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ADD: added update of simtrack

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This commit is contained in:
hwinkel
2023-07-03 17:03:59 +02:00
parent 11870f0260
commit f21188672b
6 changed files with 94 additions and 31 deletions
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1
include/SimCore/Messages/Emission.hpp
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@@ -35,6 +35,7 @@ namespace SimCore
/// @return
std::string getName();
Data<double> Frequency;
Data<double> Range;
Data<double> Bandwidth;

53
include/SimCore/Messages/SimTrack.hpp
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@@ -10,33 +10,24 @@
#include <SimCore/Messages/Emission.hpp>
namespace SimCore
{
class SimTrack
{
private:
const SimCore::Identifier ID_;
const WHISPER::SourceType SourceType_;
Position position_;
std::vector<Emission> EmitterList;
public:
SimTrack();
SimTrack(WHISPER::SourceType sourcetype,SimCore::EntityKind entityKind);
SimTrack( SimCore::Identifier id ,WHISPER::SourceType sourcetype,SimCore::EntityKind entityKind );
SimTrack(WHISPER::SourceType sourcetype, SimCore::EntityKind entityKind);
SimTrack(SimCore::Identifier id, WHISPER::SourceType sourcetype, SimCore::EntityKind entityKind);
~SimTrack();
/// @brief
/// @param pos
void setPosition(SimCore::Position pos);
/// @brief
/// @param x
/// @param y
@@ -44,8 +35,30 @@ namespace SimCore
void setPosition(double x, double y, double z);
SimCore::Position getPosition();
SimCore::Identifier getIdentifier();
/// @brief
/// @param emission
void addEmission(Emission emission);
/// @brief
/// @param id
/// @return
std::shared_ptr<Emission> getEmission(SimCore::Identifier id);
/// @brief couts the stored emissions
/// @return returns the amout of emission
size_t coutEmissions();
/// @brief return a WHISPER Message out of a simtrack object
/// @param parentID
/// @return WHISPER::Message
WHISPER::Message buildMessage(SimCore::Identifier parentID);
/// @brief creates a SimTrack out of a whisper message
/// @param msg
/// @return SimTrack Oject
static SimTrack unpack(WHISPER::Message msg);
public:
Data<double> Speed;
Data<double> Course;
Data<double> Pitch;
@@ -53,12 +66,14 @@ namespace SimCore
Data<SimCore::EntityKind> EntityKind;
private:
const SimCore::Identifier ID_;
WHISPER::Message buildMessage(SimCore::Identifier parentID);
static SimTrack unpack(WHISPER::Message msg);
const WHISPER::SourceType SourceType_;
Position position_;
std::vector<std::shared_ptr<SimCore::Emission>> EmissionList;
};
}

1
src/SimCore/Messages/Emission.cpp
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@@ -7,7 +7,6 @@ namespace SimCore
:ID_(SimCore::Identifier())
{
this->name_.setValue(name);
}
SimCore::Emission::Emission(std::string name, SimCore::Identifier id)

1
src/SimCore/Messages/GroundThruthTrack.cpp
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@@ -11,6 +11,7 @@
namespace SimCore
{
[[deprecated("use SimTrack instead")]]
GroundTruthTrack::GroundTruthTrack(WHISPER::SourceType src,SimCore::Identifier id,SimCore::TrackKind kind):Track(src, id, kind)
{

41
src/SimCore/Messages/SimTrack.cpp
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@@ -73,7 +73,14 @@ namespace SimCore
SimTrack.mutable_entityidentifier()->set_parent(this->ID_.getParentNumber());
SimTrack.mutable_entityidentifier()->set_uuid(this->ID_.getUUID());
std::vector<std::shared_ptr<Emission>>::iterator it;
for( it = EmissionList.begin(); it != EmissionList.end(); it++)
{
auto emissionMsg = it->get()->packEmission();
SimTrack.add_contactemissions()->CopyFrom(emissionMsg);
}
// SimTrack.mutable_timestamp()->set_seconds(time(NULL));
auto any = std::make_shared<google::protobuf::Any>();
@@ -161,10 +168,42 @@ namespace SimCore
}
for (int i = 0; i < trackMsg.contactemissions_size(); i++)
{
const messages::SimTrack::Emission* emission = trackMsg.mutable_contactemissions(i);
auto obj = SimCore::Emission::unpackEmission(*emission);
track.addEmission(obj);
}
return track;
}
void SimTrack::addEmission(Emission emission)
{
auto tmp = std::make_shared<Emission>(std::move(emission));
this->EmissionList.push_back(std::move(tmp));
}
std::shared_ptr<Emission> SimTrack::getEmission(SimCore::Identifier id)
{
for(auto iterator = this->EmissionList.begin(); iterator != this->EmissionList.end(); iterator++)
{
if (iterator->get()->getID()== id)
{
return *iterator;
}
}
return nullptr;
}
size_t SimTrack::coutEmissions()
{
return EmissionList.size();
}
} // namespace SimCore

10
tests/test_SimTrack.cpp
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@@ -23,6 +23,8 @@ SCENARIO("Testing the SimCore Track")
GeodesPos1(SimCore::GeodesicPosition::LONGITUDE) = 13.376935;
GeodesPos1(SimCore::GeodesicPosition::HEIGHT) = 0;
SimCore::Emission emi1("test Radar");
SimCore::Position pos1(GeocentPos1(SimCore::X),GeocentPos1(SimCore::Y),GeocentPos1(SimCore::Z));
double course = 90;
@@ -47,6 +49,9 @@ SCENARIO("Testing the SimCore Track")
if (track.getPosition() == pos) {
testOperator = true;
}
auto idEmi = emi1.getID();
track.addEmission(emi1);
// serializedMSG = track.buildMessage(parentID).serialize();
// msg = std::make_shared<WHISPER::Message>(serializedMSG);
@@ -58,7 +63,8 @@ SCENARIO("Testing the SimCore Track")
// std::string trackstring = track.buildMessage(parentID).serialize();
// SimCore::GroundTruthTrack trackDeserialized = SimCore::GroundTruthTrack::unpack(*msg);
std::shared_ptr<SimCore::Emission> esm= track.getEmission(emi1.getID());
esm->packEmission();
THEN("check if Track attributes are correct")
{
@@ -66,6 +72,8 @@ SCENARIO("Testing the SimCore Track")
REQUIRE(track.Course.getValue() == course);
REQUIRE(track.Speed.getValue() == speed);
REQUIRE(track.getPosition().getGeocentricPos() == pos.getGeocentricPos());
REQUIRE(track.coutEmissions() > 0);
REQUIRE(track.getEmission(emi1.getID()).get()->getID() == idEmi);
// REQUIRE(msg.get()->msgType_ == WHISPER::GROUND_TRUTH_TRACK);
// REQUIRE(trackPtr->Speed.getValue() == speed);