Optional SENSOR_CONFIG_JSON_FILE (#616)

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# PR Details
## Description
This PR makes the **SENSOR_JSON_FILE_PATH** an optional environment
variable in simulation since spawning sensors is not required for the
base line functionality of V2X-Hub. Prior to this PR, the CDASimAdapter
would accept empty **SENSOR_JSON_FILE_PATH** files but not missing ones.
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## Related Issue
[VH-1320
](https://usdot-carma.atlassian.net/browse/VH-1320)<!--- 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
Improve usability by making CDASimAdapterPlugin work without
**SENSOR_JSON_FILE_PATH** optional environment variable
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Tested in CDASim Cloud deployment 
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<!--- 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: -->

- [x] 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
- [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)
- [x] I have added tests to cover my changes.
- [x] All new and existing tests passed.

configuration/README.md

@@ -44,14 +44,18 @@ Enter the login credentials you created in step 5b and login.
 Installation complete!
 
 ### Simulation Setup
-To support execution in a simulated environment, V2X-Hub is in the process of integrating with CDASim, a Co-Simulation tool built as an extension of Eclipse Mosiac. This extension will incorporate integration with several other platforms including CARMA-Platform and CARLA. The setup for this simply requires setting environment variables inside the V2X-Hub docker container.
- * **SIMULATION_MODE** – Environment variable for enabling simulation components for V2X-Hub. If set to "true" or "TRUE" simulation components will be enable. Otherwise, simulation components will not be enabled.
- * **KAFKA_BROKER_ADDRESS** – Environment variable for storing Kafka broker connection string (including port).
- * **TIME_SYNC_TOPIC** – Environment variable for storing Kafka time sync topic.
- * **SIMULATION_IP** – Environment variable for storing IP address of CDASim application.
- * **SIMULATION_REGISTRATION_PORT** – Environment variable for storing port on CDASim that handles registration attempts.
- * **TIME_SYNC_PORT** – Environment varaible for storing port for receiving time sync messages from CDASim.
- * **V2X_PORT** – Environment variable for storing port for receiving v2x messages from CDASim
- * **SIM_V2X_PORT** – Environment variable for storing port for sending v2x messages to CDASim
- * **LOCAL_IP** – Environment variable for storing local IP of V2X Hub.
- * **INFRASTRUCTURE_ID** – Environment variable for storing infrastructure id of V2X Hub..
+
+To support execution in a simulated environment, V2X-Hub is in the process of integrating with CDASim, a Co-Simulation tool built as an extension of Eclipse Mosiac. This extension will incorporate integration with several other platforms including CARMA-Platform and CARLA. The setup for this simply requires setting environment variables for the V2X-Hub docker compose deployment. These can be set via the `initialization.sh` script and can be manually edited after.
+
+* **V2XHUB_VERSION** – Version of V2X-Hub to deloy ( Docker Tag/ GitHub Tag )
+* **SIMULATION_MODE** – Environment variable for enabling simulation components for V2X-Hub. If set to "true" or "TRUE" simulation components will be enable. Otherwise, simulation components will not be enabled.
+* **KAFKA_BROKER_ADDRESS** – Environment variable for storing Kafka broker connection string (including port).
+* **TIME_SYNC_TOPIC** – Environment variable for storing Kafka time sync topic.
+* **SIMULATION_IP** – Environment variable for storing IP address of CDASim application.
+* **SIMULATION_REGISTRATION_PORT** – Environment variable for storing port on CDASim that handles registration attempts.
+* **TIME_SYNC_PORT** – Environment varaible for storing port for receiving time sync messages from CDASim.
+* **V2X_PORT** – Environment variable for storing port for receiving v2x messages from CDASim
+* **SIM_V2X_PORT** – Environment variable for storing port for sending v2x messages to CDASim
+* **V2XHUB_IP** – Environment variable for storing IP address of V2X Hub.
+* **INFRASTRUCTURE_ID** – Environment variable for storing infrastructure id of V2X Hub.
+* **SENSOR_JSON_FILE_PATH** – Environment variable for storing path to sensor configuration file. This is an optional simulation environment variable that allows for setting up simulated sensor for a V2X-Hub instance. Example file can be found in the **CDASimAdapterPlugin** tests [here](../src/v2i-hub/CDASimAdapter/test/sensors.json).

src/tmx/TmxUtils/src/simulation/SimulationEnvUtils.cpp

@@ -1,4 +1,4 @@
-#include <simulation/SimulationEnvUtils.h>
+#include "simulation/SimulationEnvUtils.h"
 
 namespace tmx::utils::sim{
     bool is_simulation_mode() {
@@ -13,15 +13,17 @@ namespace tmx::utils::sim{
 
     }
 
-    std::string get_sim_config(const char *config_name) {
+    std::string get_sim_config(const char *config_name, bool required) {
         if (is_simulation_mode() && config_name) {
-            try {
+            if ( std::getenv(config_name) != nullptr) {
                 std::string config =  std::getenv(config_name);
                 return config;
             }
-            catch(const std::logic_error &e) {
+            else {
                 std::string config_name_str = config_name;
-                throw TmxException("Simulation Config " + config_name_str + " not set!");
+                if ( required ) {
+                    throw TmxException("Required simulation config " + config_name_str + " not set!");
+                }
             }
         } else {
             throw TmxException("V2X-Hub not in sumulation mode or config param name is null pointer!");

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

@@ -77,7 +77,13 @@ namespace tmx::utils::sim{
          * @return true if SIMULATION_MODE is "true" or "TRUE" and false otherwise.
          */
         bool is_simulation_mode();
-
-        std::string get_sim_config(const char *config_name);
+        /**
+         * @brief Get simulation configuration. 
+         * @param config_name Name of configuration parameter
+         * @param required bool flag whether configuration paramter is required (Default: true)
+         * @throws tmx::TmxException if required configuration is unset or system not in simulation mode.
+         * @return string value of sim configuration
+         */
+        std::string get_sim_config(const char *config_name, bool required = true);
 
 }

src/tmx/TmxUtils/test/TestSimulationEnvUtils.cpp

@@ -0,0 +1,71 @@
+#include <simulation/SimulationEnvUtils.h>
+#include <gtest/gtest.h>
+#include <stdlib.h>
+
+
+TEST(testSimulationEnvUtils, is_simulation_mode_unset)
+{
+    // Unset any environment set SIMULATION_MODE
+    unsetenv(tmx::utils::sim::SIMULATION_MODE);
+    EXPECT_FALSE(tmx::utils::sim::is_simulation_mode());
+}
+
+TEST(testSimulationEnvUtils, is_simulation_mode_true) {
+    setenv(tmx::utils::sim::SIMULATION_MODE, "true", 1);
+    EXPECT_TRUE(tmx::utils::sim::is_simulation_mode());
+    setenv(tmx::utils::sim::SIMULATION_MODE, "TRUE", 1);
+    EXPECT_TRUE(tmx::utils::sim::is_simulation_mode());
+}
+
+TEST(testSimulationEnvUtils, is_simulation_mode_false) {
+    setenv(tmx::utils::sim::SIMULATION_MODE, "false", 1);
+    EXPECT_FALSE(tmx::utils::sim::is_simulation_mode());
+    setenv(tmx::utils::sim::SIMULATION_MODE, "FALSE", 1);
+    EXPECT_FALSE(tmx::utils::sim::is_simulation_mode());
+}
+
+TEST(testSimulationEnvUtils, get_sim_config_non_simulation_mode) {
+    // Precondition for test (ASSERT)
+    ASSERT_FALSE(tmx::utils::sim::is_simulation_mode());
+    EXPECT_THROW(tmx::utils::sim::get_sim_config(tmx::utils::sim::SIMULATION_IP), tmx::TmxException );
+
+}
+
+TEST(testSimulationEnvUtils, get_sim_config_unset) {
+    // Precondition for test (ASSERT)
+    setenv(tmx::utils::sim::SIMULATION_MODE, "true", 1);
+    unsetenv(tmx::utils::sim::SIMULATION_IP);
+    ASSERT_TRUE(tmx::utils::sim::is_simulation_mode());
+
+    EXPECT_THROW(tmx::utils::sim::get_sim_config(tmx::utils::sim::SIMULATION_IP), tmx::TmxException );
+}
+
+TEST(testSimulationEnvUtils, get_sim_config_set) {
+    // Precondition for test (ASSERT)
+    std::string simulation_ip = "127.0.0.1";
+    setenv(tmx::utils::sim::SIMULATION_MODE, "true", 1);
+    setenv(tmx::utils::sim::SIMULATION_IP, simulation_ip.c_str(), 1);
+    ASSERT_TRUE(tmx::utils::sim::is_simulation_mode());
+
+    EXPECT_EQ(tmx::utils::sim::get_sim_config(tmx::utils::sim::SIMULATION_IP), simulation_ip );
+}
+
+TEST(testSimulationEnvUtils, get_sim_config_optional_set) {
+    // Precondition for test (ASSERT)
+    std::string simulation_ip = "127.0.0.1";
+    setenv(tmx::utils::sim::SIMULATION_MODE, "true", 1);
+    setenv(tmx::utils::sim::SIMULATION_IP, simulation_ip.c_str(), 1);
+    ASSERT_TRUE(tmx::utils::sim::is_simulation_mode());
+
+    EXPECT_EQ(tmx::utils::sim::get_sim_config(tmx::utils::sim::SIMULATION_IP,false), simulation_ip );
+}
+
+TEST(testSimulationEnvUtils, get_sim_config_optional_unset) {
+    // Precondition for test (ASSERT)
+    std::string simulation_ip = "127.0.0.1";
+    setenv(tmx::utils::sim::SIMULATION_MODE, "true", 1);
+    unsetenv(tmx::utils::sim::SIMULATION_IP);
+    ASSERT_TRUE(tmx::utils::sim::is_simulation_mode());
+
+    EXPECT_TRUE(tmx::utils::sim::get_sim_config(tmx::utils::sim::SIMULATION_IP,false).empty());
+}

src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp

@@ -103,7 +103,10 @@ namespace CDASimAdapter{
             uint v2x_port = std::stoul(sim::get_sim_config(sim::V2X_PORT));
             uint sim_v2x_port = std::stoul(sim::get_sim_config(sim::SIM_V2X_PORT));
             std::string infrastructure_id = sim::get_sim_config(sim::INFRASTRUCTURE_ID);
-            std::string sensor_json_file_path = sim::get_sim_config(sim::SENSOR_JSON_FILE_PATH);
+            // Sensor JSON file path is an optional environment variable that allows configuration of
+            // simulated sensor if provided.
+            std::string sensor_json_file_path = "";
+            sensor_json_file_path = sim::get_sim_config(sim::SENSOR_JSON_FILE_PATH, false);
 
             PLOG(logINFO) << "CDASim connecting " << simulation_ip <<
                     "\nUsing Registration Port : "  << std::to_string( simulation_registration_port) <<

src/v2i-hub/CDASimAdapter/src/CDASimConnection.cpp

@@ -6,7 +6,7 @@ using namespace tmx::utils;
 namespace CDASimAdapter{ 
     CDASimConnection::CDASimConnection(const std::string &simulation_ip, const std::string &infrastructure_id, const uint simulation_registration_port, const uint sim_v2x_port,
                                                         const std::string &local_ip,  const uint time_sync_port,const uint simulated_interaction_port, const uint v2x_port, 
-                                                        const Point &location, const std::string &sensor_json_file_path) : 
+                                                        const Point &location, const std::string &sensor_json_file_path ) : 
                                                         _simulation_ip(simulation_ip), _infrastructure_id(infrastructure_id), _simulation_registration_port(simulation_registration_port),
                                                         _simulation_v2x_port(sim_v2x_port), _local_ip(local_ip), _time_sync_port(time_sync_port), _simulated_interaction_port(simulated_interaction_port),_v2x_port(v2x_port),
                                                         _location(location) ,_sensor_json_file_path(sensor_json_file_path)  {
@@ -52,12 +52,18 @@ namespace CDASimAdapter{
 
         //Read local sensor file and populate the sensors JSON
         //Sample sensors.json: https://raw.githubusercontent.com/usdot-fhwa-OPS/V2X-Hub/develop/src/v2i-hub/CDASimAdapter/test/sensors.json
-        auto sensors_json_v = read_json_file(_sensor_json_file_path);
-        if(sensors_json_v.empty())
-        {
-            PLOG(logWARNING) << "Sensors JSON is empty!" << std::endl;
-        }     
-        message["sensors"] = sensors_json_v;
+        // Sensor configuration is an optional part of registration message.
+        if ( !_sensor_json_file_path.empty() ) {
+            auto sensors_json_v = read_json_file(_sensor_json_file_path);
+            if(sensors_json_v.empty())
+            {
+                PLOG(logWARNING) << "Sensors JSON is empty!" << std::endl;
+            }     
+            message["sensors"] = sensors_json_v;
+        }
+        else {
+            PLOG(logWARNING) << "No sensors where configured for this V2X-Hub instance.";
+        }
         Json::StyledWriter writer;
         message_str = writer.write(message);
         return message_str;
@@ -97,10 +103,8 @@ namespace CDASimAdapter{
             // Initialize V2X-Hub UDP Server and Client to foward V2X messages between CARMA Simulation Infrastructure 
             // Adapter and V2X-Hub.
             // TODO: Using TMX Utils get immediate forward port
-            // TODO: Replace 0 with immediate forward port
             immediate_forward_listener = std::make_shared<UdpServer>( local_ip, 5678);
             // TODO: Using TMX Utils get message receiver port
-            // TODO: Replace 0 with message receiver port
             message_receiver_publisher = std::make_shared<UdpClient>( local_ip, 8765);
             // Initialize UDP Server for listening for incoming CARMA-Simulation time synchronization.
             PLOG(logDEBUG) << "Creating UDPServer for Time Sync Messages: " << local_ip << ":" << std::to_string(time_sync_port) << "\n" 

src/v2i-hub/CDASimAdapter/src/include/CDASimConnection.hpp

@@ -35,7 +35,7 @@ namespace CDASimAdapter {
              */
             explicit CDASimConnection( const std::string &simulation_ip, const std::string &infrastructure_id, const uint simulation_registration_port, 
                                 const uint sim_v2x_port, const std::string &local_ip,  const uint time_sync_port, const uint simulated_interaction_port,  const uint v2x_port, 
-                                const tmx::utils::Point &location, const std::string &sensor_json_file_path);
+                                const tmx::utils::Point &location, const std::string &sensor_json_file_path = "");
              /**
              * @brief Method to forward v2x message to CARMA Simulation
              * @param v2x_message string
@@ -173,9 +173,12 @@ namespace CDASimAdapter {
             std::shared_ptr<tmx::utils::UdpServer> time_sync_listener;
             std::shared_ptr<tmx::utils::UdpServer> sensor_detected_object_listener;
 
-            FRIEND_TEST(TestCARMASimulationConnection, get_handshake_json);
-            FRIEND_TEST(TestCARMASimulationConnection, read_json_file);
-            FRIEND_TEST(TestCARMASimulationConnection, string_to_json);
+            FRIEND_TEST(TestCDASimConnection, get_handshake_json);
+            FRIEND_TEST(TestCDASimConnection, get_handshake_json_no_sensor_config);
+            FRIEND_TEST(TestCDASimConnection, read_json_file);
+            FRIEND_TEST(TestCDASimConnection, string_to_json);
+
+
     };
 
 }

src/v2i-hub/CDASimAdapter/test/TestCARMASimulationConnection.cpp → src/v2i-hub/CDASimAdapter/test/TestCDASimConnection.cpp

@@ -19,7 +19,7 @@ using namespace tmx::utils;
 
 namespace CDASimAdapter {
 
-    class TestCARMASimulationConnection : public ::testing::Test {
+    class TestCDASimConnection : public ::testing::Test {
         protected:
             void SetUp() override {
                 // Initialize CARMA Simulation connection with (0,0,0) location.
@@ -35,19 +35,19 @@ namespace CDASimAdapter {
 
 
     };
-    TEST_F( TestCARMASimulationConnection, initialize) {
+    TEST_F( TestCDASimConnection, initialize) {
         ASSERT_FALSE(connection->is_connected());
     }
 
-    TEST_F( TestCARMASimulationConnection, forward_message) {
+    TEST_F( TestCDASimConnection, forward_message) {
         std::shared_ptr<MockUpdClient> client = std::make_shared<MockUpdClient>();
         std::string test_message = "message";
         EXPECT_CALL( *client, Send(test_message) ).Times(2).WillOnce(testing::DoAll(Return(-1))).WillRepeatedly(testing::DoAll(Return(test_message.size())));
         ASSERT_THROW(connection->forward_message(test_message, client), UdpClientRuntimeError);
         connection->forward_message(test_message, client);
     }
 
-    TEST_F( TestCARMASimulationConnection, forward_message_invalid ) {
+    TEST_F( TestCDASimConnection, forward_message_invalid ) {
         std::shared_ptr<MockUpdClient> client = std::make_shared<MockUpdClient>();
         std::string test_message = "";
         // ASSERT that we never call Send message.
@@ -59,11 +59,11 @@ namespace CDASimAdapter {
         connection->forward_message(test_message, client);
     } 
 
-    TEST_F( TestCARMASimulationConnection, consume_msg){
+    TEST_F( TestCDASimConnection, consume_msg){
 
         std::shared_ptr<MockUpdServer> server = std::make_shared<MockUpdServer>();
         char *msg_data  = new char();
-        char *test_string = "Test Message";
+        char test_string[] = "Test Message";
         EXPECT_CALL( *server, TimedReceive(_, _, _) ).Times(2).
             WillOnce(testing::DoAll(Return(-1))).
             WillRepeatedly( testing::DoAll( SetArrayArgument<0>(test_string, test_string + strlen(test_string) + 1),Return(10)));
@@ -78,11 +78,11 @@ namespace CDASimAdapter {
 
     }
 
-    TEST_F( TestCARMASimulationConnection, setup_upd_connection) {
+    TEST_F( TestCDASimConnection, setup_upd_connection) {
         ASSERT_TRUE(connection->setup_udp_connection("127.0.0.1", "127.0.0.1", 4567, 4568, 4569, 4570));
     }
 
-    TEST_F( TestCARMASimulationConnection, get_handshake_json) {
+    TEST_F( TestCDASimConnection, get_handshake_json) {
         Point location;
         location.X = 1000;
         location.Y = 38.955; 
@@ -91,23 +91,34 @@ namespace CDASimAdapter {
         in_strm.open(sensors_file_path, std::ifstream::binary);
         if(in_strm.is_open())
         {
-            ASSERT_EQ(connection->get_handshake_json("4566", "127.0.0.1", 4567, 4568, 4569, location), 
+            EXPECT_EQ(connection->get_handshake_json("4566", "127.0.0.1", 4567, 4568, 4569, location), 
             "{\n   \"infrastructureId\" : \"4566\",\n   \"location\" : {\n      \"x\" : 1000.0,\n      \"y\" : 38.954999999999998,\n      \"z\" : -77.149000000000001\n   },\n   \"rxMessageIpAddress\" : \"127.0.0.1\",\n   \"rxMessagePort\" : 4569,\n   \"sensors\" : [\n      {\n         \"location\" : {\n            \"x\" : 0.0,\n            \"y\" : 0.0,\n            \"z\" : 0.0\n         },\n         \"orientation\" : {\n            \"pitch\" : 0.0,\n            \"roll\" : 0.0,\n            \"yaw\" : 0.0\n         },\n         \"sensorId\" : \"SomeID\",\n         \"type\" : \"SemanticLidar\"\n      },\n      {\n         \"location\" : {\n            \"x\" : 1.0,\n            \"y\" : 2.0,\n            \"z\" : 0.0\n         },\n         \"orientation\" : {\n            \"pitch\" : 0.0,\n            \"roll\" : 0.0,\n            \"yaw\" : 23.0\n         },\n         \"sensorId\" : \"SomeID2\",\n         \"type\" : \"SemanticLidar\"\n      }\n   ],\n   \"simulatedInteractionPort\" : 4568,\n   \"timeSyncPort\" : 4567\n}\n");
         }
     }
 
-    TEST_F( TestCARMASimulationConnection, carma_simulation_handshake) {
+    TEST_F( TestCDASimConnection, get_handshake_json_no_sensor_config) {
+        Point location;
+        location.X = 1000;
+        location.Y = 38.955; 
+        location.Z = -77.149;
+        connection.reset(new CDASimConnection("127.0.0.1", "1212", 4567, 4678, "127.0.0.1", 1213, 1214, 1215, location));
+        // Test method when sensors_file_path is empty
+        EXPECT_EQ(connection->get_handshake_json("4566", "127.0.0.1", 4567, 4568, 4569, location), 
+            "{\n   \"infrastructureId\" : \"4566\",\n   \"location\" : {\n      \"x\" : 1000.0,\n      \"y\" : 38.954999999999998,\n      \"z\" : -77.149000000000001\n   },\n   \"rxMessageIpAddress\" : \"127.0.0.1\",\n   \"rxMessagePort\" : 4569,\n   \"simulatedInteractionPort\" : 4568,\n   \"timeSyncPort\" : 4567\n}\n");
+    }
+
+    TEST_F( TestCDASimConnection, carma_simulation_handshake) {
         Point location;
         // UDP creation error
-        ASSERT_FALSE(connection->carma_simulation_handshake("", "45", NULL, 
+        EXPECT_FALSE(connection->carma_simulation_handshake("", "45", 0, 
                                 "",  45, 45, 45, location));
     }
 
-    TEST_F(TestCARMASimulationConnection, connect) {
-        ASSERT_TRUE(connection->connect());
+    TEST_F(TestCDASimConnection, connect) {
+        EXPECT_TRUE(connection->connect());
     }
 
-    TEST_F(TestCARMASimulationConnection, read_json_file)
+    TEST_F(TestCDASimConnection, read_json_file)
     {        
         auto sensorJsonV = connection->read_json_file("Invalid_file_path" );
         ASSERT_TRUE(sensorJsonV.empty());
@@ -120,7 +131,7 @@ namespace CDASimAdapter {
         }        
     }
 
-    TEST_F(TestCARMASimulationConnection, string_to_json)
+    TEST_F(TestCDASimConnection, string_to_json)
     {        
         auto sensorJsonV = connection->string_to_json("Invalid Json");
         ASSERT_TRUE(sensorJsonV.empty());