Merge release/omega (7.8.1) branch into master (#642)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
This PR is to merge release/omega branch into master branch for C1t
release with new version.
## Description

<!--- Describe your changes in detail -->

## Related Issue

<!--- This project only accepts pull requests related to open issues -->
<!--- 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 link to the issue here: -->

## Motivation and Context

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- 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: -->

- [ ] 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! -->

- [ ] 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.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.sonarqube/sonar-scanner.properties

@@ -58,14 +58,16 @@ sonar.modules=  PedestrianPlugin, \
   CDASimAdapter, \
   RSUHealthMonitorPlugin, \
   TelematicBridgePlugin, \
-  MUSTSensorDriverPlugin
+  MUSTSensorDriverPlugin, \
+  Messages
 
 
 
 TmxCore.sonar.projectBaseDir                    =src/tmx/TmxCore
 TmxCtl.sonar.projectBaseDir                     =src/tmx/TmxCtl
 TmxTools.sonar.projectBaseDir                   =src/tmx/TmxTools
 TmxUtils.sonar.projectBaseDir                   =src/tmx/TmxUtils
+Messages.sonar.projectBaseDir                   =src/tmx/Messages
 CARMACloudPlugin.sonar.projectBaseDir		=src/v2i-hub/CARMACloudPlugin
 CommandPlugin.sonar.projectBaseDir		=src/v2i-hub/CommandPlugin
 CswPlugin.sonar.projectBaseDir			=src/v2i-hub/CswPlugin
@@ -97,6 +99,7 @@ TmxCore.sonar.sources                     =src
 TmxCtl.sonar.sources                      =src
 TmxTools.sonar.sources                    =src
 TmxUtils.sonar.sources                    =src
+Messages.sonar.sources                    =include
 TmxUtils.sonar.exclusions                  =test/**
 MessageLoggerPlugin.sonar.sources             =src
 CswPlugin.sonar.sources                   =src
@@ -132,6 +135,7 @@ MUSTSensorDriverPlugin.sonar.sources  =src
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
 TmxUtils.sonar.tests=test
+Messages.sonar.tests=test
 #TmxCore.sonar.tests=test
 #TmxCtl.sonar.tests=test
 #TmxTools.sonar.tests=test

configuration/docker-compose.yml

@@ -15,6 +15,13 @@ services:
     volumes:
       - ./mysql/localhost.sql:/docker-entrypoint-initdb.d/localhost.sql
       - ./mysql/port_drayage.sql:/docker-entrypoint-initdb.d/port_drayage.sql
+      # The following 3 volumes are used for C1T. By default the standard "port_drayage.sql" file
+      # will be loaded. Comment out the "port_drayage.sql" file above and uncomment the following 
+      # three files to enable the C1T sql files to be loaded. The container volumes MUST be reset
+      # to allow for this change, which can be done with "docker compose down -v"
+      #- ./mysql/garage_port_drayage/port_drayage.sql:/docker-entrypoint-initdb.d/port_drayage.sql
+      #- ./mysql/garage_port_drayage/port_drayage_lane1.sql:/docker-entrypoint-initdb.d/port_drayage_lane1.sql
+      #- ./mysql/garage_port_drayage/port_drayage_lane2.sql:/docker-entrypoint-initdb.d/port_drayage_lane2.sql
       - mysql-datavolume:/var/lib/mysql
 
   php:

configuration/initialization.sh

@@ -23,15 +23,16 @@ latest_version=$(echo "$release_info" | grep -o '"tag_name": *"[^"]*"' | cut -d
 # Fetching all tags from Git repository
 tags=$(git ls-remote --tags https://github.com/usdot-fhwa-OPS/V2X-Hub.git | awk -F/ '{print $3}' | sort -V)
 
-# Remove curly braces, Properties found, and duplicate entries
-updated_tags=$(echo "$tags" | sed 's/\^{}//' | grep -v '^Properties_Found$' | awk '!seen[$0]++')
+# Remove curly braces, Properties found, duplicate entries, and show only versions above 7.0
+updated_tags=$(echo "$tags" | sed 's/\^{}//;s/^v//' | grep -v '^Properties_Found$' | awk '!seen[$0]++ && $1 >= "7.0"')
 
 # Displaying all available versions
+echo "Note: V2X-Hub multi architecture deployments only work for the versions 7.0 and above."
 echo "Available versions:"
 echo "$updated_tags"
 
 # select a version or accept the latest version as default
-read -r -p "Enter V2X-Hub Version (choose from the above, or press Enter to use latest version $latest_version): " chosen_version
+read -r -p "Enter V2X-Hub Version (choose from the above, or press Enter to use the latest version $latest_version): " chosen_version
 V2XHUB_VERSION=${chosen_version:-$latest_version}
 
 # Enable Port Drayage functionality
@@ -149,6 +150,6 @@ fi
 
 # Create V2X Hub user
 cd "$mysqlDir" || return # return in case cd fails
-./add_v2xhub_user.bash
+./add_v2xhub_user.bash "$V2XHUB_VERSION"
 
 chromium-browser --ignore-certificate-errors localhost > /dev/null 2>&1 &

configuration/mysql/add_v2xhub_user.bash

@@ -2,6 +2,16 @@
 # Fail when any command fails
 #set -e
 
+# Check if V2XHUB_VERSION is passed
+if [ -n "$1" ]; then
+    V2XHUB_VERSION="$1"
+else
+    # Prompt user for V2XHUB_VERSION
+    read -r -p "Enter the deployed V2X-Hub version number: " V2XHUB_VERSION
+fi
+
+echo "Adding V2X-Hub user for version: $V2XHUB_VERSION"
+
 # Ensure mysql-client is installed
 arch=$(dpkg --print-architecture)
 # TODO: Add a common mysql-client that works for ARM and AMD devices 
@@ -34,7 +44,12 @@ if [ $PASS_LENGTH -ge 8 ] && echo $PASS | grep -q [a-z] && echo $PASS | grep -q
     done
     echo "VALID PASSWORD"
     echo "Enter MYSQL ROOT PASSWORD: "
-    mysql -uroot -p --silent -h127.0.0.1 -e "INSERT INTO IVP.user (IVP.user.username, IVP.user.password, IVP.user.accessLevel) VALUES('$USER', SHA2('$PASS', 256), 3)"
+    # Check if V2XHUB_VERSION is >= 7.5.0
+    if [[ "$(echo "$V2XHUB_VERSION 7.5.0" | awk '{print ($1 >= $2)}')" -eq 1 ]]; then
+        mysql -uroot -p --silent -h127.0.0.1 -e "INSERT INTO IVP.user (IVP.user.username, IVP.user.password, IVP.user.accessLevel) VALUES('$USER', SHA2('$PASS', 256), 3)"
+    else    
+        mysql -uroot -p --silent -h127.0.0.1 -e "INSERT INTO IVP.user (IVP.user.username, IVP.user.password, IVP.user.accessLevel) VALUES('$USER', '$PASS', 3)"
+    fi
     echo "V2X Hub user successfully added"
 else
     echo "INVALID PASSWORD"

configuration/mysql/garage_port_drayage/README.md

@@ -0,0 +1,18 @@
+# C1T Garage Actions
+These are Port Drayage actions created the CDA1Tenth functionality and specifically tailored for the Turner Fairbank Highway Research Center's Saxton Laboratory garage demonstration.
+
+## Instructions
+Replace the port_drayage.sql file in docker-compose.yml with the files in this directory.
+```
+db:
+   image: mysql:8.0
+   volumes:
+       - ./mysql/garage_port_drayage/port_drayage.sql:/docker-entrypoint-initdb.d/port_drayage.sql
+       - ./mysql/garage_port_drayage/port_drayage_lane1.sql:/docker-entrypoint-initdb.d/port_drayage_lane1.sql
+       - ./mysql/garage_port_drayage/port_drayage_lane2.sql:/docker-entrypoint-initdb.d/port_drayage_lane2.sql
+```
+
+## Reference Layout
+The following diagram displays the C1T Port Drayage layout used in the Saxton Garage. The above SQL files should be selected based on if the first (port_drayage_lane1.sql) or second (port_drayage_lane2.sql) lane will be used for the Port Pickup action.
+
+![Alt text](docs/garage_diagram.PNG)

configuration/mysql/garage_port_drayage/port_drayage.sql

@@ -0,0 +1,49 @@
+-- MySQL 8.0 for Linux amd64 (x86_64) and arm64 (aarch64)
+--
+-- Host: 127.0.0.1    Database: PORT_DRAYAGE
+-- ------------------------------------------------------
+-- Server version	7.6.0
+-- Current Database: `PORT_DRAYAGE`
+--
+
+CREATE DATABASE /*!32312 IF NOT EXISTS*/ `PORT_DRAYAGE` /*!40100 DEFAULT CHARACTER SET latin1 */;
+
+USE `PORT_DRAYAGE`;
+
+--
+-- Table structure for table `first_action`
+--
+
+DROP TABLE IF EXISTS `first_action`;
+CREATE TABLE `first_action` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `first_action` WRITE;
+INSERT INTO `first_action` VALUES ('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two');
+UNLOCK TABLES;
+
+--
+-- Table structure for table `freight`
+--
+
+DROP TABLE IF EXISTS `freight`;
+CREATE TABLE `freight` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `freight` WRITE;
+INSERT INTO `freight` VALUES ('C1T-1','NULL',-0.45,-0.45,'EXIT_PORT','zero','one'),('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two'),('C1T-1','CARGO_A',-3.45,-1.44,'PICKUP','two','three'),('C1T-1','CARGO_A',-3.45,-3.45,'EXIT_STAGING_AREA','three','four'),('C1T-1','CARGO_A',-3.45,-5.45,'ENTER_PORT','four','five'),('C1T-1','CARGO_A',-1.45,-6.45,'DROPOFF','five','six'),('C1T-1','CARGO_B',2.55,-4.5,'PICKUP','six','seven'),('C1T-1','CARGO_B',0.55,-3.45,'PORT_CHECKPOINT','seven','eight'),('C1T-1','CARGO_B',-0.45,-0.45,'EXIT_PORT','eight','nine');
+UNLOCK TABLES;

configuration/mysql/garage_port_drayage/port_drayage_lane1.sql

@@ -0,0 +1,49 @@
+-- MySQL 8.0 for Linux amd64 (x86_64) and arm64 (aarch64)
+--
+-- Host: 127.0.0.1    Database: PORT_DRAYAGE
+-- ------------------------------------------------------
+-- Server version	7.6.0
+-- Current Database: `PORT_DRAYAGE`
+--
+
+CREATE DATABASE /*!32312 IF NOT EXISTS*/ `PORT_DRAYAGE` /*!40100 DEFAULT CHARACTER SET latin1 */;
+
+USE `PORT_DRAYAGE`;
+
+--
+-- Table structure for table `first_action`
+--
+
+DROP TABLE IF EXISTS `first_action`;
+CREATE TABLE `first_action` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `first_action` WRITE;
+INSERT INTO `first_action` VALUES ('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two');
+UNLOCK TABLES;
+
+--
+-- Table structure for table `freight`
+--
+
+DROP TABLE IF EXISTS `freight`;
+CREATE TABLE `freight` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `freight` WRITE;
+INSERT INTO `freight` VALUES ('C1T-1','NULL',-0.45,-0.45,'EXIT_PORT','zero','one'),('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two'),('C1T-1','CARGO_A',-3.45,-1.44,'PICKUP','two','three'),('C1T-1','CARGO_A',-3.45,-3.45,'EXIT_STAGING_AREA','three','four'),('C1T-1','CARGO_A',-3.45,-5.45,'ENTER_PORT','four','five'),('C1T-1','CARGO_A',-1.45,-6.45,'DROPOFF','five','six'),('C1T-1','CARGO_B',1.55,-4.5,'PICKUP','six','seven'),('C1T-1','CARGO_B',0.55,-3.45,'PORT_CHECKPOINT','seven','eight'),('C1T-1','CARGO_B',-0.45,-0.45,'EXIT_PORT','eight','nine');
+UNLOCK TABLES;

configuration/mysql/garage_port_drayage/port_drayage_lane2.sql

@@ -0,0 +1,49 @@
+-- MySQL 8.0 for Linux amd64 (x86_64) and arm64 (aarch64)
+--
+-- Host: 127.0.0.1    Database: PORT_DRAYAGE
+-- ------------------------------------------------------
+-- Server version	7.6.0
+-- Current Database: `PORT_DRAYAGE`
+--
+
+CREATE DATABASE /*!32312 IF NOT EXISTS*/ `PORT_DRAYAGE` /*!40100 DEFAULT CHARACTER SET latin1 */;
+
+USE `PORT_DRAYAGE`;
+
+--
+-- Table structure for table `first_action`
+--
+
+DROP TABLE IF EXISTS `first_action`;
+CREATE TABLE `first_action` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `first_action` WRITE;
+INSERT INTO `first_action` VALUES ('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two');
+UNLOCK TABLES;
+
+--
+-- Table structure for table `freight`
+--
+
+DROP TABLE IF EXISTS `freight`;
+CREATE TABLE `freight` (
+  `cmv_id` varchar(20) NOT NULL,
+  `cargo_id` varchar(20) DEFAULT NULL,
+  `destination_lat` decimal(9,7) NOT NULL,
+  `destination_long` decimal(9,7) NOT NULL,
+  `operation` varchar(20) NOT NULL,
+  `action_id` varchar(36) NOT NULL,
+  `next_action` varchar(36) NOT NULL
+) ENGINE=InnoDB DEFAULT CHARSET=latin1;
+
+LOCK TABLES `freight` WRITE;
+INSERT INTO `freight` VALUES ('C1T-1','NULL',-0.45,-0.45,'EXIT_PORT','zero','one'),('C1T-1','NULL',-2.46,0.56,'ENTER_STAGING_AREA','one','two'),('C1T-1','CARGO_A',-3.45,-1.44,'PICKUP','two','three'),('C1T-1','CARGO_A',-3.45,-3.45,'EXIT_STAGING_AREA','three','four'),('C1T-1','CARGO_A',-3.45,-5.45,'ENTER_PORT','four','five'),('C1T-1','CARGO_A',-1.45,-6.45,'DROPOFF','five','six'),('C1T-1','CARGO_B',2.55,-4.5,'PICKUP','six','seven'),('C1T-1','CARGO_B',0.55,-3.45,'PORT_CHECKPOINT','seven','eight'),('C1T-1','CARGO_B',-0.45,-0.45,'EXIT_PORT','eight','nine');
+UNLOCK TABLES;

docs/Release_notes.md

@@ -1,6 +1,17 @@
 V2X-Hub Release Notes
 ---------------------------------
 
+Version 7.8.1, released Sep 11th, 2024
+--------------------------------------------------------
+
+**Summary:**
+V2X Hub release 7.8.1 includes additional SQL files which are created to store command sequences V2X Hub sends to a C1T vehicle to coordinate Port Drayage. These files contain actions and destination points configured to send the vehicle through a pre-designed mock port environment, with one instructing the vehicle to pick up cargo in Lane 1 and the other instructing the vehicle to proceed to Lane 2.
+
+Enhancement in this release:  
+
+- V2X-Hub PR 639: Added SQL files for use with the C1T Port Drayage configuration and updated docker compose files to streamline deployment. 
+- V2X-Hub PR 641: Updated SQL Port Drayage action locations to improve accuracy in tracking port exits. 
+
 Version 7.8.0, released Aug 26th, 2024
 --------------------------------------------------------
 

examples/tmx-exampleapps/EmptyPlugin/CMakeLists.txt

@@ -2,4 +2,4 @@ PROJECT ( EmptyPlugin VERSION 3.0.0 LANGUAGES CXX )
 
 BuildTmxPlugin ( )
 
-TARGET_LINK_LIBRARIES (${PROJECT_NAME} tmxutils)
+TARGET_LINK_LIBRARIES (${PROJECT_NAME} tmxutils pugixml)

examples/tmx-exampleapps/EmptyPlugin/src/EmptyPlugin.cpp

@@ -52,7 +52,7 @@
 #include <AppAlert.h>
 #include <algorithm>
 #include <tmx/messages/message_document.hpp>
-#include <tmx/pugixml/pugixml.hpp>
+#include <pugixml.hpp>
 #include <ParsedMap.h>
 #include <MapSupport.h>
 #include <sstream>

ext/build.sh

@@ -72,3 +72,11 @@ make -j${numCPU}
 make install
 popd
 
+# pugixml
+pushd /tmp
+git clone https://github.com/zeux/pugixml.git --branch v1.14
+cd pugixml
+cmake .
+make -j${numCPU}
+make install
+popd

scripts/install_dependencies.sh

@@ -3,8 +3,11 @@
 # exit on errors
 set -e
 
+# Get ubuntu distribution code name. All STOL APT debian packages are pushed to S3 bucket based on distribution codename.
+. /etc/lsb-release
+
 # add the STOL APT repository
-echo "deb [trusted=yes] http://s3.amazonaws.com/stol-apt-repository develop main" > /etc/apt/sources.list.d/stol-apt-repository.list
+echo "deb [trusted=yes] http://s3.amazonaws.com/stol-apt-repository ${DISTRIB_CODENAME} main" > /etc/apt/sources.list.d/stol-apt-repository.list
 
 apt-get update
 

src/tmx/Messages/CMakeLists.txt

@@ -5,3 +5,18 @@ SET (TMXMESSAGES_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include" PARENT_SCOPE)
 INSTALL (DIRECTORY include
          DESTINATION . COMPONENT ${PROJECT_NAME}
          FILES_MATCHING PATTERN "*.h*")
+
+#############
+## Testing ##
+#############
+enable_testing()
+
+set(BINARY ${PROJECT_NAME}_test)
+
+file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
+
+add_executable(${BINARY} ${TEST_SOURCES})
+
+add_test(NAME ${BINARY} COMMAND ${BINARY})
+target_include_directories(${BINARY} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(${BINARY} PUBLIC ${TMXAPI_LIBRARIES} gtest)

src/tmx/Messages/include/Covariance.h

@@ -0,0 +1,20 @@
+#pragma once
+#include <tmx/messages/message.hpp>
+namespace tmx::messages
+{
+    struct Covariance{
+        double value;             
+        Covariance()=default;
+        explicit Covariance(double value):value(value){};
+        static message_tree_type to_tree(const Covariance& cov){
+            message_tree_type tree;
+            tree.put("",cov.value);
+            return tree;
+        }
+        static Covariance from_tree(const message_tree_type& tree){
+            Covariance cov;
+            cov.value = tree.get<double>("");
+            return cov;
+        }
+    };   
+}