init

.devcontainer/docker-compose-vscode.yml

@@ -22,6 +22,7 @@ services:
       - TIME_SYNC_TOPIC=time_sync
       - TIME_SYNC_PORT=7575
       - SIM_V2X_PORT=5757
+      - SIM_EXTERNAL_OBJECT_PORT=7576
       - V2X_PORT=8686
       - INFRASTRUCTURE_ID=1
       - KAFKA_BROKER_ADDRESS=127.0.0.1:9092

configuration/amd64/docker-compose.yml

@@ -38,6 +38,17 @@ services:
       - db
     environment:
       - MYSQL_PASSWORD=/run/secrets/mysql_password
+      - SIMULATION_MODE=true
+      - SIMULATION_IP=127.0.0.1
+      - SIMULATION_REGISTRATION_PORT=6767
+      - LOCAL_IP=127.0.0.1
+      - TIME_SYNC_TOPIC=time_sync
+      - TIME_SYNC_PORT=7575
+      - SIM_V2X_PORT=5757
+      - SIM_EXTERNAL_OBJECT_PORT=7576
+      - V2X_PORT=8686
+      - INFRASTRUCTURE_ID=1
+      - KAFKA_BROKER_ADDRESS=127.0.0.1:9092
     secrets:
       - mysql_password
     volumes:

src/tmx/Messages/include/MessageTypes.h

@@ -54,6 +54,7 @@ static CONSTEXPR const char *MSGTYPE_VEHICLE_STRING = "Vehicle";
 static CONSTEXPR const char *MSGTYPE_PEDESTRIAN_STRING = "Pedestrian";
 static CONSTEXPR const char *MSGTYPE_PMM_STRING = "Pmm";
 static CONSTEXPR const char *MSGTYPE_RADIO_STRING = "Radio";
+static CONSTEXPR const char *MSGTYPE_DETECTED_STRING = "Simulation";
 
 enum MsgSubType 
 {
@@ -91,6 +92,7 @@ static CONSTEXPR const char *MSGSUBTYPE_INCOMING_STRING = "Incoming";
 static CONSTEXPR const char *MSGSUBTYPE_OUTGOING_STRING = "Outgoing";
 static CONSTEXPR const char *MSGSUBTYPE_SHUTDOWN_STRING = "Shutdown";
 static CONSTEXPR const char *MSGSUBTYPE_TIMESYNC_STRING = "TimeSync";
+static CONSTEXPR const char *MSGSUBTYPE_EXTERNAL_OBJECT_STRING = "ExternalObject";
 
 } /* End namespace messages */
 

src/tmx/Messages/include/simulation/ExternalObject.h

@@ -0,0 +1,145 @@
+#ifndef INCLUDE_SIMULATED_EXTERNALOBJECT_H_
+#define INCLUDE_SIMULATED_EXTERNALOBJECT_H_
+
+#include <tmx/messages/message.hpp>
+#include <MessageTypes.h>
+// #include <simulation/Header.h>
+#include <simulation/PresenceVectorEnumTypes.h>
+#include <simulation/ObjectEnumTypes.h>
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+            /**
+             * This ExternalObject is used to communicate the sensor detected object information with various applications
+             * including internal infrastructure applications and external road user applications through simulated environment.
+             * It defines the message type and sub type and all data members.
+             */
+            class ExternalObject : public tmx::message
+            {
+            public:
+                ExternalObject(){};
+                ExternalObject(const tmx::message_container_type &contents) : tmx::message(contents) {}
+                ExternalObject(PRESENCE_VECTOR_TYPES presenceVector, uint32_t id,
+                               double confidence, OBJECT_TYPES objectType, bool dynamticObj)
+                {
+                    set_PresenceVector(presenceVector);
+                    set_Id(id);
+                    set_Confidence(confidence);
+                    set_ObjectType(objectType);
+                    set_DynamticObj(dynamticObj);
+                };
+                ~ExternalObject(){};
+                // Message type fpr routing this message through TMX core
+                static constexpr const char *MessageType = MSGTYPE_DETECTED_STRING;
+
+                // Message sub type for routing this message through TMX core
+                static constexpr const char *MessageSubType = MSGSUBTYPE_EXTERNAL_OBJECT_STRING;
+
+                /**
+                 *Header contains the frame rest of the fields will use
+                 */
+                // sequence ID: consecutively increasing ID
+                std_attribute(this->msg, uint32_t, HeaderSeq, 0, );
+                // Two-integer timestamp that is expressed as:
+                //  # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+                //  # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+                //  # time-handling sugar is provided by the client library
+                // The seconds component, valid over all int32 values.
+                std_attribute(this->msg, uint32_t, HeaderTimeSec, 0, );
+                // # The nanoseconds component, valid in the range [0, 10e9).
+                std_attribute(this->msg, uint32_t, HeaderTimeNanoSec, 0, );
+
+                // A presence vector, this message is used to describe objects coming from potentially different
+                // sources. The presence vector is used to determine what items are set by the producer.
+                std_attribute(this->msg, PRESENCE_VECTOR_TYPES, PresenceVector, PRESENCE_VECTOR_TYPES::OBJECT_TYPE_PRESENCE_VECTOR, );
+
+                // Object id. Matching ids on a topic should refer to the same object within some time period, expanded
+                std_attribute(this->msg, uint32_t, Id, 0, );
+
+                // bsm id is of form [0xff, 0xff, 0xff, 0xff]. It is not required.
+                // uint8[] bsm_id
+                struct BSMID
+                {
+                    uint8_t BsmId = 0;
+
+                    BSMID() {}
+                    BSMID(std::uint8_t bsmId) : BsmId(bsmId) {}
+
+                    static message_tree_type to_tree(BSMID element)
+                    {
+                        message_tree_type treeElement;
+                        treeElement.put("BsmId", element.BsmId);
+                        return treeElement;
+                    }
+
+                    static BSMID from_tree(message_tree_type &treeElement)
+                    {
+                        BSMID element;
+                        element.BsmId = treeElement.get<std::uint8_t>("BsmId");
+                        return element;
+                    }
+                };
+                array_attribute( BSMID, BsmId);
+
+                // Pose of the object within the frame specified in header
+                // geometry_msgs/PoseWithCovariance pose
+                // This represents a pose in free space with uncertainty.
+                std_attribute(this->msg, double, PosePointX, 0, );
+                std_attribute(this->msg, double, PosePointY, 0, );
+                std_attribute(this->msg, double, PosePointZ, 0, );
+
+                // This represents an orientation in free space in quaternion form.
+                std_attribute(this->msg, double, PoseQuaternionX, 0, );
+                std_attribute(this->msg, double, PoseQuaternionY, 0, );
+                std_attribute(this->msg, double, PoseQuaternionZ, 0, );
+                std_attribute(this->msg, double, PoseQuaternionW, 0, );
+
+                // Row-major representation of the 6x6 covariance matrix
+                //  # The orientation parameters use a fixed-axis representation.
+                //  # In order, the parameters are:
+                //  # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+                std_attribute(this->msg, double, Covariance, 0, );
+
+                // #Average velocity of the object within the frame specified in header
+                // geometry_msgs/TwistWithCovariance velocity
+
+                // #Instantaneous velocity of an object within the frame specified in header
+                // geometry_msgs/TwistWithCovariance velocity_inst
+
+                // #The size of the object aligned along the axis of the object described by the orientation in pose
+                // #Dimensions are specified in meters
+                /**
+                 * # This represents a vector in free space.
+                    # It is only meant to represent a direction. Therefore, it does not
+                    # make sense to apply a translation to it (e.g., when applying a
+                    # generic rigid transformation to a Vector3, tf2 will only apply the
+                    # rotation). If you want your data to be translatable too, use the
+                    # geometry_msgs/Point message instead.
+                */
+                // geometry_msgs/Vector3 size
+                std_attribute(this->msg, double, SizeX, 0, );
+                std_attribute(this->msg, double, SizeY, 0, );
+                std_attribute(this->msg, double, SizeZ, 0, );
+
+                // #Confidence [0,1]
+                std_attribute(this->msg, double, Confidence, 0, );
+
+                // #describes a general object type as defined in this message
+                std_attribute(this->msg, OBJECT_TYPES, ObjectType, OBJECT_TYPES::UNKNOWN, );
+
+                // # Binary value to show if the object is static or dynamic (1: dynamic, 0: static)
+                std_attribute(this->msg, bool, DynamticObj, false, );
+
+                // Predictions for the object. It is not required.
+                // carma_perception_msgs/PredictedState[] predictions
+            };
+
+        }
+    }
+
+}; // namespace tmx
+#endif

src/tmx/Messages/include/simulation/ObjectEnumTypes.h

@@ -0,0 +1,23 @@
+#ifndef INCLUDE_SIMULATED_OBJECT_TYPE_H_
+#define INCLUDE_SIMULATED_OBJECT_TYPE_H_
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+            // #used for object type
+            enum OBJECT_TYPES
+            {
+                UNKNOWN = 0,
+                SMALL_VEHICLE = 1,
+                LARGE_VEHICLE = 2,
+                MOTORCYCLE = 3,
+                PEDESTRIAN = 4
+            };
+        }
+    }
+
+}; // namespace tmx
+#endif

src/tmx/Messages/include/simulation/PresenceVectorEnumTypes.h

@@ -0,0 +1,27 @@
+#ifndef INCLUDE_SIMULATED_PRESENCE_VECTOR_H_
+#define INCLUDE_SIMULATED_PRESENCE_VECTOR_H_
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+            enum PRESENCE_VECTOR_TYPES
+            {
+                ID_PRESENCE_VECTOR = 1,
+                POSE_PRESENCE_VECTOR = 2,
+                VELOCITY_PRESENCE_VECTOR = 4,
+                VELOCITY_INST_PRESENCE_VECTOR = 8,
+                SIZE_PRESENCE_VECTOR = 16,
+                CONFIDENCE_PRESENCE_VECTOR = 32,
+                OBJECT_TYPE_PRESENCE_VECTOR = 64,
+                BSM_ID_PRESENCE_VECTOR = 128,
+                DYNAMIC_OBJ_PRESENCE = 256,
+                PREDICTION_PRESENCE_VECTOR = 512
+            };
+        }
+    }
+
+}; // namespace tmx
+#endif

src/tmx/TmxUtils/src/simulation/SimulationEnvUtils.h

@@ -41,6 +41,11 @@ namespace tmx::utils::sim{
          * necessary in SIMULATION MODE for CDASim message forwarding.
          */
         constexpr inline static const char *SIM_V2X_PORT = "SIM_V2X_PORT";
+        /**
+         * @brief Name of environment variable for storing port for forwarding v2x messages to CDASim. Only
+         * necessary in SIMULATION MODE for CDASim message forwarding.
+         */
+        constexpr inline static const char *SIM_EXTERNAL_OBJECT_PORT = "SIM_EXTERNAL_OBJECT_PORT";
         /**
          * @brief Name of environment variable for storing port for receiving v2x messages from CDASim. Only
          * necessary in SIMULATION MODE for CDASim message forwarding.

src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp

@@ -25,6 +25,7 @@ CARMAStreetsPlugin::CARMAStreetsPlugin(string name) :
 	AddMessageFilter < tsm2Message > (this, &CARMAStreetsPlugin::HandleMobilityPathMessage);
 	AddMessageFilter < MapDataMessage > (this, &CARMAStreetsPlugin::HandleMapMessage);
 	AddMessageFilter < SrmMessage > (this, &CARMAStreetsPlugin::HandleSRMMessage);
+	AddMessageFilter < simulation::ExternalObject> (this, &CARMAStreetsPlugin::HandleSimulatedExternalMessage );
 
 	SubscribeToMessages();
 
@@ -626,6 +627,13 @@ void CARMAStreetsPlugin::SubscribeSSMKafkaTopic(){
 	}
 
 }
+
+void CARMAStreetsPlugin::HandleSimulatedExternalMessage(simulation::ExternalObject &msg, routeable_message &routeableMsg)
+{
+	PLOG(logINFO) << "HandleSimulatedExternalMessage called." <<std::endl;
+	PLOG(logINFO) << msg.to_string()<<std::endl;
+}
+
 bool CARMAStreetsPlugin::getEncodedtsm3( tsm3EncodedMessage *tsm3EncodedMsg,  Json::Value metadata, Json::Value payload_json )
 {
 	try

src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.h

@@ -20,6 +20,7 @@
 #include <kafka/kafka_client.h>
 #include <kafka/kafka_consumer_worker.h>
 #include "JsonToJ2735SSMConverter.h"
+#include <simulation/ExternalObject.h>
 
 
 
@@ -48,6 +49,7 @@ class CARMAStreetsPlugin: public PluginClient {
 	void HandleMobilityOperationMessage(tsm3Message &msg, routeable_message &routeableMsg);
 	void HandleMobilityPathMessage(tsm2Message &msg, routeable_message &routeableMsg);
 	void HandleBasicSafetyMessage(BsmMessage &msg, routeable_message &routeableMsg);
+	void HandleSimulatedExternalMessage(simulation::ExternalObject &msg, routeable_message &routeableMsg);
 	/**
 	 * @brief Subscribe to MAP message broadcast by the MAPPlugin. This handler will be called automatically whenever the MAPPlugin is broadcasting a J2735 MAP message.
 	 * @param msg The J2735 MAP message received from the internal