)
Retreive configuration parameter string value with provided name.
Definition: streets_configuration.cpp:104

streets_service::streets_configuration::get_boolean_config
static bool get_boolean_config(const std::string &config_param_name)
Retreive configuration parameter boolean value with provide name.
Definition: streets_configuration.cpp:150
streets_service::streets_configuration::get_int_config
static int get_int_config(const std::string &config_param_name)
Retreive configuration parameter integer value with provided name.
Definition: streets_configuration.cpp:119
-
streets_service::streets_service::initialize
virtual bool initialize()
Method to initialize services members, singletons, kafka consumers and producers and any other connec...
Definition: streets_service.cpp:12
-
streets_service::streets_service::is_simulation_mode
bool is_simulation_mode() const
Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
Definition: streets_service.cpp:139
-
streets_service::streets_service::initialize_kafka_producer
bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
Helper method to initialize Kafka producer for a given topic.
Definition: streets_service.cpp:55
-
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:72
+
streets_service::streets_service::initialize
virtual bool initialize()
Method to initialize services members, singletons, kafka consumers and producers and any other connec...
Definition: streets_service.cpp:13
+
streets_service::streets_service::is_simulation_mode
bool is_simulation_mode() const
Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
Definition: streets_service.cpp:150
+
streets_service::streets_service::initialize_kafka_producer
bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
Helper method to initialize Kafka producer for a given topic.
Definition: streets_service.cpp:56
+
streets_service::streets_service::initialize_kafka_consumer
bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
Definition: streets_service.cpp:73
traffic_signal_controller_service::tsc_service::initialize_snmp_client
bool initialize_snmp_client(const std::string &server_ip, const int server_port, const std::string &community, const int snmp_version, const int timeout)
Initialize SNMP Client to make SNMP calls to Traffic Signal Controller.
Definition: tsc_service.cpp:131
traffic_signal_controller_service::tsc_service::spat_proj_mode
SPAT_PROJECTION_MODE spat_proj_mode
Definition: tsc_service.h:105
traffic_signal_controller_service::tsc_service::tsc_state_ptr
std::shared_ptr< tsc_state > tsc_state_ptr
tsc_state queries and stores traffic signal controller configurations including phase sequence,...
Definition: tsc_service.h:59
@@ -1103,7 +1103,7 @@

traffic_signal_controller_service::SPAT_PROJECTION_MODE::DPP_PROJECTION
@ DPP_PROJECTION
Append future information reflected in received DPP.
traffic_signal_controller_service::spat_projection_mode_from_int
SPAT_PROJECTION_MODE spat_projection_mode_from_int(const int i)
Definition: spat_projection_mode.cpp:4
-

References configure_snmp_cmd_logger(), configure_veh_ped_call_logger(), control_tsc_state_ptr_, control_tsc_state_sleep_dur_, desired_phase_plan_consumer, traffic_signal_controller_service::DPP_PROJECTION, enable_snmp_cmd_logging_, enable_spat(), streets_service::streets_configuration::get_boolean_config(), streets_service::streets_configuration::get_int_config(), streets_service::streets_configuration::get_string_config(), streets_service::streets_service::initialize(), initialize_intersection_client(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), initialize_snmp_client(), initialize_spat(), initialize_spat_worker(), initialize_tsc_state(), intersection_client_ptr, streets_service::streets_service::is_simulation_mode(), monitor_dpp_ptr, snmp_client_ptr, spat_producer, spat_proj_mode, traffic_signal_controller_service::spat_projection_mode_from_int(), tsc_config_producer, tsc_config_state_ptr, and tsc_state_ptr.

+

References configure_snmp_cmd_logger(), configure_veh_ped_call_logger(), control_tsc_state_ptr_, control_tsc_state_sleep_dur_, desired_phase_plan_consumer, traffic_signal_controller_service::DPP_PROJECTION, enable_snmp_cmd_logging_, enable_spat(), streets_service::streets_configuration::get_boolean_config(), streets_service::streets_configuration::get_int_config(), streets_service::streets_configuration::get_string_config(), streets_service::streets_service::initialize(), initialize_intersection_client(), streets_service::streets_service::initialize_kafka_consumer(), streets_service::streets_service::initialize_kafka_producer(), initialize_snmp_client(), initialize_spat(), initialize_spat_worker(), initialize_tsc_state(), intersection_client_ptr, streets_service::streets_service::is_simulation_mode(), monitor_dpp_ptr, snmp_client_ptr, spat_producer, spat_proj_mode, traffic_signal_controller_service::spat_projection_mode_from_int(), tsc_config_producer, tsc_config_state_ptr, and tsc_state_ptr.

Referenced by main().

@@ -1680,7 +1680,7 @@

traffic_signal_controller_service::tsc_service::log_spat_latency
void log_spat_latency(int &count, uint64_t &spat_processing_time, uint64_t spat_time_stamp) const
Method to log spat latency comparing spat time stamp to current time. Calculates and average over 20 ...
Definition: tsc_service.cpp:431

traffic_signal_controller_service::SPAT_PROJECTION_MODE::FIXED_TIMING_PROJECTION
@ FIXED_TIMING_PROJECTION
Append future information assuming fixed time, min vehicle recall on all vehicle phases.
-

References simulate_bsm::count, traffic_signal_controller_service::dpp_mtx, traffic_signal_controller_service::DPP_PROJECTION, traffic_signal_controller_service::FIXED_TIMING_PROJECTION, streets_service::streets_service::is_simulation_mode(), log_spat_latency(), monitor_dpp_ptr, spat_producer, spat_proj_mode, spat_ptr, spat_worker_ptr, streets_service::streets_clock_singleton::time_in_ms(), tsc_state_ptr, and VEH_PED_CALL_LOGGER_NAME.

+

References simulate_bsm::count, traffic_signal_controller_service::dpp_mtx, traffic_signal_controller_service::DPP_PROJECTION, traffic_signal_controller_service::FIXED_TIMING_PROJECTION, streets_service::streets_service::is_simulation_mode(), log_spat_latency(), monitor_dpp_ptr, spat_producer, spat_proj_mode, spat_ptr, spat_worker_ptr, streets_service::streets_clock_singleton::time_in_ms(), tsc_state_ptr, and VEH_PED_CALL_LOGGER_NAME.

Referenced by start().

@@ -1944,13 +1944,13 @@

478 spat_t.join();

479
480 }
-
streets_service::streets_service::start
virtual void start()
Method to start all threads needed for the Streets Service. This includes but is not limited to any t...
Definition: streets_service.cpp:110
+
streets_service::streets_service::start
virtual void start()
Method to start all threads needed for the Streets Service. This includes but is not limited to any t...
Definition: streets_service.cpp:121
traffic_signal_controller_service::tsc_service::control_tsc_phases
void control_tsc_phases()
Method to control phases on the Traffic Signal Controller by sending OMIT and HOLD commands construct...
Definition: tsc_service.cpp:316
traffic_signal_controller_service::tsc_service::produce_tsc_config_json
void produce_tsc_config_json() const
Method to receive traffic signal controller configuration information from the tsc_state and broadcas...
Definition: tsc_service.cpp:257
traffic_signal_controller_service::tsc_service::produce_spat_json
void produce_spat_json() const
Method to receive UDP data from traffic signal controller and broadcast spat JSON data to the carma-s...
Definition: tsc_service.cpp:196
traffic_signal_controller_service::tsc_service::consume_desired_phase_plan
void consume_desired_phase_plan()
Definition: tsc_service.cpp:271
-

References consume_desired_phase_plan(), control_tsc_phases(), traffic_signal_controller_service::DPP_PROJECTION, produce_spat_json(), produce_tsc_config_json(), spat_proj_mode, and streets_service::streets_service::start().

+

References consume_desired_phase_plan(), control_tsc_phases(), traffic_signal_controller_service::DPP_PROJECTION, produce_spat_json(), produce_tsc_config_json(), spat_proj_mode, and streets_service::streets_service::start().

Referenced by main().

@@ -2607,7 +2607,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1tsc__state-members.html b/carma-streets/classtraffic__signal__controller__service_1_1tsc__state-members.html index 69aa0ae7d01..3c0c846205d 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1tsc__state-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1tsc__state-members.html @@ -142,7 +142,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1tsc__state.html b/carma-streets/classtraffic__signal__controller__service_1_1tsc__state.html index 8936ecec728..c8e5716c465 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1tsc__state.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1tsc__state.html @@ -2991,7 +2991,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener-members.html b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener-members.html index 466519cd7e7..036589b7d9b 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener-members.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener.html b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener.html index 7d9a7249c2f..a7b521a00e6 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener.html @@ -553,7 +553,7 @@

diff --git a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception-members.html b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception-members.html index 063076c5342..e3a7bb6421f 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception-members.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception.html b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception.html index 65a4b2f72e7..9f79a65d772 100644 --- a/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception.html +++ b/carma-streets/classtraffic__signal__controller__service_1_1udp__socket__listener__exception.html @@ -202,7 +202,7 @@

diff --git a/carma-streets/collect__kafka__logs_8py.html b/carma-streets/collect__kafka__logs_8py.html index 875839acce0..63c126225a3 100644 --- a/carma-streets/collect__kafka__logs_8py.html +++ b/carma-streets/collect__kafka__logs_8py.html @@ -111,7 +111,7 @@ diff --git a/carma-streets/collect__kafka__logs_8py_source.html b/carma-streets/collect__kafka__logs_8py_source.html index cc79d6b509a..188a873285c 100644 --- a/carma-streets/collect__kafka__logs_8py_source.html +++ b/carma-streets/collect__kafka__logs_8py_source.html @@ -86,149 +86,167 @@
collect_kafka_logs.py
-Go to the documentation of this file.
1import os
-
2import time
-
3import re
-
4import signal
-
5import subprocess
-
6import argparse
-
7
-
8
-
9
-
16
-
17
-
18def store_kafka_topic(topic, dir, timeout, start_time, end_time):
-
19
-
20 timestamp_regex = 'CreateTime:(\d+)\t{'
-
21 filename = f'{dir}/{topic}.log'
-
22
-
23 # Command to get messages from specified topic, from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
-
24 command = f'docker exec kafka timeout {timeout} kafka-console-consumer.sh --topic {topic} --property print.timestamp=true --from-beginning --bootstrap-server localhost:9092'
-
25 result = subprocess.check_output(f'docker exec kafka kafka-run-class.sh kafka.tools.GetOffsetShell --broker-list localhost:9092 --topic {topic} | awk -F \":\" \'{{sum += $3}} END {{print sum}}\'', shell=True)
-
26 if result == b'\n':
-
27 return 1
-
28 else:
-
29 num_msgs = int(result)
-
30
-
31 line_count = 0
-
32 with open(filename, 'w+') as outfile:
-
33 # Popen returns a generator containing the command output line by line
-
34 process = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True, universal_newlines=True, preexec_fn=os.setsid)
-
35 while line_count < num_msgs:
-
36 line = process.stdout.readline()
-
37 if line == '' and process.poll() is not None:
-
38 print(f'got {line_count} messages from {topic}')
-
39 return 0
-
40
-
41 # We have a valid line of output, find timestamp
-
42 match = re.search(timestamp_regex, line)
-
43 if not match:
-
44 # Some topics have multiple lines. For those, store each line that doesn't have a timestamp,
-
45 # and therefore is part of the 'current' message
-
46 if topic == 'v2xhub_map_msg_in' or topic == 'v2xhub_bsm_in' \
-
47 or topic == 'v2xhub_mobility_operation_in' or topic == 'v2xhub_mobility_path_in':
-
48 outfile.write(line)
-
49 else:
-
50 print(f'got {line_count} messages from {topic}')
-
51 print('no timestamp, exiting')
-
52 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
-
53 return 1
-
54 else:
-
55 timestamp = int(match.group()[11:-1])
+Go to the documentation of this file.
1#!/usr/bin/python3
+
2# Copyright (C) 2024 LEIDOS.
+
3#
+
4# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+
5# use this file except in compliance with the License. You may obtain a copy of
+
6# the License at
+
7#
+
8# http://www.apache.org/licenses/LICENSE-2.0
+
9#
+
10# Unless required by applicable law or agreed to in writing, software
+
11# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+
12# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+
13# License for the specific language governing permissions and limitations under
+
14# the License.
+
15import os
+
16import time
+
17import re
+
18import signal
+
19import subprocess
+
20import argparse
+
21from pathlib import Path
+
22import shutil
+
23
+
24
+
25
+
32
+
33
+
34def store_kafka_topic(topic, dir, timeout, start_time, end_time):
+
35
+
36 timestamp_regex = 'CreateTime:(\d+)\t{'
+
37 filename = f'{dir}/{topic}.log'
+
38
+
39 # Command to get messages from specified topic, from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
+
40 command = f'docker exec kafka timeout {timeout} kafka-console-consumer.sh --topic {topic} --property print.timestamp=true --from-beginning --bootstrap-server localhost:9092'
+
41 result = subprocess.check_output(f'docker exec kafka kafka-run-class.sh kafka.tools.GetOffsetShell --broker-list localhost:9092 --topic {topic} | awk -F \":\" \'{{sum += $3}} END {{print sum}}\'', shell=True)
+
42 if result == b'\n':
+
43 return 1
+
44 else:
+
45 num_msgs = int(result)
+
46
+
47 line_count = 0
+
48 with open(filename, 'w+') as outfile:
+
49 # Popen returns a generator containing the command output line by line
+
50 process = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True, universal_newlines=True, preexec_fn=os.setsid)
+
51 while line_count < num_msgs:
+
52 line = process.stdout.readline()
+
53 if line == '' and process.poll() is not None:
+
54 print(f'got {line_count} messages from {topic}')
+
55 return 0
56
-
57 # If we receive a message past the end time, we are done
-
58 if timestamp > end_time:
-
59 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
-
60 print(f'got {line_count} messages from {topic}')
-
61 return 0
-
62 # If we receive a message between the start and end times, store it
-
63 if timestamp > start_time:
+
57 # We have a valid line of output, find timestamp
+
58 match = re.search(timestamp_regex, line)
+
59 if not match:
+
60 # Some topics have multiple lines. For those, store each line that doesn't have a timestamp,
+
61 # and therefore is part of the 'current' message
+
62 if topic == 'v2xhub_map_msg_in' or topic == 'v2xhub_bsm_in' \
+
63 or topic == 'v2xhub_mobility_operation_in' or topic == 'v2xhub_mobility_path_in':
64 outfile.write(line)
-
65 line_count += 1
-
66 print(f'got all {num_msgs} expected messages from {topic}')
-
67 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
-
68 return 0
-
69
-
70
-
71def main():
+
65 else:
+
66 print(f'got {line_count} messages from {topic}')
+
67 print('no timestamp, exiting')
+
68 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+
69 return 1
+
70 else:
+
71 timestamp = int(match.group()[11:-1])
72
-
73 # Default list of topics, aka all topics from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
-
74 # topic desire_phase_plan is in the list from confluence, but doesn't exist in kafka as of 2022/12/05
-
75 topics = ['v2xhub_scheduling_plan_sub' ,'v2xhub_bsm_in', 'v2xhub_mobility_operation_in', 'v2xhub_mobility_path_in',
-
76 'vehicle_status_intent_output', 'v2xhub_map_msg_in', 'modified_spat', 'tsc_config_state', 'desired_phase_plan']
-
77 timeout = 5
-
78
-
79 # Get arguments
-
80 # The idea here was to give the user the bare minimum options, and make the default condition the most used.
-
81 parser = argparse.ArgumentParser(description='Script to grab data from kafka')
-
82 parser.add_argument('outfile', help='Filename for the resulting zip file', type=str) # Required argument
-
83 start_group = parser.add_mutually_exclusive_group()
-
84 end_group = parser.add_mutually_exclusive_group()
-
85 start_group.add_argument('--start_timestamp', help='Unix timestamp (seconds) for the first message to grab. Exclusive with start_hours_ago. ', type=int)
-
86 end_group.add_argument('--end_timestamp', help='Unix timestamp (seconds) for the last message to grab. Exclusive with end_hours_ago. ', type=int)
-
87 start_group.add_argument('--start_hours_ago', help='float hours before current time to grab first message. Exclusive with start_timestamp. ', type=float)
-
88 end_group.add_argument('--end_hours_ago', help='float hours before current time to grab last message. Exclusive with start_timestamp. ', type=float)
-
89 parser.add_argument('--topics', type=str, nargs='+', help=f'list of topics to grab data from')
-
90 parser.add_argument('--timeout', type=float, help=f'timeout for receiving messages on a topic, default is 5 seconds')
-
91
-
92 args = parser.parse_args()
-
93
-
94 # Correct and validate outfile name
-
95 if args.outfile[-4:] == '.zip':
-
96 outfile = args.outfile[:-4]
-
97 else:
-
98 outfile = args.outfile
-
99
-
100 if os.path.isdir(f'{os.getcwd()}/{outfile}'):
-
101 print(f'folder {outfile} exists, please remove or rename')
-
102 return
-
103 elif os.path.isfile(f'{os.getcwd()}/{outfile}.zip'):
-
104 print(f'zip file {outfile}.zip exists, please remove or rename')
-
105 return
-
106
-
107 # Convert given time to unix timestamp (in ms)
-
108 if args.start_timestamp:
-
109 start_time = args.start_timestamp * 1000
-
110 elif args.start_hours_ago:
-
111 start_time = int(time.time() - 3600 * args.start_hours_ago) * 1000
-
112 else:
-
113 start_time = 0
-
114
-
115 if args.end_timestamp:
-
116 end_time = args.end_timestamp * 1000
-
117 elif args.end_hours_ago:
-
118 end_time = int(time.time() - 3600 * args.end_hours_ago) * 1000
-
119 else:
-
120 end_time = int(time.time()) * 1000
-
121
-
122 if args.topics:
-
123 topics = args.topics
-
124 if args.timeout:
-
125 timeout = args.timeout
-
126
-
127 os.system(f'mkdir {outfile}')
-
128 for topic in topics:
-
129 ret = store_kafka_topic(topic, outfile, timeout, start_time, end_time)
-
130 if ret != 0:
-
131 print('received error, stopping execution')
-
132 return
-
133
-
134 print('Available logs collected, zipping and removing the temporary folder')
-
135 os.system(f'zip -r {outfile}.zip {outfile}')
-
136 os.system(f'rm -r {outfile}')
-
137
-
138
-
139if __name__ == "__main__":
-
140 main()
-
collect_kafka_logs.main
def main()
Definition: collect_kafka_logs.py:71
-
collect_kafka_logs.store_kafka_topic
def store_kafka_topic(topic, dir, timeout, start_time, end_time)
Python script to download and store kafka logs Opens the kafka docker container, then uses the exampl...
Definition: collect_kafka_logs.py:18
+
73 # If we receive a message past the end time, we are done
+
74 if timestamp > end_time:
+
75 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+
76 print(f'got {line_count} messages from {topic}')
+
77 return 0
+
78 # If we receive a message between the start and end times, store it
+
79 if timestamp > start_time:
+
80 outfile.write(line)
+
81 line_count += 1
+
82 print(f'got all {num_msgs} expected messages from {topic}')
+
83 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+
84 return 0
+
85
+
86
+
87def main():
+
88
+
89 # Default list of topics, aka all topics from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
+
90 topics = ['v2xhub_scheduling_plan_sub' ,'v2xhub_bsm_in', 'v2xhub_mobility_operation_in', 'v2xhub_mobility_path_in',
+
91 'vehicle_status_intent_output', 'v2xhub_map_msg_in', 'modified_spat', 'tsc_config_state', 'desired_phase_plan',
+
92 'v2xhub_sdsm_sub', 'v2xhub_sim_sensor_detected_object', 'v2xhub_sdsm_tra', 'desire_phase_plan', 'time_sync']
+
93 timeout = 5
+
94
+
95 # Get arguments
+
96 # The idea here was to give the user the bare minimum options, and make the default condition the most used.
+
97 parser = argparse.ArgumentParser(description='Script to grab data from kafka')
+
98 parser.add_argument('outdir', help='Folder name for the resulting folder logs are placed in', type=str) # Required argument
+
99 start_group = parser.add_mutually_exclusive_group()
+
100 end_group = parser.add_mutually_exclusive_group()
+
101 start_group.add_argument('--start_timestamp', help='Unix timestamp (seconds) for the first message to grab. Exclusive with start_hours_ago. ', type=int)
+
102 end_group.add_argument('--end_timestamp', help='Unix timestamp (seconds) for the last message to grab. Exclusive with end_hours_ago. ', type=int)
+
103 start_group.add_argument('--start_hours_ago', help='float hours before current time to grab first message. Exclusive with start_timestamp. ', type=float)
+
104 end_group.add_argument('--end_hours_ago', help='float hours before current time to grab last message. Exclusive with start_timestamp. ', type=float)
+
105 parser.add_argument('--topics', type=str, nargs='+', help='list of topics to grab data from')
+
106 parser.add_argument('--timeout', type=float, help='timeout for receiving messages on a topic, default is 5 seconds')
+
107 parser.add_argument('--zip', type=bool,help='bool flag. When set to true, folder is compressed into a zip file.', default=False)
+
108
+
109 args = parser.parse_args()
+
110
+
111 # Correct and validate outfile name
+
112 if args.outdir[-4:] == '.zip':
+
113 outdir = args.outdir[:-4]
+
114 else:
+
115 outdir = args.outdir
+
116 # Check if output directory already exists
+
117 if Path(Path.cwd()/outdir).is_dir():
+
118 print(f'folder {outdir} exists, please remove or rename')
+
119 return
+
120 # Check if zip file already exists
+
121 elif Path(Path.cwd()/f'{outdir}.zip').is_file():
+
122 print(f'zip file {outdir}.zip exists, please remove or rename')
+
123 return
+
124
+
125 # Convert given time to unix timestamp (in ms)
+
126 if args.start_timestamp:
+
127 start_time = args.start_timestamp * 1000
+
128 elif args.start_hours_ago:
+
129 start_time = int(time.time() - 3600 * args.start_hours_ago) * 1000
+
130 else:
+
131 start_time = 0
+
132
+
133 if args.end_timestamp:
+
134 end_time = args.end_timestamp * 1000
+
135 elif args.end_hours_ago:
+
136 end_time = int(time.time() - 3600 * args.end_hours_ago) * 1000
+
137 else:
+
138 end_time = int(time.time()) * 1000
+
139
+
140 if args.topics:
+
141 topics = args.topics
+
142 if args.timeout:
+
143 timeout = args.timeout
+
144 Path(outdir).mkdir(exist_ok=False)
+
145 for topic in topics:
+
146 ret = store_kafka_topic(topic, outdir, timeout, start_time, end_time)
+
147 if ret != 0:
+
148 print(f'received error on topic {topic}, going to next topic')
+
149
+
150 print('Available logs collected')
+
151 if args.zip:
+
152 print('Zipping and removing the temporary folder')
+
153 shutil.make_archive(base_name=outdir, format='zip', root_dir=outdir)
+
154 shutil.rmtree(path=outdir)
+
155
+
156
+
157if __name__ == "__main__":
+
158 main()
+
collect_kafka_logs.main
def main()
Definition: collect_kafka_logs.py:87
+
collect_kafka_logs.store_kafka_topic
def store_kafka_topic(topic, dir, timeout, start_time, end_time)
Python script to download and store kafka logs Opens the kafka docker container, then uses the exampl...
Definition: collect_kafka_logs.py:34
diff --git a/carma-streets/configuration_8cpp.html b/carma-streets/configuration_8cpp.html index 2b4c0904e5b..3e3c1906be1 100644 --- a/carma-streets/configuration_8cpp.html +++ b/carma-streets/configuration_8cpp.html @@ -116,7 +116,7 @@ diff --git a/carma-streets/configuration_8cpp_source.html b/carma-streets/configuration_8cpp_source.html index 03527861d06..38c70f8d5b9 100644 --- a/carma-streets/configuration_8cpp_source.html +++ b/carma-streets/configuration_8cpp_source.html @@ -173,7 +173,7 @@ diff --git a/carma-streets/configuration_8h.html b/carma-streets/configuration_8h.html index 3dcf3060ccc..6b07d3ab578 100644 --- a/carma-streets/configuration_8h.html +++ b/carma-streets/configuration_8h.html @@ -168,7 +168,7 @@ diff --git a/carma-streets/configuration_8h_source.html b/carma-streets/configuration_8h_source.html index fab33f7548f..4b9021f128f 100644 --- a/carma-streets/configuration_8h_source.html +++ b/carma-streets/configuration_8h_source.html @@ -130,7 +130,7 @@ diff --git a/carma-streets/connection__maneuver__assist_8cpp.html b/carma-streets/connection__maneuver__assist_8cpp.html index 24fb9c03d0c..ba28860dde0 100644 --- a/carma-streets/connection__maneuver__assist_8cpp.html +++ b/carma-streets/connection__maneuver__assist_8cpp.html @@ -117,7 +117,7 @@ diff --git a/carma-streets/connection__maneuver__assist_8cpp_source.html b/carma-streets/connection__maneuver__assist_8cpp_source.html index 31b05c74f62..6e5f6876305 100644 --- a/carma-streets/connection__maneuver__assist_8cpp_source.html +++ b/carma-streets/connection__maneuver__assist_8cpp_source.html @@ -162,7 +162,7 @@ diff --git a/carma-streets/connection__maneuver__assist_8h.html b/carma-streets/connection__maneuver__assist_8h.html index ea589145444..8a4e58c4c89 100644 --- a/carma-streets/connection__maneuver__assist_8h.html +++ b/carma-streets/connection__maneuver__assist_8h.html @@ -169,7 +169,7 @@ diff --git a/carma-streets/connection__maneuver__assist_8h_source.html b/carma-streets/connection__maneuver__assist_8h_source.html index e77bfc777d7..5c71ff1f231 100644 --- a/carma-streets/connection__maneuver__assist_8h_source.html +++ b/carma-streets/connection__maneuver__assist_8h_source.html @@ -137,7 +137,7 @@ diff --git a/carma-streets/control__tsc__state_8cpp.html b/carma-streets/control__tsc__state_8cpp.html index 34fbe152d29..c9c26abd0b2 100644 --- a/carma-streets/control__tsc__state_8cpp.html +++ b/carma-streets/control__tsc__state_8cpp.html @@ -174,7 +174,7 @@ diff --git a/carma-streets/control__tsc__state_8cpp_source.html b/carma-streets/control__tsc__state_8cpp_source.html index 81c59268a69..d9e192267f8 100644 --- a/carma-streets/control__tsc__state_8cpp_source.html +++ b/carma-streets/control__tsc__state_8cpp_source.html @@ -345,7 +345,7 @@ diff --git a/carma-streets/control__tsc__state_8h.html b/carma-streets/control__tsc__state_8h.html index be2a21c77ba..9460f9a1aa8 100644 --- a/carma-streets/control__tsc__state_8h.html +++ b/carma-streets/control__tsc__state_8h.html @@ -197,7 +197,7 @@ diff --git a/carma-streets/control__tsc__state_8h_source.html b/carma-streets/control__tsc__state_8h_source.html index bb0c04b9594..0b40b26956a 100644 --- a/carma-streets/control__tsc__state_8h_source.html +++ b/carma-streets/control__tsc__state_8h_source.html @@ -150,7 +150,7 @@ diff --git a/carma-streets/control__tsc__state__exception_8cpp.html b/carma-streets/control__tsc__state__exception_8cpp.html index b13f7654e94..d9299254afb 100644 --- a/carma-streets/control__tsc__state__exception_8cpp.html +++ b/carma-streets/control__tsc__state__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/control__tsc__state__exception_8cpp_source.html b/carma-streets/control__tsc__state__exception_8cpp_source.html index 9ecf9378e0e..764b9adb635 100644 --- a/carma-streets/control__tsc__state__exception_8cpp_source.html +++ b/carma-streets/control__tsc__state__exception_8cpp_source.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/control__tsc__state__exception_8h.html b/carma-streets/control__tsc__state__exception_8h.html index bb07d64ab87..30b348b171e 100644 --- a/carma-streets/control__tsc__state__exception_8h.html +++ b/carma-streets/control__tsc__state__exception_8h.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/control__tsc__state__exception_8h_source.html b/carma-streets/control__tsc__state__exception_8h_source.html index d5ecc90130f..e41a3af61f4 100644 --- a/carma-streets/control__tsc__state__exception_8h_source.html +++ b/carma-streets/control__tsc__state__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/detected__obj__msg__deserializer_8cpp.html b/carma-streets/detected__obj__msg__deserializer_8cpp.html index 21b183947be..b20ea4e0108 100644 --- a/carma-streets/detected__obj__msg__deserializer_8cpp.html +++ b/carma-streets/detected__obj__msg__deserializer_8cpp.html @@ -144,7 +144,7 @@ diff --git a/carma-streets/detected__obj__msg__deserializer_8cpp_source.html b/carma-streets/detected__obj__msg__deserializer_8cpp_source.html index da2d825a97b..12e9504dcc1 100644 --- a/carma-streets/detected__obj__msg__deserializer_8cpp_source.html +++ b/carma-streets/detected__obj__msg__deserializer_8cpp_source.html @@ -254,7 +254,7 @@ diff --git a/carma-streets/detected__obj__msg__deserializer_8hpp.html b/carma-streets/detected__obj__msg__deserializer_8hpp.html index 3d875f8b7b9..f0cfca6b859 100644 --- a/carma-streets/detected__obj__msg__deserializer_8hpp.html +++ b/carma-streets/detected__obj__msg__deserializer_8hpp.html @@ -156,7 +156,7 @@ diff --git a/carma-streets/detected__obj__msg__deserializer_8hpp_source.html b/carma-streets/detected__obj__msg__deserializer_8hpp_source.html index 80848caf8f7..03d2d0fceae 100644 --- a/carma-streets/detected__obj__msg__deserializer_8hpp_source.html +++ b/carma-streets/detected__obj__msg__deserializer_8hpp_source.html @@ -139,7 +139,7 @@ diff --git a/carma-streets/detected__object__data_8hpp.html b/carma-streets/detected__object__data_8hpp.html index 7ea3100ce59..01bf61eeaed 100644 --- a/carma-streets/detected__object__data_8hpp.html +++ b/carma-streets/detected__object__data_8hpp.html @@ -170,7 +170,7 @@ diff --git a/carma-streets/detected__object__data_8hpp_source.html b/carma-streets/detected__object__data_8hpp_source.html index 93e1474c171..849c7846a9c 100644 --- a/carma-streets/detected__object__data_8hpp_source.html +++ b/carma-streets/detected__object__data_8hpp_source.html @@ -128,7 +128,7 @@ diff --git a/carma-streets/detected__object__data__common_8hpp.html b/carma-streets/detected__object__data__common_8hpp.html index 3a62ef7c4f7..01508203080 100644 --- a/carma-streets/detected__object__data__common_8hpp.html +++ b/carma-streets/detected__object__data__common_8hpp.html @@ -157,7 +157,7 @@ diff --git a/carma-streets/detected__object__data__common_8hpp_source.html b/carma-streets/detected__object__data__common_8hpp_source.html index a95d338250d..e9b5369b531 100644 --- a/carma-streets/detected__object__data__common_8hpp_source.html +++ b/carma-streets/detected__object__data__common_8hpp_source.html @@ -185,7 +185,7 @@ diff --git a/carma-streets/detected__object__enu__to__ned__converter_8cpp.html b/carma-streets/detected__object__enu__to__ned__converter_8cpp.html index 6601ff7216d..d2ee918a8fb 100644 --- a/carma-streets/detected__object__enu__to__ned__converter_8cpp.html +++ b/carma-streets/detected__object__enu__to__ned__converter_8cpp.html @@ -120,7 +120,7 @@ diff --git a/carma-streets/detected__object__enu__to__ned__converter_8cpp_source.html b/carma-streets/detected__object__enu__to__ned__converter_8cpp_source.html index 3edc439b82c..7a579f586f8 100644 --- a/carma-streets/detected__object__enu__to__ned__converter_8cpp_source.html +++ b/carma-streets/detected__object__enu__to__ned__converter_8cpp_source.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/detected__object__enu__to__ned__converter_8hpp.html b/carma-streets/detected__object__enu__to__ned__converter_8hpp.html index 471f3ff6e62..7588008822e 100644 --- a/carma-streets/detected__object__enu__to__ned__converter_8hpp.html +++ b/carma-streets/detected__object__enu__to__ned__converter_8hpp.html @@ -131,7 +131,7 @@ diff --git a/carma-streets/detected__object__enu__to__ned__converter_8hpp_source.html b/carma-streets/detected__object__enu__to__ned__converter_8hpp_source.html index dd8c8384033..de3b72ab325 100644 --- a/carma-streets/detected__object__enu__to__ned__converter_8hpp_source.html +++ b/carma-streets/detected__object__enu__to__ned__converter_8hpp_source.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/detected__object__msg_8hpp.html b/carma-streets/detected__object__msg_8hpp.html index 58b1640bde5..830a34b5383 100644 --- a/carma-streets/detected__object__msg_8hpp.html +++ b/carma-streets/detected__object__msg_8hpp.html @@ -143,7 +143,7 @@ diff --git a/carma-streets/detected__object__msg_8hpp_source.html b/carma-streets/detected__object__msg_8hpp_source.html index d3d19ad6cb8..c54fa338e42 100644 --- a/carma-streets/detected__object__msg_8hpp_source.html +++ b/carma-streets/detected__object__msg_8hpp_source.html @@ -158,7 +158,7 @@ diff --git a/carma-streets/detected__object__to__sdsm__converter_8cpp.html b/carma-streets/detected__object__to__sdsm__converter_8cpp.html index 0167d82c04d..659d341090d 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8cpp.html +++ b/carma-streets/detected__object__to__sdsm__converter_8cpp.html @@ -119,9 +119,9 @@ streets_utils::messages::sdsm::time_stamp sensor_data_sharing_service::to_sdsm_timestamp (const uint64_t _epoch_time_ms)  convert epoch millisecond timestamp to sdsm timestamp object More...
  -streets_utils::messages::sdsm::detected_object_data sensor_data_sharing_service::to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg) - convert detected_object_msg to sdsm detection_object_data. More...
-  +streets_utils::messages::sdsm::detected_object_data sensor_data_sharing_service::to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp) + convert detected_object_msg to sdsm detection_object_data. More...
+  streets_utils::messages::sdsm::object_type sensor_data_sharing_service::to_object_type (const std::string &detection_type)  convert string detection type to sdsm object_type. More...
  @@ -159,7 +159,7 @@ diff --git a/carma-streets/detected__object__to__sdsm__converter_8cpp.js b/carma-streets/detected__object__to__sdsm__converter_8cpp.js index 2b9faaf90b4..95968e71dff 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8cpp.js +++ b/carma-streets/detected__object__to__sdsm__converter_8cpp.js @@ -1,7 +1,7 @@ var detected__object__to__sdsm__converter_8cpp = [ [ "to_angular_velocity_confidence", "detected__object__to__sdsm__converter_8cpp.html#a45b012119c686e006cfb3330ea6e0a69", null ], - [ "to_detected_object_data", "detected__object__to__sdsm__converter_8cpp.html#ad4810255fb495c8f408ba46a62273b37", null ], + [ "to_detected_object_data", "detected__object__to__sdsm__converter_8cpp.html#ac7883e0c836f56838d524ba13cbea5e7", null ], [ "to_heading", "detected__object__to__sdsm__converter_8cpp.html#a69f88b750e17c2825a61d30f1adb6539", null ], [ "to_object_type", "detected__object__to__sdsm__converter_8cpp.html#a5038fb2ec7890722ef91b8c4c31c5f56", null ], [ "to_position_confidence", "detected__object__to__sdsm__converter_8cpp.html#a763a8955d99dac5e8b3b10c2b449c73b", null ], diff --git a/carma-streets/detected__object__to__sdsm__converter_8cpp_source.html b/carma-streets/detected__object__to__sdsm__converter_8cpp_source.html index dba1cfd60b7..df35eb10b06 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8cpp_source.html +++ b/carma-streets/detected__object__to__sdsm__converter_8cpp_source.html @@ -121,7 +121,7 @@
33 return sdsm_timestamp;
34 }
35
-
36 streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg) {
+
36 streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp ) {
37 streets_utils::messages::sdsm::detected_object_data detected_object;
38 detected_object._detected_object_common_data._object_type = to_object_type(msg._type);
39 if (detected_object._detected_object_common_data._object_type == streets_utils::messages::sdsm::object_type::VEHICLE ) {
@@ -154,238 +154,241 @@
66 detected_object._detected_object_optional_data = optional_data;
67
68 }
-
69 detected_object._detected_object_common_data._classification_confidence = static_cast<unsigned int>(msg._confidence*100);
-
70 // TODO: Change Detected Object ID to int
-
71 detected_object._detected_object_common_data._object_id = msg._object_id;
-
72 // Units are 0.1 m
-
73 detected_object._detected_object_common_data._position_offset._offset_x = static_cast<unsigned int>(msg._position._x*METERS_TO_10_CM);
-
74 detected_object._detected_object_common_data._position_offset._offset_y = static_cast<unsigned int>(msg._position._y*METERS_TO_10_CM);
-
75 detected_object._detected_object_common_data._position_offset._offset_z = static_cast<unsigned int>(msg._position._z*METERS_TO_10_CM);
-
76 // Position Confidence
-
77 detected_object._detected_object_common_data._pos_confidence = to_position_confidence_set(msg._position_covariance);
-
78 // Units are 0.02 m/s
-
79 detected_object._detected_object_common_data._speed = static_cast<unsigned int>(std::hypot( msg._velocity._x* METERS_PER_SECOND_TO_2_CM_PER_SECOND, msg._velocity._y* METERS_PER_SECOND_TO_2_CM_PER_SECOND));
-
80 // Speed confidence
-
81 detected_object._detected_object_common_data._speed_confidence = to_xy_speed_confidence(msg._velocity_covariance);
-
82 // Speed Z
-
83 detected_object._detected_object_common_data._speed_z = static_cast<unsigned int>(fabs(msg._velocity._z)* METERS_PER_SECOND_TO_2_CM_PER_SECOND);
-
84 // Speed Z confidence
-
85 detected_object._detected_object_common_data._speed_z_confidence = to_z_speed_confidence(msg._velocity_covariance);
-
86 // Heading
-
87 detected_object._detected_object_common_data._heading = to_heading(msg._velocity);
-
88 // TODO: how to calculate heading confidence without orientation covariance
-
89 // Possible approximation is velocity covariance since we are using that currently
-
90 // Currently hard coding value
-
91 detected_object._detected_object_common_data._heading_confidence = streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg;
-
92 // Yaw rate
-
93 detected_object._detected_object_common_data._acceleration_4_way->_yaw_rate = to_yaw_rate(msg._angular_velocity._z);
-
94 // Yaw rate confidence
-
95 detected_object._detected_object_common_data._yaw_rate_confidence = to_yaw_rate_confidence(msg._angular_velocity_covariance);
-
96
-
97
-
98 return detected_object;
-
99 }
+
69 // Used to convey an offset in time relative to the sDSMTimeStamp associated with the reference position. Negative values indicate
+
70 // the provided detected object characteristics refer to a point in time after the sDSMTimeStamp
+
71 detected_object._detected_object_common_data._time_measurement_offset = static_cast<int>(sdsm_message_timestamp - msg._timestamp);
+
72 detected_object._detected_object_common_data._classification_confidence = static_cast<unsigned int>(msg._confidence*100);
+
73 // TODO: Change Detected Object ID to int
+
74 detected_object._detected_object_common_data._object_id = msg._object_id;
+
75 // Units are 0.1 m
+
76 detected_object._detected_object_common_data._position_offset._offset_x = static_cast<unsigned int>(msg._position._x*METERS_TO_10_CM);
+
77 detected_object._detected_object_common_data._position_offset._offset_y = static_cast<unsigned int>(msg._position._y*METERS_TO_10_CM);
+
78 detected_object._detected_object_common_data._position_offset._offset_z = static_cast<unsigned int>(msg._position._z*METERS_TO_10_CM);
+
79 // Position Confidence
+
80 detected_object._detected_object_common_data._pos_confidence = to_position_confidence_set(msg._position_covariance);
+
81 // Units are 0.02 m/s
+
82 detected_object._detected_object_common_data._speed = static_cast<unsigned int>(std::hypot( msg._velocity._x* METERS_PER_SECOND_TO_2_CM_PER_SECOND, msg._velocity._y* METERS_PER_SECOND_TO_2_CM_PER_SECOND));
+
83 // Speed confidence
+
84 detected_object._detected_object_common_data._speed_confidence = to_xy_speed_confidence(msg._velocity_covariance);
+
85 // Speed Z
+
86 detected_object._detected_object_common_data._speed_z = static_cast<unsigned int>(fabs(msg._velocity._z)* METERS_PER_SECOND_TO_2_CM_PER_SECOND);
+
87 // Speed Z confidence
+
88 detected_object._detected_object_common_data._speed_z_confidence = to_z_speed_confidence(msg._velocity_covariance);
+
89 // Heading
+
90 detected_object._detected_object_common_data._heading = to_heading(msg._velocity);
+
91 // TODO: how to calculate heading confidence without orientation covariance
+
92 // Possible approximation is velocity covariance since we are using that currently
+
93 // Currently hard coding value
+
94 detected_object._detected_object_common_data._heading_confidence = streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg;
+
95 // Yaw rate
+
96 detected_object._detected_object_common_data._acceleration_4_way->_yaw_rate = to_yaw_rate(msg._angular_velocity._z);
+
97 // Yaw rate confidence
+
98 detected_object._detected_object_common_data._yaw_rate_confidence = to_yaw_rate_confidence(msg._angular_velocity_covariance);
+
99
100
-
101 streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type){
-
102 if ( sdsm_object_types.find(detection_type) != sdsm_object_types.end()) {
-
103 return sdsm_object_types.at(detection_type);
-
104 }
-
105 return streets_utils::messages::sdsm::object_type::UNKNOWN;
-
106 }
-
107
-
108 streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector<std::vector<double>> &_position_covariance) {
-
109 auto x_variance = _position_covariance[0][0];
-
110 auto y_variance = _position_covariance[1][1];
-
111 auto z_variance = _position_covariance[2][2];
-
112 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
-
113 // +/- 2*variance to achieve 95% confidence interval.
-
114 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
-
115 // X
-
116 // Multiply variance by 2 get 95% confidence interval for normal distribution
-
117 auto xy_accuracy = sqrt(x_variance) * 2 ;
-
118 auto z_accuracy = sqrt(z_variance) * 2;
-
119 streets_utils::messages::sdsm::position_confidence_set position_confidence_set;
-
120 position_confidence_set._position_confidence = to_position_confidence(xy_accuracy);
-
121 position_confidence_set._elevation_confidence = to_position_confidence(z_accuracy);
-
122 return position_confidence_set;
-
123 }
-
124
-
125 streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy) {
-
126 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
-
127 if ( accuracy >= 350) {
-
128 return streets_utils::messages::sdsm::position_confidence::A_500M;
-
129 }
-
130 else if (accuracy >= 150) {
-
131 return streets_utils::messages::sdsm::position_confidence::A_200M;
+
101 return detected_object;
+
102 }
+
103
+
104 streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type){
+
105 if ( sdsm_object_types.find(detection_type) != sdsm_object_types.end()) {
+
106 return sdsm_object_types.at(detection_type);
+
107 }
+
108 return streets_utils::messages::sdsm::object_type::UNKNOWN;
+
109 }
+
110
+
111 streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector<std::vector<double>> &_position_covariance) {
+
112 auto x_variance = _position_covariance[0][0];
+
113 auto y_variance = _position_covariance[1][1];
+
114 auto z_variance = _position_covariance[2][2];
+
115 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
+
116 // +/- 2*variance to achieve 95% confidence interval.
+
117 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
+
118 // X
+
119 // Multiply variance by 2 get 95% confidence interval for normal distribution
+
120 auto xy_accuracy = sqrt(x_variance) * 2 ;
+
121 auto z_accuracy = sqrt(z_variance) * 2;
+
122 streets_utils::messages::sdsm::position_confidence_set position_confidence_set;
+
123 position_confidence_set._position_confidence = to_position_confidence(xy_accuracy);
+
124 position_confidence_set._elevation_confidence = to_position_confidence(z_accuracy);
+
125 return position_confidence_set;
+
126 }
+
127
+
128 streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy) {
+
129 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
+
130 if ( accuracy >= 350) {
+
131 return streets_utils::messages::sdsm::position_confidence::A_500M;
132 }
-
133 else if (accuracy >= 75) {
-
134 return streets_utils::messages::sdsm::position_confidence::A_100M;
+
133 else if (accuracy >= 150) {
+
134 return streets_utils::messages::sdsm::position_confidence::A_200M;
135 }
-
136 else if (accuracy >= 35) {
-
137 return streets_utils::messages::sdsm::position_confidence::A_50M;
+
136 else if (accuracy >= 75) {
+
137 return streets_utils::messages::sdsm::position_confidence::A_100M;
138 }
-
139 else if (accuracy >= 15) {
-
140 return streets_utils::messages::sdsm::position_confidence::A_20M;
+
139 else if (accuracy >= 35) {
+
140 return streets_utils::messages::sdsm::position_confidence::A_50M;
141 }
-
142 else if (accuracy >= 7.5) {
-
143 return streets_utils::messages::sdsm::position_confidence::A_10M;
+
142 else if (accuracy >= 15) {
+
143 return streets_utils::messages::sdsm::position_confidence::A_20M;
144 }
-
145 else if (accuracy >= 3.5) {
-
146 return streets_utils::messages::sdsm::position_confidence::A_5M;
+
145 else if (accuracy >= 7.5) {
+
146 return streets_utils::messages::sdsm::position_confidence::A_10M;
147 }
-
148 else if (accuracy >= 1.5) {
-
149 return streets_utils::messages::sdsm::position_confidence::A_2M;
+
148 else if (accuracy >= 3.5) {
+
149 return streets_utils::messages::sdsm::position_confidence::A_5M;
150 }
-
151 else if (accuracy >= 0.75) {
-
152 return streets_utils::messages::sdsm::position_confidence::A_1M;
+
151 else if (accuracy >= 1.5) {
+
152 return streets_utils::messages::sdsm::position_confidence::A_2M;
153 }
-
154 else if (accuracy >= 0.35) {
-
155 return streets_utils::messages::sdsm::position_confidence::A_50CM;
+
154 else if (accuracy >= 0.75) {
+
155 return streets_utils::messages::sdsm::position_confidence::A_1M;
156 }
-
157 else if (accuracy >= 0.15) {
-
158 return streets_utils::messages::sdsm::position_confidence::A_20CM;
+
157 else if (accuracy >= 0.35) {
+
158 return streets_utils::messages::sdsm::position_confidence::A_50CM;
159 }
-
160 else if (accuracy >= 0.075) {
-
161 return streets_utils::messages::sdsm::position_confidence::A_10CM;
+
160 else if (accuracy >= 0.15) {
+
161 return streets_utils::messages::sdsm::position_confidence::A_20CM;
162 }
-
163 else if (accuracy >= 0.035) {
-
164 return streets_utils::messages::sdsm::position_confidence::A_5CM;
+
163 else if (accuracy >= 0.075) {
+
164 return streets_utils::messages::sdsm::position_confidence::A_10CM;
165 }
-
166 else if (accuracy >= 0.015) {
-
167 return streets_utils::messages::sdsm::position_confidence::A_2CM;
+
166 else if (accuracy >= 0.035) {
+
167 return streets_utils::messages::sdsm::position_confidence::A_5CM;
168 }
-
169 else {
-
170 // This is the lowest position confidence the SDSM can reflect
-
171 return streets_utils::messages::sdsm::position_confidence::A_1CM;
-
172 }
-
173
-
174 }
-
175
-
176 unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity){
-
177 if ( std::abs(velocity._x) < 0.01 && std::abs(velocity._y) < 0.01) {
-
178 return 0;
-
179 }
-
180 auto heading_radians = std::atan2(velocity._y,velocity._x);
-
181 auto heading_degrees = heading_radians*(180/M_PI);
-
182 // If angle is negative 360 + (-negative angle)
-
183 if ( heading_degrees < 0 ) {
-
184 heading_degrees = 360 + heading_degrees;
-
185 }
-
186 // in units (x) = 0.0125 degrees
-
187 // 28800 x = 360 degrees
-
188 return static_cast<unsigned int>(heading_degrees * (28800/360));
-
189 }
-
190
-
191 streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector<std::vector<double>> &velocity_covariance) {
-
192 auto x_variance = velocity_covariance[0][0];
-
193 auto y_variance = velocity_covariance[1][1];
-
194 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
-
195 // +/- 2*variance to achieve 95% confidence interval.
-
196 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
-
197 // X
-
198 // Multiply variance by 2 get 95% confidence interval for normal distribution
-
199 auto xy_accuracy = sqrt(x_variance) * 2 ;
-
200 return to_speed_confidence(xy_accuracy);
-
201 }
-
202
-
203 streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector<std::vector<double>> &velocity_covariance) {
-
204 auto z_variance = velocity_covariance[2][2];
-
205 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
-
206 // +/- 2*variance to achieve 95% confidence interval.
-
207
-
208 // Multiply variance by 2 get 95% confidence interval for normal distribution
-
209 auto z_accuracy = sqrt(z_variance) * 2 ;
-
210 return to_speed_confidence(z_accuracy);
-
211 }
-
212
-
213 streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy) {
-
214 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
-
215 if ( accuracy >= 55) {
-
216 return streets_utils::messages::sdsm::speed_confidence::PREC_100ms;
-
217 }
-
218 else if (accuracy >= 7.5) {
-
219 return streets_utils::messages::sdsm::speed_confidence::PREC_10ms;
+
169 else if (accuracy >= 0.015) {
+
170 return streets_utils::messages::sdsm::position_confidence::A_2CM;
+
171 }
+
172 else {
+
173 // This is the lowest position confidence the SDSM can reflect
+
174 return streets_utils::messages::sdsm::position_confidence::A_1CM;
+
175 }
+
176
+
177 }
+
178
+
179 unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity){
+
180 if ( std::abs(velocity._x) < 0.01 && std::abs(velocity._y) < 0.01) {
+
181 return 0;
+
182 }
+
183 auto heading_radians = std::atan2(velocity._y,velocity._x);
+
184 auto heading_degrees = heading_radians*(180/M_PI);
+
185 // If angle is negative 360 + (-negative angle)
+
186 if ( heading_degrees < 0 ) {
+
187 heading_degrees = 360 + heading_degrees;
+
188 }
+
189 // in units (x) = 0.0125 degrees
+
190 // 28800 x = 360 degrees
+
191 return static_cast<unsigned int>(heading_degrees * (28800/360));
+
192 }
+
193
+
194 streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector<std::vector<double>> &velocity_covariance) {
+
195 auto x_variance = velocity_covariance[0][0];
+
196 auto y_variance = velocity_covariance[1][1];
+
197 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
+
198 // +/- 2*variance to achieve 95% confidence interval.
+
199 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
+
200 // X
+
201 // Multiply variance by 2 get 95% confidence interval for normal distribution
+
202 auto xy_accuracy = sqrt(x_variance) * 2 ;
+
203 return to_speed_confidence(xy_accuracy);
+
204 }
+
205
+
206 streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector<std::vector<double>> &velocity_covariance) {
+
207 auto z_variance = velocity_covariance[2][2];
+
208 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
+
209 // +/- 2*variance to achieve 95% confidence interval.
+
210
+
211 // Multiply variance by 2 get 95% confidence interval for normal distribution
+
212 auto z_accuracy = sqrt(z_variance) * 2 ;
+
213 return to_speed_confidence(z_accuracy);
+
214 }
+
215
+
216 streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy) {
+
217 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
+
218 if ( accuracy >= 55) {
+
219 return streets_utils::messages::sdsm::speed_confidence::PREC_100ms;
220 }
-
221 else if (accuracy >= 3) {
-
222 return streets_utils::messages::sdsm::speed_confidence::PREC_5ms;
+
221 else if (accuracy >= 7.5) {
+
222 return streets_utils::messages::sdsm::speed_confidence::PREC_10ms;
223 }
-
224 else if (accuracy >= .55) {
-
225 return streets_utils::messages::sdsm::speed_confidence::PREC_1ms;
+
224 else if (accuracy >= 3) {
+
225 return streets_utils::messages::sdsm::speed_confidence::PREC_5ms;
226 }
-
227 else if (accuracy >= .075) {
-
228 return streets_utils::messages::sdsm::speed_confidence::PREC_0_1ms;
+
227 else if (accuracy >= .55) {
+
228 return streets_utils::messages::sdsm::speed_confidence::PREC_1ms;
229 }
-
230 else if (accuracy >= .03) {
-
231 return streets_utils::messages::sdsm::speed_confidence::PREC_0_05ms;
+
230 else if (accuracy >= .075) {
+
231 return streets_utils::messages::sdsm::speed_confidence::PREC_0_1ms;
232 }
-
233 else {
-
234 // This is the lowest speed confidence the SDSM can reflect
-
235 return streets_utils::messages::sdsm::speed_confidence::PREC_0_01ms;
-
236 }
-
237 }
-
238
-
239
-
240 streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence( const std::vector<std::vector<double>> &angular_velocity_covariance ){
-
241 auto z_variance = angular_velocity_covariance[2][2];
-
242 auto z_accuracy = sqrt(z_variance) * 2 ;
-
243 return to_angular_velocity_confidence(z_accuracy);
-
244 }
-
245
-
246
-
247 streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy) {
-
248 if ( accuracy >= 55) {
-
249 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_100;
-
250 }
-
251 else if (accuracy >= 7.5) {
-
252 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_10;
+
233 else if (accuracy >= .03) {
+
234 return streets_utils::messages::sdsm::speed_confidence::PREC_0_05ms;
+
235 }
+
236 else {
+
237 // This is the lowest speed confidence the SDSM can reflect
+
238 return streets_utils::messages::sdsm::speed_confidence::PREC_0_01ms;
+
239 }
+
240 }
+
241
+
242
+
243 streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence( const std::vector<std::vector<double>> &angular_velocity_covariance ){
+
244 auto z_variance = angular_velocity_covariance[2][2];
+
245 auto z_accuracy = sqrt(z_variance) * 2 ;
+
246 return to_angular_velocity_confidence(z_accuracy);
+
247 }
+
248
+
249
+
250 streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy) {
+
251 if ( accuracy >= 55) {
+
252 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_100;
253 }
-
254 else if (accuracy >= 3) {
-
255 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_05;
+
254 else if (accuracy >= 7.5) {
+
255 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_10;
256 }
-
257 else if (accuracy >= .55) {
-
258 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_01;
+
257 else if (accuracy >= 3) {
+
258 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_05;
259 }
-
260 else if (accuracy >= .075) {
-
261 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_1;
+
260 else if (accuracy >= .55) {
+
261 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_01;
262 }
-
263 else if (accuracy >= .03) {
-
264 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_05;
+
263 else if (accuracy >= .075) {
+
264 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_1;
265 }
-
266 else {
-
267 // This is the lowest speed confidence the SDSM can reflect
-
268 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_01;
-
269 }
-
270 }
-
271
-
272 int to_yaw_rate( const double yaw_rate_radians_per_second ) {
-
273 // Return in units of 0.01 degrees per second;
-
274 return static_cast<int>( yaw_rate_radians_per_second * (180/(M_PI)) * 100);
-
275 }
-
276
-
277
-
278
+
266 else if (accuracy >= .03) {
+
267 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_05;
+
268 }
+
269 else {
+
270 // This is the lowest speed confidence the SDSM can reflect
+
271 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_01;
+
272 }
+
273 }
+
274
+
275 int to_yaw_rate( const double yaw_rate_radians_per_second ) {
+
276 // Return in units of 0.01 degrees per second;
+
277 return static_cast<int>( yaw_rate_radians_per_second * (180/(M_PI)) * 100);
+
278 }
279
-
280}
+
280
+
281
+
282
+
283}
detected_object_to_sdsm_converter.hpp
sensor_data_sharing_service
Definition: detected_object_enu_to_ned_converter.hpp:18
-
sensor_data_sharing_service::to_z_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to z speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:203
-
sensor_data_sharing_service::to_angular_velocity_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:247
-
sensor_data_sharing_service::to_object_type
streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
convert string detection type to sdsm object_type.
Definition: detected_object_to_sdsm_converter.cpp:101
+
sensor_data_sharing_service::to_z_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to z speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:206
+
sensor_data_sharing_service::to_angular_velocity_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:250
+
sensor_data_sharing_service::to_object_type
streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
convert string detection type to sdsm object_type.
Definition: detected_object_to_sdsm_converter.cpp:104
sensor_data_sharing_service::sdsm_object_types
const std::map< std::string, streets_utils::messages::sdsm::object_type, std::less<> > sdsm_object_types
Map of detection types to SDSM object types.
Definition: detected_object_to_sdsm_converter.hpp:28
-
sensor_data_sharing_service::to_position_confidence_set
streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
Convert position covariance to position confidence set which includes positionXY confidence and posit...
Definition: detected_object_to_sdsm_converter.cpp:108
-
sensor_data_sharing_service::to_heading
unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
Definition: detected_object_to_sdsm_converter.cpp:176
-
sensor_data_sharing_service::to_position_confidence
streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:125
+
sensor_data_sharing_service::to_position_confidence_set
streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
Convert position covariance to position confidence set which includes positionXY confidence and posit...
Definition: detected_object_to_sdsm_converter.cpp:111
+
sensor_data_sharing_service::to_heading
unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
Definition: detected_object_to_sdsm_converter.cpp:179
+
sensor_data_sharing_service::to_position_confidence
streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:128
sensor_data_sharing_service::to_sdsm_timestamp
streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp(const uint64_t _epoch_time_ms)
convert epoch millisecond timestamp to sdsm timestamp object
Definition: detected_object_to_sdsm_converter.cpp:18
-
sensor_data_sharing_service::to_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:213
+
sensor_data_sharing_service::to_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:216
sensor_data_sharing_service::METERS_TO_10_CM
const int METERS_TO_10_CM
Definition: detected_object_to_sdsm_converter.hpp:45
sensor_data_sharing_service::METERS_PER_SECOND_TO_2_CM_PER_SECOND
const int METERS_PER_SECOND_TO_2_CM_PER_SECOND
Definition: detected_object_to_sdsm_converter.hpp:47
-
sensor_data_sharing_service::to_yaw_rate_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
Convert angular velocity covariance to angular velocity confidence.
Definition: detected_object_to_sdsm_converter.cpp:240
-
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
-
sensor_data_sharing_service::to_yaw_rate
int to_yaw_rate(const double yaw_rate_radians_per_second)
Convert yaw rate in radians per second to 100ths of a degree per second.
Definition: detected_object_to_sdsm_converter.cpp:272
+
sensor_data_sharing_service::to_yaw_rate_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
Convert angular velocity covariance to angular velocity confidence.
Definition: detected_object_to_sdsm_converter.cpp:243
+
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
+
sensor_data_sharing_service::to_yaw_rate
int to_yaw_rate(const double yaw_rate_radians_per_second)
Convert yaw rate in radians per second to 100ths of a degree per second.
Definition: detected_object_to_sdsm_converter.cpp:275
sensor_data_sharing_service::MILLISECONDS_TO_MICROSECONDS
const int MILLISECONDS_TO_MICROSECONDS
Definition: detected_object_to_sdsm_converter.hpp:37
sensor_data_sharing_service::METERS_TO_CM
const int METERS_TO_CM
Definition: detected_object_to_sdsm_converter.hpp:41
sensor_data_sharing_service::SECONDS_TO_MILLISECONDS
const int SECONDS_TO_MILLISECONDS
Definition: detected_object_to_sdsm_converter.hpp:39
-
sensor_data_sharing_service::to_xy_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to xy speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:191
+
sensor_data_sharing_service::to_xy_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to xy speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:194
sensor_data_sharing_service::METERS_TO_5_CM
const int METERS_TO_5_CM
Definition: detected_object_to_sdsm_converter.hpp:43
streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg
@ PREC_0_1_deg
streets_utils::messages::sdsm::angular_velocity_confidence
angular_velocity_confidence
Definition: angular_velocity_confidence.hpp:17
@@ -436,6 +439,7 @@
streets_utils::messages::detected_objects_msg::detected_objects_msg::_object_id
unsigned int _object_id
Definition: detected_object_msg.hpp:35
streets_utils::messages::detected_objects_msg::detected_objects_msg::_size
size _size
Definition: detected_object_msg.hpp:42
streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity_covariance
std::vector< std::vector< double > > _velocity_covariance
Definition: detected_object_msg.hpp:39
+
streets_utils::messages::detected_objects_msg::detected_objects_msg::_timestamp
uint64_t _timestamp
Definition: detected_object_msg.hpp:43
streets_utils::messages::detected_objects_msg::detected_objects_msg::_position_covariance
std::vector< std::vector< double > > _position_covariance
Definition: detected_object_msg.hpp:37
streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity
vector_3d _angular_velocity
Definition: detected_object_msg.hpp:40
streets_utils::messages::detected_objects_msg::size::_width
double _width
Definition: size.hpp:30
@@ -450,6 +454,7 @@
streets_utils::messages::sdsm::detected_object_data_common::_speed_z_confidence
std::optional< speed_confidence > _speed_z_confidence
Confidence in reported speed z.
Definition: detected_object_data_common.hpp:73
streets_utils::messages::sdsm::detected_object_data_common::_object_type
object_type _object_type
Object type enumeration.
Definition: detected_object_data_common.hpp:33
streets_utils::messages::sdsm::detected_object_data_common::_classification_confidence
unsigned int _classification_confidence
Confidence in object type classification [0,101].
Definition: detected_object_data_common.hpp:37
+
streets_utils::messages::sdsm::detected_object_data_common::_time_measurement_offset
int _time_measurement_offset
Time relative to SDSM timestamp assoicated with detection [-1500, 1500].
Definition: detected_object_data_common.hpp:45
streets_utils::messages::sdsm::detected_object_data_common::_speed_confidence
speed_confidence _speed_confidence
Confidence in reported speed.
Definition: detected_object_data_common.hpp:65
streets_utils::messages::sdsm::detected_object_data_common::_acceleration_4_way
std::optional< acceleration_set_4_way > _acceleration_4_way
Acceleration in longitudinal, lateral, vertical and angular velocity.
Definition: detected_object_data_common.hpp:85
streets_utils::messages::sdsm::detected_object_data_common::_yaw_rate_confidence
std::optional< angular_velocity_confidence > _yaw_rate_confidence
Definition: detected_object_data_common.hpp:93
@@ -493,7 +498,7 @@ diff --git a/carma-streets/detected__object__to__sdsm__converter_8hpp.html b/carma-streets/detected__object__to__sdsm__converter_8hpp.html index 415772f1684..b864947b0ac 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8hpp.html +++ b/carma-streets/detected__object__to__sdsm__converter_8hpp.html @@ -137,9 +137,9 @@ streets_utils::messages::sdsm::time_stamp sensor_data_sharing_service::to_sdsm_timestamp (const uint64_t _epoch_time_ms)  convert epoch millisecond timestamp to sdsm timestamp object More...
  -streets_utils::messages::sdsm::detected_object_data sensor_data_sharing_service::to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg) - convert detected_object_msg to sdsm detection_object_data. More...
-  +streets_utils::messages::sdsm::detected_object_data sensor_data_sharing_service::to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp) + convert detected_object_msg to sdsm detection_object_data. More...
+  streets_utils::messages::sdsm::object_type sensor_data_sharing_service::to_object_type (const std::string &detection_type)  convert string detection type to sdsm object_type. More...
  @@ -195,7 +195,7 @@ diff --git a/carma-streets/detected__object__to__sdsm__converter_8hpp.js b/carma-streets/detected__object__to__sdsm__converter_8hpp.js index b56582dd506..f92f01f67bb 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8hpp.js +++ b/carma-streets/detected__object__to__sdsm__converter_8hpp.js @@ -1,7 +1,7 @@ var detected__object__to__sdsm__converter_8hpp = [ [ "to_angular_velocity_confidence", "detected__object__to__sdsm__converter_8hpp.html#a45b012119c686e006cfb3330ea6e0a69", null ], - [ "to_detected_object_data", "detected__object__to__sdsm__converter_8hpp.html#ad4810255fb495c8f408ba46a62273b37", null ], + [ "to_detected_object_data", "detected__object__to__sdsm__converter_8hpp.html#ac7883e0c836f56838d524ba13cbea5e7", null ], [ "to_heading", "detected__object__to__sdsm__converter_8hpp.html#a69f88b750e17c2825a61d30f1adb6539", null ], [ "to_object_type", "detected__object__to__sdsm__converter_8hpp.html#a5038fb2ec7890722ef91b8c4c31c5f56", null ], [ "to_position_confidence", "detected__object__to__sdsm__converter_8hpp.html#a763a8955d99dac5e8b3b10c2b449c73b", null ], diff --git a/carma-streets/detected__object__to__sdsm__converter_8hpp_source.html b/carma-streets/detected__object__to__sdsm__converter_8hpp_source.html index 30446517ef0..c3dcf6394cb 100644 --- a/carma-streets/detected__object__to__sdsm__converter_8hpp_source.html +++ b/carma-streets/detected__object__to__sdsm__converter_8hpp_source.html @@ -131,7 +131,7 @@
46
47 inline const int METERS_PER_SECOND_TO_2_CM_PER_SECOND = 50;
52 streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp(const uint64_t _epoch_time_ms);
-
58 streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg);
+
58 streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp);
64 streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type);
70 unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity);
77 streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set( const std::vector<std::vector<double>> &_position_covariance);
@@ -149,24 +149,24 @@
127
128}
sensor_data_sharing_service
Definition: detected_object_enu_to_ned_converter.hpp:18
-
sensor_data_sharing_service::to_z_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to z speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:203
-
sensor_data_sharing_service::to_angular_velocity_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:247
-
sensor_data_sharing_service::to_object_type
streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
convert string detection type to sdsm object_type.
Definition: detected_object_to_sdsm_converter.cpp:101
+
sensor_data_sharing_service::to_z_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to z speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:206
+
sensor_data_sharing_service::to_angular_velocity_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:250
+
sensor_data_sharing_service::to_object_type
streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
convert string detection type to sdsm object_type.
Definition: detected_object_to_sdsm_converter.cpp:104
sensor_data_sharing_service::sdsm_object_types
const std::map< std::string, streets_utils::messages::sdsm::object_type, std::less<> > sdsm_object_types
Map of detection types to SDSM object types.
Definition: detected_object_to_sdsm_converter.hpp:28
-
sensor_data_sharing_service::to_position_confidence_set
streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
Convert position covariance to position confidence set which includes positionXY confidence and posit...
Definition: detected_object_to_sdsm_converter.cpp:108
-
sensor_data_sharing_service::to_heading
unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
Definition: detected_object_to_sdsm_converter.cpp:176
-
sensor_data_sharing_service::to_position_confidence
streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:125
+
sensor_data_sharing_service::to_position_confidence_set
streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
Convert position covariance to position confidence set which includes positionXY confidence and posit...
Definition: detected_object_to_sdsm_converter.cpp:111
+
sensor_data_sharing_service::to_heading
unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
Definition: detected_object_to_sdsm_converter.cpp:179
+
sensor_data_sharing_service::to_position_confidence
streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:128
sensor_data_sharing_service::to_sdsm_timestamp
streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp(const uint64_t _epoch_time_ms)
convert epoch millisecond timestamp to sdsm timestamp object
Definition: detected_object_to_sdsm_converter.cpp:18
-
sensor_data_sharing_service::to_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:213
+
sensor_data_sharing_service::to_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
Definition: detected_object_to_sdsm_converter.cpp:216
sensor_data_sharing_service::METERS_TO_10_CM
const int METERS_TO_10_CM
Definition: detected_object_to_sdsm_converter.hpp:45
sensor_data_sharing_service::METERS_PER_SECOND_TO_2_CM_PER_SECOND
const int METERS_PER_SECOND_TO_2_CM_PER_SECOND
Definition: detected_object_to_sdsm_converter.hpp:47
-
sensor_data_sharing_service::to_yaw_rate_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
Convert angular velocity covariance to angular velocity confidence.
Definition: detected_object_to_sdsm_converter.cpp:240
-
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
-
sensor_data_sharing_service::to_yaw_rate
int to_yaw_rate(const double yaw_rate_radians_per_second)
Convert yaw rate in radians per second to 100ths of a degree per second.
Definition: detected_object_to_sdsm_converter.cpp:272
+
sensor_data_sharing_service::to_yaw_rate_confidence
streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
Convert angular velocity covariance to angular velocity confidence.
Definition: detected_object_to_sdsm_converter.cpp:243
+
sensor_data_sharing_service::to_detected_object_data
streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp)
convert detected_object_msg to sdsm detection_object_data.
Definition: detected_object_to_sdsm_converter.cpp:36
+
sensor_data_sharing_service::to_yaw_rate
int to_yaw_rate(const double yaw_rate_radians_per_second)
Convert yaw rate in radians per second to 100ths of a degree per second.
Definition: detected_object_to_sdsm_converter.cpp:275
sensor_data_sharing_service::MILLISECONDS_TO_MICROSECONDS
const int MILLISECONDS_TO_MICROSECONDS
Definition: detected_object_to_sdsm_converter.hpp:37
sensor_data_sharing_service::METERS_TO_CM
const int METERS_TO_CM
Definition: detected_object_to_sdsm_converter.hpp:41
sensor_data_sharing_service::SECONDS_TO_MILLISECONDS
const int SECONDS_TO_MILLISECONDS
Definition: detected_object_to_sdsm_converter.hpp:39
-
sensor_data_sharing_service::to_xy_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to xy speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:191
+
sensor_data_sharing_service::to_xy_speed_confidence
streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
Convert velocity covariance to xy speed confidence.
Definition: detected_object_to_sdsm_converter.cpp:194
sensor_data_sharing_service::METERS_TO_5_CM
const int METERS_TO_5_CM
Definition: detected_object_to_sdsm_converter.hpp:43
streets_utils::messages::sdsm::angular_velocity_confidence
angular_velocity_confidence
Definition: angular_velocity_confidence.hpp:17
streets_utils::messages::sdsm::speed_confidence
speed_confidence
Definition: speed_confidence.hpp:17
@@ -185,7 +185,7 @@ diff --git a/carma-streets/detected__obstacle__data_8hpp.html b/carma-streets/detected__obstacle__data_8hpp.html index a0d9259b9ec..94250347c62 100644 --- a/carma-streets/detected__obstacle__data_8hpp.html +++ b/carma-streets/detected__obstacle__data_8hpp.html @@ -140,7 +140,7 @@ diff --git a/carma-streets/detected__obstacle__data_8hpp_source.html b/carma-streets/detected__obstacle__data_8hpp_source.html index 50995a05a18..7b1d40edd57 100644 --- a/carma-streets/detected__obstacle__data_8hpp_source.html +++ b/carma-streets/detected__obstacle__data_8hpp_source.html @@ -123,7 +123,7 @@ diff --git a/carma-streets/detected__vehicle__data_8hpp.html b/carma-streets/detected__vehicle__data_8hpp.html index 0ac4bfd000c..2324b550069 100644 --- a/carma-streets/detected__vehicle__data_8hpp.html +++ b/carma-streets/detected__vehicle__data_8hpp.html @@ -152,7 +152,7 @@ diff --git a/carma-streets/detected__vehicle__data_8hpp_source.html b/carma-streets/detected__vehicle__data_8hpp_source.html index e2e13871b49..f7d4c40ae77 100644 --- a/carma-streets/detected__vehicle__data_8hpp_source.html +++ b/carma-streets/detected__vehicle__data_8hpp_source.html @@ -148,7 +148,7 @@ diff --git a/carma-streets/detected__vru__data_8hpp.html b/carma-streets/detected__vru__data_8hpp.html index dfb5fab44ea..a5a59a8e8be 100644 --- a/carma-streets/detected__vru__data_8hpp.html +++ b/carma-streets/detected__vru__data_8hpp.html @@ -148,7 +148,7 @@ diff --git a/carma-streets/detected__vru__data_8hpp_source.html b/carma-streets/detected__vru__data_8hpp_source.html index f27af827c9c..7b83ee34b33 100644 --- a/carma-streets/detected__vru__data_8hpp_source.html +++ b/carma-streets/detected__vru__data_8hpp_source.html @@ -135,7 +135,7 @@ diff --git a/carma-streets/dir_000001_000003.html b/carma-streets/dir_000001_000003.html index 3b99044744b..ca4a18f66d6 100644 --- a/carma-streets/dir_000001_000003.html +++ b/carma-streets/dir_000001_000003.html @@ -89,7 +89,7 @@

deserializers → detected_object_msg Relation

diff --git a/carma-streets/dir_000001_000060.html b/carma-streets/dir_000001_000060.html index 78e6d4038dc..e95b68e8e15 100644 --- a/carma-streets/dir_000001_000060.html +++ b/carma-streets/dir_000001_000060.html @@ -89,7 +89,7 @@

deserializers → sensor_data_sharing_msg Relation

diff --git a/carma-streets/dir_000002_000025.html b/carma-streets/dir_000002_000025.html index 859e2f0fa23..340a9c7b8c0 100644 --- a/carma-streets/dir_000002_000025.html +++ b/carma-streets/dir_000002_000025.html @@ -89,7 +89,7 @@

deserializers → include Relation

diff --git a/carma-streets/dir_000006_000019.html b/carma-streets/dir_000006_000019.html index e191fa39fa7..8e2352feee1 100644 --- a/carma-streets/dir_000006_000019.html +++ b/carma-streets/dir_000006_000019.html @@ -89,7 +89,7 @@

exceptions → include Relation

  • message_services
  • src
  • exceptions
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000007_000024.html b/carma-streets/dir_000007_000024.html index df33a223ed1..93a5582e06b 100644 --- a/carma-streets/dir_000007_000024.html +++ b/carma-streets/dir_000007_000024.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000008_000026.html b/carma-streets/dir_000008_000026.html index 4f58ad8d84d..7995c0737df 100644 --- a/carma-streets/dir_000008_000026.html +++ b/carma-streets/dir_000008_000026.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000009_000029.html b/carma-streets/dir_000009_000029.html index 598da0f0733..f4e5224f8c8 100644 --- a/carma-streets/dir_000009_000029.html +++ b/carma-streets/dir_000009_000029.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000010_000030.html b/carma-streets/dir_000010_000030.html index 520f98dd28d..fd020fe1a52 100644 --- a/carma-streets/dir_000010_000030.html +++ b/carma-streets/dir_000010_000030.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000011_000031.html b/carma-streets/dir_000011_000031.html index 863932bbb5b..fdf9b5eaef2 100644 --- a/carma-streets/dir_000011_000031.html +++ b/carma-streets/dir_000011_000031.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000012_000032.html b/carma-streets/dir_000012_000032.html index ff9464eeeca..76c5a6f1fa1 100644 --- a/carma-streets/dir_000012_000032.html +++ b/carma-streets/dir_000012_000032.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000013_000034.html b/carma-streets/dir_000013_000034.html index 9fb56e41010..97c346878d4 100644 --- a/carma-streets/dir_000013_000034.html +++ b/carma-streets/dir_000013_000034.html @@ -89,7 +89,7 @@

exceptions → include Relation

diff --git a/carma-streets/dir_000014_000036.html b/carma-streets/dir_000014_000036.html index 2c499146813..94c8443c842 100644 --- a/carma-streets/dir_000014_000036.html +++ b/carma-streets/dir_000014_000036.html @@ -89,7 +89,7 @@

exceptions → include Relation

  • tsc_client_service
  • src
  • exceptions
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000015_000017.html b/carma-streets/dir_000015_000017.html index 847ef047709..989aeff5ce2 100644 --- a/carma-streets/dir_000015_000017.html +++ b/carma-streets/dir_000015_000017.html @@ -89,7 +89,7 @@

handlers → include Relation

diff --git a/carma-streets/dir_000016_000057.html b/carma-streets/dir_000016_000057.html index 1fdf5a3239d..33b892b5d2b 100644 --- a/carma-streets/dir_000016_000057.html +++ b/carma-streets/dir_000016_000057.html @@ -89,7 +89,7 @@

handlers → requests Relation

diff --git a/carma-streets/dir_000017_000042.html b/carma-streets/dir_000017_000042.html index 41ea7f9c92c..17d04eaba93 100644 --- a/carma-streets/dir_000017_000042.html +++ b/carma-streets/dir_000017_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

  • intersection_model
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000019_000042.html b/carma-streets/dir_000019_000042.html index 30326a5ebc5..0056d85f934 100644 --- a/carma-streets/dir_000019_000042.html +++ b/carma-streets/dir_000019_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

  • message_services
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000019_000071.html b/carma-streets/dir_000019_000071.html index 62002225733..e213af07d1d 100644 --- a/carma-streets/dir_000019_000071.html +++ b/carma-streets/dir_000019_000071.html @@ -89,7 +89,7 @@

include → src Relation

  • message_services
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000019_000103.html b/carma-streets/dir_000019_000103.html index aa55fcc77a3..2756588d42c 100644 --- a/carma-streets/dir_000019_000103.html +++ b/carma-streets/dir_000019_000103.html @@ -89,7 +89,7 @@

include → streets_utils Relation

  • message_services
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000020_000042.html b/carma-streets/dir_000020_000042.html index 158afa66d58..cc36e5005fb 100644 --- a/carma-streets/dir_000020_000042.html +++ b/carma-streets/dir_000020_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

  • scheduling_service
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000020_000103.html b/carma-streets/dir_000020_000103.html index b2142abba2f..84d131413aa 100644 --- a/carma-streets/dir_000020_000103.html +++ b/carma-streets/dir_000020_000103.html @@ -89,7 +89,7 @@

include → streets_utils Relation

  • scheduling_service
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000021_000042.html b/carma-streets/dir_000021_000042.html index ea6755d25a8..c6473f0b4ef 100644 --- a/carma-streets/dir_000021_000042.html +++ b/carma-streets/dir_000021_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

diff --git a/carma-streets/dir_000021_000103.html b/carma-streets/dir_000021_000103.html index 1fc000b3b5e..62b0f66a588 100644 --- a/carma-streets/dir_000021_000103.html +++ b/carma-streets/dir_000021_000103.html @@ -89,7 +89,7 @@

include → streets_utils Relation

diff --git a/carma-streets/dir_000022_000042.html b/carma-streets/dir_000022_000042.html index ae850c73656..9a9eb28f69f 100644 --- a/carma-streets/dir_000022_000042.html +++ b/carma-streets/dir_000022_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

  • signal_opt_service
  • include
    • -
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    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000022_000103.html b/carma-streets/dir_000022_000103.html index 9b8fb62b3e2..f4c6c671a28 100644 --- a/carma-streets/dir_000022_000103.html +++ b/carma-streets/dir_000022_000103.html @@ -89,7 +89,7 @@

include → streets_utils Relation

  • signal_opt_service
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000027_000042.html b/carma-streets/dir_000027_000042.html index d29f74c031d..e0f1eeaf0fd 100644 --- a/carma-streets/dir_000027_000042.html +++ b/carma-streets/dir_000027_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

diff --git a/carma-streets/dir_000027_000097.html b/carma-streets/dir_000027_000097.html index 26b0215dbc8..d3b0b95cca9 100644 --- a/carma-streets/dir_000027_000097.html +++ b/carma-streets/dir_000027_000097.html @@ -89,7 +89,7 @@

include → streets_service_configuration Relation

diff --git a/carma-streets/dir_000029_000091.html b/carma-streets/dir_000029_000091.html index 555ade9368c..0611cc82ba5 100644 --- a/carma-streets/dir_000029_000091.html +++ b/carma-streets/dir_000029_000091.html @@ -89,7 +89,7 @@

include → streets_desired_phase_plan Relation

diff --git a/carma-streets/dir_000029_000097.html b/carma-streets/dir_000029_000097.html index 937777f1281..15817961863 100644 --- a/carma-streets/dir_000029_000097.html +++ b/carma-streets/dir_000029_000097.html @@ -89,7 +89,7 @@

include → streets_service_configuration Relation

diff --git a/carma-streets/dir_000029_000099.html b/carma-streets/dir_000029_000099.html index f1cc0d191ed..dc558f1df72 100644 --- a/carma-streets/dir_000029_000099.html +++ b/carma-streets/dir_000029_000099.html @@ -89,7 +89,7 @@

include → streets_signal_phase_and_timing Relation

diff --git a/carma-streets/dir_000029_000104.html b/carma-streets/dir_000029_000104.html index 2b26f38726d..0c40cbb391c 100644 --- a/carma-streets/dir_000029_000104.html +++ b/carma-streets/dir_000029_000104.html @@ -89,7 +89,7 @@

include → streets_vehicle_list Relation

diff --git a/carma-streets/dir_000029_000105.html b/carma-streets/dir_000029_000105.html index 549953c6a4c..aee7a2d2484 100644 --- a/carma-streets/dir_000029_000105.html +++ b/carma-streets/dir_000029_000105.html @@ -89,7 +89,7 @@

include → streets_vehicle_scheduler Relation

diff --git a/carma-streets/dir_000030_000091.html b/carma-streets/dir_000030_000091.html index 741f04da13d..e7750b2b004 100644 --- a/carma-streets/dir_000030_000091.html +++ b/carma-streets/dir_000030_000091.html @@ -89,7 +89,7 @@

include → streets_desired_phase_plan Relation

diff --git a/carma-streets/dir_000030_000095.html b/carma-streets/dir_000030_000095.html index 4e67c978fad..ec511a5c9db 100644 --- a/carma-streets/dir_000030_000095.html +++ b/carma-streets/dir_000030_000095.html @@ -89,7 +89,7 @@

include → streets_service_base Relation

diff --git a/carma-streets/dir_000030_000102.html b/carma-streets/dir_000030_000102.html index 5407827ff60..f6b5650a89a 100644 --- a/carma-streets/dir_000030_000102.html +++ b/carma-streets/dir_000030_000102.html @@ -89,7 +89,7 @@

include → streets_tsc_configuration Relation

diff --git a/carma-streets/dir_000031_000093.html b/carma-streets/dir_000031_000093.html index 3b81370963d..162b41f1db4 100644 --- a/carma-streets/dir_000031_000093.html +++ b/carma-streets/dir_000031_000093.html @@ -89,7 +89,7 @@

include → streets_phase_control_schedule Relation

diff --git a/carma-streets/dir_000032_000093.html b/carma-streets/dir_000032_000093.html index 12c6f7e7bb3..e49248a9b49 100644 --- a/carma-streets/dir_000032_000093.html +++ b/carma-streets/dir_000032_000093.html @@ -89,7 +89,7 @@

include → streets_phase_control_schedule Relation

diff --git a/carma-streets/dir_000035_000099.html b/carma-streets/dir_000035_000099.html index 4e5688bf938..9736cbc3a4c 100644 --- a/carma-streets/dir_000035_000099.html +++ b/carma-streets/dir_000035_000099.html @@ -89,7 +89,7 @@

include → streets_signal_phase_and_timing Relation

diff --git a/carma-streets/dir_000035_000104.html b/carma-streets/dir_000035_000104.html index 05b024a8e62..d830c61e606 100644 --- a/carma-streets/dir_000035_000104.html +++ b/carma-streets/dir_000035_000104.html @@ -89,7 +89,7 @@

include → streets_vehicle_list Relation

diff --git a/carma-streets/dir_000036_000042.html b/carma-streets/dir_000036_000042.html index aac571e1a00..b75112348ee 100644 --- a/carma-streets/dir_000036_000042.html +++ b/carma-streets/dir_000036_000042.html @@ -89,7 +89,7 @@

include → kafka_clients Relation

  • tsc_client_service
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000036_000103.html b/carma-streets/dir_000036_000103.html index f80175841a0..e4e29a996c9 100644 --- a/carma-streets/dir_000036_000103.html +++ b/carma-streets/dir_000036_000103.html @@ -89,7 +89,7 @@

include → streets_utils Relation

  • tsc_client_service
  • include
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000043_000042.html b/carma-streets/dir_000043_000042.html index a6408319349..9ffa977c317 100644 --- a/carma-streets/dir_000043_000042.html +++ b/carma-streets/dir_000043_000042.html @@ -89,7 +89,7 @@

kafka_examples → kafka_clients Relation

  • examples
  • kafka_examples
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000044_000019.html b/carma-streets/dir_000044_000019.html index ed16378dfe0..0a9f2d469b5 100644 --- a/carma-streets/dir_000044_000019.html +++ b/carma-streets/dir_000044_000019.html @@ -89,7 +89,7 @@

lib → include Relation

  • message_services
  • lib
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000045_000034.html b/carma-streets/dir_000045_000034.html index 2d351d7f372..1488d758dca 100644 --- a/carma-streets/dir_000045_000034.html +++ b/carma-streets/dir_000045_000034.html @@ -89,7 +89,7 @@

message_processors → include Relation

diff --git a/carma-streets/dir_000049_000024.html b/carma-streets/dir_000049_000024.html index 2a5ac730a27..b7c6e150e6f 100644 --- a/carma-streets/dir_000049_000024.html +++ b/carma-streets/dir_000049_000024.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000050_000026.html b/carma-streets/dir_000050_000026.html index fe937e3eb2b..2b4e310bf5b 100644 --- a/carma-streets/dir_000050_000026.html +++ b/carma-streets/dir_000050_000026.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000051_000030.html b/carma-streets/dir_000051_000030.html index 7c0f46ef751..3588a849099 100644 --- a/carma-streets/dir_000051_000030.html +++ b/carma-streets/dir_000051_000030.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000052_000031.html b/carma-streets/dir_000052_000031.html index b0b38db5dd2..8719a587ab9 100644 --- a/carma-streets/dir_000052_000031.html +++ b/carma-streets/dir_000052_000031.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000053_000032.html b/carma-streets/dir_000053_000032.html index 380775ce0f5..bc03769a867 100644 --- a/carma-streets/dir_000053_000032.html +++ b/carma-streets/dir_000053_000032.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000054_000034.html b/carma-streets/dir_000054_000034.html index 2a87cd89f76..be148ae28f2 100644 --- a/carma-streets/dir_000054_000034.html +++ b/carma-streets/dir_000054_000034.html @@ -89,7 +89,7 @@

models → include Relation

diff --git a/carma-streets/dir_000057_000016.html b/carma-streets/dir_000057_000016.html index 07fdac386dd..628b9961513 100644 --- a/carma-streets/dir_000057_000016.html +++ b/carma-streets/dir_000057_000016.html @@ -89,7 +89,7 @@

requests → handlers Relation

diff --git a/carma-streets/dir_000060_000055.html b/carma-streets/dir_000060_000055.html index 3dc7fa3ed30..4c4106e498d 100644 --- a/carma-streets/dir_000060_000055.html +++ b/carma-streets/dir_000060_000055.html @@ -89,7 +89,7 @@

sensor_data_sharing_msg → obstacle Relation

< diff --git a/carma-streets/dir_000060_000107.html b/carma-streets/dir_000060_000107.html index dfef9d394a6..684e560b87e 100644 --- a/carma-streets/dir_000060_000107.html +++ b/carma-streets/dir_000060_000107.html @@ -89,7 +89,7 @@

sensor_data_sharing_msg → vehicle Relation

diff --git a/carma-streets/dir_000060_000108.html b/carma-streets/dir_000060_000108.html index 8d9fd9e3214..f368b345ebf 100644 --- a/carma-streets/dir_000060_000108.html +++ b/carma-streets/dir_000060_000108.html @@ -89,7 +89,7 @@

sensor_data_sharing_msg → vru Relation

diff --git a/carma-streets/dir_000062_000060.html b/carma-streets/dir_000062_000060.html index 9b4f117d0e4..32c2efddd25 100644 --- a/carma-streets/dir_000062_000060.html +++ b/carma-streets/dir_000062_000060.html @@ -89,7 +89,7 @@

serializers → sensor_data_sharing_msg Relation

diff --git a/carma-streets/dir_000063_000025.html b/carma-streets/dir_000063_000025.html index 4a037f972a9..8fce4f73a33 100644 --- a/carma-streets/dir_000063_000025.html +++ b/carma-streets/dir_000063_000025.html @@ -89,7 +89,7 @@

serializers → include Relation

diff --git a/carma-streets/dir_000064_000017.html b/carma-streets/dir_000064_000017.html index 56d90aee2ad..f92008ee913 100644 --- a/carma-streets/dir_000064_000017.html +++ b/carma-streets/dir_000064_000017.html @@ -89,7 +89,7 @@

server → include Relation

diff --git a/carma-streets/dir_000064_000103.html b/carma-streets/dir_000064_000103.html index 0cfde8878ce..8df36fc8cd1 100644 --- a/carma-streets/dir_000064_000103.html +++ b/carma-streets/dir_000064_000103.html @@ -89,7 +89,7 @@

server → streets_utils Relation

  • intersection_model
  • src
  • server
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000065_000019.html b/carma-streets/dir_000065_000019.html index d9a39114291..97a8c21e59b 100644 --- a/carma-streets/dir_000065_000019.html +++ b/carma-streets/dir_000065_000019.html @@ -89,7 +89,7 @@

services → include Relation

  • message_services
  • src
  • services
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000067_000042.html b/carma-streets/dir_000067_000042.html index 69a682d12d4..dfd2c5e9b3d 100644 --- a/carma-streets/dir_000067_000042.html +++ b/carma-streets/dir_000067_000042.html @@ -89,7 +89,7 @@

src → kafka_clients Relation

  • examples
  • kafka_examples
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000068_000017.html b/carma-streets/dir_000068_000017.html index 4126aca8561..03bf27e5091 100644 --- a/carma-streets/dir_000068_000017.html +++ b/carma-streets/dir_000068_000017.html @@ -89,7 +89,7 @@

src → include Relation

  • intersection_model
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000068_000103.html b/carma-streets/dir_000068_000103.html index ef7a45f1b7b..1a52c37aa3e 100644 --- a/carma-streets/dir_000068_000103.html +++ b/carma-streets/dir_000068_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • intersection_model
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000069_000015.html b/carma-streets/dir_000069_000015.html index c1e8b2c9404..87831f2c2d8 100644 --- a/carma-streets/dir_000069_000015.html +++ b/carma-streets/dir_000069_000015.html @@ -89,7 +89,7 @@

src → handlers Relation

  • intersection_model
  • src
  • server
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000069_000017.html b/carma-streets/dir_000069_000017.html index da609f7d4f8..bcf48dc381f 100644 --- a/carma-streets/dir_000069_000017.html +++ b/carma-streets/dir_000069_000017.html @@ -89,7 +89,7 @@

src → include Relation

  • intersection_model
  • src
  • server
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000069_000103.html b/carma-streets/dir_000069_000103.html index 326373d7209..619fe48ba2d 100644 --- a/carma-streets/dir_000069_000103.html +++ b/carma-streets/dir_000069_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • intersection_model
  • src
  • server
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000070_000018.html b/carma-streets/dir_000070_000018.html index a3ef4f11623..def6c426f09 100644 --- a/carma-streets/dir_000070_000018.html +++ b/carma-streets/dir_000070_000018.html @@ -89,7 +89,7 @@

src → include Relation

  • kafka_clients
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000071_000019.html b/carma-streets/dir_000071_000019.html index 7c10bae5a97..1b5fed7e059 100644 --- a/carma-streets/dir_000071_000019.html +++ b/carma-streets/dir_000071_000019.html @@ -89,7 +89,7 @@

src → include Relation

  • message_services
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000071_000103.html b/carma-streets/dir_000071_000103.html index 12865c48ace..85fba6cffc9 100644 --- a/carma-streets/dir_000071_000103.html +++ b/carma-streets/dir_000071_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • message_services
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000072_000020.html b/carma-streets/dir_000072_000020.html index 6d5fb78f2fd..8735d651fb7 100644 --- a/carma-streets/dir_000072_000020.html +++ b/carma-streets/dir_000072_000020.html @@ -89,7 +89,7 @@

src → include Relation

  • scheduling_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000072_000103.html b/carma-streets/dir_000072_000103.html index 1a7fe587f21..675029e450c 100644 --- a/carma-streets/dir_000072_000103.html +++ b/carma-streets/dir_000072_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • scheduling_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000073_000021.html b/carma-streets/dir_000073_000021.html index ec97d997c38..c522dcb77ba 100644 --- a/carma-streets/dir_000073_000021.html +++ b/carma-streets/dir_000073_000021.html @@ -89,7 +89,7 @@

src → include Relation

  • sensor_data_sharing_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000073_000103.html b/carma-streets/dir_000073_000103.html index 7a1fd895350..d63df22eda8 100644 --- a/carma-streets/dir_000073_000103.html +++ b/carma-streets/dir_000073_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • sensor_data_sharing_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000074_000022.html b/carma-streets/dir_000074_000022.html index fa500874b4f..f41944b4aad 100644 --- a/carma-streets/dir_000074_000022.html +++ b/carma-streets/dir_000074_000022.html @@ -89,7 +89,7 @@

src → include Relation

  • signal_opt_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000075_000023.html b/carma-streets/dir_000075_000023.html index 4108aab4edc..04fa8faad9a 100644 --- a/carma-streets/dir_000075_000023.html +++ b/carma-streets/dir_000075_000023.html @@ -89,7 +89,7 @@

src → include Relation

  • streets_utils
  • json_utils
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000077_000024.html b/carma-streets/dir_000077_000024.html index 70e92daf326..df225df74cd 100644 --- a/carma-streets/dir_000077_000024.html +++ b/carma-streets/dir_000077_000024.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000078_000025.html b/carma-streets/dir_000078_000025.html index 6c9a4bd41b3..1d1960a5281 100644 --- a/carma-streets/dir_000078_000025.html +++ b/carma-streets/dir_000078_000025.html @@ -89,7 +89,7 @@

src → include Relation

  • streets_utils
  • streets_messages
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000079_000026.html b/carma-streets/dir_000079_000026.html index 839b8d6e69e..95c2ce965c7 100644 --- a/carma-streets/dir_000079_000026.html +++ b/carma-streets/dir_000079_000026.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000080_000027.html b/carma-streets/dir_000080_000027.html index 9a3491ffc0c..6ef831cb89e 100644 --- a/carma-streets/dir_000080_000027.html +++ b/carma-streets/dir_000080_000027.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000081_000028.html b/carma-streets/dir_000081_000028.html index c99ad6e4782..1c931c42d2b 100644 --- a/carma-streets/dir_000081_000028.html +++ b/carma-streets/dir_000081_000028.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000082_000029.html b/carma-streets/dir_000082_000029.html index 81d626fd7e4..f1fb5f01bce 100644 --- a/carma-streets/dir_000082_000029.html +++ b/carma-streets/dir_000082_000029.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000083_000030.html b/carma-streets/dir_000083_000030.html index e49ec895e46..9219ec5bcac 100644 --- a/carma-streets/dir_000083_000030.html +++ b/carma-streets/dir_000083_000030.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000084_000031.html b/carma-streets/dir_000084_000031.html index 4073611dd6c..6e5ee1dd13a 100644 --- a/carma-streets/dir_000084_000031.html +++ b/carma-streets/dir_000084_000031.html @@ -89,7 +89,7 @@

src → include Relation

  • streets_utils
  • streets_snmp_cmd
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000085_000032.html b/carma-streets/dir_000085_000032.html index 1617b71baa9..29f4071299c 100644 --- a/carma-streets/dir_000085_000032.html +++ b/carma-streets/dir_000085_000032.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000086_000033.html b/carma-streets/dir_000086_000033.html index 0c1938f6761..b4e0c9f5b13 100644 --- a/carma-streets/dir_000086_000033.html +++ b/carma-streets/dir_000086_000033.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000087_000034.html b/carma-streets/dir_000087_000034.html index 822cef86a3d..2a2f3d2cb42 100644 --- a/carma-streets/dir_000087_000034.html +++ b/carma-streets/dir_000087_000034.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000088_000035.html b/carma-streets/dir_000088_000035.html index 9131b76fba6..8e1462b5092 100644 --- a/carma-streets/dir_000088_000035.html +++ b/carma-streets/dir_000088_000035.html @@ -89,7 +89,7 @@

src → include Relation

diff --git a/carma-streets/dir_000089_000036.html b/carma-streets/dir_000089_000036.html index fcad9585535..4e02a1b65eb 100644 --- a/carma-streets/dir_000089_000036.html +++ b/carma-streets/dir_000089_000036.html @@ -89,7 +89,7 @@

src → include Relation

- - - + + + @@ -210,7 +210,7 @@

References streets_utils::messages::detected_objects_msg::detected_objects_msg::_position, streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity, streets_utils::messages::detected_objects_msg::cartesian_point::_x, streets_utils::messages::detected_objects_msg::vector_3d::_x, streets_utils::messages::detected_objects_msg::cartesian_point::_y, streets_utils::messages::detected_objects_msg::vector_3d::_y, streets_utils::messages::detected_objects_msg::cartesian_point::_z, and streets_utils::messages::detected_objects_msg::vector_3d::_z.

-

Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

+

Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

Here is the caller graph for this function:
@@ -349,31 +349,31 @@

Returns
angular velocity confidence
-

Definition at line 247 of file detected_object_to_sdsm_converter.cpp.

-
247 {
-
248 if ( accuracy >= 55) {
-
249 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_100;
-
250 }
-
251 else if (accuracy >= 7.5) {
-
252 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_10;
+

Definition at line 250 of file detected_object_to_sdsm_converter.cpp.

+
250 {
+
251 if ( accuracy >= 55) {
+
252 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_100;
253 }
-
254 else if (accuracy >= 3) {
-
255 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_05;
+
254 else if (accuracy >= 7.5) {
+
255 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_10;
256 }
-
257 else if (accuracy >= .55) {
-
258 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_01;
+
257 else if (accuracy >= 3) {
+
258 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_05;
259 }
-
260 else if (accuracy >= .075) {
-
261 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_1;
+
260 else if (accuracy >= .55) {
+
261 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_01;
262 }
-
263 else if (accuracy >= .03) {
-
264 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_05;
+
263 else if (accuracy >= .075) {
+
264 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_1;
265 }
-
266 else {
-
267 // This is the lowest speed confidence the SDSM can reflect
-
268 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_01;
-
269 }
-
270 }
+
266 else if (accuracy >= .03) {
+
267 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_05;
+
268 }
+
269 else {
+
270 // This is the lowest speed confidence the SDSM can reflect
+
271 return streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_01;
+
272 }
+
273 }
streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_05
@ DEGSEC_0_05
streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_0_01
@ DEGSEC_0_01
streets_utils::messages::sdsm::angular_velocity_confidence::DEGSEC_10
@ DEGSEC_10
@@ -384,7 +384,7 @@

References streets_utils::messages::sdsm::DEGSEC_01, streets_utils::messages::sdsm::DEGSEC_05, streets_utils::messages::sdsm::DEGSEC_0_01, streets_utils::messages::sdsm::DEGSEC_0_05, streets_utils::messages::sdsm::DEGSEC_0_1, streets_utils::messages::sdsm::DEGSEC_10, and streets_utils::messages::sdsm::DEGSEC_100.

-

Referenced by to_yaw_rate_confidence().

+

Referenced by to_yaw_rate_confidence().

Here is the caller graph for this function:
@@ -392,7 +392,7 @@

- + @@ -402,8 +402,8 @@

-

◆ to_detected_object_data()

+ +

◆ to_detected_object_data()

@@ -412,8 +412,18 @@

streets_utils::messages::sdsm::detected_object_data sensor_data_sharing_service::to_detected_object_data

- + + + + + + + + + + +
  • tsc_client_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000089_000103.html b/carma-streets/dir_000089_000103.html index a31428bf073..ece67d14b90 100644 --- a/carma-streets/dir_000089_000103.html +++ b/carma-streets/dir_000089_000103.html @@ -89,7 +89,7 @@

src → streets_utils Relation

  • tsc_client_service
  • src
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000095_000042.html b/carma-streets/dir_000095_000042.html index a83d6532c9c..d59724941ea 100644 --- a/carma-streets/dir_000095_000042.html +++ b/carma-streets/dir_000095_000042.html @@ -89,7 +89,7 @@

streets_service_base → kafka_clients Relation

  • streets_utils
  • streets_service_base
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000095_000097.html b/carma-streets/dir_000095_000097.html index 621ca83c4c2..8544f1514f9 100644 --- a/carma-streets/dir_000095_000097.html +++ b/carma-streets/dir_000095_000097.html @@ -89,7 +89,7 @@

streets_service_base → streets_service_configuration Relation

  • streets_utils
  • streets_service_base
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000098_000091.html b/carma-streets/dir_000098_000091.html index 79b038de2ac..31221d38705 100644 --- a/carma-streets/dir_000098_000091.html +++ b/carma-streets/dir_000098_000091.html @@ -89,7 +89,7 @@

streets_signal_optimization → streets_desired_phase_plan Relation

< diff --git a/carma-streets/dir_000098_000097.html b/carma-streets/dir_000098_000097.html index 3415b33f6f0..ad33abddd85 100644 --- a/carma-streets/dir_000098_000097.html +++ b/carma-streets/dir_000098_000097.html @@ -89,7 +89,7 @@

streets_signal_optimization → streets_service_configuration Relation diff --git a/carma-streets/dir_000098_000099.html b/carma-streets/dir_000098_000099.html index 735e43a30a3..496cb799e4a 100644 --- a/carma-streets/dir_000098_000099.html +++ b/carma-streets/dir_000098_000099.html @@ -89,7 +89,7 @@

streets_signal_optimization → streets_signal_phase_and_timing Relation< diff --git a/carma-streets/dir_000098_000104.html b/carma-streets/dir_000098_000104.html index dcd0da88c5f..920febe1068 100644 --- a/carma-streets/dir_000098_000104.html +++ b/carma-streets/dir_000098_000104.html @@ -89,7 +89,7 @@

streets_signal_optimization → streets_vehicle_list Relation

 diff --git a/carma-streets/dir_000098_000105.html b/carma-streets/dir_000098_000105.html index 33931325f7b..149c6d4e4a2 100644 --- a/carma-streets/dir_000098_000105.html +++ b/carma-streets/dir_000098_000105.html @@ -89,7 +89,7 @@

streets_signal_optimization → streets_vehicle_scheduler Relation

diff --git a/carma-streets/dir_000099_000091.html b/carma-streets/dir_000099_000091.html index 0b8fbed761b..c05c9171bf2 100644 --- a/carma-streets/dir_000099_000091.html +++ b/carma-streets/dir_000099_000091.html @@ -89,7 +89,7 @@

streets_signal_phase_and_timing → streets_desired_phase_plan Relation diff --git a/carma-streets/dir_000099_000095.html b/carma-streets/dir_000099_000095.html index c74d6ae0f15..e0832f9d876 100644 --- a/carma-streets/dir_000099_000095.html +++ b/carma-streets/dir_000099_000095.html @@ -89,7 +89,7 @@

streets_signal_phase_and_timing → streets_service_base Relation

diff --git a/carma-streets/dir_000099_000102.html b/carma-streets/dir_000099_000102.html index d758658af57..725795a1725 100644 --- a/carma-streets/dir_000099_000102.html +++ b/carma-streets/dir_000099_000102.html @@ -89,7 +89,7 @@

streets_signal_phase_and_timing → streets_tsc_configuration Relation diff --git a/carma-streets/dir_000100_000093.html b/carma-streets/dir_000100_000093.html index d4cd8022cc9..a5e42cebef6 100644 --- a/carma-streets/dir_000100_000093.html +++ b/carma-streets/dir_000100_000093.html @@ -89,7 +89,7 @@

streets_snmp_cmd → streets_phase_control_schedule Relation

  • streets_utils
  • streets_snmp_cmd
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000101_000093.html b/carma-streets/dir_000101_000093.html index be543b4de18..eba1593fef9 100644 --- a/carma-streets/dir_000101_000093.html +++ b/carma-streets/dir_000101_000093.html @@ -89,7 +89,7 @@

streets_timing_plan → streets_phase_control_schedule Relation

  • streets_utils
  • streets_timing_plan
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
diff --git a/carma-streets/dir_000105_000099.html b/carma-streets/dir_000105_000099.html index 8a0530ca8b9..0e8a7709c0b 100644 --- a/carma-streets/dir_000105_000099.html +++ b/carma-streets/dir_000105_000099.html @@ -89,7 +89,7 @@

streets_vehicle_scheduler → streets_signal_phase_and_timing Relation diff --git a/carma-streets/dir_000105_000104.html b/carma-streets/dir_000105_000104.html index 569d29ef3fc..b7283820cf6 100644 --- a/carma-streets/dir_000105_000104.html +++ b/carma-streets/dir_000105_000104.html @@ -89,7 +89,7 @@

streets_vehicle_scheduler → streets_vehicle_list Relation

 diff --git a/carma-streets/dir_000109_000019.html b/carma-streets/dir_000109_000019.html index c968441f22c..15eb24da592 100644 --- a/carma-streets/dir_000109_000019.html +++ b/carma-streets/dir_000109_000019.html @@ -89,7 +89,7 @@

workers → include Relation

  • message_services
  • src
  • workers
    • -
  • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
    • +
  • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
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a/carma-streets/dir_193fe39bead8ae526384c0795fbd6883.html +++ b/carma-streets/dir_193fe39bead8ae526384c0795fbd6883.html @@ -117,7 +117,7 @@ diff --git a/carma-streets/dir_19fa32a521b261968e6dae27aedea7be.html b/carma-streets/dir_19fa32a521b261968e6dae27aedea7be.html index 3dca5ea0e6b..d95598318f2 100644 --- a/carma-streets/dir_19fa32a521b261968e6dae27aedea7be.html +++ b/carma-streets/dir_19fa32a521b261968e6dae27aedea7be.html @@ -118,7 +118,7 @@ diff --git a/carma-streets/dir_1a1a5c0a19b8a04495ac147886c92e99.html b/carma-streets/dir_1a1a5c0a19b8a04495ac147886c92e99.html index ed9a2636417..35c962e6106 100644 --- a/carma-streets/dir_1a1a5c0a19b8a04495ac147886c92e99.html +++ b/carma-streets/dir_1a1a5c0a19b8a04495ac147886c92e99.html @@ -112,7 +112,7 @@ diff --git a/carma-streets/dir_1c9801f95789fb310f9fb4abe3e1a8f9.html b/carma-streets/dir_1c9801f95789fb310f9fb4abe3e1a8f9.html index dbfeb87a641..40da34006bd 100644 --- a/carma-streets/dir_1c9801f95789fb310f9fb4abe3e1a8f9.html +++ 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a/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h.html +++ b/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h.html @@ -271,7 +271,7 @@ diff --git a/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h_source.html b/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h_source.html index 43d46220983..87716f3313e 100644 --- a/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h_source.html +++ b/carma-streets/intersection__server__api_2src_2models_2OAIHelpers_8h_source.html @@ -285,7 +285,7 @@ diff --git a/carma-streets/intersection__server__api_2src_2models_2OAIHttpFileElement_8cpp.html b/carma-streets/intersection__server__api_2src_2models_2OAIHttpFileElement_8cpp.html index 79b7912b5ed..6c9f3f633c7 100644 --- a/carma-streets/intersection__server__api_2src_2models_2OAIHttpFileElement_8cpp.html +++ b/carma-streets/intersection__server__api_2src_2models_2OAIHttpFileElement_8cpp.html @@ -123,7 +123,7 @@ diff 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100644 --- a/carma-streets/map__msg__worker_8h_source.html +++ b/carma-streets/map__msg__worker_8h_source.html @@ -152,7 +152,7 @@ diff --git a/carma-streets/md_README.html b/carma-streets/md_README.html index 1fe7376c8ed..386a9a81bc6 100644 --- a/carma-streets/md_README.html +++ b/carma-streets/md_README.html @@ -104,9 +104,9 @@

                                                                                                                                                                DockerHub Release Candidate Builds

- + - +
Scheduling Service Message Services Intersection Model Signal Opt Service Tsc Service
Scheduling Service Message Services Intersection Model Signal Opt Service Tsc Service Sensor Data Sharing Service
Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status
Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status Docker Cloud Build Status

DockerHub Develop Builds

@@ -136,18 +136,55 @@

CARMAStreets

The primary carma-streets repository can be found here and is part of the USDOT FHWA STOL github organization. Documentation on how the carma-streets functions, how it will evolve over time, and how you can contribute can be found at the above links, as well as on the Doxygen Source Code Documentation.

+Data Collection

+

CARMA Streets services have several source from which data about usecase performance can be pulled. Kafka Message Topics can be pulled using the collect_kafka_logs.py script and includes message traffic on a configurable list of topics. Service log files can be found in a given CARMA Streets service logs/ directory. The collect_service_logs.sh adds all log files in this directory to a zip file and then deletes the originals. Some CARMA Streets services can configurable log performance in .csv file in the logs/ directory.

+

+Collect Kafka Logs

+

This script uses docker exec to ssh into a running kafka container. Then using kafka container scripts to read all kafka data from a list of provided topics.

usage: collect_kafka_logs.py [-h] [--start_timestamp START_TIMESTAMP] [--end_timestamp END_TIMESTAMP] [--start_hours_ago START_HOURS_AGO] [--end_hours_ago END_HOURS_AGO]
+
[--topics TOPICS [TOPICS ...]] [--timeout TIMEOUT] [--zip ZIP]
+
outdir
+
+
Script to grab data from kafka
+
+
positional arguments:
+
outdir Folder name for the resulting folder logs are placed in
+
+
options:
+
-h, --help show this help message and exit
+
--start_timestamp START_TIMESTAMP
+
Unix timestamp (seconds) for the first message to grab. Exclusive with start_hours_ago.
+
--end_timestamp END_TIMESTAMP
+
Unix timestamp (seconds) for the last message to grab. Exclusive with end_hours_ago.
+
--start_hours_ago START_HOURS_AGO
+
float hours before current time to grab first message. Exclusive with start_timestamp.
+
--end_hours_ago END_HOURS_AGO
+
float hours before current time to grab last message. Exclusive with start_timestamp.
+
--topics TOPICS [TOPICS ...]
+
list of topics to grab data from
+
--timeout TIMEOUT timeout for receiving messages on a topic, default is 5 seconds
+
--zip ZIP bool flag. When set to true, folder is compressed into a zip file.
+

+Collection Service Logs

+

This script collects all CARMA Streets service log files, adds them to a zip file.

usage: collect_service_logs.sh [-h | --help] [--output <zip_file_name>.zip]
+
[-c | --clear]
+
+
options:
+
-h, --help Show usage
+
--output, -o Name of the resulting zip file container CARMA Streets Service logs
+
--clear, -c Adding this flag will delete log directories after creating zip.
+

Contribution

Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. CARMA Contributing Guide

-

+

Code of Conduct

Please read our CARMA Code of Conduct which outlines our expectations for participants within the CARMA community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.

-

+

Attribution

The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. CARMA Attribution

-

+

License

By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. CARMA License

-

+

Contact

Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website.

CARMA Image

@@ -157,7 +194,7 @@

diff --git a/carma-streets/md_build_scripts_README.html b/carma-streets/md_build_scripts_README.html index b9c1636f4d4..f732f243d3e 100644 --- a/carma-streets/md_build_scripts_README.html +++ b/carma-streets/md_build_scripts_README.html @@ -101,7 +101,7 @@

diff --git a/carma-streets/md_examples_kafka_examples_readme.html b/carma-streets/md_examples_kafka_examples_readme.html index 474d706ba8f..30b1b9204d8 100644 --- a/carma-streets/md_examples_kafka_examples_readme.html +++ b/carma-streets/md_examples_kafka_examples_readme.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/md_examples_qt_rest_clients_api_intersection_client_README.html b/carma-streets/md_examples_qt_rest_clients_api_intersection_client_README.html index 6ad7028a707..7f446a392b6 100644 --- a/carma-streets/md_examples_qt_rest_clients_api_intersection_client_README.html +++ b/carma-streets/md_examples_qt_rest_clients_api_intersection_client_README.html @@ -112,7 +112,7 @@

diff --git a/carma-streets/md_intersection_model_readme.html b/carma-streets/md_intersection_model_readme.html index c252458ccbb..db5e3995544 100644 --- a/carma-streets/md_intersection_model_readme.html +++ b/carma-streets/md_intersection_model_readme.html @@ -267,7 +267,7 @@

diff --git a/carma-streets/md_kafka_clients_README.html b/carma-streets/md_kafka_clients_README.html index 201ccd8518c..aef38effb8d 100644 --- a/carma-streets/md_kafka_clients_README.html +++ b/carma-streets/md_kafka_clients_README.html @@ -102,7 +102,7 @@

diff --git a/carma-streets/md_scheduling_service_readme.html b/carma-streets/md_scheduling_service_readme.html index 523bd19881d..b15146a030b 100644 --- a/carma-streets/md_scheduling_service_readme.html +++ b/carma-streets/md_scheduling_service_readme.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/md_scripts_README.html b/carma-streets/md_scripts_README.html index b44e87e82d3..ac8e4396738 100644 --- a/carma-streets/md_scripts_README.html +++ b/carma-streets/md_scripts_README.html @@ -86,18 +86,18 @@
Testing Scripts
-

+

Introduction

The python scripts and json files in this directory are used for mocking message communication to provide an environment in which CARMA Streets Service functionality can be integration tested in isolation. Directions for using the scripts should be included below under the appropriate heading.

-

+

Prerequisites

Please add any script dependencies into requirements.txt so that they can be easily installed using

pip3 install -r requirements.txt
-

+

simulate_detections.py

-

+

Description

This script is used to mock Detected Object message sent from sensor integrated with CARMA Streets. Currently this only includes CARLA Lidar sensor integrated under the Vunerable Road User Use Case 1 project. It will currently read detected_cyclist.json, detected_pedestrian.json, and detected_truck.json and publish those messages at 10 hz to the detections kafka topic. This script is used to provide input to the Sensor Data Sharing Service to generate J2735 SDSMs. To add new detections, create a new json file and update the script to send its content on a given interval. For json format of the Detected Object Message.

-

+

simulate_vehicle_status_intent_pub_uc1.py

Instructions for sending sample status and intent messages for UC1 scheduling logic: 

- In the simulate_vehicle_status_intent_pub_uc1.py, change the input of the read_json() method on line 23 to 
     vehicle_status_intent_test_uc1.json (or any other json message that you have prepared).
@@ -112,7 +112,7 @@ 

 * Note: The current timestamp and the future timestamps of the updates will updated automatically before the message is published.
 * Note: One of the limitation of the python script is that the number of vehicles in each set of updates shall be the same.
     Otherwise, the time gap between two set of updates will not be correctly applied. 
-

+

simulate_vehicle_status_intent_pub_uc3.py

Instructions for sending sample status and intent messages for UC3 scheduling logic: 

- In the simulate_vehicle_status_intent_pub_uc3.py, change the input of the read_json() method on line 23 to 
     vehicle_status_intent_test_uc3.json (or any other json message that you have prepared).
@@ -133,7 +133,7 @@ 

 
 
 
diff --git a/carma-streets/md_sensor_data_sharing_service_README.html b/carma-streets/md_sensor_data_sharing_service_README.html
index 321b677becb..d4d967f629a 100644
--- a/carma-streets/md_sensor_data_sharing_service_README.html
+++ b/carma-streets/md_sensor_data_sharing_service_README.html
@@ -86,17 +86,17 @@
   
Sensor Data Sharing Service
-

+

Introduction

This is the CARMA Streets service responsible for consuming detected_objects_msg and publishing sensor_data_sharing_msg in accordance with the J3224 specification. This service is built on the streets_service_base_lanelet_aware base image to include lanelet2 dependencies used for map coordinate frame translations.

-

+

Configuration Parameters

TODO Saving this part for once I finalize the implementation

‍[!IMPORTANT]\ Initial implementation of this service will not support the BSM functionality described in the J3224 specification and will also not support any data fusion from multiple infrastructure sensors.

## Covariance to confidence conversion image

For covariance to confidence/accuracy translation assumed the following. All confidence/accuracy measurements in SDSM assume 95% confidence interval ( from J3224 documentation). Assuming normal distribution of measurements. Diagonal in covariance matrix is variance for each component. SD (Standard deviation) is square root of variance. 2 standard deviations covers 95 % of sample in normal distribution image

-

+

Sensor Data Sharing speed and heading

For heading and speed we use following coordinate frame (NED) as described in the J3224 specifications.

Alt text

@@ -108,7 +108,7 @@

diff --git a/carma-streets/md_signal_opt_service_readme.html b/carma-streets/md_signal_opt_service_readme.html index 0d351ab1c74..e4297265810 100644 --- a/carma-streets/md_signal_opt_service_readme.html +++ b/carma-streets/md_signal_opt_service_readme.html @@ -86,13 +86,13 @@
Signal Optimization Service

-

+

Introduction

The SO (Signal Optimization) service is the CARMA-Streets service responsible for optimizing traffic signal controller phase order and duration. The SO service is responsible for fixing a configurable amount of future phases on the traffic signal controller. On each phase transition (Yellow and Red clearance interval), the SO service will determine a new phase and duration to append to the list of fixed phases. The SO service does this by monitoring traffic signal state and planned state, vehicles within the intersection communication area, and the latest intersection geometry.

The SO service depends on message service, intersection model and TSC (Traffic Signal Controller) service. It subscribes to message service to get the vehicle status and intent information, calls the vehicle list library to persist the vehicle. It sends HTTP GET requests to intersection model for configured time period to get the latest intersection geometry update, including the signal group ids for each link lanelet. It subscribes to the TSC service outgoing J2735 based JSON SPaT kafka topic to get information about current and future signal state. The JSON SPaT information is processed and persisted using the streets_signal_phase_and_timing library .

-

+

Configuration parameters

-

+

Kafka topic names

@@ -102,7 +102,7 @@

vehicle_status_intent_output This topic is used to transfer message between signal optimization and message services. The message format refers to confluence page.
-

+

Additional parameters

@@ -112,7 +112,7 @@

int_client_request_attempts The maximum numbers of loop to send HTTP request to intersection model to get the latest intersection geometry information.
-

+

Implementation

The SO service consist of two main classes. The first is the signal_opt_messages_worker. This is a worker class the holds the pointers to all the persisted data. This includes:

  • intersection_info (intersection geometry),
    • @@ -130,7 +130,7 @@

    diff --git a/carma-streets/md_streets_service_base_README.html b/carma-streets/md_streets_service_base_README.html index 1b24ec0511f..6f2cc4ac1b9 100644 --- a/carma-streets/md_streets_service_base_README.html +++ b/carma-streets/md_streets_service_base_README.html @@ -86,13 +86,13 @@
    Streets Service Base

-

+

Introduction

This base image is intended for any basic CARMA Streets service. The streets service base image installs our logging library spdlog, kafka client library librdkafka, and our JSON parsing/serializing library (rapidjson)[https://miloyip.github.io/rapidjson/] on top of the carma-builds-x64 image to provide common CARMA Streets dependencies.The carma-builds-x64 image is built from the (carma-builds)[https://github.com/usdot-fhwa-stol/carma-builds] github repository. This repository creates images in different ubuntu distributions and CPU architectures that function as build environments for C++ applications. Additionally, the streets serivce base image adds our debian package repository http://s3.amazonaws.com/stol-apt-repository to apt and installs (carma-time-lib)[https://github.com/usdot-fhwa-stol/carma-time-lib], the library we use to allow our CARMA Streets services to function both in simulation and real-world. This base image should be used for any CARMA Streets services.

‍[!IMPORTANT]\ Currently this base image is only being used for the Sensor Data Sharing Service but the Signal Optimization Service, Scheduling Service and the TSC Service should all be updated to build off this base image.

-

+

Usage

Simply use the following to extend this image

FROM usdotfhwastoldev/streets_service_base:<ubuntu_distro_codename>

To build this image, use a docker build command similar to the one below

docker build -t usdotfhwastoldev/streets_service_base:<ubuntu-distro-codename> -f streets_service_base/Dockerfile --build-arg=UBUNTU_CODENAME=<ubuntu-distro-codename> .
@@ -102,7 +102,7 @@

diff --git a/carma-streets/md_streets_service_base_lanelet_aware_README.html b/carma-streets/md_streets_service_base_lanelet_aware_README.html index 03c5a948cbc..86736d7e7bd 100644 --- a/carma-streets/md_streets_service_base_lanelet_aware_README.html +++ b/carma-streets/md_streets_service_base_lanelet_aware_README.html @@ -86,12 +86,12 @@
Streets Service Base Lanelet Aware

-

+

Introduction

This base image is intented for CARMA Streets services that require lanelet2 for spatial understanding of the surrouding area. Currently both Message Service and Intersection Model both depend on lanelet2 for this purpose. The new propose Sensor Data Sharing Service will also need lanelet2 for map transforms and for eventual perception. To allow all three services and any future services easy access to this dependency, this new Streets Service Base Lanelet Aware image exist.

‍[!IMPORTANT]\ Currently this base image is only being used for the Sensor Data Sharing Service but both the Intersection_Model and Message Service should be ported to this base image as well.

-

+

Usage

Simply use the following to extend this image

FROM usdotfhwastoldev/streets_service_base_lanelet_aware:<tag>

The image also contains the environment variable LANELET2_MAP, which is assigned a default value of /home/carma-streets/MAP/Intersection.osm, but can be overwritten using the docker-compose environment variable section of the service description. An example is shown belo

lanlet_aware_service:
@@ -104,7 +104,7 @@

diff --git a/carma-streets/md_streets_utils_json_utils_README.html b/carma-streets/md_streets_utils_json_utils_README.html index 9ef679ace48..1d5be277bb6 100644 --- a/carma-streets/md_streets_utils_json_utils_README.html +++ b/carma-streets/md_streets_utils_json_utils_README.html @@ -86,16 +86,16 @@
JSON Utility Library

-

+

Introduction

This CARMA-Streets library contains utility functions for parsing JSON strings with RapidJSON. The functions exposed by this library are described below

-

+

Functions

rapidjson::Document parse_json( const std::string &json )

Function to parse std::string JSON with RapidJSON with DOM parsing. Throws json_utils_exception if string is not valid json. Otherwise returns rapidjson::Document`

std::optional<int64_t> parse_int_member(const std::string &member_name, const rapidjson::Value &doc, bool required ) std::optional<uint64_t> parse_uint_member(const std::string &member_name, const rapidjson::Value &doc, bool required ) std::optional<bool> parse_bool_member(const std::string &member_name, const rapidjson::Value &doc, bool required ) std::optional<std::string> parse_string_member(const std::string &member_name, const rapidjson::Value &doc, bool required ) std::optional<double> parse_double_member(const std::string &member_name, const rapidjson::Value &doc, bool required) std::optional<rapidjson::Value::ConstObject> parse_object_member(const std::string &member_name, const rapidjson::Value &doc, bool required ) std::optional<rapidjson::Value::ConstArray> parse_array_member(const std::string &member_name, const rapidjson::Value &doc, bool required)

Functions to retrieve member values from JSON object RapidJSON with DOM parsing. Functions will return unintialized std::optional for optional members that are not found in JSON object and will throw json_utils_exception for required members that are not found in JSON object.

-

+

Include Library

To include after installing with make install simply add find_package call to CMakeLists.txt and link the library as follows. Installed CMake configuration files should handle finding and linking depedencies RapidJSON and spdlog. The library along with it's dependencies can then be included by simply using the find_package() instruction.

find_package(json_utils_lib)
...
@@ -106,7 +106,7 @@

diff --git a/carma-streets/md_streets_utils_streets_desired_phase_plan_README.html b/carma-streets/md_streets_utils_streets_desired_phase_plan_README.html index 513ca600b9b..a87381dc9e3 100644 --- a/carma-streets/md_streets_utils_streets_desired_phase_plan_README.html +++ b/carma-streets/md_streets_utils_streets_desired_phase_plan_README.html @@ -86,7 +86,7 @@
Streets Desired phase plan

-

+

Introduction

This CARMA-Streets library is meant to handle JSON serialization and deserialization for the CARMA-Streets internal Desired Phase Plan JSON message.Below is a sample Desired Phase Plan JSON message created by this library.

{
@@ -105,7 +105,7 @@
]
}

The desired phase plan will be used and populated by signal optimization service. The signal optimization service publishes the populated desired phase plan to a kafka topic. The TSC (Traffic Signal Client service) will subscribe to the kafka topic and consume the desired phase plan. Then, it will make SNMP calls to update the physical Traffic Signal controller based on the desired phase plan. Also, the TSC service will update the streets version modified spat with the desired phase plan and publish the updated spat to another kafka topic.

-

+

Message specs

@@ -127,7 +127,7 @@

diff --git a/carma-streets/md_streets_utils_streets_messages_DetectedObjectsMessage.html b/carma-streets/md_streets_utils_streets_messages_DetectedObjectsMessage.html index ed26216691d..e11945670a7 100644 --- a/carma-streets/md_streets_utils_streets_messages_DetectedObjectsMessage.html +++ b/carma-streets/md_streets_utils_streets_messages_DetectedObjectsMessage.html @@ -86,10 +86,10 @@
Detected Objects Message
-

+

Introduction

This CARMA-Streets library contains the Detected Objects Message as well as the logic for deserializing this object from JSON. Below is an example JSON payload. This message will be produced by an external Sensor capable of detecting objects. The data in it will represent the incoming Sensor Detected Object detection. This is a custom message definition for the detected objects.

-

+

Example JSON payload

{
"type": "CAR",
@@ -176,7 +176,7 @@

diff --git a/carma-streets/md_streets_utils_streets_messages_README.html b/carma-streets/md_streets_utils_streets_messages_README.html index 556ded90a1e..dc7af9809e6 100644 --- a/carma-streets/md_streets_utils_streets_messages_README.html +++ b/carma-streets/md_streets_utils_streets_messages_README.html @@ -86,18 +86,18 @@
Streets Messages Library

-

+

Introduction

This CARMA-Streets library will be the new location for storing both CARMA Streets message data types as well as the logic to serialize and deserialize these messages. Message data types will be stored in directories with the message name as the directory name similar to the current sensor_data_sharing_msg. Then functions will hold the JSON serialization and deserialization logic for each message to seperate concerns between message serialization and message data.

‍[!IMPORTANT]\ Currently this library only contains the sensor_data sharing message and the detected objects message, with their JSON serialization logic. Will attempt to part existing and future messages into this library.

-

+

Messages

Sensor Data Sharing Message : J3224 Message used for sharing detection level data between vehicles and infrastructure. Detected Objects Message : Custom Message used for sharing object detection information between sensors and ITS actors

-

+

Serialization and Deserialization

CARMA Streets messages are currently all using JSON for serialization for sending via a Apache Kafka broker. To parse or write the JSON we are currently using the rapidjson library. In addition, we have implemented some helper functions to parse optional fields from JSON using the std::optional class template implemented in our json_utils library.

-

+

Some future planned improvements to this library include:

  • Porting existing CARMA Streets message JSON serialization/deserialization into library functions and out of message data type definitions
    • @@ -106,7 +106,7 @@

    ‍[!IMPORTANT]\ This is an improvement but also a deviation from how messages were previously processed in which message data types were couple to serialization. To remove this coupling new library will separate message data types from functions that serialize/deserialize them. This provides multiple benefits. By separating the logic the serialization logic from the message data types this improves maintainability by allowing us to potentially change serialization without any direct impact on message types or logic using message data. It also reduces the number of packages dependent on external libraries related to serialization like rapidjson.

    -

    +

    Installation

    This library includes a CMake install target that will attempt to install this library, including CMake configuration files under the following general path:

    streets_utils\streets_messages_lib

    @@ -116,7 +116,7 @@

    cmake\streets_messages_lib\

    And the library binary will be installed under the CMake default Library directory

    lib\streets_utils\

    -

    +

    Using Library

    To incorporate this library into a CARMA Streets Service simply install the library using make install and then use the CMake find_package(streets_messages REQUIRED) call to find the install package. To link this library include the streets utils namespace as follows:

    target_link_libraries(<targetname> PUBLIC streets_utils::streets_messages)

@@ -125,7 +125,7 @@

diff --git a/carma-streets/md_streets_utils_streets_messages_SensorDataSharingMessage.html b/carma-streets/md_streets_utils_streets_messages_SensorDataSharingMessage.html index 500b4e128a7..0e290300688 100644 --- a/carma-streets/md_streets_utils_streets_messages_SensorDataSharingMessage.html +++ b/carma-streets/md_streets_utils_streets_messages_SensorDataSharingMessage.html @@ -86,7 +86,7 @@
Sensor Data Sharing Message

-

+

Introduction

This CARMA-Streets library contains the Sensor Data Sharing Object as well as the logic for serailizing and deserializing this object to and from JSON. Below is an example JSON payload. This message will be produced by the Sensor Data Sharing CARMA Streets micro-service. The data in it will represent the incoming Sensor Detected Object detection. This message will be generated inline with the SAE J3224 document.

‍[!IMPORTANT]\ The first implementation of the SDSM generator will not include functionality to filter out detections that are likely self reporting actors publishing BSMs like described in the J3224 202208 document.

@@ -180,7 +180,7 @@ diff --git a/carma-streets/md_streets_utils_streets_phase_control_schedule_README.html b/carma-streets/md_streets_utils_streets_phase_control_schedule_README.html index aaaae14ab41..7a858279074 100644 --- a/carma-streets/md_streets_utils_streets_phase_control_schedule_README.html +++ b/carma-streets/md_streets_utils_streets_phase_control_schedule_README.html @@ -86,13 +86,13 @@
Streets Phase Control Schedule Command library
-

+

Introduction

This CARMA-streets library is meant to handle JSON deserialization for external phase control schedule message generated by [MMITSS Roadside Processor] (https://github.com/mmitss/mmitss-az), and a sample phase control message refers to https://github.com/mmitss/mmitss-az/tree/master/src/mrp/traffic-controller-interface.

-

+

Phase Control Schedule

External MMITSS Roadside processor will communicate with CARMA Streets TSC service via Kafka Message Broker, and send the phase control schedule to the TSC service. Thereafter, the TSC service converts the phase control schedule to SNMP commands and communicate with Traffic Signal Controller to update the controller signal phase and schedule.

-

+

<b>Parameter description</b>

@@ -107,7 +107,7 @@

commandEndTime Unsigned integer The end epoch time in millisecond of the command execution

Note: When a clear schedule is received, the commands are cleared from the phase control schedule.

-

+

<b>Sample</b>

A schedule with commands:

{
"MsgType": "Schedule",
@@ -129,7 +129,7 @@

"MsgType": "Schedule",
"Schedule": "Clear"
}
-

+

Including library

find_package( streets_phase_control_schedule_lib REQUIRED )
...
@@ -140,7 +140,7 @@

diff --git a/carma-streets/md_streets_utils_streets_service_base_README.html b/carma-streets/md_streets_utils_streets_service_base_README.html index bba0667a129..7f8817626ff 100644 --- a/carma-streets/md_streets_utils_streets_service_base_README.html +++ b/carma-streets/md_streets_utils_streets_service_base_README.html @@ -86,18 +86,18 @@
Streets Service Base Library

-

+

Introduction

This is the streets_service_base library meant to be the base of each new CARMA-Streets service. This library exposes two major classes. The first is streets_clock_singleton, which is a streets_singleton that manages as instance of CarmaClock (see https://github.com/usdot-fhwa-stol/carma-time-lib ). The second is streets_service, which is meant to be a base class for all CARMA-Streets services that offers a framework for standing up new CARMA-Streets services.

-

+

streets_clock_singleton

The streets_clock_singleton is a streets_singleton which manages and instance of CarmaClock (see https://github.com/usdot-fhwa-stol/carma-time-lib ). It offers static access to the CarmaClock time wrapper, which is meant to allow CARMA-Streets services to configurable use system time or an external source for time.

-

+

streets_service

The street_service class is a base class that sets up method to help standup new CARMA-Streets Services. This includes protected methods to initialize kafka consumers and producers, methods to start service threads and methods to intialize service members. The virtual initialize method initializes streets_singletons streets_clock_singleton and streets_configuration based on environment variables: SIMULATION_MODE: TRUE will initialize streets_clock_singleton in simulation mode which will allow for time updating from external source via static update() method.FALSE will initialize streets_clock_singleton in realtime mode which will make streets_clock_singleton call system time. CONFIG_FILE_PATH : String relative path from executable or absolute path to JSON configuration file. This is used to initialize streets_configuration singleton. The initialize() and start() methods is meant to be overriden as follows: protected: bool initialize() override { // Initializes streets_clock singleton, streets_configuration singleton and kafka consumer for simulation time streets_service::initialize(); }

void start() override { // Starts thread to use kafka time consumer to consume time sync messages and update streets_clock_singleton streets_service::start(); }

-

+

Include streets_service_base_lib

Streets Service Base CMakeList.txt includes an install target which will install this library as a CMake package. The library along with it's dependencies can then be included by simply using the find_package() instruction.

find_package(streets_service_base_lib COMPONENT streets_service_base_lib)
@@ -109,7 +109,7 @@

diff --git a/carma-streets/md_streets_utils_streets_service_configuration_README.html b/carma-streets/md_streets_utils_streets_service_configuration_README.html index 83ce41bf0d1..6504af39047 100644 --- a/carma-streets/md_streets_utils_streets_service_configuration_README.html +++ b/carma-streets/md_streets_utils_streets_service_configuration_README.html @@ -86,10 +86,10 @@
Streets Service Configuration Library

-

+

Introduction

This is the streets_service_configuration library meant to provide of each new CARMA-Streets service with utility methods to load configurations. It contains a extensible templated singleton implementation that allows for the creation of singleton scoped objects in CARMA-Streets services with static access. This means that by extending this class you can implement a class of which there can only ever be a single instance and which is statically retrievable using the streets_singleton::get_singleton() method. This library also includes an implemented singleton streets_configuration class which standardizes how CARMA-Streets services will read configuration parameters from manifest.json configuration files. This streets_configuration singleton parses the manifest.json configuration file and then allows for static retrieval of configuration parameters using the get_int_config(),get_double_config,get_string_config(), and get_bool_config() methods.

-

+

Streets Singleton

Library offers access to the streets_singleton class. This is a templated, extensible class that stores and offers static retrieval of a single instance of itself. To ensure that new instances of this class can not be created the copy and assignment constructors are deleted and the regular constructor is hidden using protected access. Before accessing this object using the static streets_singleton::get_singleton() method, it must first be initialized using the streets_singleon::create( Args ...) method. Args should be the constructor parameter of the class which the singleton will manage an instance of. When implementating a new singleton it is recommended to separately create a class to manage the data and logic and then add this class and it's constructor parameters as the types for the singleton as shown below:

class example_data{
@@ -117,7 +117,7 @@

example_singleton::create("something", 3);
// Call any singleton method
example_singleton::method_1();
-

+

Streets Configuration

Library creates streets_configuration singleton which standardizes the manifest.json configuration file parsing and configuration parameter retrieval. Extending streets_singleton allows streets_configuration to be limited to singleton scope ( single instance ) and offer static methods for configuration parameter retrieval. streets_configuration also parses some service required configurations like loglevel and service_name to create and configure a spdlog::async_loggerr with a spdlog::sinks::daily_file_sink_mt and a spdlog::sinks::stdout_color_sink_mt.

Example manifest.json configuration file.

{
@@ -150,7 +150,7 @@

}
]
}
-

+

Include streets_service_configuration_lib::streets_service_configuration_lib

Streets Service Base CMakeList.txt includes an install target which will install this library as a CMake package. The library along with it's dependencies can then be included by simply using the find_package() instruction.

find_package(streets_service_configuration_lib COMPONENT streets_service_configuration_lib)
@@ -162,7 +162,7 @@

diff --git a/carma-streets/md_streets_utils_streets_signal_optimization_README.html b/carma-streets/md_streets_utils_streets_signal_optimization_README.html index 914a2f40d87..adb10e4d95c 100644 --- a/carma-streets/md_streets_utils_streets_signal_optimization_README.html +++ b/carma-streets/md_streets_utils_streets_signal_optimization_README.html @@ -86,10 +86,10 @@
Streets Signal Optimization Library

-

+

Introduction

This library is intended to contain logic for selecting/generating an optimal desired phase plan. This library consists of two main classes: streets_desired_phase_plan_generator and streets_desired_phase_plan_arbitrator. In summary, streets_desired_phase_plan_generator generates a list of candidate desired phase plans where each desired phase plan has one extra fixed future movement group compared with the modified spat. streets_desired_phase_plan_arbitrator selects the one that maximizes/minimizes the objective measure which is a function of vehicle delays.

-

+

streets_desired_phase_plan_generator

The streets_desired_phase_plan_generator generates a list of candidate desired phase plans. Each desired phase plan has a list of movement groups with their start times, end times, and the included signal groups streets_desired_phase_plan library documentation.

The main method is streets_desired_phase_plan_generator::generate_desire_phase_plan_list.() which returns the desired phase plan list and takes the following parameters:

    @@ -99,7 +99,7 @@

  • and a list of candidate movement groups (streets_signal_optimization::movement_groups). If the returned desired phase plan list is empty, either there are no vehicles that can enter the intersection box during any new fixed future movement group, or the number of fixed future movement groups are greater than or equal to the desired number of fixed futre movement groups.

streets_desired_phase_plan_generator allows you to configure the streets_desired_phase_plan_generator_configuration parameters and intersection_info_ptrstreets_vehicle_scheduler::signalized_vehicle_scheduler publicly. Note that if the configuration parameters are not set before streets_desired_phase_plan_generator::generate_desire_phase_plan_list.() method, this method will set the configuration parameters to a set of default values.

-

+

streets_desired phase plan arbitrator

The desired phase plan arbitrator include a series of steps to choose the optimzied desired phase plan from a list of orignal candidate desired phase plan.

The sample data for incoming list of candidate desire phase plan in JSON format is below:

@@ -277,7 +277,7 @@

  • Step 5: Find the highest delay measure, its mapping candidate desired phase plan is the chosen desired phase plan.
    • -

    +

    Use of desired phase plan arbitrator lib

    • streets_desired_phase_plan_arbitrator class provides algorithm or call other library to determine the optimized desired phase plan.
      • @@ -317,7 +317,7 @@

      diff --git a/carma-streets/md_streets_utils_streets_signal_phase_and_timing_README.html b/carma-streets/md_streets_utils_streets_signal_phase_and_timing_README.html index 3cbdc2bf650..4ea86e67e85 100644 --- a/carma-streets/md_streets_utils_streets_signal_phase_and_timing_README.html +++ b/carma-streets/md_streets_utils_streets_signal_phase_and_timing_README.html @@ -86,7 +86,7 @@
      Streets Signal Phase and Timing Library

    -

    +

    Introduction

    This CARMA-Streets library is meant to handle JSON serialization and deserialization for the CARMA-Streets internal SPaT JSON message. The message structure is heavily based on the J2735 SPaT message but does not contain any regional extension data since we are currently not using it. Below is a sample SPaT JSON message created by this library.

    {
    "time_stamp":130,
    @@ -143,7 +143,7 @@
    }]
    }]
    }
    -

    +

    SPaT Traffic Signal State Information

    The two relevant portions of the SPaT JSON message for managing traffic signal states MovementList and the state-time-speed MovementEventList. The states MovementList is a list of MovementStates. Each describes the state of a particular movement in the intersection. These can be identified by their signal_group_id which is the unique identifier for the signal group that controls this movement. Inside each MovementState there is a state-time-speed MovementEventList. This is a list of MovementEvents. Each MovementEvent has information about the phase as a MovementPhaseState enumeration and timing information about the start and end time of the described phase. Each MovementEventList can hold 16 possible MovementEvents (limitation of J2735 not this data type) to describe a current phase and up to 15 future phases. Each MovementEvent contains timing information which will include at minimum, start_time and min_end_time. These fields will represent the start and end time for each phase and are represented as tenths of a second in the current or next hour in units of 1/10th second from UTC time.A range of 0~36000 covers one hour.The values 35991..35999 are used when a leap second occurs.The value 36000 is used to indicate time >3600 seconds. 36001 is to be used when value undefined or unknown. Note that this is NOT expressed in GPS time or in local time Below is an example JSON for the described objects.(J2735 TimeMark definition).

    "states":[
    {
    @@ -197,12 +197,12 @@
    }]
    }
    ]
    -

    +

    Including Library

    To include this library in your CARMA-Streets service simply add the following to your CMakeList.txt.

    find_package( streets_signal_phase_and_timing_lib REQUIRED )
    ...
    target_link_libraries( <target> PUBLIC streets_signal_phase_and_timing_lib )
    -

    +

    Initializing SPaT Object for consuming NTCIP UDP data

    This spat object contains methods to update based on json SPaT updates or ntcip_1202_ext UDP data. For updating using JSON SPaT messages no initialization is required since each update will contain all the required information. Below is an example of how to consume an update.

    std::string json; // This string needs to be populated with JSON spat update.
    auto spat_ptr = std::make_shared<signal_phase_and_timing::spat>();
    @@ -226,7 +226,7 @@
    spat_ptr->update(ntcip_1202_data, _use_msg_timestamp); // use struct to update spat, bool flag controls whether to use
    // host machine unix time(if false) or NTCIP UDP message timestamp
    // (if true)
    -

    +

    Modifying SPaT Object

    The spat object has been made thread safe using a internal shared_mutex for read/write locking behavior. Currently the lock allows concurrent access for read (copy constructor) operatons and exclusive access for write (changing spat object data) operations.

    All fields of spat have been made private so to read the data inside the spat object use the get_intersection_state() method which will return and copy of the internal intersection_state object that represents the state of the spat at the time this method is called. Since this is a copy of the current state, it will not remain current with the spat data so this method should be called when the data is being used and should be called repeatedly for any calculations that happen on an interval.

    @@ -241,7 +241,7 @@ diff --git a/carma-streets/md_streets_utils_streets_snmp_cmd_README.html b/carma-streets/md_streets_utils_streets_snmp_cmd_README.html index bfe2094498b..bf67ede74fb 100644 --- a/carma-streets/md_streets_utils_streets_snmp_cmd_README.html +++ b/carma-streets/md_streets_utils_streets_snmp_cmd_README.html @@ -86,15 +86,15 @@
    Streets SNMP Command library
    -

    +

    Introduction

    This CARMA-streets library is meant to define the streets SNMP command and converts external schedule into SNMP commands.

    -

    +

    Streets SNMP command structure

    External MMITSS Roadside processor will communicate with CARMA Streets TSC service via Kafka Message Broker, and send the phase control schedule to the TSC service. Thereafter, the TSC service converts the phase control schedule to Streets SNMP commands and communicate with Traffic Signal Controller to update the controller signal phase and schedule. The Streets SNMP command definition:

    -

    +

    <b>Parameter description</b>

    -

    +

    snmp_cmd_struct definition

    @@ -106,7 +106,7 @@

    control_type_ PHASE_CONTROL_TYPE The type of SNMP command control sent to TSC.
    -

    +

    snmp_response_obj definition

    @@ -118,7 +118,7 @@

    type RESPONSE_TYPE The type of value being requested or set, on the TSC
    -

    +

    Including library

    find_package( streets_snmp_cmd_lib REQUIRED )
    ...
    @@ -129,7 +129,7 @@

    diff --git a/carma-streets/md_streets_utils_streets_timing_plan_README.html b/carma-streets/md_streets_utils_streets_timing_plan_README.html index 24d5d78a3a9..a24011f6fbc 100644 --- a/carma-streets/md_streets_utils_streets_timing_plan_README.html +++ b/carma-streets/md_streets_utils_streets_timing_plan_README.html @@ -86,10 +86,10 @@
    Streets Timing Plan Command library

    -

    +

    Introduction

    This CARMA-streets library is meant to handle JSON deserialization and serialization for external signal timing plan message generated by [MMITSS Roadside Processor] (https://github.com/mmitss/mmitss-az), and a sample signal timing plan message refers to https://github.com/mmitss/mmitss-az/blob/master/src/mrp/priority-request-solver/test/tci-msg-sender/signalPlan.json.

    -

    +

    <b>Sample</b>

    A sample timing plan:

    {
    "MsgType": "ActiveTimingPlan",
    @@ -187,7 +187,7 @@

    ]
    }
    }
    -

    +

    Including library

    find_package( streets_timing_plan_lib REQUIRED )
    ...
    @@ -198,7 +198,7 @@

    diff --git a/carma-streets/md_streets_utils_streets_tsc_configuration_README.html b/carma-streets/md_streets_utils_streets_tsc_configuration_README.html index 435fc6f63b5..8f58bde3351 100644 --- a/carma-streets/md_streets_utils_streets_tsc_configuration_README.html +++ b/carma-streets/md_streets_utils_streets_tsc_configuration_README.html @@ -86,7 +86,7 @@
    Streets TSC Configuration Library

    -

    +

    Introduction

    This CARMA-Streets library is meant to handle JSON serialization and deserialization for the CARMA-Streets internal tsc_configuration_state JSON message. Below is a sample tsc_configuration_state JSON message created by this library.

    {
    "tsc_config_list":[
    @@ -110,16 +110,16 @@
    ]
    }

    The third entry in the list shows a signal group with no concurrent phases. The concurrent_signal groups field is an optional argument. In case of a single ring structure there are not expected to be any concurrent groups and a json message can be constructed without it.

    -

    +

    TSC Configuration State Information

    Traffic signal controller configuration represents the setup on the physical device. In order to access that information SNMP requests need to be sent to the system. In order to control the current phases/signal_groups on the controller, this information is required to understand ring-barrier setups as well as the duration of yellow and red clearance, which cannot be controlled directly.The tsc_config_state message consists of this information for all active vehicle phases/signal_groups.

    -

    +

    Parameter Description

    Signal Group ID: signal group id identifier for J2735 which is mapped to phase number in NTCIP

    Yellow_change_duration: Yellow signal duration for phase in milliseconds

    Red_clearance: Red clearace time for phase in milliseconds

    Concurrent_signal_groups: Signal Groups in the same barrier or concurrent group excluding signal groups from same ring

    -

    +

    Including Library

    To include this library in your CARMA-Streets service simply add the following to your CMakeList.txt. ``` find_package( streets_tsc_configuration_lib REQUIRED ) ... target_link_libraries( <target> PUBLIC streets_tsc_configuration_lib )

    @@ -128,7 +128,7 @@

    diff --git a/carma-streets/md_streets_utils_streets_vehicle_list_README.html b/carma-streets/md_streets_utils_streets_vehicle_list_README.html index bdfd481a379..47d5e6b1aed 100644 --- a/carma-streets/md_streets_utils_streets_vehicle_list_README.html +++ b/carma-streets/md_streets_utils_streets_vehicle_list_README.html @@ -86,16 +86,16 @@
    Streets Vehicle List Library

    -

    +

    Introduction

    The streets_vehicle_list_lib is meant to store data objects to store information about vehicles in the intersection received from status_intent_msgs. It also enables extensible update parsing business logic through the abstract class status_intent_processor, allowing for many different implementations of this business logic isolated from the data it modifies.

    -

    +

    Data Objects

    The vehicle struct holds all the kinematic information about vehicles and information about their state and intended path in the intersection. The future_info struct holds kinematic information for a future point in the vehicles path The vehicle_list contains the a map of all the currently active vehicles in the intersection. Vehicles are active as long as the timeout for updates, configured in the status_intent_processor, has not expired. After the timeout expires vehicles are removed from the map. This object offers thread-safe methods to consume json updates void process_update(const std::string &update) and access vehicle information : std::vector<vehicle> get_vehicles_by_state(const vehicle_state state), std::vector<vehicle> get_vehicles_by_lane(const int lane_id), and std::unordered_map<std::string, vehicle> get_vehicles().

    -

    +

    Status Intent Processor

    The vehicle_list object also contains a shared_ptr<status_intent_processor>. The status_intent_processor is a abstract class with one pure virtual method void process_update(const std::string &update), which allows inheriting classes to implement custom status_intent message parsing and vehicle list updating business logic. Currently the only implementation of this is the all_stop_status_intent_processor which holds logic for considering when vehicles are stopped, determining vehicle state based on kinematic information and other UC1 specific business logic. Eventually we will be able to replace this business logic for UC3 by simply replacing the all_stop_status_intent_processor with another class that inherits from ‘status_intent_process’ like 'signalized_status_intent_processor. This way we don't need to edit the logic in the class directly and can just set the processor in thevehicle list` and rely on polymorphism.

    -

    +

    Include streets_vehicle_list

    Streets Vehicle List CMakeList.txt includes an install target which will install this library as a CMake package. The library along with it's dependencies can then be included by simply using the find_package() instruction.

    find_package(streets_vehicle_list_lib REQUIRED)
    ...
    @@ -106,7 +106,7 @@

    diff --git a/carma-streets/md_streets_utils_streets_vehicle_scheduler_README.html b/carma-streets/md_streets_utils_streets_vehicle_scheduler_README.html index 88f3e80fcdb..d4de68c06b2 100644 --- a/carma-streets/md_streets_utils_streets_vehicle_scheduler_README.html +++ b/carma-streets/md_streets_utils_streets_vehicle_scheduler_README.html @@ -86,10 +86,10 @@
    Streets Vehicle Scheduler Library

    -

    +

    Introduction

    This library is intended to contain the vehicle scheduling business logic for CARMA Streets. This library consists of two main classes: the intersection_schedule struct and the vehicle_scheduler abstract class.

    -

    +

    Intersection Schedule

    The intersection schedule is the data object that holds the vehicle_schedule(s) for all vehicles in the intersection. Each vehicle_schedule contains the vehicle ID v_id, the current planned stopping time st, the current planned entering time et, the current planned departure time dt, the current planned departure position dp, and a boolean flag indicating whether the vehicle has access to the intersection access. Below is an sample JSON for a stopped controlled intersection. Note : The JSON serialization will need to be overriden for signalized intersection_type for UC 3.

    {
    "metadata":{
    @@ -115,7 +115,7 @@

    }
    ]
    }
    -

    +

    Vehicle scheduler

    The vehicle_scheduler class is an abstract class meant to be extended to implement custom scheduling logic (see all_stop_vehicle_scheduler). This class contains a protected members that stores information about intersection geometry (intersection_info) . To implement custom scheduling business logic simply extend this class and implement the virtual method schedule_vehicles which takes in a map of vehicles with vehicle string IDs as keys and an empty intersection_schedule. To produce an intersection_schedule, simply call this method and pass it a map of vehicles obtained from the vehicle_list::get_vehicles() method and an empty intersection_schedule. Using pass by reference, the implemented method should populate this intersection schedule with vehicle_schedule(s) for all the relevant vehicles in the intersection. Below is an example custom vehicle scheduler.

    class custom_vehicle_scheduler : public vehicle_scheduler {
    @@ -158,7 +158,7 @@

    diff --git a/carma-streets/md_tsc_client_service_README.html b/carma-streets/md_tsc_client_service_README.html index 1876a084f3f..bfd7312a135 100644 --- a/carma-streets/md_tsc_client_service_README.html +++ b/carma-streets/md_tsc_client_service_README.html @@ -86,7 +86,7 @@
    Traffic Signal Controller Service Library

    -

    +

    Introduction

    This is the TSC Service (Traffic Signal Controller Service) meant to be a communication interface between CARMA-Streets and a Traffic Signal Controller (TSC). The service uses net-snmp library to implement a client that can GET and SET specified OIDs from a TSC. Current implementation allows the client to establish communication with a configurable host through snmp versions 1 and 2.

    The configurable parameters are defined in the manifest.json and include ip, port for the snmp server. Currently snmp version 3 is not supported as it requires authentication. Most signal controllers only support NTCIP 1202 v2 currently.

    @@ -102,16 +102,16 @@
  • FORCE_OFF

    • Modification of the TSC default signal phase sequence and timing is done based on the output of the SO Service (Signal Optimization). This output is referred to as the Desired Phase Plan and consists of future desired phases and green timing intervals. The TSC Service will consume these messages from the SO Service on every phase transition (Yellow Change) and attempt to send the appropriate SNMP commands to NTCIP OIDs to make the TSC reflect this behavior. The TSC Service will also populate the JSON J2735 SPaT with Desired Phase Plan information as future state informat in the form of MovementEvents (See J2735 SPaT definition).

    -

    +

    tsc_service

    The main class in the TSC Service is the tsc_service class. This class is used to load configuration values from the manifest.json file, initialize any objects and launches any joined or detached threads of execution. Some important data stored in this class include the spat pointer (see streets_utils/streets_signal_phase_and_timing/README.md) and tsc_state. Some important classes initialize here as well include the snmp_client, intersection_client, spat_worker and a kafka_producer for producing modified SPaT JSON messages (see kafka_clients README.md).

    This information is requested and stored in the tsc_state object, which on intialization, uses an snmp_client to query this information from the TSC.

    The snmp_client is a class which encapsulates the net-snmp connection logic and converts SNMP responses to their std::string or int equivalents. The constructor requires host, port, version, community and timeout information to initialize a connection. To make a request simply use the process_snmp_request method. It takes an NTCIP OID which describes the data you are querying/setting on the TSC, a request_type which is an enumeration describing whether you want to use SNMP SET/GET, and a snmp_response_obj which is a struct that will be populated by the metho with the SNMP server response.

    The intersection_client is a REST client implemented using the streets_utils/streets_api/intersection_client_api library ( see README.md for further documentation). It is used to obtain information from the J2735 MAP message, mainly the intersection id and intersection name, to populate the outgoing SPaT message.

    The spat_worker is a class which encapsulates a UDP socket listener. This socket listener, listens for UDP NTCIP data packets set from the TSC at 10 hz that provide traffic signal state information required for populating the SPaT. The spat_worker contains a method to consume a UDP datapacket and update the spat pointer which stores the most up-to-date information of the traffic signal controller state. The tsc_service spat_thread then continously consumes these messages and publishes the resulting SPaT JSON on the CARMA-Streets Kafka broker.

    -

    +

    tsc_service to MMITSS integration

    -

    +

    Configuration parameter

    The use_mmitss_mrp parameter in manifest.json file is used to determine whether the TSC service consume phase control schedule from external MMTISS Roadside processor or not. By default, this parameter is set to false to consume desired phase plan from internal signal optimization service. The MRP and carma-streets signal optimization service shall run exclusively, meaning there is no scenario where both MRP and signal optmization service are trying to manipulate traffic signal controller at the same time.

    @@ -120,7 +120,7 @@

    diff --git a/carma-streets/message__lanelet2__translation_8cpp.html b/carma-streets/message__lanelet2__translation_8cpp.html index 119da5b3060..f157ed20b8b 100644 --- a/carma-streets/message__lanelet2__translation_8cpp.html +++ b/carma-streets/message__lanelet2__translation_8cpp.html @@ -160,7 +160,7 @@ diff --git a/carma-streets/message__lanelet2__translation_8cpp_source.html b/carma-streets/message__lanelet2__translation_8cpp_source.html index 95b30a9e4cd..8d1bc80e8d0 100644 --- a/carma-streets/message__lanelet2__translation_8cpp_source.html +++ b/carma-streets/message__lanelet2__translation_8cpp_source.html @@ -526,7 +526,7 @@ diff --git a/carma-streets/message__lanelet2__translation_8h.html b/carma-streets/message__lanelet2__translation_8h.html index 71be7bcf58f..ee63e119f6b 100644 --- a/carma-streets/message__lanelet2__translation_8h.html +++ b/carma-streets/message__lanelet2__translation_8h.html @@ -218,7 +218,7 @@ diff --git a/carma-streets/message__lanelet2__translation_8h_source.html b/carma-streets/message__lanelet2__translation_8h_source.html index 2df3f294fb9..95fd314f895 100644 --- a/carma-streets/message__lanelet2__translation_8h_source.html +++ b/carma-streets/message__lanelet2__translation_8h_source.html @@ -267,7 +267,7 @@ diff --git a/carma-streets/message__lanelet2__translation__exception_8cpp.html b/carma-streets/message__lanelet2__translation__exception_8cpp.html index 6766d347775..ece8060b15b 100644 --- a/carma-streets/message__lanelet2__translation__exception_8cpp.html +++ b/carma-streets/message__lanelet2__translation__exception_8cpp.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/message__lanelet2__translation__exception_8cpp_source.html b/carma-streets/message__lanelet2__translation__exception_8cpp_source.html index 1a896a939b2..615318f6a1e 100644 --- a/carma-streets/message__lanelet2__translation__exception_8cpp_source.html +++ b/carma-streets/message__lanelet2__translation__exception_8cpp_source.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/message__lanelet2__translation__exception_8h.html b/carma-streets/message__lanelet2__translation__exception_8h.html index 91040ef4eda..423af3448b0 100644 --- a/carma-streets/message__lanelet2__translation__exception_8h.html +++ b/carma-streets/message__lanelet2__translation__exception_8h.html @@ -135,7 +135,7 @@ diff --git a/carma-streets/message__lanelet2__translation__exception_8h_source.html b/carma-streets/message__lanelet2__translation__exception_8h_source.html index 00a9947b1d8..d0feb86598e 100644 --- a/carma-streets/message__lanelet2__translation__exception_8h_source.html +++ b/carma-streets/message__lanelet2__translation__exception_8h_source.html @@ -110,7 +110,7 @@ diff --git a/carma-streets/message__services_8cpp.html b/carma-streets/message__services_8cpp.html index 53c08427c3f..fc3f77dc5be 100644 --- a/carma-streets/message__services_8cpp.html +++ b/carma-streets/message__services_8cpp.html @@ -379,7 +379,7 @@

    diff --git a/carma-streets/message__services_8cpp_source.html b/carma-streets/message__services_8cpp_source.html index ae015cae79e..440970531ac 100644 --- a/carma-streets/message__services_8cpp_source.html +++ b/carma-streets/message__services_8cpp_source.html @@ -125,7 +125,7 @@ diff --git a/carma-streets/mobilityHeader_8h.html b/carma-streets/mobilityHeader_8h.html index 608da38bb30..6b2de79bc47 100644 --- a/carma-streets/mobilityHeader_8h.html +++ b/carma-streets/mobilityHeader_8h.html @@ -146,7 +146,7 @@ diff --git a/carma-streets/mobilityHeader_8h_source.html b/carma-streets/mobilityHeader_8h_source.html index 4c2cb94bef4..f5da28be283 100644 --- a/carma-streets/mobilityHeader_8h_source.html +++ b/carma-streets/mobilityHeader_8h_source.html @@ -122,7 +122,7 @@ diff --git a/carma-streets/mobility__operation__service_8h.html b/carma-streets/mobility__operation__service_8h.html index 9d42f99edbb..391d2291ccc 100644 --- a/carma-streets/mobility__operation__service_8h.html +++ b/carma-streets/mobility__operation__service_8h.html @@ -169,7 +169,7 @@ diff --git a/carma-streets/mobility__operation__service_8h_source.html b/carma-streets/mobility__operation__service_8h_source.html index 64dc66da322..7772a52e738 100644 --- a/carma-streets/mobility__operation__service_8h_source.html +++ b/carma-streets/mobility__operation__service_8h_source.html @@ -154,7 +154,7 @@ diff --git a/carma-streets/mobilityoperation_8cpp.html b/carma-streets/mobilityoperation_8cpp.html index 7a5e12b67e0..3622cd7b82e 100644 --- a/carma-streets/mobilityoperation_8cpp.html +++ b/carma-streets/mobilityoperation_8cpp.html @@ -140,7 +140,7 @@ diff --git a/carma-streets/mobilityoperation_8cpp_source.html b/carma-streets/mobilityoperation_8cpp_source.html index 00a42d279d8..13a2f574add 100644 --- a/carma-streets/mobilityoperation_8cpp_source.html +++ b/carma-streets/mobilityoperation_8cpp_source.html @@ -311,7 +311,7 @@ diff --git a/carma-streets/mobilityoperation_8h.html b/carma-streets/mobilityoperation_8h.html index b5ef11e3136..3497ed83ce6 100644 --- a/carma-streets/mobilityoperation_8h.html +++ b/carma-streets/mobilityoperation_8h.html @@ -150,7 +150,7 @@ diff --git a/carma-streets/mobilityoperation_8h_source.html b/carma-streets/mobilityoperation_8h_source.html index cdcd9ac7757..9e7cb9f01c8 100644 --- a/carma-streets/mobilityoperation_8h_source.html +++ b/carma-streets/mobilityoperation_8h_source.html @@ -171,7 +171,7 @@ diff --git a/carma-streets/mobilityoperation__worker_8cpp.html b/carma-streets/mobilityoperation__worker_8cpp.html index 3ddb5163619..0fb08aef185 100644 --- a/carma-streets/mobilityoperation__worker_8cpp.html +++ b/carma-streets/mobilityoperation__worker_8cpp.html @@ -140,7 +140,7 @@ diff --git a/carma-streets/mobilityoperation__worker_8cpp_source.html b/carma-streets/mobilityoperation__worker_8cpp_source.html index 01f53e1d328..bacd4d26893 100644 --- a/carma-streets/mobilityoperation__worker_8cpp_source.html +++ b/carma-streets/mobilityoperation__worker_8cpp_source.html @@ -153,7 +153,7 @@ diff --git a/carma-streets/mobilityoperation__worker_8h.html b/carma-streets/mobilityoperation__worker_8h.html index 45c61a1e27f..bf9754da821 100644 --- a/carma-streets/mobilityoperation__worker_8h.html +++ b/carma-streets/mobilityoperation__worker_8h.html @@ -161,7 +161,7 @@ diff --git a/carma-streets/mobilityoperation__worker_8h_source.html b/carma-streets/mobilityoperation__worker_8h_source.html index 21261b82690..254a62c6dd0 100644 --- a/carma-streets/mobilityoperation__worker_8h_source.html +++ b/carma-streets/mobilityoperation__worker_8h_source.html @@ -143,7 +143,7 @@ diff --git a/carma-streets/mobilitypath_8cpp.html b/carma-streets/mobilitypath_8cpp.html index 284b576d33d..5dcb7a260ba 100644 --- a/carma-streets/mobilitypath_8cpp.html +++ b/carma-streets/mobilitypath_8cpp.html @@ -140,7 +140,7 @@ diff --git a/carma-streets/mobilitypath_8cpp_source.html b/carma-streets/mobilitypath_8cpp_source.html index 70fe101c955..950f916492f 100644 --- a/carma-streets/mobilitypath_8cpp_source.html +++ b/carma-streets/mobilitypath_8cpp_source.html @@ -340,7 +340,7 @@ diff --git a/carma-streets/mobilitypath_8h.html b/carma-streets/mobilitypath_8h.html index 6db220f7574..2f240bccb75 100644 --- a/carma-streets/mobilitypath_8h.html +++ b/carma-streets/mobilitypath_8h.html @@ -154,7 +154,7 @@ diff --git a/carma-streets/mobilitypath_8h_source.html b/carma-streets/mobilitypath_8h_source.html index dc33fb1029b..afe67319295 100644 --- a/carma-streets/mobilitypath_8h_source.html +++ b/carma-streets/mobilitypath_8h_source.html @@ -161,7 +161,7 @@ diff --git a/carma-streets/mobilitypath__worker_8cpp.html b/carma-streets/mobilitypath__worker_8cpp.html index f3351773476..bb68410506d 100644 --- a/carma-streets/mobilitypath__worker_8cpp.html +++ b/carma-streets/mobilitypath__worker_8cpp.html @@ -143,7 +143,7 @@ diff --git a/carma-streets/mobilitypath__worker_8cpp_source.html b/carma-streets/mobilitypath__worker_8cpp_source.html index c35fd3c414f..4651e67bacc 100644 --- a/carma-streets/mobilitypath__worker_8cpp_source.html +++ b/carma-streets/mobilitypath__worker_8cpp_source.html @@ -167,7 +167,7 @@ diff --git a/carma-streets/mobilitypath__worker_8h.html b/carma-streets/mobilitypath__worker_8h.html index 48ca4f00b33..c8efb6cf259 100644 --- a/carma-streets/mobilitypath__worker_8h.html +++ b/carma-streets/mobilitypath__worker_8h.html @@ -164,7 +164,7 @@ diff --git a/carma-streets/mobilitypath__worker_8h_source.html b/carma-streets/mobilitypath__worker_8h_source.html index d6e669bc7d5..d75b8812eae 100644 --- a/carma-streets/mobilitypath__worker_8h_source.html +++ b/carma-streets/mobilitypath__worker_8h_source.html @@ -150,7 +150,7 @@ diff --git a/carma-streets/mock__kafka__client_8h.html b/carma-streets/mock__kafka__client_8h.html index 479a77500fe..0b7476e75da 100644 --- a/carma-streets/mock__kafka__client_8h.html +++ b/carma-streets/mock__kafka__client_8h.html @@ -135,7 +135,7 @@ diff --git a/carma-streets/mock__kafka__client_8h_source.html b/carma-streets/mock__kafka__client_8h_source.html index d95dfddb28f..2c1f5a38c30 100644 --- a/carma-streets/mock__kafka__client_8h_source.html +++ b/carma-streets/mock__kafka__client_8h_source.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/mock__kafka__consumer__worker_8h.html b/carma-streets/mock__kafka__consumer__worker_8h.html index 9755d72f6ab..c040d542259 100644 --- a/carma-streets/mock__kafka__consumer__worker_8h.html +++ b/carma-streets/mock__kafka__consumer__worker_8h.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/mock__kafka__consumer__worker_8h_source.html b/carma-streets/mock__kafka__consumer__worker_8h_source.html index 06350a44dbb..fd57c80e714 100644 --- a/carma-streets/mock__kafka__consumer__worker_8h_source.html +++ b/carma-streets/mock__kafka__consumer__worker_8h_source.html @@ -134,7 +134,7 @@ diff --git a/carma-streets/mock__kafka__producer__worker_8h.html b/carma-streets/mock__kafka__producer__worker_8h.html index ff5e9447740..6402f6d7ec9 100644 --- a/carma-streets/mock__kafka__producer__worker_8h.html +++ b/carma-streets/mock__kafka__producer__worker_8h.html @@ -132,7 +132,7 @@ diff --git a/carma-streets/mock__kafka__producer__worker_8h_source.html b/carma-streets/mock__kafka__producer__worker_8h_source.html index f15361f0d26..c792afd76e2 100644 --- a/carma-streets/mock__kafka__producer__worker_8h_source.html +++ b/carma-streets/mock__kafka__producer__worker_8h_source.html @@ -128,7 +128,7 @@ diff --git a/carma-streets/mock__snmp__client_8h.html b/carma-streets/mock__snmp__client_8h.html index 82462881bc1..b20e4b5979d 100644 --- a/carma-streets/mock__snmp__client_8h.html +++ b/carma-streets/mock__snmp__client_8h.html @@ -138,7 +138,7 @@ diff --git a/carma-streets/mock__snmp__client_8h_source.html b/carma-streets/mock__snmp__client_8h_source.html index dda66a21b1c..cfc6d7ce4b7 100644 --- a/carma-streets/mock__snmp__client_8h_source.html +++ b/carma-streets/mock__snmp__client_8h_source.html @@ -116,7 +116,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan_8cpp.html b/carma-streets/monitor__desired__phase__plan_8cpp.html index 79da9338d00..99518f0a25b 100644 --- a/carma-streets/monitor__desired__phase__plan_8cpp.html +++ b/carma-streets/monitor__desired__phase__plan_8cpp.html @@ -163,7 +163,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan_8cpp_source.html b/carma-streets/monitor__desired__phase__plan_8cpp_source.html index 01dbab24c61..f2b195f2359 100644 --- a/carma-streets/monitor__desired__phase__plan_8cpp_source.html +++ b/carma-streets/monitor__desired__phase__plan_8cpp_source.html @@ -377,7 +377,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan_8h.html b/carma-streets/monitor__desired__phase__plan_8h.html index 053927bf189..e3bc1c85f36 100644 --- a/carma-streets/monitor__desired__phase__plan_8h.html +++ b/carma-streets/monitor__desired__phase__plan_8h.html @@ -187,7 +187,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan_8h_source.html b/carma-streets/monitor__desired__phase__plan_8h_source.html index a62f84af2a4..f88f6028703 100644 --- a/carma-streets/monitor__desired__phase__plan_8h_source.html +++ b/carma-streets/monitor__desired__phase__plan_8h_source.html @@ -162,7 +162,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan__exception_8cpp.html b/carma-streets/monitor__desired__phase__plan__exception_8cpp.html index 38979e1ede0..d0e41792f40 100644 --- a/carma-streets/monitor__desired__phase__plan__exception_8cpp.html +++ b/carma-streets/monitor__desired__phase__plan__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan__exception_8cpp_source.html b/carma-streets/monitor__desired__phase__plan__exception_8cpp_source.html index c8b8e207874..bbb4fe46491 100644 --- a/carma-streets/monitor__desired__phase__plan__exception_8cpp_source.html +++ b/carma-streets/monitor__desired__phase__plan__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan__exception_8h.html b/carma-streets/monitor__desired__phase__plan__exception_8h.html index f26828ec23d..280af083951 100644 --- a/carma-streets/monitor__desired__phase__plan__exception_8h.html +++ b/carma-streets/monitor__desired__phase__plan__exception_8h.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/monitor__desired__phase__plan__exception_8h_source.html b/carma-streets/monitor__desired__phase__plan__exception_8h_source.html index 25e0aca5a7e..75917ebda92 100644 --- a/carma-streets/monitor__desired__phase__plan__exception_8h_source.html +++ b/carma-streets/monitor__desired__phase__plan__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/monitor__states__exception_8cpp.html b/carma-streets/monitor__states__exception_8cpp.html index 6fa28d718f8..a047661fb0d 100644 --- a/carma-streets/monitor__states__exception_8cpp.html +++ b/carma-streets/monitor__states__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/monitor__states__exception_8cpp_source.html b/carma-streets/monitor__states__exception_8cpp_source.html index 421db689c0c..b60dfa31afc 100644 --- a/carma-streets/monitor__states__exception_8cpp_source.html +++ b/carma-streets/monitor__states__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/monitor__states__exception_8h.html b/carma-streets/monitor__states__exception_8h.html index 9d1989b9e22..8dd9dd956d3 100644 --- a/carma-streets/monitor__states__exception_8h.html +++ b/carma-streets/monitor__states__exception_8h.html @@ -137,7 +137,7 @@ diff --git a/carma-streets/monitor__states__exception_8h_source.html b/carma-streets/monitor__states__exception_8h_source.html index 68a7f25c6fe..e53a108e918 100644 --- a/carma-streets/monitor__states__exception_8h_source.html +++ b/carma-streets/monitor__states__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/monitor__tsc__state_8cpp.html b/carma-streets/monitor__tsc__state_8cpp.html index b9252881dc0..7c8f05f9142 100644 --- a/carma-streets/monitor__tsc__state_8cpp.html +++ b/carma-streets/monitor__tsc__state_8cpp.html @@ -161,7 +161,7 @@ diff --git a/carma-streets/monitor__tsc__state_8cpp_source.html b/carma-streets/monitor__tsc__state_8cpp_source.html index 47ea8c6e541..ab1873acdc6 100644 --- a/carma-streets/monitor__tsc__state_8cpp_source.html +++ b/carma-streets/monitor__tsc__state_8cpp_source.html @@ -870,7 +870,7 @@ diff --git a/carma-streets/monitor__tsc__state_8h.html b/carma-streets/monitor__tsc__state_8h.html index c716e52ebfe..949923170e3 100644 --- a/carma-streets/monitor__tsc__state_8h.html +++ b/carma-streets/monitor__tsc__state_8h.html @@ -190,7 +190,7 @@ diff --git a/carma-streets/monitor__tsc__state_8h_source.html b/carma-streets/monitor__tsc__state_8h_source.html index 6c2fa4b9f03..602e05200d2 100644 --- a/carma-streets/monitor__tsc__state_8h_source.html +++ b/carma-streets/monitor__tsc__state_8h_source.html @@ -309,7 +309,7 @@ diff --git a/carma-streets/motorized__propelled__type_8hpp.html b/carma-streets/motorized__propelled__type_8hpp.html index b9645627aec..91c42211635 100644 --- a/carma-streets/motorized__propelled__type_8hpp.html +++ b/carma-streets/motorized__propelled__type_8hpp.html @@ -142,7 +142,7 @@ diff --git a/carma-streets/motorized__propelled__type_8hpp_source.html b/carma-streets/motorized__propelled__type_8hpp_source.html index 4b4118e6fe0..4f0023d60d7 100644 --- a/carma-streets/motorized__propelled__type_8hpp_source.html +++ b/carma-streets/motorized__propelled__type_8hpp_source.html @@ -151,7 +151,7 @@ diff --git a/carma-streets/movement__event_8cpp.html b/carma-streets/movement__event_8cpp.html index e2fc7bcc235..43d711cc09e 100644 --- a/carma-streets/movement__event_8cpp.html +++ b/carma-streets/movement__event_8cpp.html @@ -126,7 +126,7 @@ diff --git a/carma-streets/movement__event_8cpp_source.html b/carma-streets/movement__event_8cpp_source.html index 68b04abf1c7..141506786f5 100644 --- a/carma-streets/movement__event_8cpp_source.html +++ b/carma-streets/movement__event_8cpp_source.html @@ -156,7 +156,7 @@ diff --git a/carma-streets/movement__event_8h.html b/carma-streets/movement__event_8h.html index 38e9930d7e2..6f10035dfad 100644 --- a/carma-streets/movement__event_8h.html +++ b/carma-streets/movement__event_8h.html @@ -200,7 +200,7 @@ diff --git a/carma-streets/movement__event_8h_source.html b/carma-streets/movement__event_8h_source.html index 51162bfaca4..98295455df4 100644 --- a/carma-streets/movement__event_8h_source.html +++ b/carma-streets/movement__event_8h_source.html @@ -174,7 +174,7 @@ diff --git a/carma-streets/movement__group_8h.html b/carma-streets/movement__group_8h.html index 65c99384397..a73c20f9843 100644 --- a/carma-streets/movement__group_8h.html +++ b/carma-streets/movement__group_8h.html @@ -136,7 +136,7 @@ diff --git a/carma-streets/movement__group_8h_source.html b/carma-streets/movement__group_8h_source.html index 79664cb74a0..103484eaa91 100644 --- a/carma-streets/movement__group_8h_source.html +++ b/carma-streets/movement__group_8h_source.html @@ -114,7 +114,7 @@ diff --git a/carma-streets/movement__state_8cpp.html b/carma-streets/movement__state_8cpp.html index 76cfbb67fb8..8d22e5f3ff1 100644 --- a/carma-streets/movement__state_8cpp.html +++ b/carma-streets/movement__state_8cpp.html @@ -128,7 +128,7 @@ diff --git a/carma-streets/movement__state_8cpp_source.html b/carma-streets/movement__state_8cpp_source.html index a6309be1873..a4c75e4e4ae 100644 --- a/carma-streets/movement__state_8cpp_source.html +++ b/carma-streets/movement__state_8cpp_source.html @@ -184,7 +184,7 @@ diff --git a/carma-streets/movement__state_8h.html b/carma-streets/movement__state_8h.html index 1dee2e71c1e..382fc879c29 100644 --- a/carma-streets/movement__state_8h.html +++ b/carma-streets/movement__state_8h.html @@ -181,7 +181,7 @@ diff --git a/carma-streets/movement__state_8h_source.html b/carma-streets/movement__state_8h_source.html index 5a8531b5ffe..ecc457d82f7 100644 --- a/carma-streets/movement__state_8h_source.html +++ b/carma-streets/movement__state_8h_source.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/namespaceIntersectionModelAPI.html b/carma-streets/namespaceIntersectionModelAPI.html index 0862e72568b..4f47e816673 100644 --- a/carma-streets/namespaceIntersectionModelAPI.html +++ b/carma-streets/namespaceIntersectionModelAPI.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/namespaceOpenAPI.html b/carma-streets/namespaceOpenAPI.html index 9a3fb408982..c171ea18b45 100644 --- a/carma-streets/namespaceOpenAPI.html +++ b/carma-streets/namespaceOpenAPI.html @@ -2653,7 +2653,7 @@

    • OpenAPI
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacecollect__kafka__logs.html b/carma-streets/namespacecollect__kafka__logs.html index 82537e65620..74a86899c6e 100644 --- a/carma-streets/namespacecollect__kafka__logs.html +++ b/carma-streets/namespacecollect__kafka__logs.html @@ -113,81 +113,83 @@

    -

    Definition at line 71 of file collect_kafka_logs.py.

    -
    71def main():
    -
    72
    -
    73 # Default list of topics, aka all topics from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
    -
    74 # topic desire_phase_plan is in the list from confluence, but doesn't exist in kafka as of 2022/12/05
    -
    75 topics = ['v2xhub_scheduling_plan_sub' ,'v2xhub_bsm_in', 'v2xhub_mobility_operation_in', 'v2xhub_mobility_path_in',
    -
    76 'vehicle_status_intent_output', 'v2xhub_map_msg_in', 'modified_spat', 'tsc_config_state', 'desired_phase_plan']
    -
    77 timeout = 5
    -
    78
    -
    79 # Get arguments
    -
    80 # The idea here was to give the user the bare minimum options, and make the default condition the most used.
    -
    81 parser = argparse.ArgumentParser(description='Script to grab data from kafka')
    -
    82 parser.add_argument('outfile', help='Filename for the resulting zip file', type=str) # Required argument
    -
    83 start_group = parser.add_mutually_exclusive_group()
    -
    84 end_group = parser.add_mutually_exclusive_group()
    -
    85 start_group.add_argument('--start_timestamp', help='Unix timestamp (seconds) for the first message to grab. Exclusive with start_hours_ago. ', type=int)
    -
    86 end_group.add_argument('--end_timestamp', help='Unix timestamp (seconds) for the last message to grab. Exclusive with end_hours_ago. ', type=int)
    -
    87 start_group.add_argument('--start_hours_ago', help='float hours before current time to grab first message. Exclusive with start_timestamp. ', type=float)
    -
    88 end_group.add_argument('--end_hours_ago', help='float hours before current time to grab last message. Exclusive with start_timestamp. ', type=float)
    -
    89 parser.add_argument('--topics', type=str, nargs='+', help=f'list of topics to grab data from')
    -
    90 parser.add_argument('--timeout', type=float, help=f'timeout for receiving messages on a topic, default is 5 seconds')
    -
    91
    -
    92 args = parser.parse_args()
    -
    93
    -
    94 # Correct and validate outfile name
    -
    95 if args.outfile[-4:] == '.zip':
    -
    96 outfile = args.outfile[:-4]
    -
    97 else:
    -
    98 outfile = args.outfile
    -
    99
    -
    100 if os.path.isdir(f'{os.getcwd()}/{outfile}'):
    -
    101 print(f'folder {outfile} exists, please remove or rename')
    -
    102 return
    -
    103 elif os.path.isfile(f'{os.getcwd()}/{outfile}.zip'):
    -
    104 print(f'zip file {outfile}.zip exists, please remove or rename')
    -
    105 return
    -
    106
    -
    107 # Convert given time to unix timestamp (in ms)
    -
    108 if args.start_timestamp:
    -
    109 start_time = args.start_timestamp * 1000
    -
    110 elif args.start_hours_ago:
    -
    111 start_time = int(time.time() - 3600 * args.start_hours_ago) * 1000
    -
    112 else:
    -
    113 start_time = 0
    -
    114
    -
    115 if args.end_timestamp:
    -
    116 end_time = args.end_timestamp * 1000
    -
    117 elif args.end_hours_ago:
    -
    118 end_time = int(time.time() - 3600 * args.end_hours_ago) * 1000
    -
    119 else:
    -
    120 end_time = int(time.time()) * 1000
    -
    121
    -
    122 if args.topics:
    -
    123 topics = args.topics
    -
    124 if args.timeout:
    -
    125 timeout = args.timeout
    -
    126
    -
    127 os.system(f'mkdir {outfile}')
    -
    128 for topic in topics:
    -
    129 ret = store_kafka_topic(topic, outfile, timeout, start_time, end_time)
    -
    130 if ret != 0:
    -
    131 print('received error, stopping execution')
    -
    132 return
    -
    133
    -
    134 print('Available logs collected, zipping and removing the temporary folder')
    -
    135 os.system(f'zip -r {outfile}.zip {outfile}')
    -
    136 os.system(f'rm -r {outfile}')
    -
    137
    -
    138
    -
    collect_kafka_logs.main
    def main()
    Definition: collect_kafka_logs.py:71
    -
    collect_kafka_logs.store_kafka_topic
    def store_kafka_topic(topic, dir, timeout, start_time, end_time)
    Python script to download and store kafka logs Opens the kafka docker container, then uses the exampl...
    Definition: collect_kafka_logs.py:18
    +

    Definition at line 87 of file collect_kafka_logs.py.

    +
    87def main():
    +
    88
    +
    89 # Default list of topics, aka all topics from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
    +
    90 topics = ['v2xhub_scheduling_plan_sub' ,'v2xhub_bsm_in', 'v2xhub_mobility_operation_in', 'v2xhub_mobility_path_in',
    +
    91 'vehicle_status_intent_output', 'v2xhub_map_msg_in', 'modified_spat', 'tsc_config_state', 'desired_phase_plan',
    +
    92 'v2xhub_sdsm_sub', 'v2xhub_sim_sensor_detected_object', 'v2xhub_sdsm_tra', 'desire_phase_plan', 'time_sync']
    +
    93 timeout = 5
    +
    94
    +
    95 # Get arguments
    +
    96 # The idea here was to give the user the bare minimum options, and make the default condition the most used.
    +
    97 parser = argparse.ArgumentParser(description='Script to grab data from kafka')
    +
    98 parser.add_argument('outdir', help='Folder name for the resulting folder logs are placed in', type=str) # Required argument
    +
    99 start_group = parser.add_mutually_exclusive_group()
    +
    100 end_group = parser.add_mutually_exclusive_group()
    +
    101 start_group.add_argument('--start_timestamp', help='Unix timestamp (seconds) for the first message to grab. Exclusive with start_hours_ago. ', type=int)
    +
    102 end_group.add_argument('--end_timestamp', help='Unix timestamp (seconds) for the last message to grab. Exclusive with end_hours_ago. ', type=int)
    +
    103 start_group.add_argument('--start_hours_ago', help='float hours before current time to grab first message. Exclusive with start_timestamp. ', type=float)
    +
    104 end_group.add_argument('--end_hours_ago', help='float hours before current time to grab last message. Exclusive with start_timestamp. ', type=float)
    +
    105 parser.add_argument('--topics', type=str, nargs='+', help='list of topics to grab data from')
    +
    106 parser.add_argument('--timeout', type=float, help='timeout for receiving messages on a topic, default is 5 seconds')
    +
    107 parser.add_argument('--zip', type=bool,help='bool flag. When set to true, folder is compressed into a zip file.', default=False)
    +
    108
    +
    109 args = parser.parse_args()
    +
    110
    +
    111 # Correct and validate outfile name
    +
    112 if args.outdir[-4:] == '.zip':
    +
    113 outdir = args.outdir[:-4]
    +
    114 else:
    +
    115 outdir = args.outdir
    +
    116 # Check if output directory already exists
    +
    117 if Path(Path.cwd()/outdir).is_dir():
    +
    118 print(f'folder {outdir} exists, please remove or rename')
    +
    119 return
    +
    120 # Check if zip file already exists
    +
    121 elif Path(Path.cwd()/f'{outdir}.zip').is_file():
    +
    122 print(f'zip file {outdir}.zip exists, please remove or rename')
    +
    123 return
    +
    124
    +
    125 # Convert given time to unix timestamp (in ms)
    +
    126 if args.start_timestamp:
    +
    127 start_time = args.start_timestamp * 1000
    +
    128 elif args.start_hours_ago:
    +
    129 start_time = int(time.time() - 3600 * args.start_hours_ago) * 1000
    +
    130 else:
    +
    131 start_time = 0
    +
    132
    +
    133 if args.end_timestamp:
    +
    134 end_time = args.end_timestamp * 1000
    +
    135 elif args.end_hours_ago:
    +
    136 end_time = int(time.time() - 3600 * args.end_hours_ago) * 1000
    +
    137 else:
    +
    138 end_time = int(time.time()) * 1000
    +
    139
    +
    140 if args.topics:
    +
    141 topics = args.topics
    +
    142 if args.timeout:
    +
    143 timeout = args.timeout
    +
    144 Path(outdir).mkdir(exist_ok=False)
    +
    145 for topic in topics:
    +
    146 ret = store_kafka_topic(topic, outdir, timeout, start_time, end_time)
    +
    147 if ret != 0:
    +
    148 print(f'received error on topic {topic}, going to next topic')
    +
    149
    +
    150 print('Available logs collected')
    +
    151 if args.zip:
    +
    152 print('Zipping and removing the temporary folder')
    +
    153 shutil.make_archive(base_name=outdir, format='zip', root_dir=outdir)
    +
    154 shutil.rmtree(path=outdir)
    +
    155
    +
    156
    +
    collect_kafka_logs.main
    def main()
    Definition: collect_kafka_logs.py:87
    +
    collect_kafka_logs.store_kafka_topic
    def store_kafka_topic(topic, dir, timeout, start_time, end_time)
    Python script to download and store kafka logs Opens the kafka docker container, then uses the exampl...
    Definition: collect_kafka_logs.py:34
    -

    References main(), and store_kafka_topic().

    +

    References main(), and store_kafka_topic().

    -

    Referenced by main().

    +

    Referenced by main().

    Here is the call graph for this function:
    @@ -255,62 +257,62 @@

    Definition at line 18 of file collect_kafka_logs.py.

    -
    18def store_kafka_topic(topic, dir, timeout, start_time, end_time):
    -
    19
    -
    20 timestamp_regex = 'CreateTime:(\d+)\t{'
    -
    21 filename = f'{dir}/{topic}.log'
    -
    22
    -
    23 # Command to get messages from specified topic, from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
    -
    24 command = f'docker exec kafka timeout {timeout} kafka-console-consumer.sh --topic {topic} --property print.timestamp=true --from-beginning --bootstrap-server localhost:9092'
    -
    25 result = subprocess.check_output(f'docker exec kafka kafka-run-class.sh kafka.tools.GetOffsetShell --broker-list localhost:9092 --topic {topic} | awk -F \":\" \'{{sum += $3}} END {{print sum}}\'', shell=True)
    -
    26 if result == b'\n':
    -
    27 return 1
    -
    28 else:
    -
    29 num_msgs = int(result)
    -
    30
    -
    31 line_count = 0
    -
    32 with open(filename, 'w+') as outfile:
    -
    33 # Popen returns a generator containing the command output line by line
    -
    34 process = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True, universal_newlines=True, preexec_fn=os.setsid)
    -
    35 while line_count < num_msgs:
    -
    36 line = process.stdout.readline()
    -
    37 if line == '' and process.poll() is not None:
    -
    38 print(f'got {line_count} messages from {topic}')
    -
    39 return 0
    -
    40
    -
    41 # We have a valid line of output, find timestamp
    -
    42 match = re.search(timestamp_regex, line)
    -
    43 if not match:
    -
    44 # Some topics have multiple lines. For those, store each line that doesn't have a timestamp,
    -
    45 # and therefore is part of the 'current' message
    -
    46 if topic == 'v2xhub_map_msg_in' or topic == 'v2xhub_bsm_in' \
    -
    47 or topic == 'v2xhub_mobility_operation_in' or topic == 'v2xhub_mobility_path_in':
    -
    48 outfile.write(line)
    -
    49 else:
    -
    50 print(f'got {line_count} messages from {topic}')
    -
    51 print('no timestamp, exiting')
    -
    52 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    -
    53 return 1
    -
    54 else:
    -
    55 timestamp = int(match.group()[11:-1])
    +

    Definition at line 34 of file collect_kafka_logs.py.

    +
    34def store_kafka_topic(topic, dir, timeout, start_time, end_time):
    +
    35
    +
    36 timestamp_regex = 'CreateTime:(\d+)\t{'
    +
    37 filename = f'{dir}/{topic}.log'
    +
    38
    +
    39 # Command to get messages from specified topic, from https://usdot-carma.atlassian.net/wiki/spaces/CRMSRT/pages/2317549999/CARMA-Streets+Messaging
    +
    40 command = f'docker exec kafka timeout {timeout} kafka-console-consumer.sh --topic {topic} --property print.timestamp=true --from-beginning --bootstrap-server localhost:9092'
    +
    41 result = subprocess.check_output(f'docker exec kafka kafka-run-class.sh kafka.tools.GetOffsetShell --broker-list localhost:9092 --topic {topic} | awk -F \":\" \'{{sum += $3}} END {{print sum}}\'', shell=True)
    +
    42 if result == b'\n':
    +
    43 return 1
    +
    44 else:
    +
    45 num_msgs = int(result)
    +
    46
    +
    47 line_count = 0
    +
    48 with open(filename, 'w+') as outfile:
    +
    49 # Popen returns a generator containing the command output line by line
    +
    50 process = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True, universal_newlines=True, preexec_fn=os.setsid)
    +
    51 while line_count < num_msgs:
    +
    52 line = process.stdout.readline()
    +
    53 if line == '' and process.poll() is not None:
    +
    54 print(f'got {line_count} messages from {topic}')
    +
    55 return 0
    56
    -
    57 # If we receive a message past the end time, we are done
    -
    58 if timestamp > end_time:
    -
    59 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    -
    60 print(f'got {line_count} messages from {topic}')
    -
    61 return 0
    -
    62 # If we receive a message between the start and end times, store it
    -
    63 if timestamp > start_time:
    +
    57 # We have a valid line of output, find timestamp
    +
    58 match = re.search(timestamp_regex, line)
    +
    59 if not match:
    +
    60 # Some topics have multiple lines. For those, store each line that doesn't have a timestamp,
    +
    61 # and therefore is part of the 'current' message
    +
    62 if topic == 'v2xhub_map_msg_in' or topic == 'v2xhub_bsm_in' \
    +
    63 or topic == 'v2xhub_mobility_operation_in' or topic == 'v2xhub_mobility_path_in':
    64 outfile.write(line)
    -
    65 line_count += 1
    -
    66 print(f'got all {num_msgs} expected messages from {topic}')
    -
    67 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    -
    68 return 0
    -
    69
    -
    70
    +
    65 else:
    +
    66 print(f'got {line_count} messages from {topic}')
    +
    67 print('no timestamp, exiting')
    +
    68 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    +
    69 return 1
    +
    70 else:
    +
    71 timestamp = int(match.group()[11:-1])
    +
    72
    +
    73 # If we receive a message past the end time, we are done
    +
    74 if timestamp > end_time:
    +
    75 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    +
    76 print(f'got {line_count} messages from {topic}')
    +
    77 return 0
    +
    78 # If we receive a message between the start and end times, store it
    +
    79 if timestamp > start_time:
    +
    80 outfile.write(line)
    +
    81 line_count += 1
    +
    82 print(f'got all {num_msgs} expected messages from {topic}')
    +
    83 os.killpg(os.getpgid(process.pid), signal.SIGTERM)
    +
    84 return 0
    +
    85
    +
    86
    -

    Referenced by main().

    +

    Referenced by main().

    Here is the caller graph for this function:
    @@ -329,7 +331,7 @@

    • collect_kafka_logs
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacedpp__script.html b/carma-streets/namespacedpp__script.html index aa762c899f8..f64b5332c11 100644 --- a/carma-streets/namespacedpp__script.html +++ b/carma-streets/namespacedpp__script.html @@ -173,7 +173,7 @@

    • dpp_script
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespaceintersection__model.html b/carma-streets/namespaceintersection__model.html index 60c0d315c20..325d61d5e95 100644 --- a/carma-streets/namespaceintersection__model.html +++ b/carma-streets/namespaceintersection__model.html @@ -367,7 +367,7 @@

    • intersection_model
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacekafka__clients.html b/carma-streets/namespacekafka__clients.html index 412a24c0ad3..ad610d40206 100644 --- a/carma-streets/namespacekafka__clients.html +++ b/carma-streets/namespacekafka__clients.html @@ -182,7 +182,7 @@

    • kafka_clients
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacemembers.html b/carma-streets/namespacemembers.html index f5d598459b7..a27e53f0488 100644 --- a/carma-streets/namespacemembers.html +++ b/carma-streets/namespacemembers.html @@ -93,7 +93,7 @@

    - _ -

      diff --git a/carma-streets/namespacemembers_a.html b/carma-streets/namespacemembers_a.html index fe25619d5e1..1351529b9ab 100644 --- a/carma-streets/namespacemembers_a.html +++ b/carma-streets/namespacemembers_a.html @@ -103,7 +103,7 @@

      - a -

        diff --git a/carma-streets/namespacemembers_b.html b/carma-streets/namespacemembers_b.html index ccdddd5e664..b8fa406d16b 100644 --- a/carma-streets/namespacemembers_b.html +++ b/carma-streets/namespacemembers_b.html @@ -102,7 +102,7 @@

        - b -

          diff --git a/carma-streets/namespacemembers_c.html b/carma-streets/namespacemembers_c.html index e725694a9dc..77e2163c7ee 100644 --- a/carma-streets/namespacemembers_c.html +++ b/carma-streets/namespacemembers_c.html @@ -119,7 +119,7 @@

          - c -

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            - d -

              diff --git a/carma-streets/namespacemembers_e.html b/carma-streets/namespacemembers_e.html index 1d2e4694dd0..54a9eaa9b2d 100644 --- a/carma-streets/namespacemembers_e.html +++ b/carma-streets/namespacemembers_e.html @@ -100,7 +100,7 @@

              - e -

                diff --git a/carma-streets/namespacemembers_enum.html b/carma-streets/namespacemembers_enum.html index 8b8381e3d2b..030620953f6 100644 --- a/carma-streets/namespacemembers_enum.html +++ b/carma-streets/namespacemembers_enum.html @@ -175,7 +175,7 @@

                - v -

                  diff --git a/carma-streets/namespacemembers_eval.html b/carma-streets/namespacemembers_eval.html index e9a525d634f..4fa98d45b4c 100644 --- a/carma-streets/namespacemembers_eval.html +++ b/carma-streets/namespacemembers_eval.html @@ -103,7 +103,7 @@ diff --git a/carma-streets/namespacemembers_f.html b/carma-streets/namespacemembers_f.html index b7e4f34d761..1fbee088d8c 100644 --- a/carma-streets/namespacemembers_f.html +++ b/carma-streets/namespacemembers_f.html @@ -95,7 +95,7 @@

                  - f -

                    diff --git a/carma-streets/namespacemembers_func.html b/carma-streets/namespacemembers_func.html index 8f0bc0d248f..5b997ece590 100644 --- a/carma-streets/namespacemembers_func.html +++ b/carma-streets/namespacemembers_func.html @@ -225,7 +225,7 @@

                    - s -

                      - t -

                      • time_confidence_from_int() : streets_utils::messages::sdsm
                      • to_angular_velocity_confidence() : sensor_data_sharing_service
                        • -
                      • to_detected_object_data() : sensor_data_sharing_service
                        • +
                      • to_detected_object_data() : sensor_data_sharing_service
                      • to_heading() : sensor_data_sharing_service
                      • to_json() : streets_utils::messages::sdsm
                      • to_object_type() : sensor_data_sharing_service
                        • @@ -246,7 +246,7 @@

                        - t -

                          diff --git a/carma-streets/namespacemembers_h.html b/carma-streets/namespacemembers_h.html index 6671841b62e..76f850cc5e3 100644 --- a/carma-streets/namespacemembers_h.html +++ b/carma-streets/namespacemembers_h.html @@ -96,7 +96,7 @@

                          - h -

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                            - i -

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                              - l -

                                diff --git a/carma-streets/namespacemembers_m.html b/carma-streets/namespacemembers_m.html index 94fe3f4d879..ded4a511d56 100644 --- a/carma-streets/namespacemembers_m.html +++ b/carma-streets/namespacemembers_m.html @@ -115,7 +115,7 @@

                                - m -

                                  diff --git a/carma-streets/namespacemembers_n.html b/carma-streets/namespacemembers_n.html index 856e927778e..b1aa5548cb7 100644 --- a/carma-streets/namespacemembers_n.html +++ b/carma-streets/namespacemembers_n.html @@ -93,7 +93,7 @@

                                  - n -

                                    diff --git a/carma-streets/namespacemembers_o.html b/carma-streets/namespacemembers_o.html index 340c3ea2e15..8fd5988644e 100644 --- a/carma-streets/namespacemembers_o.html +++ b/carma-streets/namespacemembers_o.html @@ -97,7 +97,7 @@

                                    - o -

                                      diff --git a/carma-streets/namespacemembers_p.html b/carma-streets/namespacemembers_p.html index 7c1e621b489..9e5ea1d4db1 100644 --- a/carma-streets/namespacemembers_p.html +++ b/carma-streets/namespacemembers_p.html @@ -149,7 +149,7 @@

                                      - p -

                                        diff --git a/carma-streets/namespacemembers_r.html b/carma-streets/namespacemembers_r.html index e00bc9227ce..62bea593c6b 100644 --- a/carma-streets/namespacemembers_r.html +++ b/carma-streets/namespacemembers_r.html @@ -96,7 +96,7 @@

                                        - r -

                                          diff --git a/carma-streets/namespacemembers_s.html b/carma-streets/namespacemembers_s.html index c794f73cc2f..a5c0844f7b9 100644 --- a/carma-streets/namespacemembers_s.html +++ b/carma-streets/namespacemembers_s.html @@ -109,7 +109,7 @@

                                          - s -

                                            diff --git a/carma-streets/namespacemembers_t.html b/carma-streets/namespacemembers_t.html index f249ccfeea9..94d711bc7ed 100644 --- a/carma-streets/namespacemembers_t.html +++ b/carma-streets/namespacemembers_t.html @@ -92,7 +92,7 @@

                                            - t -

                                            • TIME_SYNC_TOPIC_ENV : streets_service
                                            • timestamp : simulate_mobilityoperation, simulate_mobilitypath
                                            • to_angular_velocity_confidence() : sensor_data_sharing_service
                                              • -
                                            • to_detected_object_data() : sensor_data_sharing_service
                                              • +
                                            • to_detected_object_data() : sensor_data_sharing_service
                                            • to_heading() : sensor_data_sharing_service
                                            • to_json() : streets_utils::messages::sdsm
                                            • to_object_type() : sensor_data_sharing_service
                                              • @@ -114,7 +114,7 @@

                                              - t -

                                                diff --git a/carma-streets/namespacemembers_type.html b/carma-streets/namespacemembers_type.html index 4cca37eebd8..7c41d268f82 100644 --- a/carma-streets/namespacemembers_type.html +++ b/carma-streets/namespacemembers_type.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/namespacemembers_u.html b/carma-streets/namespacemembers_u.html index 89563afa51f..4b2335d1a0a 100644 --- a/carma-streets/namespacemembers_u.html +++ b/carma-streets/namespacemembers_u.html @@ -94,7 +94,7 @@

                                                - u -

                                                  diff --git a/carma-streets/namespacemembers_v.html b/carma-streets/namespacemembers_v.html index 46ff2bfe2ca..16ae837f6e1 100644 --- a/carma-streets/namespacemembers_v.html +++ b/carma-streets/namespacemembers_v.html @@ -97,7 +97,7 @@

                                                  - v -

                                                    diff --git a/carma-streets/namespacemembers_vars.html b/carma-streets/namespacemembers_vars.html index 4aa0c724e80..53b171aaefc 100644 --- a/carma-streets/namespacemembers_vars.html +++ b/carma-streets/namespacemembers_vars.html @@ -207,7 +207,7 @@

                                                    - y -

                                                      diff --git a/carma-streets/namespacemembers_w.html b/carma-streets/namespacemembers_w.html index 5a87bc0655f..43e0f51bde1 100644 --- a/carma-streets/namespacemembers_w.html +++ b/carma-streets/namespacemembers_w.html @@ -93,7 +93,7 @@

                                                      - w -

                                                        diff --git a/carma-streets/namespacemembers_y.html b/carma-streets/namespacemembers_y.html index e6f602b3b4e..38c8eb341b1 100644 --- a/carma-streets/namespacemembers_y.html +++ b/carma-streets/namespacemembers_y.html @@ -93,7 +93,7 @@

                                                        - y -

                                                          diff --git a/carma-streets/namespacemessage__services.html b/carma-streets/namespacemessage__services.html index 31678bf74f8..7f909313bc2 100644 --- a/carma-streets/namespacemessage__services.html +++ b/carma-streets/namespacemessage__services.html @@ -204,7 +204,7 @@

                                                          diff --git a/carma-streets/namespacemessage__services_1_1exceptions.html b/carma-streets/namespacemessage__services_1_1exceptions.html index 6182a408550..047500757d8 100644 --- a/carma-streets/namespacemessage__services_1_1exceptions.html +++ b/carma-streets/namespacemessage__services_1_1exceptions.html @@ -101,7 +101,7 @@ diff --git a/carma-streets/namespacemessage__services_1_1message__translations.html b/carma-streets/namespacemessage__services_1_1message__translations.html index 6593532a7d6..ba7693c1b96 100644 --- a/carma-streets/namespacemessage__services_1_1message__translations.html +++ b/carma-streets/namespacemessage__services_1_1message__translations.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/namespacemessage__services_1_1models.html b/carma-streets/namespacemessage__services_1_1models.html index cc2a2ffd3ec..a5064c40477 100644 --- a/carma-streets/namespacemessage__services_1_1models.html +++ b/carma-streets/namespacemessage__services_1_1models.html @@ -588,7 +588,7 @@

                                                          • message_services
                                                          • models
                                                            • -
                                                          • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
                                                            • +
                                                          • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacemessage__services_1_1services.html b/carma-streets/namespacemessage__services_1_1services.html index 360d040f27f..65f12e6cbec 100644 --- a/carma-streets/namespacemessage__services_1_1services.html +++ b/carma-streets/namespacemessage__services_1_1services.html @@ -150,7 +150,7 @@

    • message_services
    • services
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacemessage__services_1_1workers.html b/carma-streets/namespacemessage__services_1_1workers.html index ddd34e66291..52601a47eca 100644 --- a/carma-streets/namespacemessage__services_1_1workers.html +++ b/carma-streets/namespacemessage__services_1_1workers.html @@ -106,7 +106,7 @@ diff --git a/carma-streets/namespacentcip.html b/carma-streets/namespacentcip.html index 99ceb92fb45..cda286363df 100644 --- a/carma-streets/namespacentcip.html +++ b/carma-streets/namespacentcip.html @@ -127,7 +127,7 @@

    • ntcip
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacentcip__oids.html b/carma-streets/namespacentcip__oids.html index 4caac6f9320..4779d04730d 100644 --- a/carma-streets/namespacentcip__oids.html +++ b/carma-streets/namespacentcip__oids.html @@ -724,7 +724,7 @@

    • ntcip_oids
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespaces.html b/carma-streets/namespaces.html index fb48ac9cb7f..7e167505188 100644 --- a/carma-streets/namespaces.html +++ b/carma-streets/namespaces.html @@ -311,7 +311,7 @@ diff --git a/carma-streets/namespacescheduling__service.html b/carma-streets/namespacescheduling__service.html index 46cb7c6794f..c8bd622fe7f 100644 --- a/carma-streets/namespacescheduling__service.html +++ b/carma-streets/namespacescheduling__service.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/namespacesensor__data__sharing__service.html b/carma-streets/namespacesensor__data__sharing__service.html index e70c50d3003..e4743b8e001 100644 --- a/carma-streets/namespacesensor__data__sharing__service.html +++ b/carma-streets/namespacesensor__data__sharing__service.html @@ -104,9 +104,9 @@

    streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp (const uint64_t _epoch_time_ms)
     convert epoch millisecond timestamp to sdsm timestamp object More...
     
    streets_utils::messages::sdsm::detected_object_data to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
     convert detected_object_msg to sdsm detection_object_data. More...
     
    streets_utils::messages::sdsm::detected_object_data to_detected_object_data (const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp)
     convert detected_object_msg to sdsm detection_object_data. More...
     
    streets_utils::messages::sdsm::object_type to_object_type (const std::string &detection_type)
     convert string detection type to sdsm object_type. More...
     
    ( const streets_utils::messages::detected_objects_msg::detected_objects_msg & msg)msg,
    uint64_t sdsm_message_timestamp 
    )
    @@ -423,7 +433,7 @@

    Returns
    streets_utils::messages::sdsm::detected_object_data.

    Definition at line 36 of file detected_object_to_sdsm_converter.cpp.

    -
    36 {
    +
    36 {
    37 streets_utils::messages::sdsm::detected_object_data detected_object;
    38 detected_object._detected_object_common_data._object_type = to_object_type(msg._type);
    39 if (detected_object._detected_object_common_data._object_type == streets_utils::messages::sdsm::object_type::VEHICLE ) {
    @@ -456,47 +466,50 @@

    66 detected_object._detected_object_optional_data = optional_data;

    67
    68 }
    -
    69 detected_object._detected_object_common_data._classification_confidence = static_cast<unsigned int>(msg._confidence*100);
    -
    70 // TODO: Change Detected Object ID to int
    -
    71 detected_object._detected_object_common_data._object_id = msg._object_id;
    -
    72 // Units are 0.1 m
    -
    73 detected_object._detected_object_common_data._position_offset._offset_x = static_cast<unsigned int>(msg._position._x*METERS_TO_10_CM);
    -
    74 detected_object._detected_object_common_data._position_offset._offset_y = static_cast<unsigned int>(msg._position._y*METERS_TO_10_CM);
    -
    75 detected_object._detected_object_common_data._position_offset._offset_z = static_cast<unsigned int>(msg._position._z*METERS_TO_10_CM);
    -
    76 // Position Confidence
    -
    77 detected_object._detected_object_common_data._pos_confidence = to_position_confidence_set(msg._position_covariance);
    -
    78 // Units are 0.02 m/s
    -
    79 detected_object._detected_object_common_data._speed = static_cast<unsigned int>(std::hypot( msg._velocity._x* METERS_PER_SECOND_TO_2_CM_PER_SECOND, msg._velocity._y* METERS_PER_SECOND_TO_2_CM_PER_SECOND));
    -
    80 // Speed confidence
    -
    81 detected_object._detected_object_common_data._speed_confidence = to_xy_speed_confidence(msg._velocity_covariance);
    -
    82 // Speed Z
    -
    83 detected_object._detected_object_common_data._speed_z = static_cast<unsigned int>(fabs(msg._velocity._z)* METERS_PER_SECOND_TO_2_CM_PER_SECOND);
    -
    84 // Speed Z confidence
    -
    85 detected_object._detected_object_common_data._speed_z_confidence = to_z_speed_confidence(msg._velocity_covariance);
    -
    86 // Heading
    -
    87 detected_object._detected_object_common_data._heading = to_heading(msg._velocity);
    -
    88 // TODO: how to calculate heading confidence without orientation covariance
    -
    89 // Possible approximation is velocity covariance since we are using that currently
    -
    90 // Currently hard coding value
    -
    91 detected_object._detected_object_common_data._heading_confidence = streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg;
    -
    92 // Yaw rate
    -
    93 detected_object._detected_object_common_data._acceleration_4_way->_yaw_rate = to_yaw_rate(msg._angular_velocity._z);
    -
    94 // Yaw rate confidence
    -
    95 detected_object._detected_object_common_data._yaw_rate_confidence = to_yaw_rate_confidence(msg._angular_velocity_covariance);
    -
    96
    -
    97
    -
    98 return detected_object;
    -
    99 }
    -
    sensor_data_sharing_service::to_z_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
    Convert velocity covariance to z speed confidence.
    Definition: detected_object_to_sdsm_converter.cpp:203
    -
    sensor_data_sharing_service::to_object_type
    streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
    convert string detection type to sdsm object_type.
    Definition: detected_object_to_sdsm_converter.cpp:101
    -
    sensor_data_sharing_service::to_position_confidence_set
    streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
    Convert position covariance to position confidence set which includes positionXY confidence and posit...
    Definition: detected_object_to_sdsm_converter.cpp:108
    -
    sensor_data_sharing_service::to_heading
    unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
    Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
    Definition: detected_object_to_sdsm_converter.cpp:176
    +
    69 // Used to convey an offset in time relative to the sDSMTimeStamp associated with the reference position. Negative values indicate
    +
    70 // the provided detected object characteristics refer to a point in time after the sDSMTimeStamp
    +
    71 detected_object._detected_object_common_data._time_measurement_offset = static_cast<int>(sdsm_message_timestamp - msg._timestamp);
    +
    72 detected_object._detected_object_common_data._classification_confidence = static_cast<unsigned int>(msg._confidence*100);
    +
    73 // TODO: Change Detected Object ID to int
    +
    74 detected_object._detected_object_common_data._object_id = msg._object_id;
    +
    75 // Units are 0.1 m
    +
    76 detected_object._detected_object_common_data._position_offset._offset_x = static_cast<unsigned int>(msg._position._x*METERS_TO_10_CM);
    +
    77 detected_object._detected_object_common_data._position_offset._offset_y = static_cast<unsigned int>(msg._position._y*METERS_TO_10_CM);
    +
    78 detected_object._detected_object_common_data._position_offset._offset_z = static_cast<unsigned int>(msg._position._z*METERS_TO_10_CM);
    +
    79 // Position Confidence
    +
    80 detected_object._detected_object_common_data._pos_confidence = to_position_confidence_set(msg._position_covariance);
    +
    81 // Units are 0.02 m/s
    +
    82 detected_object._detected_object_common_data._speed = static_cast<unsigned int>(std::hypot( msg._velocity._x* METERS_PER_SECOND_TO_2_CM_PER_SECOND, msg._velocity._y* METERS_PER_SECOND_TO_2_CM_PER_SECOND));
    +
    83 // Speed confidence
    +
    84 detected_object._detected_object_common_data._speed_confidence = to_xy_speed_confidence(msg._velocity_covariance);
    +
    85 // Speed Z
    +
    86 detected_object._detected_object_common_data._speed_z = static_cast<unsigned int>(fabs(msg._velocity._z)* METERS_PER_SECOND_TO_2_CM_PER_SECOND);
    +
    87 // Speed Z confidence
    +
    88 detected_object._detected_object_common_data._speed_z_confidence = to_z_speed_confidence(msg._velocity_covariance);
    +
    89 // Heading
    +
    90 detected_object._detected_object_common_data._heading = to_heading(msg._velocity);
    +
    91 // TODO: how to calculate heading confidence without orientation covariance
    +
    92 // Possible approximation is velocity covariance since we are using that currently
    +
    93 // Currently hard coding value
    +
    94 detected_object._detected_object_common_data._heading_confidence = streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg;
    +
    95 // Yaw rate
    +
    96 detected_object._detected_object_common_data._acceleration_4_way->_yaw_rate = to_yaw_rate(msg._angular_velocity._z);
    +
    97 // Yaw rate confidence
    +
    98 detected_object._detected_object_common_data._yaw_rate_confidence = to_yaw_rate_confidence(msg._angular_velocity_covariance);
    +
    99
    +
    100
    +
    101 return detected_object;
    +
    102 }
    +
    sensor_data_sharing_service::to_z_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_z_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
    Convert velocity covariance to z speed confidence.
    Definition: detected_object_to_sdsm_converter.cpp:206
    +
    sensor_data_sharing_service::to_object_type
    streets_utils::messages::sdsm::object_type to_object_type(const std::string &detection_type)
    convert string detection type to sdsm object_type.
    Definition: detected_object_to_sdsm_converter.cpp:104
    +
    sensor_data_sharing_service::to_position_confidence_set
    streets_utils::messages::sdsm::position_confidence_set to_position_confidence_set(const std::vector< std::vector< double > > &_position_covariance)
    Convert position covariance to position confidence set which includes positionXY confidence and posit...
    Definition: detected_object_to_sdsm_converter.cpp:111
    +
    sensor_data_sharing_service::to_heading
    unsigned int to_heading(const streets_utils::messages::detected_objects_msg::vector_3d &velocity)
    Convert XY velocity into 2 dimensional heading measured in 0.0125 degree units.
    Definition: detected_object_to_sdsm_converter.cpp:179
    sensor_data_sharing_service::METERS_TO_10_CM
    const int METERS_TO_10_CM
    Definition: detected_object_to_sdsm_converter.hpp:45
    sensor_data_sharing_service::METERS_PER_SECOND_TO_2_CM_PER_SECOND
    const int METERS_PER_SECOND_TO_2_CM_PER_SECOND
    Definition: detected_object_to_sdsm_converter.hpp:47
    -
    sensor_data_sharing_service::to_yaw_rate_confidence
    streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
    Convert angular velocity covariance to angular velocity confidence.
    Definition: detected_object_to_sdsm_converter.cpp:240
    -
    sensor_data_sharing_service::to_yaw_rate
    int to_yaw_rate(const double yaw_rate_radians_per_second)
    Convert yaw rate in radians per second to 100ths of a degree per second.
    Definition: detected_object_to_sdsm_converter.cpp:272
    +
    sensor_data_sharing_service::to_yaw_rate_confidence
    streets_utils::messages::sdsm::angular_velocity_confidence to_yaw_rate_confidence(const std::vector< std::vector< double > > &angular_velocity_covariance)
    Convert angular velocity covariance to angular velocity confidence.
    Definition: detected_object_to_sdsm_converter.cpp:243
    +
    sensor_data_sharing_service::to_yaw_rate
    int to_yaw_rate(const double yaw_rate_radians_per_second)
    Convert yaw rate in radians per second to 100ths of a degree per second.
    Definition: detected_object_to_sdsm_converter.cpp:275
    sensor_data_sharing_service::METERS_TO_CM
    const int METERS_TO_CM
    Definition: detected_object_to_sdsm_converter.hpp:41
    -
    sensor_data_sharing_service::to_xy_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
    Convert velocity covariance to xy speed confidence.
    Definition: detected_object_to_sdsm_converter.cpp:191
    +
    sensor_data_sharing_service::to_xy_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_xy_speed_confidence(const std::vector< std::vector< double > > &velocity_covariance)
    Convert velocity covariance to xy speed confidence.
    Definition: detected_object_to_sdsm_converter.cpp:194
    sensor_data_sharing_service::METERS_TO_5_CM
    const int METERS_TO_5_CM
    Definition: detected_object_to_sdsm_converter.hpp:43
    streets_utils::messages::sdsm::heading_confidence::PREC_0_1_deg
    @ PREC_0_1_deg
    streets_utils::messages::sdsm::object_type::VRU
    @ VRU
    @@ -508,6 +521,7 @@

    streets_utils::messages::detected_objects_msg::detected_objects_msg::_object_id
    unsigned int _object_id
    Definition: detected_object_msg.hpp:35

    streets_utils::messages::detected_objects_msg::detected_objects_msg::_size
    size _size
    Definition: detected_object_msg.hpp:42
    streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity_covariance
    std::vector< std::vector< double > > _velocity_covariance
    Definition: detected_object_msg.hpp:39
    +
    streets_utils::messages::detected_objects_msg::detected_objects_msg::_timestamp
    uint64_t _timestamp
    Definition: detected_object_msg.hpp:43
    streets_utils::messages::detected_objects_msg::detected_objects_msg::_position_covariance
    std::vector< std::vector< double > > _position_covariance
    Definition: detected_object_msg.hpp:37
    streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity
    vector_3d _angular_velocity
    Definition: detected_object_msg.hpp:40
    streets_utils::messages::detected_objects_msg::size::_width
    double _width
    Definition: size.hpp:30
    @@ -518,6 +532,7 @@

    streets_utils::messages::sdsm::detected_object_data_common::_speed_z_confidence
    std::optional< speed_confidence > _speed_z_confidence
    Confidence in reported speed z.
    Definition: detected_object_data_common.hpp:73

    streets_utils::messages::sdsm::detected_object_data_common::_object_type
    object_type _object_type
    Object type enumeration.
    Definition: detected_object_data_common.hpp:33
    streets_utils::messages::sdsm::detected_object_data_common::_classification_confidence
    unsigned int _classification_confidence
    Confidence in object type classification [0,101].
    Definition: detected_object_data_common.hpp:37
    +
    streets_utils::messages::sdsm::detected_object_data_common::_time_measurement_offset
    int _time_measurement_offset
    Time relative to SDSM timestamp assoicated with detection [-1500, 1500].
    Definition: detected_object_data_common.hpp:45
    streets_utils::messages::sdsm::detected_object_data_common::_speed_confidence
    speed_confidence _speed_confidence
    Confidence in reported speed.
    Definition: detected_object_data_common.hpp:65
    streets_utils::messages::sdsm::detected_object_data_common::_acceleration_4_way
    std::optional< acceleration_set_4_way > _acceleration_4_way
    Acceleration in longitudinal, lateral, vertical and angular velocity.
    Definition: detected_object_data_common.hpp:85
    streets_utils::messages::sdsm::detected_object_data_common::_yaw_rate_confidence
    std::optional< angular_velocity_confidence > _yaw_rate_confidence
    Definition: detected_object_data_common.hpp:93
    @@ -546,14 +561,14 @@

    streets_utils::messages::sdsm::vehicle_size::_length
    unsigned int _length
    Vehicle length in centimeters [0, 4095].
    Definition: vehicle_size.hpp:25
    streets_utils::messages::sdsm::vehicle_size::_width
    unsigned int _width
    Vehicle width in centimeters [0, 1023].
    Definition: vehicle_size.hpp:21
    -

    References streets_utils::messages::sdsm::detected_object_data_common::_acceleration_4_way, streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity, streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity_covariance, streets_utils::messages::sdsm::detected_object_data_common::_classification_confidence, streets_utils::messages::detected_objects_msg::detected_objects_msg::_confidence, streets_utils::messages::sdsm::detected_object_data::_detected_object_common_data, streets_utils::messages::sdsm::detected_object_data::_detected_object_optional_data, streets_utils::messages::sdsm::detected_object_data_common::_heading, streets_utils::messages::sdsm::detected_object_data_common::_heading_confidence, streets_utils::messages::detected_objects_msg::size::_height, streets_utils::messages::sdsm::obstacle_size::_height, streets_utils::messages::detected_objects_msg::size::_length, streets_utils::messages::sdsm::obstacle_size::_length, streets_utils::messages::sdsm::vehicle_size::_length, streets_utils::messages::detected_objects_msg::detected_objects_msg::_object_id, streets_utils::messages::sdsm::detected_object_data_common::_object_id, streets_utils::messages::sdsm::detected_object_data_common::_object_type, streets_utils::messages::sdsm::position_offset::_offset_x, streets_utils::messages::sdsm::position_offset::_offset_y, streets_utils::messages::sdsm::position_offset::_offset_z, streets_utils::messages::sdsm::detected_object_data_common::_pos_confidence, streets_utils::messages::detected_objects_msg::detected_objects_msg::_position, streets_utils::messages::detected_objects_msg::detected_objects_msg::_position_covariance, streets_utils::messages::sdsm::detected_object_data_common::_position_offset, streets_utils::messages::detected_objects_msg::detected_objects_msg::_size, streets_utils::messages::sdsm::detected_obstacle_data::_size, streets_utils::messages::sdsm::detected_vehicle_data::_size, streets_utils::messages::sdsm::detected_object_data_common::_speed, streets_utils::messages::sdsm::detected_object_data_common::_speed_confidence, streets_utils::messages::sdsm::detected_object_data_common::_speed_z, streets_utils::messages::sdsm::detected_object_data_common::_speed_z_confidence, streets_utils::messages::detected_objects_msg::detected_objects_msg::_type, streets_utils::messages::sdsm::detected_vehicle_data::_vehicle_height, streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity, streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity_covariance, streets_utils::messages::detected_objects_msg::size::_width, streets_utils::messages::sdsm::obstacle_size::_width, streets_utils::messages::sdsm::vehicle_size::_width, streets_utils::messages::detected_objects_msg::cartesian_point::_x, streets_utils::messages::detected_objects_msg::vector_3d::_x, streets_utils::messages::detected_objects_msg::cartesian_point::_y, streets_utils::messages::detected_objects_msg::vector_3d::_y, streets_utils::messages::sdsm::detected_object_data_common::_yaw_rate_confidence, streets_utils::messages::detected_objects_msg::cartesian_point::_z, streets_utils::messages::detected_objects_msg::vector_3d::_z, METERS_PER_SECOND_TO_2_CM_PER_SECOND, METERS_TO_10_CM, METERS_TO_5_CM, METERS_TO_CM, streets_utils::messages::sdsm::PREC_0_1_deg, to_heading(), to_object_type(), to_position_confidence_set(), to_xy_speed_confidence(), to_yaw_rate(), to_yaw_rate_confidence(), to_z_speed_confidence(), streets_utils::messages::sdsm::UNKNOWN, streets_utils::messages::sdsm::VEHICLE, and streets_utils::messages::sdsm::VRU.

    +

    References streets_utils::messages::sdsm::detected_object_data_common::_acceleration_4_way, streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity, streets_utils::messages::detected_objects_msg::detected_objects_msg::_angular_velocity_covariance, streets_utils::messages::sdsm::detected_object_data_common::_classification_confidence, streets_utils::messages::detected_objects_msg::detected_objects_msg::_confidence, streets_utils::messages::sdsm::detected_object_data::_detected_object_common_data, streets_utils::messages::sdsm::detected_object_data::_detected_object_optional_data, streets_utils::messages::sdsm::detected_object_data_common::_heading, streets_utils::messages::sdsm::detected_object_data_common::_heading_confidence, streets_utils::messages::detected_objects_msg::size::_height, streets_utils::messages::sdsm::obstacle_size::_height, streets_utils::messages::detected_objects_msg::size::_length, streets_utils::messages::sdsm::obstacle_size::_length, streets_utils::messages::sdsm::vehicle_size::_length, streets_utils::messages::detected_objects_msg::detected_objects_msg::_object_id, streets_utils::messages::sdsm::detected_object_data_common::_object_id, streets_utils::messages::sdsm::detected_object_data_common::_object_type, streets_utils::messages::sdsm::position_offset::_offset_x, streets_utils::messages::sdsm::position_offset::_offset_y, streets_utils::messages::sdsm::position_offset::_offset_z, streets_utils::messages::sdsm::detected_object_data_common::_pos_confidence, streets_utils::messages::detected_objects_msg::detected_objects_msg::_position, streets_utils::messages::detected_objects_msg::detected_objects_msg::_position_covariance, streets_utils::messages::sdsm::detected_object_data_common::_position_offset, streets_utils::messages::detected_objects_msg::detected_objects_msg::_size, streets_utils::messages::sdsm::detected_obstacle_data::_size, streets_utils::messages::sdsm::detected_vehicle_data::_size, streets_utils::messages::sdsm::detected_object_data_common::_speed, streets_utils::messages::sdsm::detected_object_data_common::_speed_confidence, streets_utils::messages::sdsm::detected_object_data_common::_speed_z, streets_utils::messages::sdsm::detected_object_data_common::_speed_z_confidence, streets_utils::messages::sdsm::detected_object_data_common::_time_measurement_offset, streets_utils::messages::detected_objects_msg::detected_objects_msg::_timestamp, streets_utils::messages::detected_objects_msg::detected_objects_msg::_type, streets_utils::messages::sdsm::detected_vehicle_data::_vehicle_height, streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity, streets_utils::messages::detected_objects_msg::detected_objects_msg::_velocity_covariance, streets_utils::messages::detected_objects_msg::size::_width, streets_utils::messages::sdsm::obstacle_size::_width, streets_utils::messages::sdsm::vehicle_size::_width, streets_utils::messages::detected_objects_msg::cartesian_point::_x, streets_utils::messages::detected_objects_msg::vector_3d::_x, streets_utils::messages::detected_objects_msg::cartesian_point::_y, streets_utils::messages::detected_objects_msg::vector_3d::_y, streets_utils::messages::sdsm::detected_object_data_common::_yaw_rate_confidence, streets_utils::messages::detected_objects_msg::cartesian_point::_z, streets_utils::messages::detected_objects_msg::vector_3d::_z, METERS_PER_SECOND_TO_2_CM_PER_SECOND, METERS_TO_10_CM, METERS_TO_5_CM, METERS_TO_CM, streets_utils::messages::sdsm::PREC_0_1_deg, to_heading(), to_object_type(), to_position_confidence_set(), to_xy_speed_confidence(), to_yaw_rate(), to_yaw_rate_confidence(), to_z_speed_confidence(), streets_utils::messages::sdsm::UNKNOWN, streets_utils::messages::sdsm::VEHICLE, and streets_utils::messages::sdsm::VRU.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    Here is the call graph for this function:
    -
    - +
    + @@ -570,8 +585,8 @@

    Here is the caller graph for this function:

    -
    - +
    + @@ -607,21 +622,21 @@

    Returns
    2 dimensional heading in units of 0.0125 degrees
    -

    Definition at line 176 of file detected_object_to_sdsm_converter.cpp.

    -
    176 {
    -
    177 if ( std::abs(velocity._x) < 0.01 && std::abs(velocity._y) < 0.01) {
    -
    178 return 0;
    -
    179 }
    -
    180 auto heading_radians = std::atan2(velocity._y,velocity._x);
    -
    181 auto heading_degrees = heading_radians*(180/M_PI);
    -
    182 // If angle is negative 360 + (-negative angle)
    -
    183 if ( heading_degrees < 0 ) {
    -
    184 heading_degrees = 360 + heading_degrees;
    -
    185 }
    -
    186 // in units (x) = 0.0125 degrees
    -
    187 // 28800 x = 360 degrees
    -
    188 return static_cast<unsigned int>(heading_degrees * (28800/360));
    -
    189 }
    +

    Definition at line 179 of file detected_object_to_sdsm_converter.cpp.

    +
    179 {
    +
    180 if ( std::abs(velocity._x) < 0.01 && std::abs(velocity._y) < 0.01) {
    +
    181 return 0;
    +
    182 }
    +
    183 auto heading_radians = std::atan2(velocity._y,velocity._x);
    +
    184 auto heading_degrees = heading_radians*(180/M_PI);
    +
    185 // If angle is negative 360 + (-negative angle)
    +
    186 if ( heading_degrees < 0 ) {
    +
    187 heading_degrees = 360 + heading_degrees;
    +
    188 }
    +
    189 // in units (x) = 0.0125 degrees
    +
    190 // 28800 x = 360 degrees
    +
    191 return static_cast<unsigned int>(heading_degrees * (28800/360));
    +
    192 }

    References streets_utils::messages::detected_objects_msg::vector_3d::_x, and streets_utils::messages::detected_objects_msg::vector_3d::_y.

    @@ -632,7 +647,7 @@

    - + @@ -667,13 +682,13 @@

    Returns
    streets_utils::messages::sdsm::object_type
    -

    Definition at line 101 of file detected_object_to_sdsm_converter.cpp.

    -
    101 {
    -
    102 if ( sdsm_object_types.find(detection_type) != sdsm_object_types.end()) {
    -
    103 return sdsm_object_types.at(detection_type);
    -
    104 }
    -
    105 return streets_utils::messages::sdsm::object_type::UNKNOWN;
    -
    106 }
    +

    Definition at line 104 of file detected_object_to_sdsm_converter.cpp.

    +
    104 {
    +
    105 if ( sdsm_object_types.find(detection_type) != sdsm_object_types.end()) {
    +
    106 return sdsm_object_types.at(detection_type);
    +
    107 }
    +
    108 return streets_utils::messages::sdsm::object_type::UNKNOWN;
    +
    109 }
    sensor_data_sharing_service::sdsm_object_types
    const std::map< std::string, streets_utils::messages::sdsm::object_type, std::less<> > sdsm_object_types
    Map of detection types to SDSM object types.
    Definition: detected_object_to_sdsm_converter.hpp:28

    References sdsm_object_types, and streets_utils::messages::sdsm::UNKNOWN.

    @@ -685,7 +700,7 @@

    - + @@ -711,17 +726,17 @@

    -

    Definition at line 194 of file sensor_data_sharing_service.cpp.

    -
    194 {
    -
    195 streets_utils::messages::sdsm::position_3d position;
    -
    196 // Convert to 1/10 of microdegrees
    -
    197 position._longitude = static_cast<int>(ref_position.lon * 1e7);
    -
    198 position._latitude = static_cast<int>(ref_position.lat *1e7);
    -
    199 // Convert 0.1 meters
    -
    200 position._elevation = static_cast<int>(ref_position.ele * 10);
    -
    201 return position;
    -
    202
    -
    203 }
    +

    Definition at line 205 of file sensor_data_sharing_service.cpp.

    +
    205 {
    +
    206 streets_utils::messages::sdsm::position_3d position;
    +
    207 // Convert to 1/10 of microdegrees
    +
    208 position._longitude = static_cast<int>(ref_position.lon * 1e7);
    +
    209 position._latitude = static_cast<int>(ref_position.lat *1e7);
    +
    210 // Convert 0.1 meters
    +
    211 position._elevation = static_cast<int>(ref_position.ele * 10);
    +
    212 return position;
    +
    213
    +
    214 }
    streets_utils::messages::sdsm::position_3d
    Definition: position_3d.hpp:20
    streets_utils::messages::sdsm::position_3d::_longitude
    int _longitude
    LSB = 1/10 micro degree Providing a range of plus-minus 180 degrees[-1799999999, 1800000001].
    Definition: position_3d.hpp:25
    streets_utils::messages::sdsm::position_3d::_latitude
    int _latitude
    LSB = 1/10 micro degree Providing a range of plus-minus 90 degrees[-900000000, 900000001].
    Definition: position_3d.hpp:30
    @@ -729,7 +744,7 @@

    References streets_utils::messages::sdsm::position_3d::_elevation, streets_utils::messages::sdsm::position_3d::_latitude, and streets_utils::messages::sdsm::position_3d::_longitude.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    Here is the caller graph for this function:
    @@ -770,57 +785,57 @@

    Returns
    position confidence enumeration
    -

    Definition at line 125 of file detected_object_to_sdsm_converter.cpp.

    -
    125 {
    -
    126 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
    -
    127 if ( accuracy >= 350) {
    -
    128 return streets_utils::messages::sdsm::position_confidence::A_500M;
    -
    129 }
    -
    130 else if (accuracy >= 150) {
    -
    131 return streets_utils::messages::sdsm::position_confidence::A_200M;
    +

    Definition at line 128 of file detected_object_to_sdsm_converter.cpp.

    +
    128 {
    +
    129 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
    +
    130 if ( accuracy >= 350) {
    +
    131 return streets_utils::messages::sdsm::position_confidence::A_500M;
    132 }
    -
    133 else if (accuracy >= 75) {
    -
    134 return streets_utils::messages::sdsm::position_confidence::A_100M;
    +
    133 else if (accuracy >= 150) {
    +
    134 return streets_utils::messages::sdsm::position_confidence::A_200M;
    135 }
    -
    136 else if (accuracy >= 35) {
    -
    137 return streets_utils::messages::sdsm::position_confidence::A_50M;
    +
    136 else if (accuracy >= 75) {
    +
    137 return streets_utils::messages::sdsm::position_confidence::A_100M;
    138 }
    -
    139 else if (accuracy >= 15) {
    -
    140 return streets_utils::messages::sdsm::position_confidence::A_20M;
    +
    139 else if (accuracy >= 35) {
    +
    140 return streets_utils::messages::sdsm::position_confidence::A_50M;
    141 }
    -
    142 else if (accuracy >= 7.5) {
    -
    143 return streets_utils::messages::sdsm::position_confidence::A_10M;
    +
    142 else if (accuracy >= 15) {
    +
    143 return streets_utils::messages::sdsm::position_confidence::A_20M;
    144 }
    -
    145 else if (accuracy >= 3.5) {
    -
    146 return streets_utils::messages::sdsm::position_confidence::A_5M;
    +
    145 else if (accuracy >= 7.5) {
    +
    146 return streets_utils::messages::sdsm::position_confidence::A_10M;
    147 }
    -
    148 else if (accuracy >= 1.5) {
    -
    149 return streets_utils::messages::sdsm::position_confidence::A_2M;
    +
    148 else if (accuracy >= 3.5) {
    +
    149 return streets_utils::messages::sdsm::position_confidence::A_5M;
    150 }
    -
    151 else if (accuracy >= 0.75) {
    -
    152 return streets_utils::messages::sdsm::position_confidence::A_1M;
    +
    151 else if (accuracy >= 1.5) {
    +
    152 return streets_utils::messages::sdsm::position_confidence::A_2M;
    153 }
    -
    154 else if (accuracy >= 0.35) {
    -
    155 return streets_utils::messages::sdsm::position_confidence::A_50CM;
    +
    154 else if (accuracy >= 0.75) {
    +
    155 return streets_utils::messages::sdsm::position_confidence::A_1M;
    156 }
    -
    157 else if (accuracy >= 0.15) {
    -
    158 return streets_utils::messages::sdsm::position_confidence::A_20CM;
    +
    157 else if (accuracy >= 0.35) {
    +
    158 return streets_utils::messages::sdsm::position_confidence::A_50CM;
    159 }
    -
    160 else if (accuracy >= 0.075) {
    -
    161 return streets_utils::messages::sdsm::position_confidence::A_10CM;
    +
    160 else if (accuracy >= 0.15) {
    +
    161 return streets_utils::messages::sdsm::position_confidence::A_20CM;
    162 }
    -
    163 else if (accuracy >= 0.035) {
    -
    164 return streets_utils::messages::sdsm::position_confidence::A_5CM;
    +
    163 else if (accuracy >= 0.075) {
    +
    164 return streets_utils::messages::sdsm::position_confidence::A_10CM;
    165 }
    -
    166 else if (accuracy >= 0.015) {
    -
    167 return streets_utils::messages::sdsm::position_confidence::A_2CM;
    +
    166 else if (accuracy >= 0.035) {
    +
    167 return streets_utils::messages::sdsm::position_confidence::A_5CM;
    168 }
    -
    169 else {
    -
    170 // This is the lowest position confidence the SDSM can reflect
    -
    171 return streets_utils::messages::sdsm::position_confidence::A_1CM;
    -
    172 }
    -
    173
    -
    174 }
    +
    169 else if (accuracy >= 0.015) {
    +
    170 return streets_utils::messages::sdsm::position_confidence::A_2CM;
    +
    171 }
    +
    172 else {
    +
    173 // This is the lowest position confidence the SDSM can reflect
    +
    174 return streets_utils::messages::sdsm::position_confidence::A_1CM;
    +
    175 }
    +
    176
    +
    177 }
    streets_utils::messages::sdsm::position_confidence::A_5M
    @ A_5M
    streets_utils::messages::sdsm::position_confidence::A_100M
    @ A_100M
    streets_utils::messages::sdsm::position_confidence::A_50M
    @ A_50M
    @@ -839,7 +854,7 @@

    References streets_utils::messages::sdsm::A_100M, streets_utils::messages::sdsm::A_10CM, streets_utils::messages::sdsm::A_10M, streets_utils::messages::sdsm::A_1CM, streets_utils::messages::sdsm::A_1M, streets_utils::messages::sdsm::A_200M, streets_utils::messages::sdsm::A_20CM, streets_utils::messages::sdsm::A_20M, streets_utils::messages::sdsm::A_2CM, streets_utils::messages::sdsm::A_2M, streets_utils::messages::sdsm::A_500M, streets_utils::messages::sdsm::A_50CM, streets_utils::messages::sdsm::A_50M, streets_utils::messages::sdsm::A_5CM, and streets_utils::messages::sdsm::A_5M.

    -

    Referenced by to_position_confidence_set().

    +

    Referenced by to_position_confidence_set().

    Here is the caller graph for this function:
    @@ -847,7 +862,7 @@

    - + @@ -882,29 +897,29 @@

    Returns
    position confidence set.
    -

    Definition at line 108 of file detected_object_to_sdsm_converter.cpp.

    -
    108 {
    -
    109 auto x_variance = _position_covariance[0][0];
    -
    110 auto y_variance = _position_covariance[1][1];
    -
    111 auto z_variance = _position_covariance[2][2];
    -
    112 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    -
    113 // +/- 2*variance to achieve 95% confidence interval.
    -
    114 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
    -
    115 // X
    -
    116 // Multiply variance by 2 get 95% confidence interval for normal distribution
    -
    117 auto xy_accuracy = sqrt(x_variance) * 2 ;
    -
    118 auto z_accuracy = sqrt(z_variance) * 2;
    -
    119 streets_utils::messages::sdsm::position_confidence_set position_confidence_set;
    -
    120 position_confidence_set._position_confidence = to_position_confidence(xy_accuracy);
    -
    121 position_confidence_set._elevation_confidence = to_position_confidence(z_accuracy);
    -
    122 return position_confidence_set;
    -
    123 }
    -
    sensor_data_sharing_service::to_position_confidence
    streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
    Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:125
    +

    Definition at line 111 of file detected_object_to_sdsm_converter.cpp.

    +
    111 {
    +
    112 auto x_variance = _position_covariance[0][0];
    +
    113 auto y_variance = _position_covariance[1][1];
    +
    114 auto z_variance = _position_covariance[2][2];
    +
    115 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    +
    116 // +/- 2*variance to achieve 95% confidence interval.
    +
    117 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
    +
    118 // X
    +
    119 // Multiply variance by 2 get 95% confidence interval for normal distribution
    +
    120 auto xy_accuracy = sqrt(x_variance) * 2 ;
    +
    121 auto z_accuracy = sqrt(z_variance) * 2;
    +
    122 streets_utils::messages::sdsm::position_confidence_set position_confidence_set;
    +
    123 position_confidence_set._position_confidence = to_position_confidence(xy_accuracy);
    +
    124 position_confidence_set._elevation_confidence = to_position_confidence(z_accuracy);
    +
    125 return position_confidence_set;
    +
    126 }
    +
    sensor_data_sharing_service::to_position_confidence
    streets_utils::messages::sdsm::position_confidence to_position_confidence(const double accuracy)
    Convert accuracy value to position confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:128
    streets_utils::messages::sdsm::position_confidence_set
    Definition: position_confidence_set.hpp:19
    streets_utils::messages::sdsm::position_confidence_set::_position_confidence
    position_confidence _position_confidence
    Definition: position_confidence_set.hpp:20
    streets_utils::messages::sdsm::position_confidence_set::_elevation_confidence
    position_confidence _elevation_confidence
    Definition: position_confidence_set.hpp:21
    -

    References streets_utils::messages::sdsm::position_confidence_set::_elevation_confidence, streets_utils::messages::sdsm::position_confidence_set::_position_confidence, and to_position_confidence().

    +

    References streets_utils::messages::sdsm::position_confidence_set::_elevation_confidence, streets_utils::messages::sdsm::position_confidence_set::_position_confidence, and to_position_confidence().

    Referenced by to_detected_object_data().

    @@ -922,7 +937,7 @@

    - + @@ -981,7 +996,7 @@

    References streets_utils::messages::sdsm::time_stamp::day, streets_utils::messages::sdsm::time_stamp::hour, MILLISECONDS_TO_MICROSECONDS, streets_utils::messages::sdsm::time_stamp::minute, streets_utils::messages::sdsm::time_stamp::month, streets_utils::messages::sdsm::time_stamp::second, SECONDS_TO_MILLISECONDS, and streets_utils::messages::sdsm::time_stamp::year.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm().

    Here is the caller graph for this function:
    @@ -1022,32 +1037,32 @@

    Returns
    speed confidence enumeration
    -

    Definition at line 213 of file detected_object_to_sdsm_converter.cpp.

    -
    213 {
    -
    214 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
    -
    215 if ( accuracy >= 55) {
    -
    216 return streets_utils::messages::sdsm::speed_confidence::PREC_100ms;
    -
    217 }
    -
    218 else if (accuracy >= 7.5) {
    -
    219 return streets_utils::messages::sdsm::speed_confidence::PREC_10ms;
    +

    Definition at line 216 of file detected_object_to_sdsm_converter.cpp.

    +
    216 {
    +
    217 // Check to see if accuracy is greater than or equal to half way between to confidence enumeration
    +
    218 if ( accuracy >= 55) {
    +
    219 return streets_utils::messages::sdsm::speed_confidence::PREC_100ms;
    220 }
    -
    221 else if (accuracy >= 3) {
    -
    222 return streets_utils::messages::sdsm::speed_confidence::PREC_5ms;
    +
    221 else if (accuracy >= 7.5) {
    +
    222 return streets_utils::messages::sdsm::speed_confidence::PREC_10ms;
    223 }
    -
    224 else if (accuracy >= .55) {
    -
    225 return streets_utils::messages::sdsm::speed_confidence::PREC_1ms;
    +
    224 else if (accuracy >= 3) {
    +
    225 return streets_utils::messages::sdsm::speed_confidence::PREC_5ms;
    226 }
    -
    227 else if (accuracy >= .075) {
    -
    228 return streets_utils::messages::sdsm::speed_confidence::PREC_0_1ms;
    +
    227 else if (accuracy >= .55) {
    +
    228 return streets_utils::messages::sdsm::speed_confidence::PREC_1ms;
    229 }
    -
    230 else if (accuracy >= .03) {
    -
    231 return streets_utils::messages::sdsm::speed_confidence::PREC_0_05ms;
    +
    230 else if (accuracy >= .075) {
    +
    231 return streets_utils::messages::sdsm::speed_confidence::PREC_0_1ms;
    232 }
    -
    233 else {
    -
    234 // This is the lowest speed confidence the SDSM can reflect
    -
    235 return streets_utils::messages::sdsm::speed_confidence::PREC_0_01ms;
    -
    236 }
    -
    237 }
    +
    233 else if (accuracy >= .03) {
    +
    234 return streets_utils::messages::sdsm::speed_confidence::PREC_0_05ms;
    +
    235 }
    +
    236 else {
    +
    237 // This is the lowest speed confidence the SDSM can reflect
    +
    238 return streets_utils::messages::sdsm::speed_confidence::PREC_0_01ms;
    +
    239 }
    +
    240 }
    streets_utils::messages::sdsm::speed_confidence::PREC_5ms
    @ PREC_5ms
    streets_utils::messages::sdsm::speed_confidence::PREC_10ms
    @ PREC_10ms
    streets_utils::messages::sdsm::speed_confidence::PREC_0_1ms
    @ PREC_0_1ms
    @@ -1058,7 +1073,7 @@

    References streets_utils::messages::sdsm::PREC_0_01ms, streets_utils::messages::sdsm::PREC_0_05ms, streets_utils::messages::sdsm::PREC_0_1ms, streets_utils::messages::sdsm::PREC_100ms, streets_utils::messages::sdsm::PREC_10ms, streets_utils::messages::sdsm::PREC_1ms, and streets_utils::messages::sdsm::PREC_5ms.

    -

    Referenced by to_xy_speed_confidence(), and to_z_speed_confidence().

    +

    Referenced by to_xy_speed_confidence(), and to_z_speed_confidence().

    Here is the caller graph for this function:
    @@ -1067,7 +1082,7 @@

    - + @@ -1102,21 +1117,21 @@

    Returns
    xy speed confidence
    -

    Definition at line 191 of file detected_object_to_sdsm_converter.cpp.

    -
    191 {
    -
    192 auto x_variance = velocity_covariance[0][0];
    -
    193 auto y_variance = velocity_covariance[1][1];
    -
    194 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    -
    195 // +/- 2*variance to achieve 95% confidence interval.
    -
    196 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
    -
    197 // X
    -
    198 // Multiply variance by 2 get 95% confidence interval for normal distribution
    -
    199 auto xy_accuracy = sqrt(x_variance) * 2 ;
    -
    200 return to_speed_confidence(xy_accuracy);
    -
    201 }
    -
    sensor_data_sharing_service::to_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
    Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:213
    +

    Definition at line 194 of file detected_object_to_sdsm_converter.cpp.

    +
    194 {
    +
    195 auto x_variance = velocity_covariance[0][0];
    +
    196 auto y_variance = velocity_covariance[1][1];
    +
    197 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    +
    198 // +/- 2*variance to achieve 95% confidence interval.
    +
    199 // TODO: If position variance x is different from y how do we handle this? For now assuming X variance is the same as Y and justing using
    +
    200 // X
    +
    201 // Multiply variance by 2 get 95% confidence interval for normal distribution
    +
    202 auto xy_accuracy = sqrt(x_variance) * 2 ;
    +
    203 return to_speed_confidence(xy_accuracy);
    +
    204 }
    +
    sensor_data_sharing_service::to_speed_confidence
    streets_utils::messages::sdsm::speed_confidence to_speed_confidence(const double accuracy)
    Convert accuracy value to speed confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:216
    -

    References to_speed_confidence().

    +

    References to_speed_confidence().

    Referenced by to_detected_object_data().

    @@ -1134,7 +1149,7 @@

    - + @@ -1169,11 +1184,11 @@

    Returns
    yaw rate in 0.01 degrees/second.
    -

    Definition at line 272 of file detected_object_to_sdsm_converter.cpp.

    -
    272 {
    -
    273 // Return in units of 0.01 degrees per second;
    -
    274 return static_cast<int>( yaw_rate_radians_per_second * (180/(M_PI)) * 100);
    -
    275 }
    +

    Definition at line 275 of file detected_object_to_sdsm_converter.cpp.

    +
    275 {
    +
    276 // Return in units of 0.01 degrees per second;
    +
    277 return static_cast<int>( yaw_rate_radians_per_second * (180/(M_PI)) * 100);
    +
    278 }

    Referenced by to_detected_object_data().

    @@ -1182,7 +1197,7 @@

    - + @@ -1217,15 +1232,15 @@

    Returns
    angular velocity confidence
    -

    Definition at line 240 of file detected_object_to_sdsm_converter.cpp.

    -
    240 {
    -
    241 auto z_variance = angular_velocity_covariance[2][2];
    -
    242 auto z_accuracy = sqrt(z_variance) * 2 ;
    -
    243 return to_angular_velocity_confidence(z_accuracy);
    -
    244 }
    -
    sensor_data_sharing_service::to_angular_velocity_confidence
    streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
    Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:247
    +

    Definition at line 243 of file detected_object_to_sdsm_converter.cpp.

    +
    243 {
    +
    244 auto z_variance = angular_velocity_covariance[2][2];
    +
    245 auto z_accuracy = sqrt(z_variance) * 2 ;
    +
    246 return to_angular_velocity_confidence(z_accuracy);
    +
    247 }
    +
    sensor_data_sharing_service::to_angular_velocity_confidence
    streets_utils::messages::sdsm::angular_velocity_confidence to_angular_velocity_confidence(const double accuracy)
    Convert accuracy value to angular velocity confidence enumeration. To minimize error in conversion,...
    Definition: detected_object_to_sdsm_converter.cpp:250
    -

    References to_angular_velocity_confidence().

    +

    References to_angular_velocity_confidence().

    Referenced by to_detected_object_data().

    @@ -1243,7 +1258,7 @@

    - + @@ -1278,18 +1293,18 @@

    Returns
    z speed confidence
    -

    Definition at line 203 of file detected_object_to_sdsm_converter.cpp.

    -
    203 {
    -
    204 auto z_variance = velocity_covariance[2][2];
    -
    205 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    -
    206 // +/- 2*variance to achieve 95% confidence interval.
    -
    207
    -
    208 // Multiply variance by 2 get 95% confidence interval for normal distribution
    -
    209 auto z_accuracy = sqrt(z_variance) * 2 ;
    -
    210 return to_speed_confidence(z_accuracy);
    -
    211 }
    +

    Definition at line 206 of file detected_object_to_sdsm_converter.cpp.

    +
    206 {
    +
    207 auto z_variance = velocity_covariance[2][2];
    +
    208 // Assuming normal distribution and 95 % confidence interval (From J3224 Specification documentation of all accuracy/confidence measures)
    +
    209 // +/- 2*variance to achieve 95% confidence interval.
    +
    210
    +
    211 // Multiply variance by 2 get 95% confidence interval for normal distribution
    +
    212 auto z_accuracy = sqrt(z_variance) * 2 ;
    +
    213 return to_speed_confidence(z_accuracy);
    +
    214 }
    -

    References to_speed_confidence().

    +

    References to_speed_confidence().

    Referenced by to_detected_object_data().

    @@ -1307,7 +1322,7 @@

    - + @@ -1480,7 +1495,7 @@

    Definition at line 28 of file detected_object_to_sdsm_converter.hpp.

    -

    Referenced by to_object_type().

    +

    Referenced by to_object_type().

    @@ -1516,7 +1531,7 @@

    • sensor_data_sharing_service
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesensor__data__sharing__service.js b/carma-streets/namespacesensor__data__sharing__service.js index ae28eda84c3..9d47fa6a61b 100644 --- a/carma-streets/namespacesensor__data__sharing__service.js +++ b/carma-streets/namespacesensor__data__sharing__service.js @@ -4,7 +4,7 @@ var namespacesensor__data__sharing__service = [ "detected_object_enu_to_ned", "namespacesensor__data__sharing__service.html#a536a528bd908691171dcb85db713fb7a", null ], [ "parse_sensor_location", "namespacesensor__data__sharing__service.html#ad7f7b7b70fe0f7b7357aa4cae820ff5f", null ], [ "to_angular_velocity_confidence", "namespacesensor__data__sharing__service.html#a45b012119c686e006cfb3330ea6e0a69", null ], - [ "to_detected_object_data", "namespacesensor__data__sharing__service.html#ad4810255fb495c8f408ba46a62273b37", null ], + [ "to_detected_object_data", "namespacesensor__data__sharing__service.html#ac7883e0c836f56838d524ba13cbea5e7", null ], [ "to_heading", "namespacesensor__data__sharing__service.html#a69f88b750e17c2825a61d30f1adb6539", null ], [ "to_object_type", "namespacesensor__data__sharing__service.html#a5038fb2ec7890722ef91b8c4c31c5f56", null ], [ "to_position_3d", "namespacesensor__data__sharing__service.html#a657d68b2284fbd94b8dfc151e5e6c9b1", null ], diff --git a/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.map index ed28e51b08b..5ca6e37e3f8 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.md5 index 9066b1781e4..af7af157848 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a3dab2d908c31f73d1355dbe869283ef4_icgraph.md5 @@ -1 +1 @@ -9ca6ce1cc7c1e6c5cb915b08eb2402f0 \ No newline at end of file +56810a1c688bca4990a8502c23e6b892 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.map index 2c136075c81..e09c3b17414 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.map @@ -1,7 +1,7 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.md5 index 9a4b0bde023..2b9bd91c47f 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a45b012119c686e006cfb3330ea6e0a69_icgraph.md5 @@ -1 +1 @@ -b2255cb33f6cdfb751df64cdfc9625ef \ No newline at end of file +235a4b3090fa18f1f758af114bbd6e53 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.map index 9c6f230a5e5..d5bac0e436f 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.md5 index a964ded8cf8..13be9993f92 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a5038fb2ec7890722ef91b8c4c31c5f56_icgraph.md5 @@ -1 +1 @@ -13cca096a186726345dc50431ec45efb \ No newline at end of file +44277fd2356f5856a42b3811976290ca \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.map index 4b7cf99c3d3..50d64ca9df6 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.md5 index 6957b970129..f0b519728d3 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a5a0bdc838c1fb4813d401db5e7e73958_icgraph.md5 @@ -1 +1 @@ -2397a8ec994b1a6f661da67b812d65f1 \ No newline at end of file +d27c3c72944eb681ef13b132f6313403 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.map index a20e74aa137..2b9cf8cd711 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.md5 index 606c0d811a5..7a69fbb3e8b 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a69f88b750e17c2825a61d30f1adb6539_icgraph.md5 @@ -1 +1 @@ -051effb860f821bbdef8240a5b794383 \ No newline at end of file +9d2de20f05bd406a7186e00494d1f02e \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.map index c3cd3f3e9d8..204d44f9708 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.map @@ -1,7 +1,7 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.md5 index 171565f4713..c78ea19cadb 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a763a8955d99dac5e8b3b10c2b449c73b_icgraph.md5 @@ -1 +1 @@ -630c0f36f8b004e5cb0222dfba307c59 \ No newline at end of file +13705834d7f261a0dee7641bcd371111 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.map index 88033124ec0..7e0bdde6814 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.map @@ -2,7 +2,7 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.md5 index e4e4066aa87..3a480c03915 100644 --- a/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_a871215bcc690afd8f8415575ce417a47_icgraph.md5 @@ -1 +1 @@ -60ac14279ab5022e167d5251a0e7bb02 \ No newline at end of file +c105f49fc3196bffd88257d39d52da96 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.map index 3a5d35a1665..a75f39d8d8d 100644 --- a/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.md5 index a57f46b67e0..2ae579192af 100644 --- a/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_ac39f27a9a718d07aca61164fc4f15bdd_icgraph.md5 @@ -1 +1 @@ -f26c4dd5ae5a22fe8ae42c45e97cbcac \ No newline at end of file +8055b50d32346810997e01d300ddb684 \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.map b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.map similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.map rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.map diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.md5 similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.md5 rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.md5 diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.png b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.png similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_cgraph.png rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_cgraph.png diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.map similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.map rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.map diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.md5 similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.md5 rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.md5 diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.png b/carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.png similarity index 100% rename from carma-streets/namespacesensor__data__sharing__service_ad4810255fb495c8f408ba46a62273b37_icgraph.png rename to carma-streets/namespacesensor__data__sharing__service_ac7883e0c836f56838d524ba13cbea5e7_icgraph.png diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.map index b37412dd7c2..d55d6e6d5fa 100644 --- a/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.md5 index 1cb4fbd8162..aca0333499c 100644 --- a/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_ad4afd762d6cef868ee908cae565d49c6_icgraph.md5 @@ -1 +1 @@ -c1013df6c30098ee8c8a59ef7531a5ef \ No newline at end of file +954520f1d99a351772ccb712f2fd015d \ No newline at end of file diff --git a/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.map b/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.map index 250157c1368..222dd574a85 100644 --- a/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.map +++ b/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.map @@ -1,6 +1,6 @@ - + diff --git a/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.md5 b/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.md5 index 1b3690bece7..76fd09089f3 100644 --- a/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.md5 +++ b/carma-streets/namespacesensor__data__sharing__service_af4edf7e04d51a4282ef50c46fe63d333_icgraph.md5 @@ -1 +1 @@ -0a5e0cbee625a63f68c5c5f3bf111979 \ No newline at end of file +d7d37bd1e714eb81b20402821b96debc \ No newline at end of file diff --git a/carma-streets/namespacesignal__opt__service.html b/carma-streets/namespacesignal__opt__service.html index cb4930a2ed6..8b88f221f8a 100644 --- a/carma-streets/namespacesignal__opt__service.html +++ b/carma-streets/namespacesignal__opt__service.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/namespacesignal__phase__and__timing.html b/carma-streets/namespacesignal__phase__and__timing.html index 2b2406a148d..70526925275 100644 --- a/carma-streets/namespacesignal__phase__and__timing.html +++ b/carma-streets/namespacesignal__phase__and__timing.html @@ -337,7 +337,7 @@

    • signal_phase_and_timing
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__bsm.html b/carma-streets/namespacesimulate__bsm.html index 18844e6fabd..4e24767013d 100644 --- a/carma-streets/namespacesimulate__bsm.html +++ b/carma-streets/namespacesimulate__bsm.html @@ -208,7 +208,7 @@

    Definition at line 16 of file simulate_bsm.py.

    -

    Referenced by streets_service::streets_service.initialize_kafka_producer().

    +

    Referenced by streets_service::streets_service.initialize_kafka_producer().

    @@ -236,7 +236,7 @@

    • simulate_bsm
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__bsm__mobilityPath.html b/carma-streets/namespacesimulate__bsm__mobilityPath.html index 85e873fa863..95297994bf0 100644 --- a/carma-streets/namespacesimulate__bsm__mobilityPath.html +++ b/carma-streets/namespacesimulate__bsm__mobilityPath.html @@ -278,7 +278,7 @@

    • simulate_bsm_mobilityPath
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__bsm__mobilityPath__mobilityoperation.html b/carma-streets/namespacesimulate__bsm__mobilityPath__mobilityoperation.html index 700acb7c394..6fc2d8464a4 100644 --- a/carma-streets/namespacesimulate__bsm__mobilityPath__mobilityoperation.html +++ b/carma-streets/namespacesimulate__bsm__mobilityPath__mobilityoperation.html @@ -352,7 +352,7 @@

    diff --git a/carma-streets/namespacesimulate__detected__object.html b/carma-streets/namespacesimulate__detected__object.html index 4f7b0251623..8459564b86b 100644 --- a/carma-streets/namespacesimulate__detected__object.html +++ b/carma-streets/namespacesimulate__detected__object.html @@ -186,6 +186,8 @@

    Definition at line 19 of file simulate_detected_object.py.

    +

    Referenced by streets_service::streets_service.consume_time_sync_message().

    +

    @@ -246,7 +248,7 @@

    • simulate_detected_object
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__mobilityoperation.html b/carma-streets/namespacesimulate__mobilityoperation.html index 26b72f9c69a..5f0bb792af6 100644 --- a/carma-streets/namespacesimulate__mobilityoperation.html +++ b/carma-streets/namespacesimulate__mobilityoperation.html @@ -238,7 +238,7 @@

    Definition at line 26 of file simulate_mobilityoperation.py.

    -

    Referenced by message_services::models::mobilityoperation.asJsonObject(), message_services::models::mobilitypath.asJsonObject(), message_services::services::vehicle_status_intent_service.compose_vehicle_status_intent(), sensor_data_sharing_service::sds_service.create_sdsm(), streets_vehicle_scheduler::vehicle_scheduler.estimate_vehicles_at_common_time(), streets_desired_phase_plan::streets_desired_phase_plan.fromJson(), message_services::models::mobilityoperation.generate_hash_sender_timestamp_id(), message_services::models::mobilitypath.generate_hash_sender_timestamp_id(), traffic_signal_controller_service::tsc_service.log_spat_latency(), and streets_desired_phase_plan::streets_desired_phase_plan.toJson().

    +

    Referenced by message_services::models::mobilityoperation.asJsonObject(), message_services::models::mobilitypath.asJsonObject(), message_services::services::vehicle_status_intent_service.compose_vehicle_status_intent(), sensor_data_sharing_service::sds_service.create_sdsm(), streets_vehicle_scheduler::vehicle_scheduler.estimate_vehicles_at_common_time(), streets_desired_phase_plan::streets_desired_phase_plan.fromJson(), message_services::models::mobilityoperation.generate_hash_sender_timestamp_id(), message_services::models::mobilitypath.generate_hash_sender_timestamp_id(), traffic_signal_controller_service::tsc_service.log_spat_latency(), and streets_desired_phase_plan::streets_desired_phase_plan.toJson().

    @@ -264,7 +264,7 @@

    • simulate_mobilityoperation
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__mobilitypath.html b/carma-streets/namespacesimulate__mobilitypath.html index 18fcead3390..ffe8fd36cc6 100644 --- a/carma-streets/namespacesimulate__mobilitypath.html +++ b/carma-streets/namespacesimulate__mobilitypath.html @@ -244,7 +244,7 @@

    • simulate_mobilitypath
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacesimulate__phase__control__schedule.html b/carma-streets/namespacesimulate__phase__control__schedule.html index 37e88d38cde..835e0df4153 100644 --- a/carma-streets/namespacesimulate__phase__control__schedule.html +++ b/carma-streets/namespacesimulate__phase__control__schedule.html @@ -262,7 +262,7 @@

    • simulate_phase_control_schedule
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacesimulate__timestep.html b/carma-streets/namespacesimulate__timestep.html index 2013c95b121..fa498e81fcc 100644 --- a/carma-streets/namespacesimulate__timestep.html +++ b/carma-streets/namespacesimulate__timestep.html @@ -169,7 +169,7 @@

    Definition at line 15 of file simulate_timestep.py.

    -

    Referenced by sensor_data_sharing_service::sds_service.start().

    +

    Referenced by sensor_data_sharing_service::sds_service.start().

    @@ -215,7 +215,7 @@

    • simulate_timestep
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc1.html b/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc1.html index 8eaff21ea33..16e1924055e 100644 --- a/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc1.html +++ b/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc1.html @@ -261,7 +261,7 @@

    diff --git a/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc3.html b/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc3.html index 95ca64eb1a5..249fd5947b6 100644 --- a/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc3.html +++ b/carma-streets/namespacesimulate__vehicle__status__intent__pub__uc3.html @@ -261,7 +261,7 @@

    diff --git a/carma-streets/namespacestreets__desired__phase__plan.html b/carma-streets/namespacestreets__desired__phase__plan.html index 590997f931e..09f1d13d3b4 100644 --- a/carma-streets/namespacestreets__desired__phase__plan.html +++ b/carma-streets/namespacestreets__desired__phase__plan.html @@ -106,7 +106,7 @@ diff --git a/carma-streets/namespacestreets__phase__control__schedule.html b/carma-streets/namespacestreets__phase__control__schedule.html index fd1eed82329..8d0f2f0a12f 100644 --- a/carma-streets/namespacestreets__phase__control__schedule.html +++ b/carma-streets/namespacestreets__phase__control__schedule.html @@ -284,7 +284,7 @@

    • streets_phase_control_schedule
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacestreets__service.html b/carma-streets/namespacestreets__service.html index 0cd0b6dfddf..05e6da2fe3d 100644 --- a/carma-streets/namespacestreets__service.html +++ b/carma-streets/namespacestreets__service.html @@ -206,7 +206,7 @@

    Definition at line 15 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -232,7 +232,7 @@

    Definition at line 17 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -258,7 +258,7 @@

    Definition at line 9 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -284,7 +284,7 @@

    Definition at line 13 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -310,7 +310,7 @@

    Definition at line 21 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -336,7 +336,7 @@

    Definition at line 7 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -362,7 +362,7 @@

    Definition at line 11 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -388,7 +388,7 @@

    Definition at line 19 of file streets_environment_variables.h.

    -

    Referenced by streets_service::streets_service::initialize().

    +

    Referenced by streets_service::streets_service::initialize().

    @@ -398,7 +398,7 @@

    • streets_service
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacestreets__service_1_1simulation.html b/carma-streets/namespacestreets__service_1_1simulation.html index 8dcf60285c0..809624d0e5d 100644 --- a/carma-streets/namespacestreets__service_1_1simulation.html +++ b/carma-streets/namespacestreets__service_1_1simulation.html @@ -101,7 +101,7 @@ diff --git a/carma-streets/namespacestreets__signal__optimization.html b/carma-streets/namespacestreets__signal__optimization.html index 39e41de138a..cd48169c6c4 100644 --- a/carma-streets/namespacestreets__signal__optimization.html +++ b/carma-streets/namespacestreets__signal__optimization.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/namespacestreets__snmp__cmd.html b/carma-streets/namespacestreets__snmp__cmd.html index 43f1c00ecec..75cb7b49322 100644 --- a/carma-streets/namespacestreets__snmp__cmd.html +++ b/carma-streets/namespacestreets__snmp__cmd.html @@ -251,7 +251,7 @@

    • streets_snmp_cmd
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacestreets__timing__plan.html b/carma-streets/namespacestreets__timing__plan.html index 6c6c28eb1f7..00943b0bb76 100644 --- a/carma-streets/namespacestreets__timing__plan.html +++ b/carma-streets/namespacestreets__timing__plan.html @@ -103,7 +103,7 @@ diff --git a/carma-streets/namespacestreets__tsc__configuration.html b/carma-streets/namespacestreets__tsc__configuration.html index 346c4aaad40..97b1a41ef70 100644 --- a/carma-streets/namespacestreets__tsc__configuration.html +++ b/carma-streets/namespacestreets__tsc__configuration.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/namespacestreets__utils.html b/carma-streets/namespacestreets__utils.html index 2cf0c8d914d..37c2c2dc1e7 100644 --- a/carma-streets/namespacestreets__utils.html +++ b/carma-streets/namespacestreets__utils.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/namespacestreets__utils_1_1json__utils.html b/carma-streets/namespacestreets__utils_1_1json__utils.html index db0033dbf51..27cf6135286 100644 --- a/carma-streets/namespacestreets__utils_1_1json__utils.html +++ b/carma-streets/namespacestreets__utils_1_1json__utils.html @@ -861,7 +861,7 @@

    • streets_utils
    • json_utils
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacestreets__utils_1_1messages.html b/carma-streets/namespacestreets__utils_1_1messages.html index f85dd8f193e..eaab7b80037 100644 --- a/carma-streets/namespacestreets__utils_1_1messages.html +++ b/carma-streets/namespacestreets__utils_1_1messages.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/namespacestreets__utils_1_1messages_1_1detected__objects__msg.html b/carma-streets/namespacestreets__utils_1_1messages_1_1detected__objects__msg.html index 3d8ff00397c..eac271136e0 100644 --- a/carma-streets/namespacestreets__utils_1_1messages_1_1detected__objects__msg.html +++ b/carma-streets/namespacestreets__utils_1_1messages_1_1detected__objects__msg.html @@ -477,7 +477,7 @@

    diff --git a/carma-streets/namespacestreets__utils_1_1messages_1_1sdsm.html b/carma-streets/namespacestreets__utils_1_1messages_1_1sdsm.html index 1cce613c12b..72f413b6700 100644 --- a/carma-streets/namespacestreets__utils_1_1messages_1_1sdsm.html +++ b/carma-streets/namespacestreets__utils_1_1messages_1_1sdsm.html @@ -5345,7 +5345,7 @@

    References streets_utils::messages::sdsm::sensor_data_sharing_msg::_equipment_type, streets_utils::messages::sdsm::sensor_data_sharing_msg::_msg_count, streets_utils::messages::sdsm::sensor_data_sharing_msg::_objects, streets_utils::messages::sdsm::sensor_data_sharing_msg::_ref_position_confidence, streets_utils::messages::sdsm::sensor_data_sharing_msg::_ref_position_elevation_confidence, streets_utils::messages::sdsm::sensor_data_sharing_msg::_ref_positon, streets_utils::messages::sdsm::sensor_data_sharing_msg::_source_id, streets_utils::messages::sdsm::sensor_data_sharing_msg::_time_stamp, create_detected_object_list(), create_position_3d(), create_positional_accuracy(), and create_timestamp().

    -

    Referenced by sensor_data_sharing_service::sds_service::produce_sdsms().

    +

    Referenced by sensor_data_sharing_service::sds_service::produce_sdsms().

    Here is the call graph for this function:
    @@ -5395,7 +5395,7 @@

    • streets_utils
    • messages
    • sdsm
      • -
    • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4

    diff --git a/carma-streets/namespacestreets__vehicle__scheduler.html b/carma-streets/namespacestreets__vehicle__scheduler.html index 8c270796c73..ef41c7e84c2 100644 --- a/carma-streets/namespacestreets__vehicle__scheduler.html +++ b/carma-streets/namespacestreets__vehicle__scheduler.html @@ -469,7 +469,7 @@

    • streets_vehicle_scheduler
      • -
    • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacestreets__vehicles.html b/carma-streets/namespacestreets__vehicles.html index d94ca53f248..5b281ce5698 100644 --- a/carma-streets/namespacestreets__vehicles.html +++ b/carma-streets/namespacestreets__vehicles.html @@ -175,7 +175,7 @@

    • streets_vehicles
      • -
    • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/namespacetraffic__signal__controller__service.html b/carma-streets/namespacetraffic__signal__controller__service.html index 9a1da0d2749..7af0786f168 100644 --- a/carma-streets/namespacetraffic__signal__controller__service.html +++ b/carma-streets/namespacetraffic__signal__controller__service.html @@ -293,7 +293,7 @@

    diff --git a/carma-streets/navtreedata.js b/carma-streets/navtreedata.js index 64d7fb8de0c..c9b4845302c 100644 --- a/carma-streets/navtreedata.js +++ b/carma-streets/navtreedata.js @@ -74,142 +74,146 @@ var NAVTREE = [ "Base Images", "md_README.html#autotoc_md77", null ] ] ], [ "CARMAStreets", "md_README.html#autotoc_md78", [ - [ "Contribution", "md_README.html#autotoc_md79", null ], - [ "Code of Conduct", "md_README.html#autotoc_md80", null ], - [ "Attribution", "md_README.html#autotoc_md81", null ], - [ "License", "md_README.html#autotoc_md82", null ], - [ "Contact", "md_README.html#autotoc_md83", null ] + [ "Data Collection", "md_README.html#autotoc_md79", [ + [ "Collect Kafka Logs", "md_README.html#autotoc_md80", null ], + [ "Collection Service Logs", "md_README.html#autotoc_md81", null ] + ] ], + [ "Contribution", "md_README.html#autotoc_md82", null ], + [ "Code of Conduct", "md_README.html#autotoc_md83", null ], + [ "Attribution", "md_README.html#autotoc_md84", null ], + [ "License", "md_README.html#autotoc_md85", null ], + [ "Contact", "md_README.html#autotoc_md86", null ] ] ] ] ], [ "steps to run the example", "md_scheduling_service_readme.html", null ], [ "Testing Scripts", "md_scripts_README.html", [ - [ "Introduction", "md_scripts_README.html#autotoc_md86", null ], - [ "Prerequisites", "md_scripts_README.html#autotoc_md87", null ], - [ "simulate_detections.py", "md_scripts_README.html#autotoc_md88", [ - [ "Description", "md_scripts_README.html#autotoc_md89", null ] + [ "Introduction", "md_scripts_README.html#autotoc_md89", null ], + [ "Prerequisites", "md_scripts_README.html#autotoc_md90", null ], + [ "simulate_detections.py", "md_scripts_README.html#autotoc_md91", [ + [ "Description", "md_scripts_README.html#autotoc_md92", null ] ] ], - [ "simulate_vehicle_status_intent_pub_uc1.py", "md_scripts_README.html#autotoc_md90", null ], - [ "simulate_vehicle_status_intent_pub_uc3.py", "md_scripts_README.html#autotoc_md91", null ] + [ "simulate_vehicle_status_intent_pub_uc1.py", "md_scripts_README.html#autotoc_md93", null ], + [ "simulate_vehicle_status_intent_pub_uc3.py", "md_scripts_README.html#autotoc_md94", null ] ] ], [ "Sensor Data Sharing Service", "md_sensor_data_sharing_service_README.html", [ - [ "Introduction", "md_sensor_data_sharing_service_README.html#autotoc_md93", null ], - [ "Configuration Parameters", "md_sensor_data_sharing_service_README.html#autotoc_md94", null ], - [ "Sensor Data Sharing speed and heading", "md_sensor_data_sharing_service_README.html#autotoc_md95", null ] + [ "Introduction", "md_sensor_data_sharing_service_README.html#autotoc_md96", null ], + [ "Configuration Parameters", "md_sensor_data_sharing_service_README.html#autotoc_md97", null ], + [ "Sensor Data Sharing speed and heading", "md_sensor_data_sharing_service_README.html#autotoc_md98", null ] ] ], [ "Signal Optimization Service", "md_signal_opt_service_readme.html", [ - [ "Configuration parameters", 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"md_streets_service_base_README.html#autotoc_md104", null ] + [ "Introduction", "md_streets_service_base_README.html#autotoc_md106", null ], + [ "Usage", "md_streets_service_base_README.html#autotoc_md107", null ] ] ], [ "Streets Service Base Lanelet Aware", "md_streets_service_base_lanelet_aware_README.html", [ - [ "Introduction", "md_streets_service_base_lanelet_aware_README.html#autotoc_md106", null ], - [ "Usage", "md_streets_service_base_lanelet_aware_README.html#autotoc_md107", null ] + [ "Introduction", "md_streets_service_base_lanelet_aware_README.html#autotoc_md109", null ], + [ "Usage", "md_streets_service_base_lanelet_aware_README.html#autotoc_md110", null ] ] ], [ "JSON Utility Library", "md_streets_utils_json_utils_README.html", [ - [ "Introduction", "md_streets_utils_json_utils_README.html#autotoc_md109", null ], - [ "Functions", "md_streets_utils_json_utils_README.html#autotoc_md110", null ], - [ "Include Library", "md_streets_utils_json_utils_README.html#autotoc_md111", 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"md_streets_utils_streets_messages_DetectedObjectsMessage.html#autotoc_md117", null ] + [ "Introduction", "md_streets_utils_streets_messages_DetectedObjectsMessage.html#autotoc_md119", null ], + [ "Example JSON payload", "md_streets_utils_streets_messages_DetectedObjectsMessage.html#autotoc_md120", null ] ] ], [ "Streets Messages Library", "md_streets_utils_streets_messages_README.html", [ - [ "Introduction", "md_streets_utils_streets_messages_README.html#autotoc_md119", null ], - [ "Messages", "md_streets_utils_streets_messages_README.html#autotoc_md120", null ], - [ "Serialization and Deserialization", "md_streets_utils_streets_messages_README.html#autotoc_md121", null ], - [ "Some future planned improvements to this library include:", "md_streets_utils_streets_messages_README.html#autotoc_md122", null ], - [ "Installation", "md_streets_utils_streets_messages_README.html#autotoc_md123", null ], - [ "Using Library", "md_streets_utils_streets_messages_README.html#autotoc_md124", null ] + [ "Introduction", "md_streets_utils_streets_messages_README.html#autotoc_md122", null ], + [ "Messages", "md_streets_utils_streets_messages_README.html#autotoc_md123", null ], + [ "Serialization and Deserialization", "md_streets_utils_streets_messages_README.html#autotoc_md124", null ], + [ "Some future planned improvements to this library include:", "md_streets_utils_streets_messages_README.html#autotoc_md125", null ], + [ "Installation", "md_streets_utils_streets_messages_README.html#autotoc_md126", null ], + [ "Using Library", "md_streets_utils_streets_messages_README.html#autotoc_md127", null ] ] ], [ "Sensor Data Sharing Message", "md_streets_utils_streets_messages_SensorDataSharingMessage.html", [ - [ "Introduction", "md_streets_utils_streets_messages_SensorDataSharingMessage.html#autotoc_md126", null ] + [ "Introduction", "md_streets_utils_streets_messages_SensorDataSharingMessage.html#autotoc_md129", null ] ] ], [ "Streets Phase Control Schedule Command library", "md_streets_utils_streets_phase_control_schedule_README.html", [ - [ "Introduction", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md128", null ], - [ "Phase Control Schedule", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md129", [ - [ "Parameter description", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md130", null ], - [ "Sample", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md131", null ] + [ "Introduction", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md131", null ], + [ "Phase Control Schedule", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md132", [ + [ "Parameter description", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md133", null ], + [ "Sample", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md134", null ] ] ], - [ "Including library", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md132", null ] + [ "Including library", "md_streets_utils_streets_phase_control_schedule_README.html#autotoc_md135", null ] ] ], [ "Streets Service Base Library", "md_streets_utils_streets_service_base_README.html", [ - [ "Introduction", "md_streets_utils_streets_service_base_README.html#autotoc_md134", null ], - [ "streets_clock_singleton", "md_streets_utils_streets_service_base_README.html#autotoc_md135", null ], - [ "streets_service", "md_streets_utils_streets_service_base_README.html#autotoc_md136", null ], - [ "Include streets_service_base_lib", "md_streets_utils_streets_service_base_README.html#autotoc_md137", null ] + [ "Introduction", "md_streets_utils_streets_service_base_README.html#autotoc_md137", null ], + [ "streets_clock_singleton", "md_streets_utils_streets_service_base_README.html#autotoc_md138", null ], + [ "streets_service", "md_streets_utils_streets_service_base_README.html#autotoc_md139", null ], + [ "Include streets_service_base_lib", "md_streets_utils_streets_service_base_README.html#autotoc_md140", null ] ] ], [ "Streets Service Configuration Library", "md_streets_utils_streets_service_configuration_README.html", [ - [ "Introduction", "md_streets_utils_streets_service_configuration_README.html#autotoc_md139", null ], - [ "Streets Singleton", "md_streets_utils_streets_service_configuration_README.html#autotoc_md140", null ], - [ "Streets Configuration", "md_streets_utils_streets_service_configuration_README.html#autotoc_md141", null ], - [ "Include streets_service_configuration_lib::streets_service_configuration_lib", "md_streets_utils_streets_service_configuration_README.html#autotoc_md142", null ] + [ "Introduction", "md_streets_utils_streets_service_configuration_README.html#autotoc_md142", null ], + [ "Streets Singleton", "md_streets_utils_streets_service_configuration_README.html#autotoc_md143", null ], + [ "Streets Configuration", "md_streets_utils_streets_service_configuration_README.html#autotoc_md144", null ], + [ "Include streets_service_configuration_lib::streets_service_configuration_lib", "md_streets_utils_streets_service_configuration_README.html#autotoc_md145", null ] ] ], [ "Streets Signal Optimization Library", "md_streets_utils_streets_signal_optimization_README.html", [ - [ "Introduction", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md144", null ], - [ "streets_desired_phase_plan_generator", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md145", null ], - [ "streets_desired phase plan arbitrator", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md146", [ - [ "Use of desired phase plan arbitrator lib", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md147", null ] + [ "Introduction", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md147", null ], + [ "streets_desired_phase_plan_generator", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md148", null ], + [ "streets_desired phase plan arbitrator", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md149", [ + [ "Use of desired phase plan arbitrator lib", "md_streets_utils_streets_signal_optimization_README.html#autotoc_md150", null ] ] ] ] ], [ "Streets Signal Phase and Timing Library", "md_streets_utils_streets_signal_phase_and_timing_README.html", [ - [ "Introduction", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md149", null ], - [ "SPaT Traffic Signal State Information", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md150", null ], - [ "Including Library", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md151", null ], - [ "Initializing SPaT Object for consuming NTCIP UDP data", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md152", null ], - [ "Modifying SPaT Object", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md153", null ] + [ "Introduction", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md152", null ], + [ "SPaT Traffic Signal State Information", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md153", null ], + [ "Including Library", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md154", null ], + [ "Initializing SPaT Object for consuming NTCIP UDP data", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md155", null ], + [ "Modifying SPaT Object", "md_streets_utils_streets_signal_phase_and_timing_README.html#autotoc_md156", null ] ] ], [ "Streets SNMP Command library", "md_streets_utils_streets_snmp_cmd_README.html", [ - [ "Introduction", "md_streets_utils_streets_snmp_cmd_README.html#autotoc_md155", null ], - [ "Streets SNMP command structure", "md_streets_utils_streets_snmp_cmd_README.html#autotoc_md156", [ - [ "Parameter 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"Streets Timing Plan Command library", "md_streets_utils_streets_timing_plan_README.html", [ - [ "Introduction", "md_streets_utils_streets_timing_plan_README.html#autotoc_md162", [ - [ "Sample", "md_streets_utils_streets_timing_plan_README.html#autotoc_md163", null ] + [ "Introduction", "md_streets_utils_streets_timing_plan_README.html#autotoc_md165", [ + [ "Sample", "md_streets_utils_streets_timing_plan_README.html#autotoc_md166", null ] ] ], - [ "Including library", "md_streets_utils_streets_timing_plan_README.html#autotoc_md164", null ] + [ "Including library", "md_streets_utils_streets_timing_plan_README.html#autotoc_md167", null ] ] ], [ "Streets TSC Configuration Library", "md_streets_utils_streets_tsc_configuration_README.html", [ - [ "Introduction", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md166", null ], - [ "TSC Configuration State Information", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md167", [ - [ "Including Library", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md169", null ] + [ "Introduction", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md169", null ], + [ "TSC Configuration State Information", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md170", [ + [ "Including Library", "md_streets_utils_streets_tsc_configuration_README.html#autotoc_md172", null ] ] ] ] ], [ "Streets Vehicle List Library", "md_streets_utils_streets_vehicle_list_README.html", [ - [ "Introduction", "md_streets_utils_streets_vehicle_list_README.html#autotoc_md171", null ], - [ "Data Objects", "md_streets_utils_streets_vehicle_list_README.html#autotoc_md172", null ], - [ "Status Intent Processor", "md_streets_utils_streets_vehicle_list_README.html#autotoc_md173", null ], - [ "Include streets_vehicle_list", "md_streets_utils_streets_vehicle_list_README.html#autotoc_md174", null ] + [ "Introduction", "md_streets_utils_streets_vehicle_list_README.html#autotoc_md174", null ], + 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    • scheduling_service
    • src
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      • -
    • Generated on Wed Feb 7 2024 13:52:54 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:57 for Carma-streets by doxygen 1.9.4
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-502,7 +502,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp.html b/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp.html index 0fe7dbcc25f..60c69d9cea5 100644 --- a/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp.html +++ b/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp.html @@ -224,7 +224,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp_source.html b/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp_source.html index 468e230474b..4ff993c2d22 100644 --- a/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp_source.html +++ b/carma-streets/sensor__data__sharing__msg__json__deserializer_8hpp_source.html @@ -206,7 +206,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp.html b/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp.html index e3e0a70f42d..94918cd207b 100644 --- a/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp.html +++ b/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp.html @@ -210,7 +210,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp_source.html b/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp_source.html index 6a89fab28fa..38ebb229508 100644 --- a/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp_source.html +++ b/carma-streets/sensor__data__sharing__msg__json__serializer_8cpp_source.html @@ -585,7 +585,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp.html b/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp.html index f76b4a47451..46bd3b97d48 100644 --- a/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp.html +++ b/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp.html @@ -224,7 +224,7 @@ diff --git a/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp_source.html b/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp_source.html index 88567d4602f..72fc3178c52 100644 --- a/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp_source.html +++ b/carma-streets/sensor__data__sharing__msg__json__serializer_8hpp_source.html @@ -174,7 +174,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_2README_8md.html b/carma-streets/sensor__data__sharing__service_2README_8md.html index 4a83b64d3ec..288a5d954de 100644 --- a/carma-streets/sensor__data__sharing__service_2README_8md.html +++ b/carma-streets/sensor__data__sharing__service_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp.html b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp.html index 4ae66b5965d..c22f01fd056 100644 --- a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp.html +++ b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp.html @@ -228,78 +228,79 @@

    41 return 0;
    42}
    sensor_data_sharing_service::sds_service
    Definition: sensor_data_sharing_service.hpp:53
    -
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:185
    +
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:196
    sensor_data_sharing_service::sds_service::initialize
    bool initialize() override
    Method to initialize the sds_service.
    Definition: sensor_data_sharing_service.cpp:36
    -

    References sensor_data_sharing_service::sds_service::initialize(), and sensor_data_sharing_service::sds_service::start().

    +

    References sensor_data_sharing_service::sds_service::initialize(), and sensor_data_sharing_service::sds_service::start().

    Here is the call graph for this function:
    - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    @@ -311,7 +312,7 @@

    diff --git a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.map b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.map index b06191ef9d5..a0cc3d1ad04 100644 --- a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.map +++ b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.map @@ -1,65 +1,66 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.md5 b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.md5 index ab559e80988..1d11e24f94b 100644 --- a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.md5 +++ b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.md5 @@ -1 +1 @@ -c0c47080f84e7746c5fa0be1e7469941 \ No newline at end of file +83d87112c66299751b70c21ee1f3f335 \ No newline at end of file diff --git a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.png b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.png index a28078763e9..b1b092ab5a1 100644 Binary files a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.png and b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_a3c04138a5bfe5d72780bb7e82a18e627_cgraph.png differ diff --git a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_source.html b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_source.html index 979fdcaf880..218a9496bf4 100644 --- a/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_source.html +++ b/carma-streets/sensor__data__sharing__service_2src_2main_8cpp_source.html @@ -129,7 +129,7 @@
    41 return 0;
    42}
    sensor_data_sharing_service::sds_service
    Definition: sensor_data_sharing_service.hpp:53
    -
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:185
    +
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:196
    sensor_data_sharing_service::sds_service::initialize
    bool initialize() override
    Method to initialize the sds_service.
    Definition: sensor_data_sharing_service.cpp:36
    main
    int main(int argc, char **argv)
    Definition: main.cpp:74
    sensor_data_sharing_service.hpp
    @@ -140,7 +140,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_8cpp.html b/carma-streets/sensor__data__sharing__service_8cpp.html index ed06a5af544..76551a3a265 100644 --- a/carma-streets/sensor__data__sharing__service_8cpp.html +++ b/carma-streets/sensor__data__sharing__service_8cpp.html @@ -184,7 +184,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_8cpp_source.html b/carma-streets/sensor__data__sharing__service_8cpp_source.html index b5c1c6f4127..9f7f38451e3 100644 --- a/carma-streets/sensor__data__sharing__service_8cpp_source.html +++ b/carma-streets/sensor__data__sharing__service_8cpp_source.html @@ -192,114 +192,125 @@
    104 SPDLOG_WARN("Skipping incoming detection at {0}ms is not current or has invalid timestamp of {1}ms!" , ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
    105 continue;
    106 }
    -
    107 // if delay is negative, detection message was processed before time sync message. Wait on time sync message
    -
    108 else if ( delay < 0 ) {
    -
    109 SPDLOG_WARN("Current sim time {0} waiting for sim time {1}ms from detection ...",ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
    -
    110 ss::streets_clock_singleton::sleep_for(abs(delay));
    -
    111 }
    -
    112 // Write Lock
    -
    113 std::unique_lock lock(detected_objects_lock);
    -
    114 detected_objects[detected_object._object_id] = detected_object;
    -
    115 SPDLOG_DEBUG("Detected Object List Size {0} after consumed: {1}", detected_objects.size(), payload);
    -
    116
    -
    117 }
    -
    118 }
    -
    119 catch (const streets_utils::json_utils::json_parse_exception &e) {
    -
    120 SPDLOG_ERROR("Exception occured consuming detection message : {0}", e.what());
    -
    121 }
    -
    122 }
    -
    123 SPDLOG_ERROR("Something went wrong, no longer consuming detections." );
    -
    124
    -
    125 }
    -
    126
    -
    127 void sds_service::produce_sdsms() {
    -
    128 if ( !sdsm_producer ) {
    -
    129 throw std::runtime_error("SDSM consumer is null!");
    -
    130 }
    -
    131 SPDLOG_INFO("Starting SDSM Producer!");
    -
    132 while ( sdsm_producer->is_running() ) {
    -
    133 try{
    -
    134 if ( !detected_objects.empty() ) {
    -
    135 streets_utils::messages::sdsm::sensor_data_sharing_msg msg = create_sdsm();
    -
    136 const std::string json_msg = streets_utils::messages::sdsm::to_json(msg);
    -
    137 SPDLOG_DEBUG("Sending SDSM : {0}", json_msg);
    -
    138 sdsm_producer->send(json_msg);
    -
    139 // Message Count max is 127, reset after max value
    -
    140 if ( this->_message_count <= 127) {
    -
    141 this->_message_count++;
    -
    142 }else {
    -
    143 this->_message_count = 0;
    -
    144 }
    -
    145 // Write Lock
    -
    146 std::unique_lock lock(detected_objects_lock);
    -
    147 // Clear detected object
    -
    148 detected_objects.clear();
    -
    149 }
    -
    150 }
    -
    151 catch( const streets_utils::json_utils::json_parse_exception &e) {
    -
    152 SPDLOG_ERROR("Exception occurred producing SDSM : {0}", e.what());
    -
    153 }
    -
    154 ss::streets_clock_singleton::sleep_for(100); // Sleep for 100 ms between publish
    -
    155 }
    -
    156 SPDLOG_CRITICAL("SDSM Producers no longer running.");
    -
    157
    -
    158 }
    -
    159
    -
    160 streets_utils::messages::sdsm::sensor_data_sharing_msg sds_service::create_sdsm() {
    -
    161 streets_utils::messages::sdsm::sensor_data_sharing_msg msg;
    -
    162 // Read lock
    -
    163 uint64_t timestamp = ss::streets_clock_singleton::time_in_ms();
    -
    164 msg._time_stamp = to_sdsm_timestamp(timestamp);
    -
    165 // Populate with rolling counter
    -
    166 msg._msg_count = this->_message_count;
    -
    167 // Populate with infrastructure id
    -
    168 msg._source_id = this->_infrastructure_id;
    -
    169 // Populate equipement type
    -
    170 msg._equipment_type = sdsm::equipment_type::RSU;
    -
    171 // Polulate ref position
    -
    172 msg._ref_positon = to_position_3d(this->sdsm_reference_point);
    -
    173 std::shared_lock lock(detected_objects_lock);
    -
    174 for (const auto &[object_id, object] : detected_objects){
    -
    175 auto ned_object = detected_object_enu_to_ned(object);
    -
    176 auto detected_object_data = to_detected_object_data(ned_object);
    -
    177 // TODO: Update time offset. Currently CARMA-Streets detected object message does not support timestamp
    -
    178 // This is a bug and needs to be addressed.
    -
    179 msg._objects.push_back(detected_object_data);
    -
    180 }
    -
    181 return msg;
    -
    182 }
    -
    183
    -
    184
    -
    185 void sds_service::start() {
    -
    186 SPDLOG_DEBUG("Starting Sensor Data Sharing Service");
    -
    187 streets_service::start();
    -
    188 std::thread detection_thread(&sds_service::consume_detections, this);
    -
    189 std::thread sdsm_thread(&sds_service::produce_sdsms, this);
    -
    190 detection_thread.join();
    -
    191 sdsm_thread.join();
    -
    192 }
    -
    193
    -
    194 streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position) {
    -
    195 streets_utils::messages::sdsm::position_3d position;
    -
    196 // Convert to 1/10 of microdegrees
    -
    197 position._longitude = static_cast<int>(ref_position.lon * 1e7);
    -
    198 position._latitude = static_cast<int>(ref_position.lat *1e7);
    -
    199 // Convert 0.1 meters
    -
    200 position._elevation = static_cast<int>(ref_position.ele * 10);
    -
    201 return position;
    -
    202
    +
    107 // if delay is negative, and service is in simulation mode
    +
    108 // the detection message was processed before time sync message. Wait on time sync message
    +
    109 else if (is_simulation_mode() && delay < 0 ) {
    +
    110 SPDLOG_WARN("Current sim time {0} waiting for sim time {1}ms from detection ...",ss::streets_clock_singleton::time_in_ms(), detected_object._timestamp );
    +
    111 ss::streets_clock_singleton::sleep_for(abs(delay));
    +
    112 }
    +
    113 // If delay is negative and service is not in simulation mode
    +
    114 // indicates sensor and service are not time sychronized.
    +
    115 else if( delay < 0 ) {
    +
    116 SPDLOG_WARN(
    +
    117 R"(Current time is {0}ms and detection time stamp is {1}ms. Sensor Data Sharing Service and sensor producing detections to not appear to be time synchronized)",
    +
    118 ss::streets_clock_singleton::time_in_ms(),
    +
    119 detected_object._timestamp );
    +
    120
    +
    121 }
    +
    122
    +
    123 // Write Lock
    +
    124 std::unique_lock lock(detected_objects_lock);
    +
    125 detected_objects[detected_object._object_id] = detected_object;
    +
    126 SPDLOG_DEBUG("Detected Object List Size {0} after consumed: {1}", detected_objects.size(), payload);
    +
    127
    +
    128 }
    +
    129 }
    +
    130 catch (const streets_utils::json_utils::json_parse_exception &e) {
    +
    131 SPDLOG_ERROR("Exception occured consuming detection message : {0}", e.what());
    +
    132 }
    +
    133 }
    +
    134 SPDLOG_ERROR("Something went wrong, no longer consuming detections." );
    +
    135
    +
    136 }
    +
    137
    +
    138 void sds_service::produce_sdsms() {
    +
    139 if ( !sdsm_producer ) {
    +
    140 throw std::runtime_error("SDSM consumer is null!");
    +
    141 }
    +
    142 SPDLOG_INFO("Starting SDSM Producer!");
    +
    143 while ( sdsm_producer->is_running() ) {
    +
    144 try{
    +
    145 if ( !detected_objects.empty() ) {
    +
    146 streets_utils::messages::sdsm::sensor_data_sharing_msg msg = create_sdsm();
    +
    147 const std::string json_msg = streets_utils::messages::sdsm::to_json(msg);
    +
    148 SPDLOG_DEBUG("Sending SDSM : {0}", json_msg);
    +
    149 sdsm_producer->send(json_msg);
    +
    150 // Message Count max is 127, reset after max value
    +
    151 if ( this->_message_count <= 127) {
    +
    152 this->_message_count++;
    +
    153 }else {
    +
    154 this->_message_count = 0;
    +
    155 }
    +
    156 // Write Lock
    +
    157 std::unique_lock lock(detected_objects_lock);
    +
    158 // Clear detected object
    +
    159 detected_objects.clear();
    +
    160 }
    +
    161 }
    +
    162 catch( const streets_utils::json_utils::json_parse_exception &e) {
    +
    163 SPDLOG_ERROR("Exception occurred producing SDSM : {0}", e.what());
    +
    164 }
    +
    165 ss::streets_clock_singleton::sleep_for(100); // Sleep for 100 ms between publish
    +
    166 }
    +
    167 SPDLOG_CRITICAL("SDSM Producers no longer running.");
    +
    168
    +
    169 }
    +
    170
    +
    171 streets_utils::messages::sdsm::sensor_data_sharing_msg sds_service::create_sdsm() {
    +
    172 streets_utils::messages::sdsm::sensor_data_sharing_msg msg;
    +
    173 // Read lock
    +
    174 uint64_t timestamp = ss::streets_clock_singleton::time_in_ms();
    +
    175 msg._time_stamp = to_sdsm_timestamp(timestamp);
    +
    176 // Populate with rolling counter
    +
    177 msg._msg_count = this->_message_count;
    +
    178 // Populate with infrastructure id
    +
    179 msg._source_id = this->_infrastructure_id;
    +
    180 // Populate equipement type
    +
    181 msg._equipment_type = sdsm::equipment_type::RSU;
    +
    182 // Polulate ref position
    +
    183 msg._ref_positon = to_position_3d(this->sdsm_reference_point);
    +
    184 std::shared_lock lock(detected_objects_lock);
    +
    185 for (const auto &[object_id, object] : detected_objects){
    +
    186 auto ned_object = detected_object_enu_to_ned(object);
    +
    187 auto detected_object_data = to_detected_object_data(ned_object,timestamp);
    +
    188 // TODO: Update time offset. Currently CARMA-Streets detected object message does not support timestamp
    +
    189 // This is a bug and needs to be addressed.
    +
    190 msg._objects.push_back(detected_object_data);
    +
    191 }
    +
    192 return msg;
    +
    193 }
    +
    194
    +
    195
    +
    196 void sds_service::start() {
    +
    197 SPDLOG_DEBUG("Starting Sensor Data Sharing Service");
    +
    198 streets_service::start();
    +
    199 std::thread detection_thread(&sds_service::consume_detections, this);
    +
    200 std::thread sdsm_thread(&sds_service::produce_sdsms, this);
    +
    201 detection_thread.join();
    +
    202 sdsm_thread.join();
    203 }
    -
    204}
    +
    204
    +
    205 streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position) {
    +
    206 streets_utils::messages::sdsm::position_3d position;
    +
    207 // Convert to 1/10 of microdegrees
    +
    208 position._longitude = static_cast<int>(ref_position.lon * 1e7);
    +
    209 position._latitude = static_cast<int>(ref_position.lat *1e7);
    +
    210 // Convert 0.1 meters
    +
    211 position._elevation = static_cast<int>(ref_position.ele * 10);
    +
    212 return position;
    +
    213
    +
    214 }
    +
    215}
    sensor_data_sharing_service::sds_service::detected_objects_lock
    std::shared_mutex detected_objects_lock
    Mutex for thread safe operations on detected objects map.
    Definition: sensor_data_sharing_service.hpp:70
    sensor_data_sharing_service::sds_service::~sds_service
    ~sds_service()
    Definition: sensor_data_sharing_service.cpp:21
    sensor_data_sharing_service::sds_service::detected_objects
    std::map< int, streets_utils::messages::detected_objects_msg::detected_objects_msg > detected_objects
    Map of detected objects. New detections of existing objects will replace old detections.
    Definition: sensor_data_sharing_service.hpp:66
    sensor_data_sharing_service::sds_service::_infrastructure_id
    std::string _infrastructure_id
    Infrastructure ID used as source ID for SDSM broadcast.
    Definition: sensor_data_sharing_service.hpp:90
    -
    sensor_data_sharing_service::sds_service::create_sdsm
    streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
    Method to create SDSM from detected objects.
    Definition: sensor_data_sharing_service.cpp:160
    +
    sensor_data_sharing_service::sds_service::create_sdsm
    streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
    Method to create SDSM from detected objects.
    Definition: sensor_data_sharing_service.cpp:171
    sensor_data_sharing_service::sds_service::sdsm_producer
    std::shared_ptr< kafka_clients::kafka_producer_worker > sdsm_producer
    Kafka producer for SDSM JSON.
    Definition: sensor_data_sharing_service.hpp:58
    -
    sensor_data_sharing_service::sds_service::produce_sdsms
    void produce_sdsms()
    Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
    Definition: sensor_data_sharing_service.cpp:127
    +
    sensor_data_sharing_service::sds_service::produce_sdsms
    void produce_sdsms()
    Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
    Definition: sensor_data_sharing_service.cpp:138
    sensor_data_sharing_service::sds_service::map_ptr
    lanelet::LaneletMapPtr map_ptr
    Lanelet2 Map pointer.
    Definition: sensor_data_sharing_service.hpp:74
    sensor_data_sharing_service::sds_service::detection_consumer
    std::shared_ptr< kafka_clients::kafka_consumer_worker > detection_consumer
    Definition: sensor_data_sharing_service.hpp:62
    -
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:185
    +
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:196
    sensor_data_sharing_service::sds_service::map_projector
    std::unique_ptr< lanelet::projection::LocalFrameProjector > map_projector
    WSG84 Map projection.
    Definition: sensor_data_sharing_service.hpp:79
    sensor_data_sharing_service::sds_service::read_lanelet_map
    bool read_lanelet_map(const std::string &filepath)
    Method to read lanelet2 map.
    Definition: sensor_data_sharing_service.cpp:62
    sensor_data_sharing_service::sds_service::sdsm_reference_point
    lanelet::GPSPoint sdsm_reference_point
    Location of sensor.This is also the sensor's coordinate frame orignin meaning all offsets are interpr...
    Definition: sensor_data_sharing_service.hpp:85
    @@ -309,14 +320,15 @@
    streets_service::streets_clock_singleton::sleep_for
    static void sleep_for(uint64_t ms)
    Sleep/block calling thread for provided duration in milliseconds. TODO: Add this functionality to the...
    Definition: streets_clock_singleton.cpp:19
    streets_service::streets_clock_singleton::time_in_ms
    static uint64_t time_in_ms()
    Static access to the CarmaClock timeInMilliseconds method (see https://github.com/usdot-fhwa-stol/car...
    Definition: streets_clock_singleton.cpp:11
    streets_service::streets_configuration::get_string_config
    static std::string get_string_config(const std::string &config_param_name)
    Retreive configuration parameter string value with provided name.
    Definition: streets_configuration.cpp:104
    -
    streets_service::streets_service::initialize_kafka_producer
    bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
    Helper method to initialize Kafka producer for a given topic.
    Definition: streets_service.cpp:55
    -
    streets_service::streets_service::initialize_kafka_consumer
    bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
    Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
    Definition: streets_service.cpp:72
    +
    streets_service::streets_service::is_simulation_mode
    bool is_simulation_mode() const
    Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
    Definition: streets_service.cpp:150
    +
    streets_service::streets_service::initialize_kafka_producer
    bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
    Helper method to initialize Kafka producer for a given topic.
    Definition: streets_service.cpp:56
    +
    streets_service::streets_service::initialize_kafka_consumer
    bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
    Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
    Definition: streets_service.cpp:73
    streets_utils::json_utils::json_parse_exception
    Runtime exception related to json_utils functions. Thrown when :
    Definition: json_utils_exception.hpp:16
    sensor_data_sharing_service
    Definition: detected_object_enu_to_ned_converter.hpp:18
    sensor_data_sharing_service::detected_object_enu_to_ned
    streets_utils::messages::detected_objects_msg::detected_objects_msg detected_object_enu_to_ned(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
    Converts detected_objects_msg from ENU coordinate frame to NED.
    Definition: detected_object_enu_to_ned_converter.cpp:18
    -
    sensor_data_sharing_service::to_position_3d
    streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
    Definition: sensor_data_sharing_service.cpp:194
    +
    sensor_data_sharing_service::to_position_3d
    streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
    Definition: sensor_data_sharing_service.cpp:205
    sensor_data_sharing_service::to_sdsm_timestamp
    streets_utils::messages::sdsm::time_stamp to_sdsm_timestamp(const uint64_t _epoch_time_ms)
    convert epoch millisecond timestamp to sdsm timestamp object
    Definition: detected_object_to_sdsm_converter.cpp:18
    -
    sensor_data_sharing_service::to_detected_object_data
    streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg)
    convert detected_object_msg to sdsm detection_object_data.
    Definition: detected_object_to_sdsm_converter.cpp:36
    +
    sensor_data_sharing_service::to_detected_object_data
    streets_utils::messages::sdsm::detected_object_data to_detected_object_data(const streets_utils::messages::detected_objects_msg::detected_objects_msg &msg, uint64_t sdsm_message_timestamp)
    convert detected_object_msg to sdsm detection_object_data.
    Definition: detected_object_to_sdsm_converter.cpp:36
    sensor_data_sharing_service::parse_sensor_location
    lanelet::BasicPoint3d parse_sensor_location(const std::string &filepath, const std::string &sensor_id)
    Method to parse sensor configuration json file.
    Definition: sensor_configuration_parser.cpp:18
    simulate_mobilityoperation.timestamp
    int timestamp
    Definition: simulate_mobilityoperation.py:26
    simulate_timestep.start
    int start
    Definition: simulate_timestep.py:15
    @@ -343,7 +355,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_8hpp.html b/carma-streets/sensor__data__sharing__service_8hpp.html index 3d116a8451d..99d3b55b4cb 100644 --- a/carma-streets/sensor__data__sharing__service_8hpp.html +++ b/carma-streets/sensor__data__sharing__service_8hpp.html @@ -227,7 +227,7 @@ diff --git a/carma-streets/sensor__data__sharing__service_8hpp_source.html b/carma-streets/sensor__data__sharing__service_8hpp_source.html index 3339101cf3e..d56173d469e 100644 --- a/carma-streets/sensor__data__sharing__service_8hpp_source.html +++ b/carma-streets/sensor__data__sharing__service_8hpp_source.html @@ -187,13 +187,13 @@
    sensor_data_sharing_service::sds_service::detected_objects
    std::map< int, streets_utils::messages::detected_objects_msg::detected_objects_msg > detected_objects
    Map of detected objects. New detections of existing objects will replace old detections.
    Definition: sensor_data_sharing_service.hpp:66
    sensor_data_sharing_service::sds_service::_infrastructure_id
    std::string _infrastructure_id
    Infrastructure ID used as source ID for SDSM broadcast.
    Definition: sensor_data_sharing_service.hpp:90
    sensor_data_sharing_service::sds_service::FRIEND_TEST
    FRIEND_TEST(sensorDataSharingServiceTest, produceSdsms)
    -
    sensor_data_sharing_service::sds_service::create_sdsm
    streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
    Method to create SDSM from detected objects.
    Definition: sensor_data_sharing_service.cpp:160
    +
    sensor_data_sharing_service::sds_service::create_sdsm
    streets_utils::messages::sdsm::sensor_data_sharing_msg create_sdsm()
    Method to create SDSM from detected objects.
    Definition: sensor_data_sharing_service.cpp:171
    sensor_data_sharing_service::sds_service::sdsm_producer
    std::shared_ptr< kafka_clients::kafka_producer_worker > sdsm_producer
    Kafka producer for SDSM JSON.
    Definition: sensor_data_sharing_service.hpp:58
    -
    sensor_data_sharing_service::sds_service::produce_sdsms
    void produce_sdsms()
    Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
    Definition: sensor_data_sharing_service.cpp:127
    +
    sensor_data_sharing_service::sds_service::produce_sdsms
    void produce_sdsms()
    Loop to produce sensor data sharing messages from detected_objects. Loop will populate sensor data sh...
    Definition: sensor_data_sharing_service.cpp:138
    sensor_data_sharing_service::sds_service::sds_service
    sds_service()=default
    sensor_data_sharing_service::sds_service::map_ptr
    lanelet::LaneletMapPtr map_ptr
    Lanelet2 Map pointer.
    Definition: sensor_data_sharing_service.hpp:74
    sensor_data_sharing_service::sds_service::detection_consumer
    std::shared_ptr< kafka_clients::kafka_consumer_worker > detection_consumer
    Definition: sensor_data_sharing_service.hpp:62
    -
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:185
    +
    sensor_data_sharing_service::sds_service::start
    void start() override
    Method to start all threads included in the tsc_service.
    Definition: sensor_data_sharing_service.cpp:196
    sensor_data_sharing_service::sds_service::map_projector
    std::unique_ptr< lanelet::projection::LocalFrameProjector > map_projector
    WSG84 Map projection.
    Definition: sensor_data_sharing_service.hpp:79
    sensor_data_sharing_service::sds_service::read_lanelet_map
    bool read_lanelet_map(const std::string &filepath)
    Method to read lanelet2 map.
    Definition: sensor_data_sharing_service.cpp:62
    sensor_data_sharing_service::sds_service::FRIEND_TEST
    FRIEND_TEST(sensorDataSharingServiceTest, consumeDetections)
    @@ -208,7 +208,7 @@
    detected_object_to_sdsm_converter.hpp
    kafka_client.h
    sensor_data_sharing_service
    Definition: detected_object_enu_to_ned_converter.hpp:18
    -
    sensor_data_sharing_service::to_position_3d
    streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
    Definition: sensor_data_sharing_service.cpp:194
    +
    sensor_data_sharing_service::to_position_3d
    streets_utils::messages::sdsm::position_3d to_position_3d(const lanelet::GPSPoint &ref_position)
    Definition: sensor_data_sharing_service.cpp:205
    sensor_configuration_parser.hpp
    streets_clock_singleton.h
    streets_configuration.h
    @@ -222,7 +222,7 @@ diff --git a/carma-streets/signal__opt__messages__worker_8cpp.html b/carma-streets/signal__opt__messages__worker_8cpp.html index 4ec75a86266..e0d43d79f77 100644 --- a/carma-streets/signal__opt__messages__worker_8cpp.html +++ b/carma-streets/signal__opt__messages__worker_8cpp.html @@ -163,7 +163,7 @@ diff --git a/carma-streets/signal__opt__messages__worker_8cpp_source.html b/carma-streets/signal__opt__messages__worker_8cpp_source.html index 46ed039429e..5885092e9cf 100644 --- a/carma-streets/signal__opt__messages__worker_8cpp_source.html +++ b/carma-streets/signal__opt__messages__worker_8cpp_source.html @@ -207,7 +207,7 @@ diff --git a/carma-streets/signal__opt__messages__worker_8h.html b/carma-streets/signal__opt__messages__worker_8h.html index d283859b10b..89efaf247b0 100644 --- a/carma-streets/signal__opt__messages__worker_8h.html +++ b/carma-streets/signal__opt__messages__worker_8h.html @@ -196,7 +196,7 @@ diff --git a/carma-streets/signal__opt__messages__worker_8h_source.html b/carma-streets/signal__opt__messages__worker_8h_source.html index d2eca904015..3005d5378df 100644 --- a/carma-streets/signal__opt__messages__worker_8h_source.html +++ b/carma-streets/signal__opt__messages__worker_8h_source.html @@ -141,7 +141,7 @@ diff --git a/carma-streets/signal__opt__processing__worker_8cpp.html b/carma-streets/signal__opt__processing__worker_8cpp.html index cc385d7b4bf..019a13527e9 100644 --- a/carma-streets/signal__opt__processing__worker_8cpp.html +++ b/carma-streets/signal__opt__processing__worker_8cpp.html @@ -180,7 +180,7 @@ diff --git a/carma-streets/signal__opt__processing__worker_8cpp_source.html b/carma-streets/signal__opt__processing__worker_8cpp_source.html index 665f81bce39..754443d3b9a 100644 --- a/carma-streets/signal__opt__processing__worker_8cpp_source.html +++ b/carma-streets/signal__opt__processing__worker_8cpp_source.html @@ -221,7 +221,7 @@ diff --git a/carma-streets/signal__opt__processing__worker_8h.html b/carma-streets/signal__opt__processing__worker_8h.html index 7a37f38a8a6..e5dc4415c99 100644 --- a/carma-streets/signal__opt__processing__worker_8h.html +++ b/carma-streets/signal__opt__processing__worker_8h.html @@ -210,7 +210,7 @@ diff --git a/carma-streets/signal__opt__processing__worker_8h_source.html b/carma-streets/signal__opt__processing__worker_8h_source.html index 23a3a5d1a21..bb8d7f02504 100644 --- a/carma-streets/signal__opt__processing__worker_8h_source.html +++ b/carma-streets/signal__opt__processing__worker_8h_source.html @@ -176,7 +176,7 @@ diff --git a/carma-streets/signal__opt__service_2readme_8md.html b/carma-streets/signal__opt__service_2readme_8md.html index f213dad1396..5867bf9c7bf 100644 --- a/carma-streets/signal__opt__service_2readme_8md.html +++ b/carma-streets/signal__opt__service_2readme_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/signal__opt__service_2src_2main_8cpp.html b/carma-streets/signal__opt__service_2src_2main_8cpp.html index 1abc5a901bd..6b2dca10da6 100644 --- a/carma-streets/signal__opt__service_2src_2main_8cpp.html +++ b/carma-streets/signal__opt__service_2src_2main_8cpp.html @@ -263,7 +263,7 @@

    • signal_opt_service
    • src
    • main.cpp
      • -
    • Generated on Wed Feb 7 2024 13:52:54 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:57 for Carma-streets by doxygen 1.9.4
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b/carma-streets/streets__configuration__exception_8h_source.html index 5032d261c4d..fbca2232378 100644 --- a/carma-streets/streets__configuration__exception_8h_source.html +++ b/carma-streets/streets__configuration__exception_8h_source.html @@ -107,7 +107,7 @@ diff --git a/carma-streets/streets__desired__phase__plan_8cpp.html b/carma-streets/streets__desired__phase__plan_8cpp.html index 789c1ba60da..23d978537f3 100644 --- a/carma-streets/streets__desired__phase__plan_8cpp.html +++ b/carma-streets/streets__desired__phase__plan_8cpp.html @@ -121,7 +121,7 @@ diff --git a/carma-streets/streets__desired__phase__plan_8cpp_source.html b/carma-streets/streets__desired__phase__plan_8cpp_source.html index bc0ee540084..f7b17723ba7 100644 --- a/carma-streets/streets__desired__phase__plan_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan_8cpp_source.html @@ -205,7 +205,7 @@ diff --git a/carma-streets/streets__desired__phase__plan_8h.html b/carma-streets/streets__desired__phase__plan_8h.html index c95c31068cc..d784d999d3c 100644 --- a/carma-streets/streets__desired__phase__plan_8h.html +++ b/carma-streets/streets__desired__phase__plan_8h.html @@ -176,7 +176,7 @@ diff --git a/carma-streets/streets__desired__phase__plan_8h_source.html b/carma-streets/streets__desired__phase__plan_8h_source.html index 698a4df77a0..164e441e959 100644 --- a/carma-streets/streets__desired__phase__plan_8h_source.html +++ b/carma-streets/streets__desired__phase__plan_8h_source.html @@ -135,7 +135,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator_8cpp.html b/carma-streets/streets__desired__phase__plan__arbitrator_8cpp.html index a829c1993d1..ae5fc2dc42a 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator_8cpp.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator_8cpp.html @@ -164,7 +164,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator_8cpp_source.html b/carma-streets/streets__desired__phase__plan__arbitrator_8cpp_source.html index 2d1364e9442..57f3db8a708 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator_8cpp_source.html @@ -309,7 +309,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator_8h.html b/carma-streets/streets__desired__phase__plan__arbitrator_8h.html index 1ea34530736..22238f1ddb1 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator_8h.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator_8h.html @@ -192,7 +192,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator_8h_source.html b/carma-streets/streets__desired__phase__plan__arbitrator_8h_source.html index d09c42ecb95..64eed91e578 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator_8h_source.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator_8h_source.html @@ -170,7 +170,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp.html b/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp.html index 1d1aaf2466b..d05c1d722e6 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp_source.html b/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp_source.html index a6aec4f91f6..c3b4e730028 100644 --- a/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan__arbitrator__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__arbitrator__exception_8h.html b/carma-streets/streets__desired__phase__plan__arbitrator__exception_8h.html index 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a/carma-streets/streets__desired__phase__plan__exception_8cpp_source.html b/carma-streets/streets__desired__phase__plan__exception_8cpp_source.html index b63839dc98e..4ca0759f522 100644 --- a/carma-streets/streets__desired__phase__plan__exception_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__exception_8h.html b/carma-streets/streets__desired__phase__plan__exception_8h.html index f8e5b298707..4fd1c05e991 100644 --- a/carma-streets/streets__desired__phase__plan__exception_8h.html +++ b/carma-streets/streets__desired__phase__plan__exception_8h.html @@ -161,7 +161,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__exception_8h_source.html b/carma-streets/streets__desired__phase__plan__exception_8h_source.html index b1bd666930e..b23e5575ccd 100644 --- a/carma-streets/streets__desired__phase__plan__exception_8h_source.html +++ b/carma-streets/streets__desired__phase__plan__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator_8cpp.html b/carma-streets/streets__desired__phase__plan__generator_8cpp.html index 134c7c8168d..bd8c128032b 100644 --- a/carma-streets/streets__desired__phase__plan__generator_8cpp.html +++ b/carma-streets/streets__desired__phase__plan__generator_8cpp.html @@ -177,7 +177,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator_8cpp_source.html b/carma-streets/streets__desired__phase__plan__generator_8cpp_source.html index f3198b535ac..8c482966336 100644 --- a/carma-streets/streets__desired__phase__plan__generator_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan__generator_8cpp_source.html @@ -721,7 +721,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator_8h.html b/carma-streets/streets__desired__phase__plan__generator_8h.html index fa975ea6d23..463666c5929 100644 --- a/carma-streets/streets__desired__phase__plan__generator_8h.html +++ b/carma-streets/streets__desired__phase__plan__generator_8h.html @@ -212,7 +212,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator_8h_source.html b/carma-streets/streets__desired__phase__plan__generator_8h_source.html index 8bd39e79443..314b198592f 100644 --- a/carma-streets/streets__desired__phase__plan__generator_8h_source.html +++ b/carma-streets/streets__desired__phase__plan__generator_8h_source.html @@ -289,7 +289,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__configuration_8h.html b/carma-streets/streets__desired__phase__plan__generator__configuration_8h.html index aebe689b71f..aad7879cc21 100644 --- a/carma-streets/streets__desired__phase__plan__generator__configuration_8h.html +++ b/carma-streets/streets__desired__phase__plan__generator__configuration_8h.html @@ -133,7 +133,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__configuration_8h_source.html b/carma-streets/streets__desired__phase__plan__generator__configuration_8h_source.html index 63fa5ea4116..f5138cfcaef 100644 --- a/carma-streets/streets__desired__phase__plan__generator__configuration_8h_source.html +++ b/carma-streets/streets__desired__phase__plan__generator__configuration_8h_source.html @@ -132,7 +132,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__exception_8cpp.html b/carma-streets/streets__desired__phase__plan__generator__exception_8cpp.html index d40c906d0c5..688a272c830 100644 --- a/carma-streets/streets__desired__phase__plan__generator__exception_8cpp.html +++ b/carma-streets/streets__desired__phase__plan__generator__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__exception_8cpp_source.html b/carma-streets/streets__desired__phase__plan__generator__exception_8cpp_source.html index 33c7be672e1..843ed2bbddb 100644 --- a/carma-streets/streets__desired__phase__plan__generator__exception_8cpp_source.html +++ b/carma-streets/streets__desired__phase__plan__generator__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__exception_8h.html b/carma-streets/streets__desired__phase__plan__generator__exception_8h.html index d51b7cca097..7662a2d3bb1 100644 --- a/carma-streets/streets__desired__phase__plan__generator__exception_8h.html +++ b/carma-streets/streets__desired__phase__plan__generator__exception_8h.html @@ -135,7 +135,7 @@ diff --git a/carma-streets/streets__desired__phase__plan__generator__exception_8h_source.html b/carma-streets/streets__desired__phase__plan__generator__exception_8h_source.html index 28a8c3b763e..5f32b2a80f2 100644 --- a/carma-streets/streets__desired__phase__plan__generator__exception_8h_source.html +++ b/carma-streets/streets__desired__phase__plan__generator__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/streets__environment__variables_8h.html b/carma-streets/streets__environment__variables_8h.html index 051dc615dab..fdca5a58123 100644 --- a/carma-streets/streets__environment__variables_8h.html +++ b/carma-streets/streets__environment__variables_8h.html @@ -148,7 +148,7 @@ diff --git a/carma-streets/streets__environment__variables_8h_source.html b/carma-streets/streets__environment__variables_8h_source.html index 7e84bffdea9..a142897e524 100644 --- a/carma-streets/streets__environment__variables_8h_source.html +++ b/carma-streets/streets__environment__variables_8h_source.html @@ -125,7 +125,7 @@ diff --git a/carma-streets/streets__phase__control__command_8cpp.html b/carma-streets/streets__phase__control__command_8cpp.html index e1406cb09ae..d4c9b7b4589 100644 --- a/carma-streets/streets__phase__control__command_8cpp.html +++ b/carma-streets/streets__phase__control__command_8cpp.html @@ -126,7 +126,7 @@ diff --git a/carma-streets/streets__phase__control__command_8cpp_source.html b/carma-streets/streets__phase__control__command_8cpp_source.html index 1badfc13edb..d028dbbb9c6 100644 --- a/carma-streets/streets__phase__control__command_8cpp_source.html +++ b/carma-streets/streets__phase__control__command_8cpp_source.html @@ -213,7 +213,7 @@ diff --git a/carma-streets/streets__phase__control__command_8h.html b/carma-streets/streets__phase__control__command_8h.html index 6c3375b3823..a71c1b9d144 100644 --- a/carma-streets/streets__phase__control__command_8h.html +++ b/carma-streets/streets__phase__control__command_8h.html @@ -162,7 +162,7 @@ diff --git a/carma-streets/streets__phase__control__command_8h_source.html b/carma-streets/streets__phase__control__command_8h_source.html index e3c8806eec1..d2a329b2f8a 100644 --- a/carma-streets/streets__phase__control__command_8h_source.html +++ b/carma-streets/streets__phase__control__command_8h_source.html @@ -150,7 +150,7 @@ diff --git a/carma-streets/streets__phase__control__schedule_8cpp.html b/carma-streets/streets__phase__control__schedule_8cpp.html index 41fb3c9d849..7b6cc564f4e 100644 --- a/carma-streets/streets__phase__control__schedule_8cpp.html +++ b/carma-streets/streets__phase__control__schedule_8cpp.html @@ -134,7 +134,7 @@ diff --git a/carma-streets/streets__phase__control__schedule_8cpp_source.html b/carma-streets/streets__phase__control__schedule_8cpp_source.html index 2cdc2079db9..93c7fbaf691 100644 --- a/carma-streets/streets__phase__control__schedule_8cpp_source.html +++ b/carma-streets/streets__phase__control__schedule_8cpp_source.html @@ -206,7 +206,7 @@ diff --git a/carma-streets/streets__phase__control__schedule_8h.html b/carma-streets/streets__phase__control__schedule_8h.html index e84de7dd862..d1b87883386 100644 --- a/carma-streets/streets__phase__control__schedule_8h.html +++ b/carma-streets/streets__phase__control__schedule_8h.html @@ -156,7 +156,7 @@ diff --git a/carma-streets/streets__phase__control__schedule_8h_source.html b/carma-streets/streets__phase__control__schedule_8h_source.html index 6645a42fb42..768c6e9872e 100644 --- a/carma-streets/streets__phase__control__schedule_8h_source.html +++ b/carma-streets/streets__phase__control__schedule_8h_source.html @@ -131,7 +131,7 @@ diff --git a/carma-streets/streets__phase__control__schedule__exception_8cpp.html b/carma-streets/streets__phase__control__schedule__exception_8cpp.html index 12e3384b1ac..874f941b356 100644 --- a/carma-streets/streets__phase__control__schedule__exception_8cpp.html +++ b/carma-streets/streets__phase__control__schedule__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/streets__phase__control__schedule__exception_8cpp_source.html b/carma-streets/streets__phase__control__schedule__exception_8cpp_source.html index 71f7811de0e..f30d9b27e12 100644 --- a/carma-streets/streets__phase__control__schedule__exception_8cpp_source.html +++ b/carma-streets/streets__phase__control__schedule__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/streets__phase__control__schedule__exception_8h.html b/carma-streets/streets__phase__control__schedule__exception_8h.html index 2844106de34..2af000d6a55 100644 --- a/carma-streets/streets__phase__control__schedule__exception_8h.html +++ b/carma-streets/streets__phase__control__schedule__exception_8h.html @@ -138,7 +138,7 @@ diff --git a/carma-streets/streets__phase__control__schedule__exception_8h_source.html b/carma-streets/streets__phase__control__schedule__exception_8h_source.html index b5303d0fed7..804448ea12c 100644 --- a/carma-streets/streets__phase__control__schedule__exception_8h_source.html +++ b/carma-streets/streets__phase__control__schedule__exception_8h_source.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/streets__service_8cpp.html b/carma-streets/streets__service_8cpp.html index 99e4088af94..04288bb320b 100644 --- a/carma-streets/streets__service_8cpp.html +++ b/carma-streets/streets__service_8cpp.html @@ -89,13 +89,15 @@
    #include "streets_service.h"
    +#include <chrono>
    Include dependency graph for streets_service.cpp:
    - + + @@ -151,7 +153,7 @@ diff --git a/carma-streets/streets__service_8cpp__incl.map b/carma-streets/streets__service_8cpp__incl.map index 22e05948a0b..0238e6f12d0 100644 --- a/carma-streets/streets__service_8cpp__incl.map +++ b/carma-streets/streets__service_8cpp__incl.map @@ -1,6 +1,7 @@ - + + diff --git a/carma-streets/streets__service_8cpp__incl.md5 b/carma-streets/streets__service_8cpp__incl.md5 index 1a1c5a5514b..86bbb6a256a 100644 --- a/carma-streets/streets__service_8cpp__incl.md5 +++ b/carma-streets/streets__service_8cpp__incl.md5 @@ -1 +1 @@ -0c8c4ec005af769e82cedf0c81d217ac \ No newline at end of file +d518d4fc5f477fdb3ca3e790856ca9e8 \ No newline at end of file diff --git a/carma-streets/streets__service_8cpp__incl.png b/carma-streets/streets__service_8cpp__incl.png index 527953d0be0..bc4dad2b478 100644 Binary files a/carma-streets/streets__service_8cpp__incl.png and b/carma-streets/streets__service_8cpp__incl.png differ diff --git a/carma-streets/streets__service_8cpp_source.html b/carma-streets/streets__service_8cpp_source.html index 2fe64ef0937..f2e86113096 100644 --- a/carma-streets/streets__service_8cpp_source.html +++ b/carma-streets/streets__service_8cpp_source.html @@ -87,154 +87,166 @@
    Go to the documentation of this file.
    1#include "streets_service.h"
    -
    2
    -
    3namespace streets_service {
    -
    4
    -
    5 streets_service::~streets_service() {
    -
    6 SPDLOG_INFO("Destructor called for streets service {0}!", _service_name);
    -
    7 if ( _time_consumer ) {
    -
    8 _time_consumer->stop();
    -
    9 }
    -
    10 }
    -
    11
    -
    12 bool streets_service::initialize() {
    -
    13 try {
    -
    14 std::string config_file_path = get_system_config(CONFIG_FILE_PATH_ENV.c_str(), DEFAULT_CONFIG_FILE_PATH);
    -
    15 streets_configuration::create(config_file_path);
    -
    16 std::string sim_mode_string = get_system_config(SIMULATION_MODE_ENV.c_str(),DEFAULT_SIMULATION_MODE);
    -
    17 _simulation_mode = sim_mode_string.compare("true") == 0 || sim_mode_string.compare("TRUE") == 0 ;
    -
    18 streets_clock_singleton::create(_simulation_mode);
    -
    19 _service_name = streets_configuration::get_service_name();
    -
    20 SPDLOG_INFO("Initializing {0} streets service in simulation mode : {1}!", _service_name, _simulation_mode);
    -
    21 if ( _simulation_mode ) {
    -
    22 std::string time_sync_topic = get_system_config(TIME_SYNC_TOPIC_ENV.c_str(), DEFAULT_TIME_SYNC_TOPIC);
    -
    23 if (!initialize_kafka_consumer(time_sync_topic, _time_consumer)){
    -
    24 return false;
    -
    25 }
    -
    26 }
    -
    27 _logs_directory = get_system_config(LOGS_DIRECTORY_ENV.c_str(), DEFAULT_LOGS_DIRECTORY);
    -
    28 } catch( const streets_configuration_exception &e) {
    -
    29 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
    -
    30 return false;
    -
    31 }
    -
    32 catch ( const std::runtime_error &e ) {
    -
    33 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
    -
    34 return false;
    -
    35 }
    -
    36 return true;
    -
    37
    -
    38 }
    -
    39
    -
    40 std::shared_ptr<spdlog::logger> streets_service::create_daily_logger(const std::string &name, const std::string &extension,
    -
    41 const std::string &pattern, const spdlog::level::level_enum &level) const
    -
    42 {
    -
    43 auto logger = spdlog::daily_logger_mt<spdlog::async_factory>(
    -
    44 name, // logger name
    -
    45 _logs_directory +name + extension, // log file name and path
    -
    46 23, // hours to rotate
    -
    47 59 // minutes to rotate
    -
    48 );
    -
    49 // Only log log statement content
    -
    50 logger->set_pattern(pattern);
    -
    51 logger->set_level(level);
    -
    52 logger->flush_on(level);
    -
    53 return logger;
    -
    54 }
    -
    55 bool streets_service::initialize_kafka_producer( const std::string &producer_topic, std::shared_ptr<kafka_clients::kafka_producer_worker> &producer ) {
    -
    56
    -
    57 if ( !_kafka_client ) {
    -
    58 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
    -
    59 }
    -
    60 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
    -
    61
    -
    62 producer = _kafka_client->create_producer(bootstrap_server, producer_topic);
    -
    63 if (!producer->init())
    -
    64 {
    -
    65 SPDLOG_CRITICAL("Kafka producer initialize error on topic {0}", producer_topic);
    -
    66 return false;
    -
    67 }
    -
    68 SPDLOG_DEBUG("Initialized Kafka producer on topic {0}!", producer_topic);
    -
    69 return true;
    -
    70 }
    -
    71
    -
    72 bool streets_service::initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr<kafka_clients::kafka_consumer_worker> &kafka_consumer ){
    -
    73 if ( !_kafka_client ) {
    -
    74 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
    -
    75 }
    -
    76 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
    -
    77 kafka_consumer = _kafka_client->create_consumer(bootstrap_server, consumer_topic, _service_name);
    -
    78 if (!kafka_consumer->init())
    -
    79 {
    -
    80 SPDLOG_CRITICAL("Kafka initialize error");
    -
    81 return false;
    -
    82 }
    -
    83 SPDLOG_DEBUG("Initialized Kafka consumer!");
    -
    84 return true;
    -
    85 }
    -
    86
    -
    87 void streets_service::consume_time_sync_message() const {
    -
    88 _time_consumer->subscribe();
    -
    89 while (_time_consumer->is_running())
    -
    90 {
    -
    91 const std::string payload = _time_consumer->consume(1000);
    -
    92 if (payload.length() != 0)
    -
    93 {
    -
    94 try {
    -
    95 SPDLOG_DEBUG("Consumed: {0}", payload);
    -
    96 simulation::time_sync_message msg;
    -
    97 msg.fromJson(payload);
    -
    98 streets_clock_singleton::update(msg.timestep);
    -
    99 }
    -
    100 catch( const std::runtime_error &e) {
    -
    101 SPDLOG_WARN( "{0} exception occured will consuming {1} msg! Skipping message!", e.what(), payload);
    -
    102 }
    -
    103
    -
    104 }
    -
    105
    -
    106 }
    -
    107 }
    -
    108
    -
    109
    -
    110 void streets_service::start() {
    -
    111 if ( _simulation_mode ) {
    -
    112 std::thread time_sync_thread(&streets_service::consume_time_sync_message, this);
    -
    113 time_sync_thread.detach();
    -
    114 }
    -
    115 }
    +
    2#include <chrono>
    +
    3
    +
    4namespace streets_service {
    +
    5
    +
    6 streets_service::~streets_service() {
    +
    7 SPDLOG_INFO("Destructor called for streets service {0}!", _service_name);
    +
    8 if ( _time_consumer ) {
    +
    9 _time_consumer->stop();
    +
    10 }
    +
    11 }
    +
    12
    +
    13 bool streets_service::initialize() {
    +
    14 try {
    +
    15 std::string config_file_path = get_system_config(CONFIG_FILE_PATH_ENV.c_str(), DEFAULT_CONFIG_FILE_PATH);
    +
    16 streets_configuration::create(config_file_path);
    +
    17 std::string sim_mode_string = get_system_config(SIMULATION_MODE_ENV.c_str(),DEFAULT_SIMULATION_MODE);
    +
    18 _simulation_mode = sim_mode_string.compare("true") == 0 || sim_mode_string.compare("TRUE") == 0 ;
    +
    19 streets_clock_singleton::create(_simulation_mode);
    +
    20 _service_name = streets_configuration::get_service_name();
    +
    21 SPDLOG_INFO("Initializing {0} streets service in simulation mode : {1}!", _service_name, _simulation_mode);
    +
    22 if ( _simulation_mode ) {
    +
    23 std::string time_sync_topic = get_system_config(TIME_SYNC_TOPIC_ENV.c_str(), DEFAULT_TIME_SYNC_TOPIC);
    +
    24 if (!initialize_kafka_consumer(time_sync_topic, _time_consumer)){
    +
    25 return false;
    +
    26 }
    +
    27 }
    +
    28 _logs_directory = get_system_config(LOGS_DIRECTORY_ENV.c_str(), DEFAULT_LOGS_DIRECTORY);
    +
    29 } catch( const streets_configuration_exception &e) {
    +
    30 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
    +
    31 return false;
    +
    32 }
    +
    33 catch ( const std::runtime_error &e ) {
    +
    34 SPDLOG_ERROR("Exception occured during {0} initialization : {1}" , _service_name , e.what());
    +
    35 return false;
    +
    36 }
    +
    37 return true;
    +
    38
    +
    39 }
    +
    40
    +
    41 std::shared_ptr<spdlog::logger> streets_service::create_daily_logger(const std::string &name, const std::string &extension,
    +
    42 const std::string &pattern, const spdlog::level::level_enum &level) const
    +
    43 {
    +
    44 auto logger = spdlog::daily_logger_mt<spdlog::async_factory>(
    +
    45 name, // logger name
    +
    46 _logs_directory +name + extension, // log file name and path
    +
    47 23, // hours to rotate
    +
    48 59 // minutes to rotate
    +
    49 );
    +
    50 // Only log log statement content
    +
    51 logger->set_pattern(pattern);
    +
    52 logger->set_level(level);
    +
    53 logger->flush_on(level);
    +
    54 return logger;
    +
    55 }
    +
    56 bool streets_service::initialize_kafka_producer( const std::string &producer_topic, std::shared_ptr<kafka_clients::kafka_producer_worker> &producer ) {
    +
    57
    +
    58 if ( !_kafka_client ) {
    +
    59 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
    +
    60 }
    +
    61 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
    +
    62
    +
    63 producer = _kafka_client->create_producer(bootstrap_server, producer_topic);
    +
    64 if (!producer->init())
    +
    65 {
    +
    66 SPDLOG_CRITICAL("Kafka producer initialize error on topic {0}", producer_topic);
    +
    67 return false;
    +
    68 }
    +
    69 SPDLOG_DEBUG("Initialized Kafka producer on topic {0}!", producer_topic);
    +
    70 return true;
    +
    71 }
    +
    72
    +
    73 bool streets_service::initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr<kafka_clients::kafka_consumer_worker> &kafka_consumer ){
    +
    74 if ( !_kafka_client ) {
    +
    75 _kafka_client = std::make_unique<kafka_clients::kafka_client>();
    +
    76 }
    +
    77 std::string bootstrap_server = streets_configuration::get_string_config("bootstrap_server");
    +
    78 kafka_consumer = _kafka_client->create_consumer(bootstrap_server, consumer_topic, _service_name);
    +
    79 if (!kafka_consumer->init())
    +
    80 {
    +
    81 SPDLOG_CRITICAL("Kafka initialize error");
    +
    82 return false;
    +
    83 }
    +
    84 SPDLOG_DEBUG("Initialized Kafka consumer!");
    +
    85 return true;
    +
    86 }
    +
    87
    +
    88 void streets_service::consume_time_sync_message() const {
    +
    89 _time_consumer->subscribe();
    +
    90 while (_time_consumer->is_running())
    +
    91 {
    +
    92 const std::string payload = _time_consumer->consume(1000);
    +
    93 if (payload.length() != 0)
    +
    94 {
    +
    95 try {
    +
    96 SPDLOG_DEBUG("Consumed: {0}", payload);
    +
    97 simulation::time_sync_message msg;
    +
    98 msg.fromJson(payload);
    +
    99 streets_clock_singleton::update(msg.timestep);
    +
    100 // A script to validate time synchronization of tools in CDASim currently relies on the following
    +
    101 // log line. TODO: This line is meant to be removed in the future upon completion of this work:
    +
    102 // https://github.com/usdot-fhwa-stol/carma-analytics-fotda/pull/43
    +
    103 if (spdlog::get_level() == spdlog::level::debug)
    +
    104 {
    +
    105 auto time_now = std::chrono::system_clock::now();
    +
    106 auto epoch = time_now.time_since_epoch();
    +
    107 auto milliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(epoch);
    +
    108 SPDLOG_DEBUG("Simulation Time: {0} where current system time is: {1}", msg.timestep, milliseconds.count());
    +
    109 }
    +
    110 }
    +
    111 catch( const std::runtime_error &e) {
    +
    112 SPDLOG_WARN( "{0} exception occured will consuming {1} msg! Skipping message!", e.what(), payload);
    +
    113 }
    +
    114
    +
    115 }
    116
    -
    117 std::string streets_service::get_system_config(const char *config_name, const std::string &default_val) const noexcept{
    -
    118 // Check for config_name nullptr and use default value
    -
    119 if (config_name == nullptr ) {
    -
    120 SPDLOG_WARN("System config_name was nullptr! Using default value {0}!" , default_val);
    -
    121 return default_val;
    -
    122 }
    -
    123 // If std::getenv(config_name) returns value, use this value
    -
    124 if (const auto config = std::getenv(config_name)) {
    -
    125 SPDLOG_DEBUG("Reading system config {0} as : {1}!", config_name, config);
    -
    126 return config;
    -
    127 }
    -
    128 // If std::getenv(config_name) returns nullptr, environment variable was not set so use default
    -
    129 else {
    -
    130 SPDLOG_WARN("System config {0} was not set! Using default value {1}!" ,config_name, default_val);
    -
    131 return default_val;
    -
    132 }
    -
    133 }
    -
    134
    -
    135 std::string streets_service::get_service_name() const {
    -
    136 return _service_name;
    -
    137 }
    -
    138
    -
    139 bool streets_service::is_simulation_mode() const {
    -
    140 return _simulation_mode;
    -
    141 }
    -
    142
    -
    143}
    +
    117 }
    +
    118 }
    +
    119
    +
    120
    +
    121 void streets_service::start() {
    +
    122 if ( _simulation_mode ) {
    +
    123 std::thread time_sync_thread(&streets_service::consume_time_sync_message, this);
    +
    124 time_sync_thread.detach();
    +
    125 }
    +
    126 }
    +
    127
    +
    128 std::string streets_service::get_system_config(const char *config_name, const std::string &default_val) const noexcept{
    +
    129 // Check for config_name nullptr and use default value
    +
    130 if (config_name == nullptr ) {
    +
    131 SPDLOG_WARN("System config_name was nullptr! Using default value {0}!" , default_val);
    +
    132 return default_val;
    +
    133 }
    +
    134 // If std::getenv(config_name) returns value, use this value
    +
    135 if (const auto config = std::getenv(config_name)) {
    +
    136 SPDLOG_DEBUG("Reading system config {0} as : {1}!", config_name, config);
    +
    137 return config;
    +
    138 }
    +
    139 // If std::getenv(config_name) returns nullptr, environment variable was not set so use default
    +
    140 else {
    +
    141 SPDLOG_WARN("System config {0} was not set! Using default value {1}!" ,config_name, default_val);
    +
    142 return default_val;
    +
    143 }
    +
    144 }
    +
    145
    +
    146 std::string streets_service::get_service_name() const {
    +
    147 return _service_name;
    +
    148 }
    +
    149
    +
    150 bool streets_service::is_simulation_mode() const {
    +
    151 return _simulation_mode;
    +
    152 }
    +
    153
    +
    154}
    streets_service::streets_clock_singleton::update
    static void update(uint64_t time)
    Static access to the CarmaClock update method (see https://github.com/usdot-fhwa-stol/carma-time-lib)...
    Definition: streets_clock_singleton.cpp:5
    streets_service::streets_configuration_exception
    Streets Configuration Exception thrown when manifest.json configuration files are incorrectly formatt...
    Definition: streets_configuration_exception.h:11
    streets_service::streets_configuration::get_string_config
    static std::string get_string_config(const std::string &config_param_name)
    Retreive configuration parameter string value with provided name.
    Definition: streets_configuration.cpp:104
    streets_service::streets_configuration::get_service_name
    static std::string get_service_name()
    Definition: streets_configuration.cpp:165
    streets_service::streets_singleton< streets_configuration, std::string >::create
    static streets_configuration & create(Args...args)
    Method to intialize streets_singleton with constructor params ...Args of templated class.
    simulate_bsm.producer
    producer
    Definition: simulate_bsm.py:16
    +
    simulate_detected_object.epoch
    epoch
    Definition: simulate_detected_object.py:19
    simulate_timestep.start
    int start
    Definition: simulate_timestep.py:15
    streets_service
    Definition: streets_clock_singleton.h:5
    streets_service::DEFAULT_CONFIG_FILE_PATH
    const std::string DEFAULT_CONFIG_FILE_PATH
    Definition: streets_environment_variables.h:17
    @@ -255,7 +267,7 @@ diff --git a/carma-streets/streets__service_8h.html b/carma-streets/streets__service_8h.html index 29e4098c3aa..6d3823e5fb7 100644 --- a/carma-streets/streets__service_8h.html +++ b/carma-streets/streets__service_8h.html @@ -177,7 +177,7 @@ diff --git a/carma-streets/streets__service_8h_source.html b/carma-streets/streets__service_8h_source.html index c2cf07d271b..ae78b5e6cde 100644 --- a/carma-streets/streets__service_8h_source.html +++ b/carma-streets/streets__service_8h_source.html @@ -191,7 +191,7 @@ diff --git a/carma-streets/streets__service__base_2README_8md.html b/carma-streets/streets__service__base_2README_8md.html index fa37f9b312e..76c4beff154 100644 --- a/carma-streets/streets__service__base_2README_8md.html +++ b/carma-streets/streets__service__base_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__service__base__lanelet__aware_2README_8md.html b/carma-streets/streets__service__base__lanelet__aware_2README_8md.html index 0c78c013640..fca8392cd50 100644 --- a/carma-streets/streets__service__base__lanelet__aware_2README_8md.html +++ b/carma-streets/streets__service__base__lanelet__aware_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__singleton_8h.html b/carma-streets/streets__singleton_8h.html index 4169186027c..a67c6aa81f1 100644 --- a/carma-streets/streets__singleton_8h.html +++ b/carma-streets/streets__singleton_8h.html @@ -185,7 +185,7 @@ diff --git a/carma-streets/streets__singleton_8h_source.html b/carma-streets/streets__singleton_8h_source.html index 36c3d6e9446..79652de8f18 100644 --- a/carma-streets/streets__singleton_8h_source.html +++ b/carma-streets/streets__singleton_8h_source.html @@ -140,7 +140,7 @@ diff --git a/carma-streets/streets__singleton__exception_8cpp.html b/carma-streets/streets__singleton__exception_8cpp.html index c25593a9c4d..3202b35025c 100644 --- a/carma-streets/streets__singleton__exception_8cpp.html +++ b/carma-streets/streets__singleton__exception_8cpp.html @@ -113,7 +113,7 @@ diff --git a/carma-streets/streets__singleton__exception_8cpp_source.html b/carma-streets/streets__singleton__exception_8cpp_source.html index d7bc7aa146d..f4290706a67 100644 --- a/carma-streets/streets__singleton__exception_8cpp_source.html +++ b/carma-streets/streets__singleton__exception_8cpp_source.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/streets__singleton__exception_8h.html b/carma-streets/streets__singleton__exception_8h.html index 1f5124d4c62..b2e4bc99477 100644 --- a/carma-streets/streets__singleton__exception_8h.html +++ b/carma-streets/streets__singleton__exception_8h.html @@ -181,7 +181,7 @@ diff --git a/carma-streets/streets__singleton__exception_8h_source.html b/carma-streets/streets__singleton__exception_8h_source.html index 2d6e1cd87f8..7bdf51be829 100644 --- a/carma-streets/streets__singleton__exception_8h_source.html +++ b/carma-streets/streets__singleton__exception_8h_source.html @@ -107,7 +107,7 @@ diff --git a/carma-streets/streets__snmp__cmd_8cpp.html b/carma-streets/streets__snmp__cmd_8cpp.html index 8090fd3df01..fdb97d5fa8d 100644 --- a/carma-streets/streets__snmp__cmd_8cpp.html +++ b/carma-streets/streets__snmp__cmd_8cpp.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/streets__snmp__cmd_8cpp_source.html b/carma-streets/streets__snmp__cmd_8cpp_source.html index 8520b6bdcd2..765df33eeb9 100644 --- a/carma-streets/streets__snmp__cmd_8cpp_source.html +++ b/carma-streets/streets__snmp__cmd_8cpp_source.html @@ -145,7 +145,7 @@ diff --git a/carma-streets/streets__snmp__cmd_8h.html b/carma-streets/streets__snmp__cmd_8h.html index 9666197ce82..9accb4aefe6 100644 --- a/carma-streets/streets__snmp__cmd_8h.html +++ b/carma-streets/streets__snmp__cmd_8h.html @@ -175,7 +175,7 @@ diff --git a/carma-streets/streets__snmp__cmd_8h_source.html b/carma-streets/streets__snmp__cmd_8h_source.html index f45a7ef9202..150cb600539 100644 --- 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b/carma-streets/streets__utils_2streets__messages_2README_8md.html index 98f8b34e6aa..9d7e5dad2e6 100644 --- a/carma-streets/streets__utils_2streets__messages_2README_8md.html +++ b/carma-streets/streets__utils_2streets__messages_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__phase__control__schedule_2README_8md.html b/carma-streets/streets__utils_2streets__phase__control__schedule_2README_8md.html index 2f060113c39..c6d7447cf61 100644 --- a/carma-streets/streets__utils_2streets__phase__control__schedule_2README_8md.html +++ b/carma-streets/streets__utils_2streets__phase__control__schedule_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__service__base_2README_8md.html b/carma-streets/streets__utils_2streets__service__base_2README_8md.html index 12adf111e50..b0070e83de8 100644 --- a/carma-streets/streets__utils_2streets__service__base_2README_8md.html +++ b/carma-streets/streets__utils_2streets__service__base_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__service__configuration_2README_8md.html b/carma-streets/streets__utils_2streets__service__configuration_2README_8md.html index b353c822319..862d7b13299 100644 --- a/carma-streets/streets__utils_2streets__service__configuration_2README_8md.html +++ b/carma-streets/streets__utils_2streets__service__configuration_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__signal__optimization_2README_8md.html b/carma-streets/streets__utils_2streets__signal__optimization_2README_8md.html index 5e7861b7e6b..25c4d491c26 100644 --- a/carma-streets/streets__utils_2streets__signal__optimization_2README_8md.html +++ b/carma-streets/streets__utils_2streets__signal__optimization_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__signal__phase__and__timing_2README_8md.html b/carma-streets/streets__utils_2streets__signal__phase__and__timing_2README_8md.html index ba723a9909c..f3e06a2d555 100644 --- a/carma-streets/streets__utils_2streets__signal__phase__and__timing_2README_8md.html +++ b/carma-streets/streets__utils_2streets__signal__phase__and__timing_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__snmp__cmd_2README_8md.html b/carma-streets/streets__utils_2streets__snmp__cmd_2README_8md.html index c9ef2caf75e..22f0d82fccf 100644 --- a/carma-streets/streets__utils_2streets__snmp__cmd_2README_8md.html +++ b/carma-streets/streets__utils_2streets__snmp__cmd_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__timing__plan_2README_8md.html b/carma-streets/streets__utils_2streets__timing__plan_2README_8md.html index 86951db81c1..ed065b59023 100644 --- a/carma-streets/streets__utils_2streets__timing__plan_2README_8md.html +++ b/carma-streets/streets__utils_2streets__timing__plan_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__tsc__configuration_2README_8md.html b/carma-streets/streets__utils_2streets__tsc__configuration_2README_8md.html index 1313ce0583b..526eeb9c207 100644 --- a/carma-streets/streets__utils_2streets__tsc__configuration_2README_8md.html +++ b/carma-streets/streets__utils_2streets__tsc__configuration_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__vehicle__list_2README_8md.html b/carma-streets/streets__utils_2streets__vehicle__list_2README_8md.html index d7545446ac1..1108c3f7461 100644 --- a/carma-streets/streets__utils_2streets__vehicle__list_2README_8md.html +++ b/carma-streets/streets__utils_2streets__vehicle__list_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/streets__utils_2streets__vehicle__scheduler_2README_8md.html b/carma-streets/streets__utils_2streets__vehicle__scheduler_2README_8md.html index 93d786d571b..0a732243b01 100644 --- a/carma-streets/streets__utils_2streets__vehicle__scheduler_2README_8md.html +++ b/carma-streets/streets__utils_2streets__vehicle__scheduler_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/structConfiguration.html b/carma-streets/structConfiguration.html index 321893cc632..5a2f8bf5532 100644 --- a/carma-streets/structConfiguration.html +++ b/carma-streets/structConfiguration.html @@ -105,7 +105,7 @@ diff --git a/carma-streets/structOpenAPI_1_1OAISerializerSettings_1_1CustomDateTimeFormat-members.html b/carma-streets/structOpenAPI_1_1OAISerializerSettings_1_1CustomDateTimeFormat-members.html index cc032758c7a..99758932132 100644 --- a/carma-streets/structOpenAPI_1_1OAISerializerSettings_1_1CustomDateTimeFormat-members.html +++ b/carma-streets/structOpenAPI_1_1OAISerializerSettings_1_1CustomDateTimeFormat-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structOpenAPI_1_1OAISerializerSettings_1_1CustomDateTimeFormat.html 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    • intersection_model
    • lanelet_info_t
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4

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    • intersection_model
    • map_connection
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
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    • intersection_model
    • map_geometry
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
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    • intersection_model
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      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
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    • intersection_model
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      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:58 for Carma-streets by doxygen 1.9.4
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    • intersection_model
    • map_node
      • -
    • Generated on Wed Feb 7 2024 13:52:55 for Carma-streets by doxygen 1.9.4
      • +
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    diff --git a/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule-members.html b/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule-members.html index cf35054239f..23abfbc62f5 100644 --- a/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule-members.html +++ b/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule-members.html @@ -99,7 +99,7 @@ diff --git a/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule.html b/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule.html index afab1ee20e2..85af45a2db0 100644 --- a/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule.html +++ b/carma-streets/structstreets__phase__control__schedule_1_1streets__phase__control__schedule.html @@ -369,7 +369,7 @@

    diff --git a/carma-streets/structstreets__service_1_1configuration-members.html b/carma-streets/structstreets__service_1_1configuration-members.html index 3e6b0d9a887..d0cbf9b6017 100644 --- a/carma-streets/structstreets__service_1_1configuration-members.html +++ b/carma-streets/structstreets__service_1_1configuration-members.html @@ -101,7 +101,7 @@ diff --git a/carma-streets/structstreets__service_1_1configuration.html b/carma-streets/structstreets__service_1_1configuration.html index d2cb936d87a..ca17f420fe1 100644 --- a/carma-streets/structstreets__service_1_1configuration.html +++ b/carma-streets/structstreets__service_1_1configuration.html @@ -405,7 +405,7 @@

    • streets_service
    • configuration
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message-members.html b/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message-members.html index d4894aa0733..897564c6afb 100644 --- a/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message-members.html +++ b/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message.html b/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message.html index 592a3f0fc67..6c653a44314 100644 --- a/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message.html +++ b/carma-streets/structstreets__service_1_1simulation_1_1time__sync__message.html @@ -183,7 +183,7 @@

    References seq, and timestep.

    -

    Referenced by streets_service::streets_service::consume_time_sync_message().

    +

    Referenced by streets_service::streets_service::consume_time_sync_message().

    Here is the caller graph for this function:
    @@ -269,7 +269,7 @@

    Definition at line 19 of file time_sync_message.h.

    -

    Referenced by streets_service::streets_service::consume_time_sync_message(), fromJson(), and toJson().

    +

    Referenced by streets_service::streets_service::consume_time_sync_message(), fromJson(), and toJson().

    @@ -283,7 +283,7 @@

    diff --git a/carma-streets/structstreets__signal__optimization_1_1movement__group-members.html b/carma-streets/structstreets__signal__optimization_1_1movement__group-members.html index 72f63ee1caa..92b06fc78fe 100644 --- a/carma-streets/structstreets__signal__optimization_1_1movement__group-members.html +++ b/carma-streets/structstreets__signal__optimization_1_1movement__group-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__signal__optimization_1_1movement__group.html b/carma-streets/structstreets__signal__optimization_1_1movement__group.html index a932b7df4c4..87e03c5aca6 100644 --- a/carma-streets/structstreets__signal__optimization_1_1movement__group.html +++ b/carma-streets/structstreets__signal__optimization_1_1movement__group.html @@ -163,7 +163,7 @@

    diff --git a/carma-streets/structstreets__signal__optimization_1_1movement__groups-members.html b/carma-streets/structstreets__signal__optimization_1_1movement__groups-members.html index f29ca2b5a2a..f0132cc5779 100644 --- a/carma-streets/structstreets__signal__optimization_1_1movement__groups-members.html +++ b/carma-streets/structstreets__signal__optimization_1_1movement__groups-members.html @@ -95,7 +95,7 @@ diff --git a/carma-streets/structstreets__signal__optimization_1_1movement__groups.html b/carma-streets/structstreets__signal__optimization_1_1movement__groups.html index a71041e00eb..95a9f3b5224 100644 --- a/carma-streets/structstreets__signal__optimization_1_1movement__groups.html +++ b/carma-streets/structstreets__signal__optimization_1_1movement__groups.html @@ -138,7 +138,7 @@

    diff --git a/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration-members.html b/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration-members.html index c7507fe537f..57a7ee3d9a4 100644 --- a/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration-members.html +++ b/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration-members.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration.html b/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration.html index ad5bed04429..efdba52706f 100644 --- a/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration.html +++ b/carma-streets/structstreets__signal__optimization_1_1streets__desired__phase__plan__generator__configuration.html @@ -303,7 +303,7 @@

    diff --git a/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct-members.html b/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct-members.html index 23c701cbf35..baee2daa731 100644 --- a/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct-members.html +++ b/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct-members.html @@ -99,7 +99,7 @@ diff --git a/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct.html b/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct.html index 48a6db85508..e3dc5e74575 100644 --- a/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct.html +++ b/carma-streets/structstreets__snmp__cmd_1_1snmp__cmd__struct.html @@ -328,7 +328,7 @@

    • streets_snmp_cmd
    • snmp_cmd_struct
      • -
    • Generated on Wed Feb 7 2024 13:52:56 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:59 for Carma-streets by doxygen 1.9.4
    diff --git a/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj-members.html b/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj-members.html index 11dd3b7b4a3..f56c7bcd2a1 100644 --- a/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj-members.html +++ b/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj.html b/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj.html index 0d73dcd3128..aff124b4d5b 100644 --- a/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj.html +++ b/carma-streets/structstreets__snmp__cmd_1_1snmp__response__obj.html @@ -226,7 +226,7 @@

    diff --git a/carma-streets/structstreets__timing__plan_1_1streets__timing__plan-members.html b/carma-streets/structstreets__timing__plan_1_1streets__timing__plan-members.html index 7c9af8e8070..3a6e39f776c 100644 --- a/carma-streets/structstreets__timing__plan_1_1streets__timing__plan-members.html +++ b/carma-streets/structstreets__timing__plan_1_1streets__timing__plan-members.html @@ -108,7 +108,7 @@ diff --git a/carma-streets/structstreets__timing__plan_1_1streets__timing__plan.html b/carma-streets/structstreets__timing__plan_1_1streets__timing__plan.html index ea6fff39859..e24f84d7e54 100644 --- a/carma-streets/structstreets__timing__plan_1_1streets__timing__plan.html +++ b/carma-streets/structstreets__timing__plan_1_1streets__timing__plan.html @@ -666,7 +666,7 @@

    diff --git a/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration-members.html b/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration-members.html index 7409c3f5b6c..d4fc70d44a8 100644 --- a/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration-members.html +++ b/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration-members.html @@ -100,7 +100,7 @@ diff --git a/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration.html b/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration.html index 733a9096825..de5c76cda2b 100644 --- a/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration.html +++ b/carma-streets/structstreets__tsc__configuration_1_1signal__group__configuration.html @@ -354,7 +354,7 @@

    diff --git a/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state-members.html b/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state-members.html index ad59ee34ad5..39b4269636e 100644 --- a/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state-members.html +++ b/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state.html b/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state.html index 9525758ce46..008ea424a19 100644 --- a/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state.html +++ b/carma-streets/structstreets__tsc__configuration_1_1tsc__configuration__state.html @@ -295,7 +295,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point-members.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point-members.html index 5af979cf27e..b091acd8576 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point.html index f650eca1fe8..318f8b4c234 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1cartesian__point.html @@ -181,7 +181,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg-members.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg-members.html index d54aa559071..d3f180713a1 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg-members.html @@ -107,7 +107,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg.html index d84f720f36a..c9b61a2ed7a 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1detected__objects__msg.html @@ -321,7 +321,7 @@

    Definition at line 43 of file detected_object_msg.hpp.

    -

    Referenced by streets_utils::messages::detected_objects_msg::from_json().

    +

    Referenced by streets_utils::messages::detected_objects_msg::from_json(), and sensor_data_sharing_service::to_detected_object_data().

    @@ -388,7 +388,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size-members.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size-members.html index 068954f41db..132095f1ab4 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size.html index b0463652225..ad758ed5df6 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1size.html @@ -183,7 +183,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d-members.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d-members.html index b8cd751979e..dd757b3ee30 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d.html b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d.html index 177ebb24b74..b3b70305502 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1detected__objects__msg_1_1vector__3d.html @@ -132,7 +132,7 @@

    Definition at line 27 of file vector_3d.hpp.

    -

    Referenced by sensor_data_sharing_service::detected_object_enu_to_ned(), streets_utils::messages::detected_objects_msg::parse_vector3d(), sensor_data_sharing_service::to_detected_object_data(), and sensor_data_sharing_service::to_heading().

    +

    Referenced by sensor_data_sharing_service::detected_object_enu_to_ned(), streets_utils::messages::detected_objects_msg::parse_vector3d(), sensor_data_sharing_service::to_detected_object_data(), and sensor_data_sharing_service::to_heading().

    @@ -150,7 +150,7 @@

    Definition at line 28 of file vector_3d.hpp.

    -

    Referenced by sensor_data_sharing_service::detected_object_enu_to_ned(), streets_utils::messages::detected_objects_msg::parse_vector3d(), sensor_data_sharing_service::to_detected_object_data(), and sensor_data_sharing_service::to_heading().

    +

    Referenced by sensor_data_sharing_service::detected_object_enu_to_ned(), streets_utils::messages::detected_objects_msg::parse_vector3d(), sensor_data_sharing_service::to_detected_object_data(), and sensor_data_sharing_service::to_heading().

    @@ -181,7 +181,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way-members.html index 1dfe0a507b8..29f364c89af 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way.html index a1cf5a79d98..a689019937b 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1acceleration__set__4__way.html @@ -209,7 +209,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set-members.html index 74493caafad..ea68b40c29a 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set.html index 361a6b32833..cebefc587b0 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__confidence__set.html @@ -163,7 +163,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set-members.html index 7e7e1ac1d3f..d5dcf2a0f1e 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set.html index 5f3aceaf9bd..91a3de4f1ce 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1angular__velocity__set.html @@ -163,7 +163,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude-members.html index ee56f6ae2f8..b473d8307d8 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude.html index 6db96b71b11..6bcf2a1b7e4 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude.html @@ -186,7 +186,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence-members.html index df022e33839..2aed0589df3 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence.html index 42e0e679b94..0eb3eedeb28 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1attitude__confidence.html @@ -186,7 +186,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data-members.html index 1752612cade..06258e5541c 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data.html index bba9efcdf8f..fe41877987c 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data.html @@ -178,7 +178,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common-members.html index cb236764c51..05ae4ae2fd4 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common-members.html @@ -112,7 +112,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common.html index 75e058e78f7..3ed030170c2 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__object__data__common.html @@ -483,7 +483,7 @@

    Definition at line 45 of file detected_object_data_common.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_detected_object_data_common(), and streets_utils::messages::sdsm::parse_detected_object_data_common().

    +

    Referenced by streets_utils::messages::sdsm::create_detected_object_data_common(), streets_utils::messages::sdsm::parse_detected_object_data_common(), and sensor_data_sharing_service::to_detected_object_data().

    @@ -532,7 +532,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data-members.html index cb331877a67..6ef9677eba4 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data.html index b08ccacf96a..64078f77ec3 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__obstacle__data.html @@ -168,7 +168,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data-members.html index 75e6a1dfac1..4e07f44ada8 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data-members.html @@ -104,7 +104,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data.html index 7b2e75669c5..953a29b4bef 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vehicle__data.html @@ -354,7 +354,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data-members.html index f357059452e..50519855137 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data-members.html @@ -98,7 +98,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data.html index 236a30acbb4..87fe28d997d 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1detected__vru__data.html @@ -212,7 +212,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size-members.html index 9805b34de12..4f9fa44d25c 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size.html index a232d7f3bb3..7598729c357 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size.html @@ -187,7 +187,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence-members.html index 64c87964355..6efc1a6430b 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence.html index d880ff43171..3467e5a9007 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1obstacle__size__confidence.html @@ -187,7 +187,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d-members.html index a6a31b81f57..e863087130d 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d.html index 549f0c3806e..578ac6c815e 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__3d.html @@ -134,7 +134,7 @@

    Definition at line 35 of file position_3d.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    +

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    @@ -154,7 +154,7 @@

    Definition at line 30 of file position_3d.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    +

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    @@ -174,7 +174,7 @@

    Definition at line 25 of file position_3d.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    +

    Referenced by streets_utils::messages::sdsm::create_position_3d(), streets_utils::messages::sdsm::parse_position_3d(), and sensor_data_sharing_service::to_position_3d().

    @@ -187,7 +187,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set-members.html index a217412b10c..1540027a47e 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set.html index e1da4256c95..fcea4bb7618 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__confidence__set.html @@ -126,7 +126,7 @@

    Definition at line 21 of file position_confidence_set.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_position_confidence_set(), and sensor_data_sharing_service::to_position_confidence_set().

    +

    Referenced by streets_utils::messages::sdsm::create_position_confidence_set(), and sensor_data_sharing_service::to_position_confidence_set().

    @@ -144,7 +144,7 @@

    Definition at line 20 of file position_confidence_set.hpp.

    -

    Referenced by streets_utils::messages::sdsm::create_position_confidence_set(), and sensor_data_sharing_service::to_position_confidence_set().

    +

    Referenced by streets_utils::messages::sdsm::create_position_confidence_set(), and sensor_data_sharing_service::to_position_confidence_set().

    @@ -157,7 +157,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset-members.html index 8ffe0ad0727..9ddfe7d15d3 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset.html index 36740a02a07..17e5378d157 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1position__offset.html @@ -187,7 +187,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy-members.html index e65c34d0ce4..582a9f7cc17 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy-members.html @@ -97,7 +97,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy.html index 17da503c152..0dd6a8af3c6 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1positional__accuracy.html @@ -186,7 +186,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg-members.html index 13ff92acb61..0d50b90247b 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg-members.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg.html index 5b27d8a8299..4df9aed1f02 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1sensor__data__sharing__msg.html @@ -148,7 +148,7 @@

    Definition at line 39 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -168,7 +168,7 @@

    Definition at line 38 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -186,7 +186,7 @@

    Definition at line 45 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -240,7 +240,7 @@

    Definition at line 40 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -258,7 +258,7 @@

    Definition at line 44 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -276,7 +276,7 @@

    Definition at line 43 of file sensor_data_sharing_msg.hpp.

    -

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    +

    Referenced by sensor_data_sharing_service::sds_service::create_sdsm(), streets_utils::messages::sdsm::from_json(), and streets_utils::messages::sdsm::to_json().

    @@ -289,7 +289,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp-members.html index ecb1b90f636..0c5ed731b1a 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp-members.html @@ -101,7 +101,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp.html index 22ebf8fa01c..6eb98ed075c 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1time__stamp.html @@ -278,7 +278,7 @@

    diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size-members.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size-members.html index 51beeddbb75..c24f6386bb9 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size-members.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size-members.html @@ -96,7 +96,7 @@ diff --git a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size.html b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size.html index 77bb6c60300..36db36d60b1 100644 --- a/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size.html +++ b/carma-streets/structstreets__utils_1_1messages_1_1sdsm_1_1vehicle__size.html @@ -163,7 +163,7 @@

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    diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule-members.html b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule-members.html index b485377788d..88c34adc3e9 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule-members.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule-members.html @@ -103,7 +103,7 @@ diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule.html b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule.html index 9e069f37dc2..aeb1a1bda58 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__intersection__schedule.html @@ -426,7 +426,7 @@

    diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule-members.html b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule-members.html index 95bc7387208..44ce28dffcf 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule-members.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule-members.html @@ -109,7 +109,7 @@ diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule.html b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule.html index 7017318f659..37e234b6a60 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1all__stop__vehicle__schedule.html @@ -445,7 +445,7 @@

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    diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule-members.html b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule-members.html index b03019508c9..77ae430a029 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule-members.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule-members.html @@ -102,7 +102,7 @@ diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule.html b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule.html index 84da658f793..fc75d5900c6 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__intersection__schedule.html @@ -386,7 +386,7 @@

    diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule-members.html b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule-members.html index f5be5981727..34b9de78f75 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule-members.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule-members.html @@ -107,7 +107,7 @@ diff --git a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule.html b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule.html index 6c189f9d804..eddd0bcb13c 100644 --- a/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule.html +++ b/carma-streets/structstreets__vehicle__scheduler_1_1signalized__vehicle__schedule.html @@ -406,7 +406,7 @@

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    diff --git a/carma-streets/structstreets__vehicles_1_1vehicle-members.html b/carma-streets/structstreets__vehicles_1_1vehicle-members.html index fa9b7903d9f..e4320c9b45d 100644 --- a/carma-streets/structstreets__vehicles_1_1vehicle-members.html +++ b/carma-streets/structstreets__vehicles_1_1vehicle-members.html @@ -117,7 +117,7 @@ diff --git a/carma-streets/structstreets__vehicles_1_1vehicle.html b/carma-streets/structstreets__vehicles_1_1vehicle.html index 5c8b177acfc..2cda7eb6b4a 100644 --- a/carma-streets/structstreets__vehicles_1_1vehicle.html +++ b/carma-streets/structstreets__vehicles_1_1vehicle.html @@ -585,7 +585,7 @@

    • streets_vehicles
    • vehicle
      • -
    • Generated on Wed Feb 7 2024 13:52:57 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:56:00 for Carma-streets by doxygen 1.9.4
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    diff --git a/carma-streets/time__change__details_8cpp.html b/carma-streets/time__change__details_8cpp.html index 61209faeac4..20a3ddc5ee4 100644 --- a/carma-streets/time__change__details_8cpp.html +++ b/carma-streets/time__change__details_8cpp.html @@ -123,7 +123,7 @@ diff --git a/carma-streets/time__change__details_8cpp_source.html b/carma-streets/time__change__details_8cpp_source.html index b823f4b7ce8..291a717ecee 100644 --- a/carma-streets/time__change__details_8cpp_source.html +++ b/carma-streets/time__change__details_8cpp_source.html @@ -288,7 +288,7 @@ diff --git a/carma-streets/time__change__details_8h.html b/carma-streets/time__change__details_8h.html index f76449c8119..2d5e52f35c7 100644 --- a/carma-streets/time__change__details_8h.html +++ b/carma-streets/time__change__details_8h.html @@ -178,7 +178,7 @@ diff --git a/carma-streets/time__change__details_8h_source.html b/carma-streets/time__change__details_8h_source.html index 41498e0d187..9dc2e016a01 100644 --- a/carma-streets/time__change__details_8h_source.html +++ b/carma-streets/time__change__details_8h_source.html @@ -157,7 +157,7 @@ diff --git a/carma-streets/time__confidence_8hpp.html b/carma-streets/time__confidence_8hpp.html index 2fb163b65ff..e7573ce3de7 100644 --- a/carma-streets/time__confidence_8hpp.html +++ b/carma-streets/time__confidence_8hpp.html @@ -184,7 +184,7 @@ diff --git a/carma-streets/time__confidence_8hpp_source.html b/carma-streets/time__confidence_8hpp_source.html index 27f2b0be3fe..19920b11904 100644 --- a/carma-streets/time__confidence_8hpp_source.html +++ b/carma-streets/time__confidence_8hpp_source.html @@ -285,7 +285,7 @@ diff --git a/carma-streets/time__stamp_8hpp.html b/carma-streets/time__stamp_8hpp.html index 1947c2cd6a7..964b9da833d 100644 --- a/carma-streets/time__stamp_8hpp.html +++ b/carma-streets/time__stamp_8hpp.html @@ -125,7 +125,7 @@ diff --git a/carma-streets/time__stamp_8hpp_source.html b/carma-streets/time__stamp_8hpp_source.html index 22ff8aeff71..a2d3597f9fd 100644 --- a/carma-streets/time__stamp_8hpp_source.html +++ b/carma-streets/time__stamp_8hpp_source.html @@ -127,7 +127,7 @@ diff --git a/carma-streets/time__sync__message_8cpp.html b/carma-streets/time__sync__message_8cpp.html index df1b5c6682f..ab92e726e8f 100644 --- a/carma-streets/time__sync__message_8cpp.html +++ b/carma-streets/time__sync__message_8cpp.html @@ -119,7 +119,7 @@ diff --git a/carma-streets/time__sync__message_8cpp_source.html b/carma-streets/time__sync__message_8cpp_source.html index 549bd700cb2..5a9256ee45f 100644 --- a/carma-streets/time__sync__message_8cpp_source.html +++ b/carma-streets/time__sync__message_8cpp_source.html @@ -136,7 +136,7 @@ diff --git a/carma-streets/time__sync__message_8h.html b/carma-streets/time__sync__message_8h.html index 979355c548b..ccefd547285 100644 --- a/carma-streets/time__sync__message_8h.html +++ b/carma-streets/time__sync__message_8h.html @@ -146,7 +146,7 @@ diff --git a/carma-streets/time__sync__message_8h_source.html b/carma-streets/time__sync__message_8h_source.html index d0f22a9039b..2467fc75ec6 100644 --- a/carma-streets/time__sync__message_8h_source.html +++ b/carma-streets/time__sync__message_8h_source.html @@ -115,7 +115,7 @@ diff --git a/carma-streets/trajectory_8h.html b/carma-streets/trajectory_8h.html index 890b5fc3097..5d523fbb0f1 100644 --- a/carma-streets/trajectory_8h.html +++ b/carma-streets/trajectory_8h.html @@ -148,7 +148,7 @@ diff --git a/carma-streets/trajectory_8h_source.html b/carma-streets/trajectory_8h_source.html index c22749ed2a8..5430a9364bb 100644 --- a/carma-streets/trajectory_8h_source.html +++ b/carma-streets/trajectory_8h_source.html @@ -122,7 +122,7 @@ diff --git a/carma-streets/tsc__client__service_2README_8md.html b/carma-streets/tsc__client__service_2README_8md.html index 6e507dd2aa8..7efe28dd587 100644 --- a/carma-streets/tsc__client__service_2README_8md.html +++ b/carma-streets/tsc__client__service_2README_8md.html @@ -92,7 +92,7 @@ diff --git a/carma-streets/tsc__client__service_2include_2intersection__client_8h.html b/carma-streets/tsc__client__service_2include_2intersection__client_8h.html index f6aaa1f7f05..e25da6ceb02 100644 --- a/carma-streets/tsc__client__service_2include_2intersection__client_8h.html +++ b/carma-streets/tsc__client__service_2include_2intersection__client_8h.html @@ -137,7 +137,7 @@ diff --git a/carma-streets/tsc__client__service_2include_2intersection__client_8h_source.html b/carma-streets/tsc__client__service_2include_2intersection__client_8h_source.html index a8c3d3f0f49..a7672750e1d 100644 --- a/carma-streets/tsc__client__service_2include_2intersection__client_8h_source.html +++ b/carma-streets/tsc__client__service_2include_2intersection__client_8h_source.html @@ -120,7 +120,7 @@ diff --git a/carma-streets/tsc__client__service_2src_2intersection__client_8cpp.html b/carma-streets/tsc__client__service_2src_2intersection__client_8cpp.html index 835b7eb7abe..794955244a2 100644 --- a/carma-streets/tsc__client__service_2src_2intersection__client_8cpp.html +++ b/carma-streets/tsc__client__service_2src_2intersection__client_8cpp.html @@ -112,7 +112,7 @@ diff --git a/carma-streets/tsc__client__service_2src_2intersection__client_8cpp_source.html b/carma-streets/tsc__client__service_2src_2intersection__client_8cpp_source.html index fe32b59288e..547f1afaab8 100644 --- a/carma-streets/tsc__client__service_2src_2intersection__client_8cpp_source.html +++ b/carma-streets/tsc__client__service_2src_2intersection__client_8cpp_source.html @@ -144,7 +144,7 @@ diff --git a/carma-streets/tsc__client__service_2src_2main_8cpp.html b/carma-streets/tsc__client__service_2src_2main_8cpp.html index 60c076cb321..f55592a4e90 100644 --- a/carma-streets/tsc__client__service_2src_2main_8cpp.html +++ b/carma-streets/tsc__client__service_2src_2main_8cpp.html @@ -318,7 +318,7 @@

    • tsc_client_service
    • src
    • main.cpp
      • -
    • Generated on Wed Feb 7 2024 13:52:54 for Carma-streets by doxygen 1.9.4
      • +
    • Generated on Wed Apr 24 2024 22:55:57 for Carma-streets by doxygen 1.9.4
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    streets_service::streets_configuration::get_string_config
    static std::string get_string_config(const std::string &config_param_name)
    Retreive configuration parameter string value with provided name.
    Definition: streets_configuration.cpp:104
    streets_service::streets_configuration::get_boolean_config
    static bool get_boolean_config(const std::string &config_param_name)
    Retreive configuration parameter boolean value with provide name.
    Definition: streets_configuration.cpp:150
    streets_service::streets_configuration::get_int_config
    static int get_int_config(const std::string &config_param_name)
    Retreive configuration parameter integer value with provided name.
    Definition: streets_configuration.cpp:119
    -
    streets_service::streets_service::initialize
    virtual bool initialize()
    Method to initialize services members, singletons, kafka consumers and producers and any other connec...
    Definition: streets_service.cpp:12
    -
    streets_service::streets_service::is_simulation_mode
    bool is_simulation_mode() const
    Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
    Definition: streets_service.cpp:139
    -
    streets_service::streets_service::create_daily_logger
    std::shared_ptr< spdlog::logger > create_daily_logger(const std::string &name, const std::string &extension=".log", const std::string &pattern="[%Y-%m-%d %H:%M:%S.%e] %v", const spdlog::level::level_enum &level=spdlog::level::info) const
    Method to create SPDLOG Daily rotating file logger. The logger is accessible by calling spdlog::get(n...
    Definition: streets_service.cpp:40
    -
    streets_service::streets_service::initialize_kafka_producer
    bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
    Helper method to initialize Kafka producer for a given topic.
    Definition: streets_service.cpp:55
    -
    streets_service::streets_service::initialize_kafka_consumer
    bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
    Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
    Definition: streets_service.cpp:72
    -
    streets_service::streets_service::start
    virtual void start()
    Method to start all threads needed for the Streets Service. This includes but is not limited to any t...
    Definition: streets_service.cpp:110
    +
    streets_service::streets_service::initialize
    virtual bool initialize()
    Method to initialize services members, singletons, kafka consumers and producers and any other connec...
    Definition: streets_service.cpp:13
    +
    streets_service::streets_service::is_simulation_mode
    bool is_simulation_mode() const
    Returns boolean if service is currently configured to be in simulation_mode. This corresponsds to the...
    Definition: streets_service.cpp:150
    +
    streets_service::streets_service::create_daily_logger
    std::shared_ptr< spdlog::logger > create_daily_logger(const std::string &name, const std::string &extension=".log", const std::string &pattern="[%Y-%m-%d %H:%M:%S.%e] %v", const spdlog::level::level_enum &level=spdlog::level::info) const
    Method to create SPDLOG Daily rotating file logger. The logger is accessible by calling spdlog::get(n...
    Definition: streets_service.cpp:41
    +
    streets_service::streets_service::initialize_kafka_producer
    bool initialize_kafka_producer(const std::string &producer_topic, std::shared_ptr< kafka_clients::kafka_producer_worker > &producer)
    Helper method to initialize Kafka producer for a given topic.
    Definition: streets_service.cpp:56
    +
    streets_service::streets_service::initialize_kafka_consumer
    bool initialize_kafka_consumer(const std::string &consumer_topic, std::shared_ptr< kafka_clients::kafka_consumer_worker > &consumer)
    Helper method to initialise Kafka consumer. NOTE: Will assign consumer group id as service_name.
    Definition: streets_service.cpp:73
    +
    streets_service::streets_service::start
    virtual void start()
    Method to start all threads needed for the Streets Service. This includes but is not limited to any t...
    Definition: streets_service.cpp:121
    streets_tsc_configuration::tsc_configuration_state_exception
    Runtime error related to processing signal_phase_and_timing JSON updates.
    Definition: tsc_configuration_state_exception.h:12
    traffic_signal_controller_service::control_tsc_state_exception
    Runtime error related to controlling traffic signal controller state.
    Definition: control_tsc_state_exception.h:12
    traffic_signal_controller_service::monitor_desired_phase_plan_exception
    Runtime error related to consuming desired phase plan.
    Definition: monitor_desired_phase_plan_exception.h:12
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index b6f1a995113..3c0ebe54bfe 100644 --- a/carma-streets/vehicle__list_8cpp.html +++ b/carma-streets/vehicle__list_8cpp.html @@ -122,7 +122,7 @@ diff --git a/carma-streets/vehicle__list_8cpp_source.html b/carma-streets/vehicle__list_8cpp_source.html index e4452391cc7..300af8e4125 100644 --- a/carma-streets/vehicle__list_8cpp_source.html +++ b/carma-streets/vehicle__list_8cpp_source.html @@ -236,7 +236,7 @@ diff --git a/carma-streets/vehicle__list_8h.html b/carma-streets/vehicle__list_8h.html index df3f1ef862e..78c0f62d0cc 100644 --- a/carma-streets/vehicle__list_8h.html +++ b/carma-streets/vehicle__list_8h.html @@ -164,7 +164,7 @@ diff --git a/carma-streets/vehicle__list_8h_source.html b/carma-streets/vehicle__list_8h_source.html index 26c981fee32..418b1762b49 100644 --- a/carma-streets/vehicle__list_8h_source.html +++ b/carma-streets/vehicle__list_8h_source.html @@ -156,7 +156,7 @@ diff --git a/carma-streets/vehicle__scheduler_8cpp.html b/carma-streets/vehicle__scheduler_8cpp.html 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