PR Details

Description

NOTE: Depend on CI fix from https://github.com/usdot-fhwa-stol/carma-streets/pull/390 Update: PR #390 closed CARMA Streets is producing Sensor Data Sharing Messages without yaw rate confidence. This is despite being provided accurate angular acceleration data from simulation.

[2024-01-22 12:52:42.675] [debug] [sensor_data_sharing_service.cpp:102] Detected Object List Size 1 after consumed: {"type":"TRUCK","confidence":1.0,"sensorId":"IntersectionLidar","projString":"+proj=tmerc +lat_0=0 +lon_0=0 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs","objectId":222,"position":{"x":-23.70157158620998,"y":-4.561758806718842,"z":-9.991932254782586},"positionCovariance":[[0.04000000000000001,0.0,0.0],[0.0,0.04000000000000001,0.0],[0.0,0.0,0.04000000000000001]],"velocity":{"x":0.0,"y":0.0,"z":0.0},"velocityCovariance":[[0.04000000000000001,0.0,0.0],[0.0,0.04000000000000001,0.0],[0.0,0.0,0.04000000000000001]],"angularVelocity":{"x":0.0,"y":0.0,"z":0.0},"angularVelocityCovariance":[[0.010000000000000002,0.0,0.0],[0.0,0.010000000000000002,0.0],[0.0,0.0,0.010000000000000002]],"size":{"length":2.601919174194336,"height":1.3072861433029175,"width":1.2337223291397095},"timestamp":41343}
...
[2024-01-22 12:52:42.675] [debug] [sensor_data_sharing_service.cpp:124] Sending SDSM : {"msg_cnt":0,"source_id":"rsu_1234","equipment_type":1,"sdsm_time_stamp":{"second":9400,"minute":0,"hour":0,"day":1,"month":1,"year":1970,"offset":0},"ref_pos":{"long":23697,"lat":16102,"elevation":100},"ref_pos_xy_conf":{"semi_major":0,"semi_minor":0,"orientation":0},"objects":[{"detected_object_data":{"detected_object_common_data":{"obj_type":1,"object_id":222,"obj_type_cfd":100,"measurement_time":0,"time_confidence":0,"pos":{"offset_x":-237,"offset_y":-45,"offset_z":-99},"pos_confidence":{"pos":10,"elevation":10},"speed":0,"speed_confidence":5,"speed_z":0,"speed_confidence_z":5,"heading":0,"heading_conf":1},"detected_object_optional_data":{"detected_vehicle_data":{"size":{"width":123,"length":260},"height":26}}}}]}

Added curly braces to if statements Added unit test to cover yaw rate confidence serialization Fixed SDSM deserialization to not require acceleration data to write yaw rate confidence

Related GitHub Issue

Related Jira Key

CDAR-738

Motivation and Context

Fix SDSM serialization for VRU UC1 testing

How Has This Been Tested?

Unit Testing

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.
[ ] I have updated the documentation accordingly.
[x] I have read the CONTRIBUTING document.
[x] I have added tests to cover my changes.
[x] All new and existing tests passed.

usdot-fhwa-stol / carma-streets

Fix SDSM serialization #389