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Fix carla bridge is not detecting route event #2187

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merged 3 commits into from
Nov 9, 2023
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@MishkaMN MishkaMN commented Nov 7, 2023

PR Details

Description

Added an ability to latch the route_event so that components starting late can detect the correct route events. This is mainly intended for components outside carma-platform such as carma-carla-integration tool as the live vehicle normally didn't have this issue.
related PRs:
usdot-fhwa-stol/carma-carla-integration#45
usdot-fhwa-stol/carma-config#280

Related GitHub Issue

#2188

Related Jira Key

Motivation and Context

Integration testing of VRU use case

How Has This Been Tested?

Tested on a new Simulation PC (using fastDDS)

Types of changes

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

Sorry, something went wrong.

@MishkaMN MishkaMN marked this pull request as ready for review November 8, 2023 17:08
MishkaMN added a commit to usdot-fhwa-stol/carma-config that referenced this pull request Nov 9, 2023
<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Added an ability to latch the route_event so that components starting
late can detect the correct route events. This is mainly intended for
components outside carma-platform such as carma-carla-integration tool
as the live vehicle normally didn't have this issue. Related PRs:
usdot-fhwa-stol/carma-carla-integration#45
usdot-fhwa-stol/carma-platform#2187
<!--- Describe your changes in detail -->

## Related GitHub Issue
usdot-fhwa-stol/carma-platform#2188
<!--- This project only accepts pull requests related to open GitHub
issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## Related Jira Key

<!-- e.g. CAR-123 -->

## Motivation and Context
Integration testing of VRU use case
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Tested on a new Simulation PC (using fastDDS)
<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [X] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [X] I have added any new packages to the sonar-scanner.properties file
- [X] My change requires a change to the documentation.
- [X] I have updated the documentation accordingly.
- [X] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [X] I have added tests to cover my changes.
- [X] All new and existing tests passed.
@MishkaMN MishkaMN merged commit f5c71b9 into develop Nov 9, 2023
MishkaMN added a commit to usdot-fhwa-stol/carma-carla-integration that referenced this pull request Nov 9, 2023
<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
carma-carla-integration tool's nodes currently can start later than when
the route is selected. So added extra topic to broadcast when the
guidance node is active in the tool so that the route node can select
the route afterwards. Also carma-platform's last route event is
ROUTE_STARTED not ROUTE_SELECTED, which can lead the guidance node into
thinking the route is never selected. Related PRs:
route_event latched in carma-platform:
usdot-fhwa-stol/carma-platform#2187
route_event bridged correctly in carma-config:
usdot-fhwa-stol/carma-config#280
 
<!--- Describe your changes in detail -->

## Related GitHub Issue
usdot-fhwa-stol/carma-platform#2188
<!--- This project only accepts pull requests related to open GitHub
issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## Related Jira Key

<!-- e.g. CAR-123 -->

## Motivation and Context
Integration testing of VRU use case
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Simulation PC 1 with fastDDS 
<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [X] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [X] I have added any new packages to the sonar-scanner.properties file
- [X] My change requires a change to the documentation.
- [X] I have updated the documentation accordingly.
- [X] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [X] I have added tests to cover my changes.
- [X] All new and existing tests passed.
@adev4a adev4a deleted the feature/route_event branch November 9, 2023 16:51
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2 participants