CARMA Messenger will be a scaled down version of CARMA Platform for a non-automated vehicle to participate in Cooperative Driving Automation (CDA). Doxygen Source Code Documentation: https://usdot-fhwa-stol.github.io/documentation/carma-messenger/
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Fix emergency_response_vehicle_plugin by enabling it to properly include an ERV's future route destination points in published BSMs #189
This PR includes a couple of minor fixes to the emergency_response_vehicle_plugin in CARMA Messenger. Specifically, a bug is fixed in which && was incorrectly being used for 'bitwise AND' operations, rather than the correct & in emergency_response_vehicle_plugin unit tests. Additionally, the BSM presence vector is not properly set to indicate that a regional extension is present when it is included in the BSM (this regional extension is used to include the ERV's future route destination points). Fixing this bug will enable to the plugin to properly include the ERV's future route destination points in its published BSMs.
Additionally, this PR updates the default UDP listening port (on which it listens to incoming UDP packets that describe the activation status of an ERV's emergency lights and sirens) to '5005' to match the networking setup currently configured in the Chevy Tahoe.
Related Issue
Issue #188
Motivation and Context
The bitwise operator update fixes a bug that is required to properly include the ERV's future route destination points in its broadcasted BSMs.
The listening port update is more of a convenience update to match the default setup in the team's vehicle used for CARMA Messenger testing.
How Has This Been Tested?
Unit tested.
Types of changes
[x] Defect fix (non-breaking change that fixes an issue)
[ ] New feature (non-breaking change that adds functionality)
[ ] Breaking change (fix or feature that cause existing functionality to change)
Checklist:
[ ] I have added any new packages to the sonar-scanner.properties file
[ ] My change requires a change to the documentation.
PR Details
Description
This PR includes a couple of minor fixes to the emergency_response_vehicle_plugin in CARMA Messenger. Specifically, a bug is fixed in which
&&was incorrectly being used for 'bitwise AND' operations, rather than the correct&in emergency_response_vehicle_plugin unit tests. Additionally, the BSM presence vector is not properly set to indicate that a regional extension is present when it is included in the BSM (this regional extension is used to include the ERV's future route destination points). Fixing this bug will enable to the plugin to properly include the ERV's future route destination points in its published BSMs.Additionally, this PR updates the default UDP listening port (on which it listens to incoming UDP packets that describe the activation status of an ERV's emergency lights and sirens) to '5005' to match the networking setup currently configured in the Chevy Tahoe.
Related Issue
Issue #188
Motivation and Context
The bitwise operator update fixes a bug that is required to properly include the ERV's future route destination points in its broadcasted BSMs.
The listening port update is more of a convenience update to match the default setup in the team's vehicle used for CARMA Messenger testing.
How Has This Been Tested?
Unit tested.
Types of changes
Checklist: