ADD: added Sensor virtual PArent class

CMakeLists.txt

@@ -58,7 +58,8 @@ add_library(SimCore STATIC
     include/SimCore/UtilFunctions.hpp
     src/SimCore/UtilFunctions.cpp
   
-
+    include/SimCore/Sensor.hpp
+    src/SimCore/Sensor.cpp
 )
 
 target_link_libraries(SimCore
@@ -131,6 +132,10 @@ IF (${TEST_SIMCORE_LIBRARY})
   target_link_libraries(test_UtilFunctions Catch2::Catch2 SimCore loguru)
   catch_discover_tests(test_UtilFunctions)
 
+  add_executable(test_SensorClass tests/test_SensorClass.cpp)
+  target_link_libraries(test_SensorClass Catch2::Catch2 SimCore loguru)
+  catch_discover_tests(test_SensorClass)
+
 
 
 ENDIF()

include/SimCore/Sensor.hpp

@@ -0,0 +1,76 @@
+#pragma once
+
+
+
+#include "SimCore/Messages/Track.hpp"
+#include <WHISPER/InternalUDPService.hpp>
+#include <SimCore/Identifier.hpp>
+
+#include <WHISPER/threadSafeQueue.hpp>
+#include <WHISPER/Messages/Message.hpp>
+#include <SimCore/SimCore.hpp>
+#include <SimCore/Identifier.hpp>
+#include <SimCore/Position.hpp>
+#include <memory>
+#include <thread>
+
+namespace SimCore {
+
+    class Sensor {
+        public: 
+            Sensor(SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress);
+            ~Sensor();
+            void start();
+            void stop();
+
+        protected:
+            std::shared_ptr<WHISPER::threadSafeQueue<SimCore::Track>> incommingTrackMessages = nullptr;
+
+
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingGroundThruthMessages = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingGroundThruthMessages = nullptr;
+
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingParentMessages = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> outgoingParentMessages = nullptr;
+
+            virtual void specificSensorCalculations() = 0;
+            virtual void specificReloadCharacteristicts() = 0;
+
+        private:
+
+            SimCore::Identifier OwnID_;
+            SimCore::Identifier ParentID_;
+            SimCore::SensorKinds SensorKind_;
+            std::uint32_t GroundTruthPort_;
+            std::uint32_t ParentPort_;
+            std::string ParentIPAddress_;
+
+            std::shared_ptr<WHISPER::InternalUDPService> GroundTruthUDPService_ = nullptr;    
+            std::shared_ptr<WHISPER::InternalUDPService> ParentUDPService_ = nullptr;    
+
+            void receivingData();
+            void sendingData();
+
+            void SensorCalculations();
+            void ReloadCharacteristicts();
+
+            std::atomic<bool> stopReceivingGroundThruth = false;
+            std::atomic<bool> ReceivingGroundThruthIsRunnung = false;
+
+            std::atomic<bool> stopsendCalculatedData = false;
+            std::atomic<bool> sendCalculatedDataIsRunnung = false;
+
+            std::atomic<bool> stopCalculationData = false;
+            std::atomic<bool> CalculationIsRunnung = false;
+
+
+            std::thread receiveGroundTruthThread;
+            std::thread sendCalculatedDataThread;
+            
+            std::thread sensorCalculationThread;
+
+            std::shared_ptr<Position> position_ = nullptr;
+
+
+    };
+}

include/SimCore/SimCore.hpp

@@ -37,4 +37,12 @@ enum ContactEnvironment : std::uint8_t{
 };
 
 
+enum SensorKinds : std::uint32_t {
+    RADAR = 1,
+    ELOKA,
+    SONAR,
+    VISUAL
+};
+
+
 }

include/SimCore/UtilFunctions.hpp

@@ -2,6 +2,7 @@
 #include <vector>
 #include <string>
 #include <sstream>
+#include <netdb.h>
 
 
 
@@ -12,9 +13,13 @@ namespace SimCore {
     {
         public:
             static std::vector<std::string> explode(std::string const & s, char delim);
+            static std::string implode(const std::vector<std::string> &v , char delim);
 
             static bool isNumber(const std::string& s);
-
+            static void check_host_name(int hostname);
+            static void check_host_entry(struct hostent * hostentry);
+            static void IP_formatter(char *IPbuffer);
+            static std::string getOwnIP();
 
     };
 

src/SimCore/Sensor.cpp

@@ -0,0 +1,182 @@
+#include "SimCore/Messages/Track.hpp"
+#include "SimCore/UtilFunctions.hpp"
+#include "WHISPER/Messages/Message.hpp"
+#include <SimCore/Sensor.hpp>
+#include <memory>
+
+namespace SimCore {
+      
+   Sensor::Sensor(SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress):
+    OwnID_(OwnID),ParentID_(ParentID),SensorKind_(SensorKind),GroundTruthPort_(GroundTruthPort),ParentPort_(ParentPort),ParentIPAddress_(ParentIPAddress)
+    {
+
+        std::string ownIP = SimCore::UtilFunctions::getOwnIP();
+        auto ip = SimCore::UtilFunctions::explode(ownIP, '.');
+        ip[3] = "255";
+        LOG_S(INFO)<<SimCore::UtilFunctions::implode(ip,'.');
+        incommingGroundThruthMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
+        outgoingGroundThruthMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
+
+        incommingParentMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
+        outgoingParentMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
+
+        incommingTrackMessages =  std::make_shared<WHISPER::threadSafeQueue<SimCore::Track>>();
+    
+
+        GroundTruthUDPService_ =  std::make_shared<WHISPER::InternalUDPService>(OwnID.getNumber(),WHISPER::SENSOR,8000,SimCore::UtilFunctions::implode(ip,'.'),ownIP);    
+        ParentUDPService_ =  std::make_shared<WHISPER::InternalUDPService>(OwnID.getNumber(),WHISPER::SENSOR,ParentPort,ParentIPAddress_,ownIP);    
+
+        ReloadCharacteristicts();
+
+    };
+
+
+    Sensor::~Sensor(){
+        this->stop();
+
+        while (!this->incommingGroundThruthMessages.unique()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+        this->incommingGroundThruthMessages.reset();
+
+        while (!this->outgoingGroundThruthMessages.unique()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+        this->outgoingGroundThruthMessages.reset();
+
+
+        GroundTruthUDPService_->disconnect();
+        while (!this->GroundTruthUDPService_.unique()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+        this->GroundTruthUDPService_.reset();
+
+
+        ParentUDPService_->disconnect();
+        while (!this->ParentUDPService_.unique()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+        this->ParentUDPService_.reset();
+
+
+
+
+    }    
+
+    void Sensor::start(){
+    stopReceivingGroundThruth = false;
+    receiveGroundTruthThread  = std::thread(&Sensor::receivingData,this);
+
+    // stopsendCalculatedData = false;
+    // sendCalculatedDataThread = std::thread(&Sensor::sendingData,this);
+
+    // stopCalculationData = false;
+    // sensorCalculationThread = std::thread(&Sensor::SensorCalculations,this);
+    }
+
+    void Sensor::stop() {
+
+
+        while (ReceivingGroundThruthIsRunnung == true ) {
+            stopReceivingGroundThruth = true;
+            LOG_S(INFO)<<"waiting for receiving thread thread";
+            if (receiveGroundTruthThread.joinable() == true ) {
+                    receiveGroundTruthThread.join();
+            }
+        }
+
+        while (sendCalculatedDataIsRunnung == true ) {
+            stopsendCalculatedData = true;
+            LOG_S(INFO)<<"waiting for receiving thread thread";
+            if (sendCalculatedDataThread.joinable() == true ) {
+                    sendCalculatedDataThread.join();
+            }
+        }
+
+        while (CalculationIsRunnung == true ) {
+            stopCalculationData = true;
+            LOG_S(INFO)<<"waiting for receiving thread thread";
+            if (sensorCalculationThread.joinable() == true ) {
+                    sensorCalculationThread.join();
+            }
+        }
+
+    }
+
+
+    void Sensor::receivingData()
+    {   
+        this->ReceivingGroundThruthIsRunnung = true;
+        // GroundTruthUDPService_->connect(incommingGroundThruthMessages);
+        // GroundTruthUDPService_->subscribe(WHISPER::MsgTopicsMap[WHISPER::MsgTopics::TRACK]);
+
+        // while (stopReceivingGroundThruth == false) {
+        //     if (incommingGroundThruthMessages->size() > 0) {
+        //         WHISPER::Message msg; 
+        //         incommingGroundThruthMessages->get(msg);
+        //         if (msg.msgType_ == WHISPER::MsgType::RAW_TRACK) {
+        //           auto Track = SimCore::Track(msg.serialize());
+        //           incommingTrackMessages->addElement(Track);
+        //         }
+        //     }   
+
+        //     if (outgoingGroundThruthMessages->size() > 0) {
+        //          WHISPER::Message msg;
+        //          outgoingGroundThruthMessages->get(msg);
+        //         GroundTruthUDPService_->publish(msg.serialize(), WHISPER::MsgTopicsMap[(WHISPER::MsgTopics)msg.topic_]);
+        //     }     
+
+        // }
+        // GroundTruthUDPService_->disconnect();
+        this->ReceivingGroundThruthIsRunnung = false;
+    }
+
+    void Sensor::sendingData()
+    {
+        this->sendCalculatedDataIsRunnung = true;
+
+        ParentUDPService_->connect(incommingParentMessages);
+        ParentUDPService_->subscribe(WHISPER::MsgTopicsMap[WHISPER::MsgTopics::COMMANDS]);
+
+        while (stopsendCalculatedData == false) {
+            
+            if (incommingParentMessages->size() > 0) {
+                 WHISPER::Message msg; 
+                incommingGroundThruthMessages->get(msg);
+                LOG_S(INFO)<< "Message received from Parent is" << msg.msgType_;
+            }   
+
+            if (outgoingParentMessages->size() > 0) {
+                WHISPER::Message msg;
+                outgoingParentMessages->get(msg);
+                ParentUDPService_->publish(msg.serialize(), WHISPER::MsgTopicsMap[(WHISPER::MsgTopics)msg.topic_]);
+            }
+
+        }
+
+        this->sendCalculatedDataIsRunnung = false;
+    }
+
+
+    void Sensor::SensorCalculations()
+    {   
+        CalculationIsRunnung = true;
+        specificSensorCalculations();
+
+        while (!stopCalculationData) {
+            specificSensorCalculations();
+        }
+
+        CalculationIsRunnung = false;
+    }
+
+    void Sensor::ReloadCharacteristicts()
+    {
+        LOG_S(INFO)<<"loading specs";
+
+        // specificReloadCharacteristicts();
+    }
+
+
+
+}

src/SimCore/UtilFunctions.cpp

@@ -1,4 +1,8 @@
 #include <SimCore/UtilFunctions.hpp>
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <string>
+#include <unistd.h>
 
 namespace SimCore {
 
@@ -16,6 +20,22 @@ namespace SimCore {
         return result;
     }
 
+     std::string UtilFunctions::implode(const std::vector<std::string> &v , char delim)
+     {
+            std::string ret;
+
+        for(const auto &s : v) 
+        {
+            if(!ret.empty())
+            {
+                ret += delim;
+            }
+            ret += s;
+        }
+        return ret;
+     }
+
+
 
     bool UtilFunctions::isNumber(const std::string& s)
     {
@@ -23,4 +43,38 @@ namespace SimCore {
             s.end(), [](unsigned char c) { return !std::isdigit(c); }) == s.end();
     }
 
+ void UtilFunctions::check_host_name(int hostname) { //This function returns host name for local computer
+        if (hostname == -1) {
+            perror("gethostname");
+            exit(1);
+        }
+    }
+    void UtilFunctions::check_host_entry(struct hostent * hostentry) { //find host info from host name
+        if (hostentry == NULL){
+            perror("gethostbyname");
+            exit(1);
+        }
+    }
+    void IP_formatter(char *IPbuffer) { //convert IP string to dotted decimal format
+        if (NULL == IPbuffer) {
+            perror("inet_ntoa");
+            exit(1);
+        }
+    }
+
+    std::string UtilFunctions::getOwnIP(){
+        char host[256];
+        char *IP;
+        struct hostent *host_entry;
+        int hostname;
+        hostname = gethostname(host, sizeof(host)); //find the host name
+        check_host_name(hostname);
+        host_entry = gethostbyname(host); //find host information
+        check_host_entry(host_entry);
+        IP = inet_ntoa(*((struct in_addr*) host_entry->h_addr_list[0])); //Convert into IP string
+
+
+        return IP;
+    };
+
 }

tests/test_SensorClass.cpp

@@ -0,0 +1,67 @@
+
+#include "SimCore/Identifier.hpp"
+#include <SimCore/SimCore.hpp>
+#include <memory>
+#include <thread>
+#define CATCH_CONFIG_MAIN
+#include <catch2/catch.hpp>
+#include <SimCore/Sensor.hpp>
+
+// SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress
+class Radar : public SimCore::Sensor 
+{
+ public: 
+    Radar(SimCore::Identifier OwnID, 
+          SimCore::Identifier ParentID, 
+          SimCore::SensorKinds SensorKind,
+          std::uint32_t GroundTruthPort, 
+          std::uint32_t ParentPort,
+          std::string ParentIPAddress,
+          std::string radarType):SimCore::Sensor(OwnID,  ParentID,  SensorKind,  GroundTruthPort, ParentPort, ParentIPAddress),radarType_(radarType)
+          {
+
+          }
+  
+  private:
+    std::string radarType_;
+
+    void specificSensorCalculations() override
+    {
+        LOG_S(INFO)<<"calculating";
+    };
+
+    void specificReloadCharacteristicts() override 
+    { 
+     LOG_S(INFO)<<"loading specifications";
+    };
+};
+
+
+
+
+SCENARIO("Testing the SimCore Sensor")
+{
+  GIVEN("different Attributes for a Track in different forms")
+  {
+    SimCore::Identifier IDParent(0,1,false);
+    SimCore::Identifier IDRadar(1,1,false);
+
+   Radar Radar(IDRadar,IDParent,SimCore::SensorKinds::RADAR,8000,8001,"127.0.0.1","APAR");
+   Radar.start();
+  
+    WHEN("constructing Track Object with data")
+    {
+       
+      std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+      THEN("check if Track attributes are correct")
+      {
+        // REQUIRE(testOperator == true);
+       
+
+
+
+
+      } //THEN
+    } // WHEN
+  } // GIVEN
+} //SCENARIO

tests/test_UtilFunctions.cpp

@@ -2,6 +2,7 @@
 #include <string>
 #define CATCH_CONFIG_MAIN
 #include <catch2/catch.hpp>
+#include <loguru.hpp>
 
 
 
@@ -14,6 +15,14 @@ SCENARIO("Testing the SimCorePositionClass")
     std::string s1 = "hello.world.guy";
     std::string s2 = "my;Name;is;henry";
 
+    std::string ownIP = SimCore::UtilFunctions::getOwnIP();
+    LOG_S(INFO)<<ownIP;
+    auto ip = SimCore::UtilFunctions::explode(ownIP, '.');
+    ip[3] = "255";
+    LOG_S(INFO)<< ip[0]+"."+ip[1]+"."+ip[2]+"."+ip[3];
+
+    LOG_S(INFO)<<SimCore::UtilFunctions::implode(ip, '.');
+
 
     WHEN("constructing Position Object with data")
     {
@@ -27,8 +36,10 @@ SCENARIO("Testing the SimCorePositionClass")
         REQUIRE(v1.size() == 3);
         REQUIRE(v1.begin()->compare("hello") == 0);
 
-         REQUIRE(v2.size() == 4);
+        REQUIRE(v2.size() == 4);
         REQUIRE(v2[1].compare("Name") == 0);
+        REQUIRE(ownIP.size() > 0);
+        REQUIRE(ip.size() == 4);