ADD: use of new sensor messages

.vscode/launch.json

@@ -0,0 +1,16 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug-SensorManager",
+            "type": "gdb",
+            "request": "launch",
+            "target": "./test_SensorManager",
+            "cwd": "${workspaceRoot}/build",
+            "valuesFormatting": "parseText"
+        }
+    ]
+}

include/Entities/Sensor.hpp

@@ -1,6 +1,8 @@
 #pragma once
 
 #include "DirectCommunicationClient.hpp"
+#include "SimCore/Messages/SensorData.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "WHISPER/InternalUDPListener.hpp"
 #include <WHISPER/InternalUDPService.hpp>
@@ -28,6 +30,7 @@ namespace Entities {
             Sensor(
                 SimCore::Identifier OwnID,
                 SimCore::Identifier OwnShipID, 
+                std::string Name,
                 SimCore::SensorKinds SensorKind,
                 std::string GroundTruthAddress,
                 std::uint32_t GroundTruthPort, 
@@ -39,19 +42,18 @@ namespace Entities {
 
         protected:
 
+            SimCore::SensorData OwnData;
             
            
             virtual void specificSensorCalculations(std::unique_ptr<SimCore::SimTrack> track) = 0;
 
             std::shared_ptr<SimCore::SimTrack> OwnShipTrack_ = nullptr;
 
-            const SimCore::Identifier OwnID_;
             const SimCore::Identifier OwnShipID;
 
 
-            SimCore::SensorKinds SensorKind_;
 
-            std::shared_ptr<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::SimTrack>>> recognisedTracks_ = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::SensorTrack>>> recognisedTracks_ = nullptr;
         private:
 
             std::uint32_t GroundTruthPort_;

include/Entities/SensorManager.hpp

@@ -88,7 +88,7 @@ namespace Entities
             *@param string uuid for the Sensor
             *@param SimTrack updated Track
             */
-            void updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SimTrack> track);
+            void updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SensorTrack> track);
 
             /**
              * @brief sends a message to a specific sensor if uuid is passed else it sends to everyone
@@ -103,7 +103,7 @@ namespace Entities
              * @param sensor
              * 
              */
-            void addSensorLocal(std::unique_ptr<Sensor::SensorControl> sensor);
+            void addSensorLocal(std::shared_ptr<Sensor::SensorControl> sensor);
 
             /**
              * @brief Get the number of sensors

include/Entities/Tracklist/Trackfusion.hpp

@@ -3,6 +3,7 @@
 
 #include <SimCore/Messages/TracklistItem.hpp>
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include <SimCore/Messages/TracklistUpdate.hpp>
 #include <map>
@@ -26,7 +27,7 @@ namespace TrackList
              * @param track shared pointer of a simtrack
              * @param sensorData 
              */
-            void addOrUpdateTrack(std::shared_ptr<SimCore::SimTrack> track,std::shared_ptr<SimCore::SensorData> sensorData);
+            void addOrUpdateTrack(std::shared_ptr<SimCore::SensorTrack> track);
 
             /**
              * @brief deltets a track based on a SimCore::Identifier

src/Entities/Sensor.cpp

@@ -1,6 +1,7 @@
 #include <SimCore/Position.hpp>
 #include "DirectCommunicationClient.hpp"
 #include "Orders/Order.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "SimCore/SimCore.hpp"
 #include "SimCore/UtilFunctions.hpp"
@@ -17,22 +18,22 @@ namespace Entities {
    Sensor::Sensor(
     SimCore::Identifier OwnID, 
     SimCore::Identifier OwnShipID, 
+    std::string Name,
     SimCore::SensorKinds SensorKind,
     std::string GroundTruthAddress,
     std::uint32_t GroundTruthPort, 
     std::uint32_t ParentPort,
     std::string ParentIPAddress):
-    OwnID_(OwnID),
     OwnShipID(OwnShipID),
-    SensorKind_(SensorKind),
     GroundTruthAddr_(GroundTruthAddress),
     GroundTruthPort_(GroundTruthPort),
     ParentPort_(ParentPort),
-    ParentIPAddress_(ParentIPAddress)
+    ParentIPAddress_(ParentIPAddress),
+    OwnData(OwnID,Name,SimCore::UtilFunctions::getOwnIP(),SensorKind)
     {
 
         
-        recognisedTracks_ =  std::make_shared<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::SimTrack>>>();
+        recognisedTracks_ =  std::make_shared<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::SensorTrack>>>();
 
 
         GroundTruthUDPListener_ = std::make_unique<WHISPER::InternalUDPListener>(GroundTruthAddr_,GroundTruthPort_);
@@ -41,7 +42,7 @@ namespace Entities {
         GroundTruthUDPListener_->connect();
         GroundTruthUDPListener_->subscribe(WHISPER::MsgTopics::TRACK);
     
-        client_ = std::make_unique<DirectCommunication::DirectCommunicationClient>(ParentPort_,ParentIPAddress_,this->OwnID_.getUUID());
+        client_ = std::make_unique<DirectCommunication::DirectCommunicationClient>(ParentPort_,ParentIPAddress_,this->OwnData.getID().getUUID());
         client_->registerMessageCallback(std::bind(&Sensor::handlServerMessages,this,std::placeholders::_1));
         
         client_->sendMessage("Hello Server");
@@ -192,7 +193,7 @@ void Sensor::updateOwnShipFunction()
     {
         if (recognisedTracks_->size() > 0) 
         {   
-            std::shared_ptr<SimCore::SimTrack> track; 
+            std::shared_ptr<SimCore::SensorTrack> track; 
             recognisedTracks_->get(track);
             if (track != nullptr) 
             {   

src/Entities/SensorManager.cpp

@@ -1,5 +1,6 @@
 #include "Entities/SensorControl.hpp"
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "SimCore/SimCore.hpp"
 #include "WHISPER/Messages/Message.hpp"
@@ -80,7 +81,7 @@ namespace Entities
     }
 
 
-    void SensorManager::addSensorLocal(std::unique_ptr<Sensor::SensorControl> sensor)
+    void SensorManager::addSensorLocal(std::shared_ptr<Sensor::SensorControl> sensor)
     {
         SensorStore[sensor->getID().getUUID()] = std::move(sensor);
     }
@@ -101,14 +102,15 @@ namespace Entities
 
        switch (msg.msgType_) 
        {
-        case WHISPER::MsgType::SIM_TRACK:
+        case WHISPER::MsgType::SENSOR_TRACK:
         {   
-            auto track = std::make_shared<SimCore::SimTrack>(SimCore::SimTrack::unpack(msg));
+            auto test = SimCore::SensorTrack::unpack(msg);
+            std::shared_ptr<SimCore::SensorTrack> track = std::move(test);
             if(track != nullptr)
             {
                 updateTracklistForSensor(msg.senderUUID_, track);
                 auto sensor = getSensorByUUID(msg.senderUUID_);
-                Trackfusion_.addOrUpdateTrack(track, sensor);
+                Trackfusion_.addOrUpdateTrack(track);
             }
             break;
         }
@@ -124,7 +126,7 @@ namespace Entities
 
 
 
-    void SensorManager::updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SimTrack> track)
+    void SensorManager::updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SensorTrack> track)
     {
 
         auto sensor= getSensorByUUID(uuidSensor);

src/Entities/Tracklist/Trackfusion.cpp

@@ -1,4 +1,5 @@
 #include <SimCore/Messages/TracklistItem.hpp>
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "SimCore/Messages/TracklistUpdate.hpp"
 #include "nlohmann/json_fwd.hpp"
@@ -10,20 +11,28 @@
 
 namespace TrackList 
 {
-    void Trackfusion::addOrUpdateTrack(std::shared_ptr<SimCore::SimTrack> track, std::shared_ptr<SimCore::SensorData> sensorData)
+    void Trackfusion::addOrUpdateTrack(std::shared_ptr<SimCore::SensorTrack> track)
     {
         std::lock_guard<std::mutex> lock(mx_);
 
-        
          auto iterator = TrackStore_.find(track->getIdentifier());
        
         if (iterator == TrackStore_.end()) 
         {   
-            auto Item = std::make_shared<SimCore::TracklistItem>(track,*sensorData); 
+            std::shared_ptr<SimCore::TracklistItem> Item; 
+            if (track->getSensorData() == nullptr) {
+
+                Item = std::make_shared<SimCore::TracklistItem>(track);
+            }else {
+                Item = std::make_shared<SimCore::TracklistItem>(track,*track->getSensorData().get()); 
+                // Item->addSensorDataToSensorList();
+            }
             TrackStore_[Item->getIdentifier()] = Item; 
         }else {
             iterator->second->updateTrack(track);
-            iterator->second->addSensorDataToSensorList(*sensorData);
+            if (track->getSensorData() != nullptr) {
+                iterator->second->addSensorDataToSensorList(*track->getSensorData());
+            }
         }
         
 

tests/SensorManagerOutput.json

@@ -0,0 +1,2 @@
+
+[{"SensorType":"Radar","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"4c4e8e93-a935-49ee-a2a2-7cd474bff47f","SensorName":"Sensor","SensorStatus":"Unknown"}]},{"SensorType":"ESMSensor"},{"SensorType":"Sonar"},{"SensorType":"VisualSensor"},{"SensorType":"Radar","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"4c4e8e93-a935-49ee-a2a2-7cd474bff47f","SensorName":"Sensor","SensorStatus":"Unknown"}]},{"SensorType":"ESMSensor"},{"SensorType":"Sonar"},{"SensorType":"VisualSensor","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"true","SensorID":"bce82b25-5796-4c45-89ca-524d599dfa12","SensorName":"Sensor2","SensorStatus":"Active"}]},{"SensorType":"Radar","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"4c4e8e93-a935-49ee-a2a2-7cd474bff47f","SensorName":"Sensor","SensorStatus":"Unknown"},{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"c7f97190-0f71-477e-9a03-382089c71f4d","SensorName":"Sensor1","SensorStatus":"Unknown"}]},{"SensorType":"ESMSensor"},{"SensorType":"Sonar"},{"SensorType":"VisualSensor","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"true","SensorID":"bce82b25-5796-4c45-89ca-524d599dfa12","SensorName":"Sensor2","SensorStatus":"Active"}]},{"SensorType":"Radar","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"4c4e8e93-a935-49ee-a2a2-7cd474bff47f","SensorName":"Sensor","SensorStatus":"Unknown"},{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"c7f97190-0f71-477e-9a03-382089c71f4d","SensorName":"Sensor1","SensorStatus":"Unknown"}]},{"SensorType":"ESMSensor","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"false","SensorID":"d2b862ca-a950-40d7-8e62-28523ada4093","SensorName":"Sensor3","SensorStatus":"Unknown"}]},{"SensorType":"Sonar"},{"SensorType":"VisualSensor","Sensors":[{"SensorContacts":[null],"SensorDamaged":"false","SensorEnabled":"true","SensorID":"bce82b25-5796-4c45-89ca-524d599dfa12","SensorName":"Sensor2","SensorStatus":"Active"}]}]

tests/test_SensorClass.cpp

@@ -2,6 +2,7 @@
 #include <SimCore/Identifier.hpp>
 #include <SimCore/SimCore.hpp>
 #include <memory>
+#include <string>
 #include <thread>
 #define CATCH_CONFIG_MAIN
 #include <catch2/catch.hpp>
@@ -13,12 +14,13 @@ class Radar : public Entities::Sensor
  public: 
     Radar(SimCore::Identifier OwnID, 
           SimCore::Identifier ParentID, 
+          std::string Name,
           SimCore::SensorKinds SensorKind,
           std::string GroundTruthAddress,
           std::uint32_t GroundTruthPort, 
           std::uint32_t ParentPort,
           std::string ParentIPAddress,
-          std::string radarType):Sensor(OwnID,  ParentID,  SensorKind,GroundTruthAddress, GroundTruthPort, ParentPort, ParentIPAddress),radarType_(radarType)
+          std::string radarType):Sensor(OwnID,  ParentID, Name, SensorKind,GroundTruthAddress, GroundTruthPort, ParentPort, ParentIPAddress),radarType_(radarType)
           {
 
           }
@@ -46,7 +48,7 @@ SCENARIO("Testing the SimCore Sensor")
     SimCore::Identifier IDParent;
     SimCore::Identifier IDRadar;
 
-   Radar Radar(IDRadar,IDParent,SimCore::SensorKinds::RADAR,"239.0.0.1",8000,8001,"127.0.0.1","APAR");
+   Radar Radar(IDRadar,IDParent,"APAR", SimCore::SensorKinds::RADAR,"239.0.0.1",8000,8001,"127.0.0.1","APAR");
    Radar.start();
   
     WHEN("constructing Track Object with data")

tests/test_SensorManager.cpp

@@ -2,6 +2,8 @@
 #include "DirectCommunicationClient.hpp"
 #include "Entities/SensorControl.hpp"
 #include "Entities/SensorManager.hpp"
+#include "SimCore/Messages/SensorData.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "SimCore/Position.hpp"
 #include "nlohmann/json_fwd.hpp"
@@ -22,18 +24,20 @@ double fRand(double fMin, double fMax)
     double f = (double)rand() / RAND_MAX;
     return fMin + f * (fMax - fMin);
 }
-void sendRandomTrack(std::shared_ptr<DirectCommunication::DirectCommunicationClient> client, int number)
+void sendRandomTrack(std::shared_ptr<DirectCommunication::DirectCommunicationClient> client,std::shared_ptr<Sensor::SensorControl> sensor, int number)
 {
 for (int i = 0; i < number; i++) {
     std::string name = "test1-" + std::to_string(i);
-    SimCore::SimTrack track(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
+    auto simtrack = std::make_shared<SimCore::SimTrack>(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
+    auto track = std::make_shared<SimCore::SensorTrack>(simtrack,sensor);
+    // LOG_S(INFO)<<track->getSensorData()->getName();
     SimCore::Position pos;
     double lat =  fRand(-90, 90);
     double lon =  fRand(-180, 180);
 
     pos.setGeodesicPos( lat,  lon, 0);
-    track.setPosition(pos);
+    track->setPosition(pos);
-    client->sendMessage(track.buildMessage());
+    client->sendMessage(track->buildMessage());
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
 }
@@ -42,16 +46,16 @@ for (int i = 0; i < number; i++) {
 
 void sendRandomTracktoManager(std::shared_ptr<Entities::SensorManager> SensorManager_)
 {
-for (int i = 0; i < 5; i++) {
+// for (int i = 0; i < 5; i++) {
-    std::string name = "test1-" + std::to_string(i);
+//     std::string name = "test1-" + std::to_string(i);
-    SimCore::SimTrack track(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
+//     SimCore::SensorTrack track(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
-    SimCore::Position pos;
+//     SimCore::Position pos;
-    double lat =  fRand(-90, 90);
+//     double lat =  fRand(-90, 90);
-    double lon =  fRand(-180, 180);
+//     double lon =  fRand(-180, 180);
 
-    pos.setGeodesicPos( lat,  lon, 0);
+//     pos.setGeodesicPos( lat,  lon, 0);
-    track.setPosition(pos);
+//     track.setPosition(pos);
-}
+// }
 
 
 
@@ -59,39 +63,48 @@ for (int i = 0; i < 5; i++) {
 
     auto id0 = SimCore::Identifier();   
     LOG_S(INFO)<<id0.getUUID(); 
-    auto control = std::make_unique<Sensor::SensorControl>(id0.getUUID(),"Sensor", "127.0.0.1", SimCore::SensorKinds::RADAR);
+    auto control = std::make_shared<Sensor::SensorControl>(id0.getUUID(),"Sensor", "127.0.0.1", SimCore::SensorKinds::RADAR);
+    auto test = std::static_pointer_cast<SimCore::SensorData>(control);  
+    LOG_S(INFO)<< test->getSensorDataAsJson();
+
     auto client = std::make_shared<DirectCommunication::DirectCommunicationClient>(5557,"127.0.0.1",id0.getUUID());
-    SensorManager_->addSensorLocal(std::move(control));
+    SensorManager_->addSensorLocal(control);
     // sendRandomTrack(client,5);
 
     auto id1 = SimCore::Identifier();    
-    auto control1 = std::make_unique<Sensor::SensorControl>(id1.getUUID(),"Sensor1", "127.0.0.1", SimCore::SensorKinds::RADAR);
+    auto control1 = std::make_shared<Sensor::SensorControl>(id1.getUUID(),"Sensor1", "127.0.0.1", SimCore::SensorKinds::RADAR);
     auto client1 = std::make_shared<DirectCommunication::DirectCommunicationClient>(5557,"127.0.0.1",id1.getUUID());
-    SensorManager_->addSensorLocal(std::move(control1));
+    SensorManager_->addSensorLocal(control1);
     // sendRandomTrack(client1,5);
 
     auto id2 = SimCore::Identifier();    
-    auto control2 = std::make_unique<Sensor::SensorControl>(id2.getUUID(),"Sensor2", "127.0.0.1", SimCore::SensorKinds::VISUAL);
+    auto control2 = std::make_shared<Sensor::SensorControl>(id2.getUUID(),"Sensor2", "127.0.0.1", SimCore::SensorKinds::VISUAL);
     auto client2 = std::make_shared<DirectCommunication::DirectCommunicationClient>(5557,"127.0.0.1",id2.getUUID());
-    SensorManager_->addSensorLocal(std::move(control2));
+    SensorManager_->addSensorLocal(control2);
     // sendRandomTrack(client2,5);
 
     auto id3 = SimCore::Identifier();    
-    auto control3 = std::make_unique<Sensor::SensorControl>(id3.getUUID(),"Sensor3", "127.0.0.1", SimCore::SensorKinds::ESM);
+    auto control3 = std::make_shared<Sensor::SensorControl>(id3.getUUID(),"Sensor3", "127.0.0.1", SimCore::SensorKinds::ESM);
     auto client3 = std::make_shared<DirectCommunication::DirectCommunicationClient>(5557,"127.0.0.1",id3.getUUID());
-    SensorManager_->addSensorLocal(std::move(control3));
+    SensorManager_->addSensorLocal(control3);
-    sendRandomTrack(client2,5);
+    sendRandomTrack(client2,control3,5);
 
 for (int i = 0; i < 3; i++) {
     std::string name = "identical-" + std::to_string(i);
-    SimCore::SimTrack track(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
+    auto  Simtrack = std::make_shared<SimCore::SimTrack>(name,SimCore::Kind::EntityKind::SURFACE,SimCore::Side::NEUTRAL);
+    SimCore::SensorTrack track(Simtrack);
+    
+    // LOG_S(INFO)<<track.getSensorData()->getID().getUUID();
+
     SimCore::Position pos;
     double lat =  fRand(-90, 90);
     double lon =  fRand(-180, 180);
 
     pos.setGeodesicPos( lat,  lon, 0);
     track.setPosition(pos);
+    
     client->sendMessage(track.buildMessage());
+
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
     client1->sendMessage(track.buildMessage());
@@ -141,6 +154,7 @@ void startSensors(SimCore::Identifier ownid, std::string GroundTruthAddr_,ushort
 
         SensorManager_->startSensor(RadarPod, SimCore::SensorKinds::RADAR);
       
+        
     }
 
 SCENARIO("Testing the SimCore SensorManager")
@@ -151,8 +165,8 @@ SCENARIO("Testing the SimCore SensorManager")
 
     auto PodController_ = std::make_shared<kubecontrol::PodController>("docs/config");
 
-
+    auto ownShip = std::make_shared<SimCore::SimTrack>(id,"Test Ship", SimCore::Kind::EntityKind::SURFACE,SimCore::Side::EntitySide::FRIEND);
-    auto  SensorManager_ = std::make_shared<Entities::SensorManager>(id, PodController_,5557);
+    auto  SensorManager_ = std::make_shared<Entities::SensorManager>(ownShip, PodController_,5557);
     
 
    startSensors(id, "239.0.0.1", 7000, 5557,  SensorManager_);
@@ -172,7 +186,7 @@ SCENARIO("Testing the SimCore SensorManager")
 
         REQUIRE(PodController_->getInfoForAllPods().size() == 0);
 
-
+        SensorManager_->stop();
       } //THEN
     } // WHEN
   } // GIVEN
@@ -187,8 +201,9 @@ SCENARIO("Testing the SimCore SensorManager with local sensors")
 
     auto PodController_ = std::make_shared<kubecontrol::PodController>("docs/config");
 
+    auto ownShip = std::make_shared<SimCore::SimTrack>(id,"Test Ship", SimCore::Kind::EntityKind::SURFACE,SimCore::Side::EntitySide::FRIEND);
 
-    auto  SensorManager_ = std::make_shared<Entities::SensorManager>(id, PodController_,5557);
+    auto  SensorManager_ = std::make_shared<Entities::SensorManager>(ownShip, PodController_,5557);
     
 
     sendRandomTracktoManager(SensorManager_);
@@ -222,6 +237,7 @@ SCENARIO("Testing the SimCore SensorManager with local sensors")
         std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
       
+        SensorManager_->stop();
 
       } //THEN
     } // WHEN