Add Sensor/Detector Registration to Infrastructure Ambassador

[paulbourelly999]

PR Details

Description

Added additional information to the Infrastructure Registration Message including :

• Port for transmitting relevant interactions
• List of sensors/detectors to register for infrastructure instance

Added functionality to process new registration message, trigger sensors/detectors registration interactions to prompt creation of sensors/detectors. Added functionality to process incoming Detected Object interactions from sensors and forward them via the new interactions port to registered infrastructure instances based on the sensor that reports the detection.

Related Issue

211

Motivation and Context

New functionality will be used to create sensor in CARLA and retrieve detection information for the VRU use case

How Has This Been Tested?

Unit tested and Integration testing with XIL Cloud setup Only tested that CDASim properly processes Infrastructure registration and still forwards time sync messages. Further testing for detection interaction processing is advised once CARLA Ambassador work completes.

Types of changes

• [ ] Defect fix (non-breaking change that fixes an issue)
• [x] 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
• [x] My change requires a change to the documentation.
• [] I have updated the documentation accordingly.
• [x] I have read the CONTRIBUTING document. CARMA Contributing Guide
• [x] I have added tests to cover my changes.
• [x] All new and existing tests passed.

[sonarcloud[bot]]

Kudos, SonarCloud Quality Gate passed!   

0 Bugs
0 Vulnerabilities
0 Security Hotspots
5 Code Smells

73.5% Coverage
1.1% Duplication

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