PR Updates

usdot-fhwa-stol · Oct 25, 2023 · 25ea36d · 25ea36d
1 parent 0a41526
commit 25ea36d
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Showing 8 changed files with 15 additions and 12 deletions.
diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/carla_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/carla_config.json
@@ -2,5 +2,7 @@
     "updateInterval": 100,
     "carlaUE4Path": "/opt/carla/",
     "bridgePath": "/opt/carma-simulation/scenarios/Town04/carla; bridge.sh",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://127.0.0.1:8090/RPC2"
+
 }
diff --git a/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json b/co-simulation/bundle/src/assembly/resources/scenarios/Town04_test/carla/carla_config.json
@@ -2,5 +2,6 @@
     "updateInterval": 100,
     "carlaUE4Path": "/opt/carla/",
     "bridgePath": "/opt/carma-simulation/scenarios/Town04_test/carla; bridge.sh",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://127.0.0.1:8090/RPC2"
 }
diff --git a/...d/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java b/...d/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/ambassador/CarlaAmbassador.java
@@ -17,7 +17,6 @@
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
 import org.apache.xmlrpc.XmlRpcException;
-import org.apache.xmlrpc.client.XmlRpcClientException;
 import org.eclipse.mosaic.fed.carla.carlaconnect.CarlaConnection;
 import org.eclipse.mosaic.fed.carla.carlaconnect.CarlaXmlRpcClient;
 import org.eclipse.mosaic.fed.carla.config.CarlaConfiguration;
@@ -28,7 +27,6 @@
 import org.eclipse.mosaic.interactions.detector.DetectedObjectInteraction;
 import org.eclipse.mosaic.interactions.detector.DetectorRegistration;
 import org.eclipse.mosaic.lib.objects.detector.DetectedObject;
-import org.eclipse.mosaic.lib.objects.detector.Detector;
 import org.eclipse.mosaic.lib.util.ProcessLoggingThread;
 import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation;
 import org.eclipse.mosaic.rti.TIME;
@@ -43,7 +41,6 @@
 import java.io.InputStream;
 import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.HashMap;
 import java.util.List;
 import java.util.concurrent.PriorityBlockingQueue;
 import java.util.concurrent.TimeUnit;
@@ -219,7 +216,7 @@ public void initialize(long startTime, long endTime) throws InternalFederateExce
         //initialize CarlaXmlRpcClient
         //set the connected server URL
         try{
-            URL xmlRpcServerUrl = new URL("http://127.0.0.1:8090/RPC2");
+            URL xmlRpcServerUrl = new URL(carlaConfig.carlaCDASimAdapterUrl);
             carlaXmlRpcClient = new CarlaXmlRpcClient(xmlRpcServerUrl);
         }
         catch (MalformedURLException m) 

diff --git a/...saic-carla/src/main/java/org/eclipse/mosaic/fed/carla/carlaconnect/CarlaXmlRpcClient.java b/...saic-carla/src/main/java/org/eclipse/mosaic/fed/carla/carlaconnect/CarlaXmlRpcClient.java
@@ -16,15 +16,12 @@
 package org.eclipse.mosaic.fed.carla.carlaconnect;
 
 import java.net.URL;
-import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
 import org.apache.xmlrpc.XmlRpcException;
 import org.apache.xmlrpc.client.XmlRpcClient;
 import org.apache.xmlrpc.client.XmlRpcClientConfigImpl;
-import org.apache.xmlrpc.client.XmlRpcClientException;
-import org.eclipse.mosaic.interactions.detector.DetectedObjectInteraction;
 import org.eclipse.mosaic.interactions.detector.DetectorRegistration;
 import org.eclipse.mosaic.lib.objects.detector.DetectedObject;
 import org.slf4j.Logger;
@@ -39,7 +36,6 @@ public class CarlaXmlRpcClient{
 
     boolean isConnected;
     private static final String CREATE_SENSOR = "create_simulated_semantic_lidar_sensor";
-    private static final String GET_SENSOR = "get_simulated_sensor";
     private static final String GET_DETECTED_OBJECTS = "get_detected_objects";
 
     private XmlRpcClient client;

diff --git a/...ed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/config/CarlaConfiguration.java b/...ed/mosaic-carla/src/main/java/org/eclipse/mosaic/fed/carla/config/CarlaConfiguration.java
@@ -48,5 +48,10 @@ public class CarlaConfiguration implements Serializable {
      * Carla connection port
      */
     public int carlaConnectionPort;
+    /**
+     * URL where CARLACDASimAdapter XMLRPC Server is hosted
+     */
+    public String carlaCDASimAdapterUrl;
+
 
 }
diff --git a/...osaic-carla/src/test/java/org/eclipse/mosaic/fed/carla/config/CarlaConfigurationTest.java b/...osaic-carla/src/test/java/org/eclipse/mosaic/fed/carla/config/CarlaConfigurationTest.java
@@ -41,6 +41,7 @@ public void readConfig_assertProperties() throws InstantiationException {
         assertEquals("D:/CARLA_0.9.10/", carlaConfiguration.carlaUE4Path);
         assertEquals("./scenarios/Town04_10/carla; bridge.bat", carlaConfiguration.bridgePath);
         assertEquals(8913, carlaConfiguration.carlaConnectionPort);
+        assertEquals("http://127.0.0.1:8090/RPC2",carlaConfiguration.carlaCDASimAdapterUrl);
     }
 
     /**

diff --git a/co-simulation/fed/mosaic-carla/src/test/resources/carla_config.json b/co-simulation/fed/mosaic-carla/src/test/resources/carla_config.json
@@ -2,5 +2,7 @@
     "updateInterval": 200,
     "carlaUE4Path": "D:/CARLA_0.9.10/",
     "bridgePath": "./scenarios/Town04_10/carla; bridge.bat",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://127.0.0.1:8090/RPC2"
+
 }
diff --git a/...org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java b/...org/eclipse/mosaic/fed/infrastructure/ambassador/InfrastructureMessageAmbassadorTest.java
@@ -59,7 +59,6 @@
 import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter;
 import org.eclipse.mosaic.rti.api.parameters.FederateDescriptor;
 import org.eclipse.mosaic.rti.config.CLocalHost;
-import org.junit.After;
 import org.junit.Before;
 import org.junit.Rule;
 import org.junit.Test;