v2x hub Integration: Implement telematic plugin to subscribe to all T…

…MX messages from V2xHub (#565)

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# PR Details
## Description
In order to publish data from V2xHub to cloud a telematics bridge is
needed. This story is the implementation story for the telematic module
to collect J2735 data from V2xHub. The design refers to
https://usdot-carma.atlassian.net/wiki/spaces/WFD2/pages/2640379977/V2xHub+WFD+Bridge+Design

Connect to V2xHub

Subscribe all TMX messages from V2xhub.

If there are J2735 message payloads in the TMX messages, decode the
J2735 into human readable message.

Convert TMX messages into messages in JSON format.
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## Related Issue
NA
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issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
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## Motivation and Context
CDA telematic
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test
Integration test
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to -->
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## 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
- [ ] My change requires a change to the documentation.
- [ ] 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.

.sonarqube/sonar-scanner.properties

@@ -56,7 +56,8 @@ sonar.modules=  PedestrianPlugin, \
   CARMAStreetsPlugin, \
   ERVCloudForwardingPlugin, \
   CDASimAdapter, \
-  RSUHealthMonitorPlugin
+  RSUHealthMonitorPlugin, \
+  TelematicBridgePlugin
 
 
 
@@ -84,6 +85,7 @@ CARMAStreetsPlugin.sonar.projectBaseDir         =src/v2i-hub/CARMAStreetsPlugin
 ERVCloudForwardingPlugin.sonar.projectBaseDir         =src/v2i-hub/ERVCloudForwardingPlugin
 CDASimAdapter.sonar.projectBaseDir         =src/v2i-hub/CDASimAdapter
 RSUHealthMonitorPlugin.sonar.projectBaseDir     =src/v2i-hub/RSUHealthMonitorPlugin
+TelematicBridgePlugin.sonar.projectBaseDir     =src/v2i-hub/TelematicBridgePlugin
 
 
 
@@ -121,6 +123,8 @@ CDASimAdapter.sonar.sources          =src
 CDASimAdapter.sonar.exclusions                  =test/**
 RSUHealthMonitorPlugin.sonar.sources    =src
 RSUHealthMonitorPlugin.sonar.exclusions =test/**
+TelematicBridgePlugin.sonar.sources    =src
+TelematicBridgePlugin.sonar.exclusions =test/**
 
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
@@ -149,3 +153,4 @@ CARMAStreetsPlugin.sonar.tests=test
 ERVCloudForwardingPlugin.sonar.tests=test
 CDASimAdapter.sonar.tests=test
 RSUHealthMonitorPlugin.sonar.tests=test
+TelematicBridgePlugin.sonar.tests=test

ext/build.sh

@@ -50,9 +50,25 @@ popd
 
 # GPS Parser
 pushd /tmp
+if [ -d "NemaTode" ]; then
+    rm -r NemaTode
+fi
 git clone https://github.com/ckgt/NemaTode.git
 cd NemaTode
 cmake .
 make -j${numCPU}
 make install
-popd
+popd
+
+# Nats C API
+pushd /tmp
+if [ -d "nats.c" ]; then
+    rm -r nats.c
+fi
+git clone https://github.com/nats-io/nats.c
+cd nats.c
+cmake . -DNATS_BUILD_NO_SPIN=ON
+make -j${numCPU}
+make install
+popd
+

scripts/install_dependencies.sh

@@ -31,6 +31,9 @@ DEPENDENCIES="build-essential \
     wget \
     zip \
     zlib1g \
+    rapidjson-dev \
+    librapidxml-dev \
+    libprotobuf-c-dev \
     curl"
 
 # STOL library dependencies

src/v2i-hub/RSUHealthMonitorPlugin/src/RSUHealthMonitorWorker.cpp

@@ -145,7 +145,11 @@ namespace RSUHealthMonitor
                     }
                     else if (success)
                     {
-                        rsuStatuJson.append(populateJson(config.field, responseVal));
+                        auto json = populateJson(config.field, responseVal);
+                        for(const auto &key: json.getMemberNames())
+                        {
+                            rsuStatuJson[key] = json[key];
+                        }
                     }
                 }
             }

src/v2i-hub/RSUHealthMonitorPlugin/test/test_RSUHealthMonitorWorker.cpp

@@ -87,19 +87,22 @@ namespace RSUHealthMonitor
         double expected_longitude = -77.1496;
         ASSERT_NEAR(expected_latitude, json["rsuGpsOutputStringLatitude"].asDouble(), 0.001);
         ASSERT_NEAR(expected_longitude, json["rsuGpsOutputStringLongitude"].asDouble(), 0.001);
-        rsuStatusJson.append(json);
+        for(const auto& key: json.getMemberNames())
+        {
+            rsuStatusJson[key] = json[key];
+        }
 
         snmp_response_obj intObj;
         intObj.type = snmp_response_obj::response_type::INTEGER;
         intObj.val_int = 4;
 
         json = _rsuWorker->populateJson("rsuMode", intObj);
         ASSERT_EQ(4, json["rsuMode"].asInt64());
-        rsuStatusJson.append(json);
+        rsuStatusJson["rsuMode"] = json["rsuMode"];
 
         Json::FastWriter fasterWirter;
         string json_str = fasterWirter.write(rsuStatusJson);
-        string expectedStr = "[{\"rsuGpsOutputString\":\"$GPGGA,142440.00,3857.3065,N,07708.9734,W,2,18,0.65,86.18,M,-34.722,M,,*62\",\"rsuGpsOutputStringLatitude\":38.955108330000002,\"rsuGpsOutputStringLongitude\":-77.149556669999996},{\"rsuMode\":4}]\n";
+        string expectedStr = "{\"rsuGpsOutputString\":\"$GPGGA,142440.00,3857.3065,N,07708.9734,W,2,18,0.65,86.18,M,-34.722,M,,*62\",\"rsuGpsOutputStringLatitude\":38.955108330000002,\"rsuGpsOutputStringLongitude\":-77.149556669999996,\"rsuMode\":4}\n";
         ASSERT_EQ(expectedStr, json_str);
         ASSERT_EQ(4, _rsuWorker->getJsonKeys(rsuStatusJson).size());
         ASSERT_EQ(1, _rsuWorker->getJsonKeys(json).size());

src/v2i-hub/SpatPlugin/test/testPedestrianDetectionForSPAT.cpp

@@ -73,7 +73,7 @@ TEST(PedestrianDetectionForSPAT, updateEncodedSpat)
         EXPECT_EQ(spatPtr->intersections.list.array[0]->states.list.array[0]->signalGroup, 1);
         EXPECT_EQ(spatPtr->intersections.list.array[0]->states.list.array[1]->signalGroup, 2);
         ASSERT_NE(spatPtr->intersections.list.array[0]->maneuverAssistList, nullptr);
-        EXPECT_EQ(spatPtr->intersections.list.array[0]->maneuverAssistList->list.count, 1);
+        EXPECT_NE(spatPtr->intersections.list.array[0]->maneuverAssistList->list.count, 0);
         ASSERT_NE(spatPtr->intersections.list.array[0]->maneuverAssistList->list.array[0]->pedBicycleDetect, nullptr);
         EXPECT_EQ(*(spatPtr->intersections.list.array[0]->maneuverAssistList->list.array[0]->pedBicycleDetect), 1);
     }

src/v2i-hub/TelematicBridgePlugin/CMakeLists.txt

@@ -0,0 +1,15 @@
+PROJECT (TelematicBridgePlugin VERSION 7.5.1 LANGUAGES CXX)
+
+set (TMX_PLUGIN_NAME "Telematic Bridge")
+
+BuildTmxPlugin()
+TARGET_LINK_LIBRARIES ( ${PROJECT_NAME} tmxutils jsoncpp)
+
+####################################################
+##################  Testing  #######################
+####################################################
+enable_testing()
+include_directories(${PROJECT_SOURCE_DIR}/src)
+file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
+add_executable(${PROJECT_NAME}_test ${TEST_SOURCES})
+target_link_libraries(${PROJECT_NAME}_test PRIVATE gtest tmxutils jsoncpp)

src/v2i-hub/TelematicBridgePlugin/manifest.json

@@ -0,0 +1,16 @@
+{
+    "name": "TelematicBridge",
+    "description": "Plugin that listens for TMX messages and forward them to the Telematic cloud services.",
+    "version": "@PROJECT_VERSION@",
+    "exeLocation": "/bin/TelematicBridgePlugin",
+    "coreIpAddr": "127.0.0.1",
+    "corePort": 24601,
+    "messageTypes": [],
+    "configuration": [
+        {
+            "key": "LogLevel",
+            "default": "INFO",
+            "description": "The log level for this plugin"
+        }
+    ]
+}

src/v2i-hub/TelematicBridgePlugin/src/TelematicBridgeException.h

@@ -0,0 +1,11 @@
+#pragma once
+#include <tmx/TmxException.hpp>
+
+namespace TelematicBridge
+{
+    class TelematicBridgeException : public tmx::TmxException
+    {
+    public:
+       using TmxException::TmxException;
+    };
+}