adapt CPM sample scripts according to msg changes

ika-rwth-aachen · Nov 29, 2024 · 2ab6be5 · 2ab6be5
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Showing 3 changed files with 9 additions and 13 deletions.
diff --git a/etsi_its_msgs_utils/samples/publish_cpm_ts.py b/etsi_its_msgs_utils/samples/publish_cpm_ts.py
@@ -51,8 +51,7 @@ def publish(self):
 
 
         cpm_container = WrappedCpmContainer()
-        cpm_container.container_id.value = cpm_container.container_id.PERCEIVED_OBJECT_CONTAINER
-        cpm_container.container_data.choice.value = cpm_container.container_id.value
+        cpm_container.container_id.value = cpm_container.CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER
 
         perceived_object_container = PerceivedObjectContainer()
         perceived_object_container.number_of_perceived_objects.value = 2
@@ -76,7 +75,7 @@ def publish(self):
             perceived_object.object_dimension_z.confidence.value = perceived_object.object_dimension_z.confidence.UNAVAILABLE
             perceived_object_container.perceived_objects.array.append(perceived_object)
 
-        cpm_container.container_data.perceived_object_container = perceived_object_container
+        cpm_container.container_data_perceived_object_container = perceived_object_container
         msg.payload.cpm_containers.value.array.append(cpm_container)
 
         self.get_logger().info(f"Publishing CPM")

diff --git a/etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py b/etsi_its_msgs_utils/samples/publish_cpm_ts_multi_wrapped_container.py
@@ -135,19 +135,17 @@ def publish(self) -> None:
 
         # Sensor information container
         si_container = WrappedCpmContainer()
-        si_container.container_id.value = CpmContainerId.SENSOR_INFORMATION_CONTAINER
-        si_container.container_data.choice.value = si_container.container_id.value
-        si_container.container_data.sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
+        si_container.container_id.value = si_container.CHOICE_CONTAINER_DATA_SENSOR_INFORMATION_CONTAINER
+        si_container.container_data_sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
 
         # Get perceived object
         perceived_object = self.get_perceived_object()
 
         # Perceived object container
         po_container = WrappedCpmContainer()
-        po_container.container_id.value = CpmContainerId.PERCEIVED_OBJECT_CONTAINER
-        po_container.container_data.choice.value = po_container.container_id.value
-        po_container.container_data.perceived_object_container.number_of_perceived_objects.value = 1
-        po_container.container_data.perceived_object_container.perceived_objects.array = [perceived_object]
+        po_container.container_id.value = po_container.CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER
+        po_container.container_data_perceived_object_container.number_of_perceived_objects.value = 1
+        po_container.container_data_perceived_object_container.perceived_objects.array = [perceived_object]
 
         # Append wrapped containers
         msg.payload.cpm_containers.value.array = [si_container, po_container]

diff --git a/etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py b/etsi_its_msgs_utils/samples/publish_cpm_ts_sensor_information.py
@@ -113,14 +113,13 @@ def publish(self) -> None:
         msg.payload.management_container.reference_position.longitude.value = int(6.047076274316094 * 1e7)
 
         cpm_container = WrappedCpmContainer()
-        cpm_container.container_id.value = CpmContainerId.SENSOR_INFORMATION_CONTAINER
-        cpm_container.container_data.choice.value = cpm_container.container_id.value
+        cpm_container.container_id.value = cpm_container.CHOICE_CONTAINER_DATA_SENSOR_INFORMATION_CONTAINER
 
         # Get sensor informations 
         lidar_sensor = self.get_lidar_sensor_information()
         local_aggretation_sensor = self.get_local_aggregation_sensor_information()
 
-        cpm_container.container_data.sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
+        cpm_container.container_data_sensor_information_container.array = [lidar_sensor, local_aggretation_sensor]
         msg.payload.cpm_containers.value.array.append(cpm_container)
 
         self.get_logger().info(f"Publishing CPM")