Issue-549: Moved Kafka time producer from CDASimAdapter to CARMA-Stre… (

#550)

…ets plugin

+ Update CARMA-Streets Plugin to be simulation time aware

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

# PR Details
## Description

<!--- Describe your changes in detail -->
Move Kafka time producer for CARMA-Streets time synchronization to
CARMA-Streets plugin. This removes unnecessary dependency on kafka for
CDASimAdapter and also makes CARMA-Streets Plugin contain entire
interface to CARMA-Streets including simulation. CARMA-Streets Plugin
now extends our simulation time aware PluginClient which can be further
extended to listen for simulated messages.
## Related Issue
#549
<!--- 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?
Locally integration testing with python time step script to send udp
time step messages.
<!--- 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)
- [x] 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
- [x] My change requires a change to the documentation.
- [x] I have updated the documentation accordingly.
- [x] 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.

.devcontainer/docker-compose-vscode.yml

@@ -24,7 +24,6 @@ services:
       - SIM_V2X_PORT=5757
       - V2X_PORT=8686
       - INFRASTRUCTURE_ID=1
-      - KAFKA_BROKER_ADDRESS=127.0.0.1:9092
     secrets:
       - mysql_password
 

src/tmx/TmxUtils/src/PluginClientClockAware.cpp

@@ -8,11 +8,11 @@ namespace tmx::utils {
         : PluginClient(name)
     {
         // check for simulation mode enabled by environment variable
-        bool simulationMode = sim::is_simulation_mode();
+        _simulation_mode = sim::is_simulation_mode();
 
         using namespace fwha_stol::lib::time;
-        clock = std::make_shared<CarmaClock>(simulationMode);
-        if (simulationMode) {
+        clock = std::make_shared<CarmaClock>(_simulation_mode);
+        if (_simulation_mode) {
             AddMessageFilter<tmx::messages::TimeSyncMessage>(this, &PluginClientClockAware::HandleTimeSyncMessage);
 
         }
@@ -25,7 +25,6 @@ namespace tmx::utils {
         this->getClock()->update( msg.get_timestep() );
         if (sim::is_simulation_mode() ) {
             SetStatus(Key_Simulation_Time_Step, Clock::ToUtcPreciseTimeString(msg.get_timestep()));
-
         }
     }
 
@@ -36,4 +35,8 @@ namespace tmx::utils {
         }
     }
 
+    bool PluginClientClockAware::isSimulationMode() const {
+        return _simulation_mode;
+    }
+
 }

src/tmx/TmxUtils/src/PluginClientClockAware.h

@@ -28,7 +28,7 @@ class PluginClientClockAware : public PluginClient {
      * @param msg TimeSyncMessage broadcast on TMX core 
      * @param routeableMsg 
      */
-    void HandleTimeSyncMessage(tmx::messages::TimeSyncMessage &msg, routeable_message &routeableMsg );
+    virtual void HandleTimeSyncMessage(tmx::messages::TimeSyncMessage &msg, routeable_message &routeableMsg );
 
 
 protected:
@@ -41,6 +41,9 @@ class PluginClientClockAware : public PluginClient {
     }
 
     void OnStateChange(IvpPluginState state) override; 
+
+    bool isSimulationMode() const;
+
 
 private:
     /**
@@ -55,6 +58,8 @@ class PluginClientClockAware : public PluginClient {
 	 * @brief Status label to indicate whether plugin is in Simulation Mode.
 	 */
 	const char* Key_Simulation_Mode = "Simulation Mode ";
+
+    bool _simulation_mode;
 
 };
 

src/tmx/TmxUtils/src/kafka/kafka_consumer_worker.cpp

@@ -8,6 +8,10 @@ namespace tmx::utils
         _partition(partition)
     {
     }
+    kafka_consumer_worker::~kafka_consumer_worker() {
+        stop();
+        FILE_LOG(logWARNING) << "Kafka consumer destroyed!" << std::endl;
+    }
 
     bool kafka_consumer_worker::init()
     {
@@ -93,11 +97,12 @@ namespace tmx::utils
 
     void kafka_consumer_worker::stop()
     {
+        FILE_LOG(logWARNING) << "Stopping Kafka Consumer!" << std::endl;
         _run = false;
         //Close and shutdown the consumer.
         _consumer->close();
-        /*Destroy kafka instance*/ // Wait for RdKafka to decommission.
-        RdKafka::wait_destroyed(5000);
+        FILE_LOG(logWARNING) << "Kafka Consumer Stopped!" << std::endl;
+
     }
 
     void kafka_consumer_worker::subscribe()

src/tmx/TmxUtils/src/kafka/kafka_consumer_worker.h

@@ -68,6 +68,19 @@ namespace tmx::utils {
              * @param partition partition consumer should be assigned to.
              */
             kafka_consumer_worker(const std::string &broker_str, const std::string &topic_str, const std::string & group_id, int64_t cur_offset = 0, int32_t partition = 0);
+            /**
+             * @brief Destroy the kafka consumer worker object. Calls stop on consumer to clean up resources.
+             */
+            ~kafka_consumer_worker();
+            // Rule of 5 because destructor is define (https://www.codementor.io/@sandesh87/the-rule-of-five-in-c-1pdgpzb04f)
+            // Delete copy constructor
+            kafka_consumer_worker(kafka_consumer_worker& other) = delete;
+            // Delete copy assigment 
+            kafka_consumer_worker& operator=(const kafka_consumer_worker& other) = delete;
+            // delete move constructor
+            kafka_consumer_worker(kafka_consumer_worker &&consumer) = delete;
+            // delete move assignment
+            kafka_consumer_worker const & operator=(kafka_consumer_worker &&consumer) = delete;
             /**
              * @brief Initialize kafka_consumer_worker
              * 
@@ -89,7 +102,7 @@ namespace tmx::utils {
             /**
              * @brief Stop running kafka consumer.
              */
-            virtual void stop();
+            void stop();
             /**
              * @brief Print current configurations.
              */
@@ -101,11 +114,6 @@ namespace tmx::utils {
              * @return false if kafka consumer is stopped.
              */
             virtual bool is_running() const;
-            /**
-             * @brief Destroy the kafka consumer worker object
-             * 
-             */
-            virtual ~kafka_consumer_worker() = default;
     };
 
 }

src/tmx/TmxUtils/src/kafka/kafka_producer_worker.cpp

@@ -38,6 +38,11 @@ namespace tmx::utils
     {	
     }
 
+    kafka_producer_worker::~kafka_producer_worker() {
+        stop();
+        FILE_LOG(logWARNING) << "Kafka Producer Worker Destroyed!" << std::endl;
+    }
+
     bool kafka_producer_worker::init()
     {
         if(init_producer())
@@ -217,16 +222,18 @@ namespace tmx::utils
         {
             if (_producer)
             {
-                _producer->flush(10 * 1000 /* wait for max 10 seconds */);
-
+                auto error =_producer->flush(10 * 1000 /* wait for max 10 seconds */);
+                if (error == RdKafka::ERR__TIMED_OUT)
+                    FILE_LOG(logERROR) << "Flush attempt timed out!" << std::endl;
                 if (_producer->outq_len() > 0)
-                   FILE_LOG(logWARNING) << _producer->name() << _producer->outq_len() << " message(s) were not delivered." << std::endl;
+                   FILE_LOG(logERROR) << _producer->name() << _producer->outq_len() << " message(s) were not delivered." << std::endl;
             }
         }
         catch (const std::runtime_error &e)
         {
             FILE_LOG(logERROR) << "Error encountered flushing producer : " << e.what() << std::endl;
         }
+        FILE_LOG(logWARNING) << "Kafka producer stopped!" << std::endl;
     }
 
     void kafka_producer_worker::printCurrConf()

src/tmx/TmxUtils/src/kafka/kafka_producer_worker.h

@@ -60,6 +60,19 @@ namespace tmx::utils
              * @param broker_str network address of kafka broker.
              */
             explicit kafka_producer_worker(const std::string &brokers);
+            /**
+             * @brief Destroy the kafka producer worker object. Calls stop on producer to clean up resources.
+             */
+            virtual ~kafka_producer_worker();
+            // Rule of 5 because destructor is define (https://www.codementor.io/@sandesh87/the-rule-of-five-in-c-1pdgpzb04f)
+            // delete copy constructor
+            kafka_producer_worker(kafka_producer_worker& other) = delete;
+            // delete copy assignment
+            kafka_producer_worker& operator=(const kafka_producer_worker& other) = delete;
+            // delete move constructor
+            kafka_producer_worker(kafka_producer_worker &&producer) = delete;
+            // delete move assignment
+            kafka_producer_worker const & operator=(kafka_producer_worker &&producer) = delete;
             /**
              * @brief Initialize kafka_producer_worker. This method must be called before send!
              * 
@@ -100,16 +113,12 @@ namespace tmx::utils
             /**
              * @brief Stop running kafka producer.
              */
-            virtual void stop();
+            void stop();
             /**
              * @brief Print current configurations.
              */
             virtual void printCurrConf();
-            /**
-             * @brief Destroy the kafka producer worker object
-             * 
-             */
-            virtual ~kafka_producer_worker() = default;
+
         };
 }
 

src/tmx/TmxUtils/src/kafka/mock_kafka_consumer_worker.h

@@ -31,7 +31,6 @@ namespace tmx::utils {
             MOCK_METHOD(bool, init,(),(override));
             MOCK_METHOD(const char*, consume, (int timeout_ms), (override));
             MOCK_METHOD(void, subscribe, (), (override));
-            MOCK_METHOD(void, stop, (), (override));
             MOCK_METHOD(void, printCurrConf, (), (override));
             MOCK_METHOD(bool, is_running, (), (const override));
     };

src/tmx/TmxUtils/src/kafka/mock_kafka_producer_worker.h

@@ -26,7 +26,6 @@ namespace tmx::utils {
             MOCK_METHOD(bool, init,(),(override));
             MOCK_METHOD(void, send, (const std::string &msg), (override));
             MOCK_METHOD(bool, is_running, (), (const, override));
-            MOCK_METHOD(void, stop, (), (override));
             MOCK_METHOD(void, printCurrConf, (), (override));
     };
 }

src/tmx/TmxUtils/test/KafkaTestEnvironment.cpp

@@ -0,0 +1,27 @@
+#include "gtest/gtest.h"
+#include <librdkafka/rdkafkacpp.h>
+
+/**
+ * @brief Kafka Test Environment which allows for Setup/Teardown configuration at the 
+ * test program level. Teardown waits on all rd_kafka_t objects to be destroyed.
+ */
+class KafkaTestEnvironment : public ::testing::Environment {
+    public:
+        ~KafkaTestEnvironment() override {}
+
+        // Override this to define how to set up the environment.
+        void SetUp() override {}
+
+        // Override this to define how to tear down the environment.
+        void TearDown() override {
+            std::cout << "Waiting for all RDKafka objects to be destroyed!" << std::endl;
+            // Wait for all rd_kafka_t objects to be destroyed 
+            auto error = RdKafka::wait_destroyed(5000);
+            if (error == RdKafka::ERR__TIMED_OUT) {
+                std::cout << "Wait destroy attempted timed out!" << std::endl;
+            }
+            else {
+                std::cout << "All Objects are destroyed!" << std::endl;
+            }
+        }
+};

src/tmx/TmxUtils/test/Main.cpp

@@ -6,9 +6,11 @@
  */
 
 #include <gtest/gtest.h>
+#include "KafkaTestEnvironment.cpp"
 
 int main(int argc, char **argv)
 {
+    ::testing::AddGlobalTestEnvironment(new KafkaTestEnvironment());
     testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();
 }

src/tmx/TmxUtils/test/test_kafka_consumer_worker.cpp

@@ -1,5 +1,6 @@
 #include "gtest/gtest.h"
 #include "kafka/kafka_client.h"
+#include "PluginLog.h"
 
 TEST(test_kafka_consumer_worker, create_consumer)
 {

src/tmx/TmxUtils/test/test_kafka_producer_worker.cpp

@@ -13,7 +13,6 @@ TEST(test_kafka_producer_worker, create_producer)
     std::string msg = "test message";
     // // Run this unit test without launching kafka broker will throw connection refused error
     worker->send(msg);
-    worker->stop();
 }
 
 TEST(test_kafka_producer_worker, create_producer_no_topic)
@@ -28,5 +27,4 @@ TEST(test_kafka_producer_worker, create_producer_no_topic)
     std::string msg = "test message";
     // // Run this unit test without launching kafka broker will throw connection refused error
     worker->send(msg, topic);
-    worker->stop();
 }

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

@@ -19,23 +19,15 @@ namespace CARMAStreetsPlugin {
  * @param name The name to give the plugin for identification purposes
  */
 CARMAStreetsPlugin::CARMAStreetsPlugin(string name) :
-		PluginClient(name) {
+		PluginClientClockAware(name) {
 	AddMessageFilter < BsmMessage > (this, &CARMAStreetsPlugin::HandleBasicSafetyMessage);
 	AddMessageFilter < tsm3Message > (this, &CARMAStreetsPlugin::HandleMobilityOperationMessage);
 	AddMessageFilter < tsm2Message > (this, &CARMAStreetsPlugin::HandleMobilityPathMessage);
 	AddMessageFilter < MapDataMessage > (this, &CARMAStreetsPlugin::HandleMapMessage);
 	AddMessageFilter < SrmMessage > (this, &CARMAStreetsPlugin::HandleSRMMessage);
-
 	SubscribeToMessages();
-
 }
 
-CARMAStreetsPlugin::~CARMAStreetsPlugin() {
-	//Todo: It does not seem the desctructor is called.
-	_spat_kafka_consumer_ptr->stop();
-	_scheduing_plan_kafka_consumer_ptr->stop();
-	_ssm_kafka_consumer_ptr->stop();
-}
 
 void CARMAStreetsPlugin::UpdateConfigSettings() {
 
@@ -64,6 +56,7 @@ void CARMAStreetsPlugin::UpdateConfigSettings() {
 	_strategies.clear();
 	while( ss.good() ) {
 		std::string substring;
+
 		getline( ss, substring, ',');
 		_strategies.push_back( substring);
 	}
@@ -109,6 +102,13 @@ void CARMAStreetsPlugin::OnConfigChanged(const char *key, const char *value) {
 	UpdateConfigSettings();
 }
 
+void CARMAStreetsPlugin::HandleTimeSyncMessage(tmx::messages::TimeSyncMessage &msg, routeable_message &routeableMsg ) {
+	PluginClientClockAware::HandleTimeSyncMessage(msg, routeableMsg);
+	if ( isSimulationMode()) {
+		PLOG(logINFO) << "Handling TimeSync messages!" << std::endl;
+		produce_kafka_msg(msg.to_string(), "time_sync");
+	}
+}
 void CARMAStreetsPlugin::HandleMobilityOperationMessage(tsm3Message &msg, routeable_message &routeableMsg ) {
 	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 "PluginClientClockAware.h"
 
 
 
@@ -32,10 +33,9 @@ using namespace boost::property_tree;
 
 namespace CARMAStreetsPlugin {
 
-class CARMAStreetsPlugin: public PluginClient {
+class CARMAStreetsPlugin: public PluginClientClockAware {
 public:
 	CARMAStreetsPlugin(std::string);
-	virtual ~CARMAStreetsPlugin();
 	int Main();
 protected:
 
@@ -48,6 +48,12 @@ 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);
+	/**
+	 * @brief Overide PluginClientClockAware HandleTimeSyncMessage to producer TimeSyncMessage to kafka for CARMA Streets Time Synchronization.
+	 * @param msg TimeSyncMessage received by plugin when in simulation mode. Message provides current simulation time to all processes.
+	 * @param routeableMsg routeable_message for time sync message.
+	 */
+	void HandleTimeSyncMessage(TimeSyncMessage &msg, routeable_message &routeableMsg) override;
 	/**
 	 * @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 

src/v2i-hub/CDASimAdapter/CMakeLists.txt

@@ -4,17 +4,17 @@ set(CMAKE_CXX_STANDARD 17)
 FIND_PACKAGE( carma-clock )
 BuildTmxPlugin ( )
 
-TARGET_LINK_LIBRARIES (${PROJECT_NAME} tmxutils ::carma-clock rdkafka++ jsoncpp)
+TARGET_LINK_LIBRARIES (${PROJECT_NAME} tmxutils ::carma-clock jsoncpp)
 
 # ############
 # # Testing ##
 # ############
 ADD_LIBRARY(${PROJECT_NAME}_lib src/CDASimConnection.cpp)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME}_lib PUBLIC tmxutils ::carma-clock rdkafka++ jsoncpp )
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_lib PUBLIC tmxutils ::carma-clock jsoncpp )
 SET(BINARY ${PROJECT_NAME}_test)
 FILE(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
 SET(SOURCES ${TEST_SOURCES} WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
 ADD_EXECUTABLE(${BINARY} ${TEST_SOURCES})
 ADD_TEST(NAME ${BINARY} COMMAND ${BINARY})
 TARGET_INCLUDE_DIRECTORIES(${BINARY} PUBLIC /usr/local/lib src/) 
-TARGET_LINK_LIBRARIES(${BINARY} PUBLIC ${PROJECT_NAME}_lib gtest gmock tmxutils ::carma-clock rdkafka++ jsoncpp) 
+TARGET_LINK_LIBRARIES(${BINARY} PUBLIC ${PROJECT_NAME}_lib gtest gmock tmxutils ::carma-clock jsoncpp)