Merge branch 'develop' into j2735-2020-upgrade

Conflicts: src/tmx/TmxApi/tmx/TmxApiMessages.h src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp src/v2i-hub/ImmediateForwardPlugin/manifest.json Changes to be committed: modified: .github/workflows/sonar-scanner.yml modified: src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp modified: src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp modified: src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.h modified: src/v2i-hub/CARMAStreetsPlugin/test/test_JsonToJ3224SDSMConverter.cpp modified: src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp modified: src/v2i-hub/ImmediateForwardPlugin/manifest.json modified: src/v2i-hub/TelematicBridgePlugin/src/TelematicUnit.cpp modified: src/v2i-hub/TelematicBridgePlugin/test/test_TelematicUnit.cpp
usdot-fhwa-OPS · Feb 16, 2024 · d80c613 · d80c613
2 parents 72c6f8d + 623713b
commit d80c613
Show file tree

Hide file tree

Showing 9 changed files with 960 additions and 445 deletions.
diff --git a/.github/workflows/sonar-scanner.yml b/.github/workflows/sonar-scanner.yml
@@ -21,7 +21,7 @@ jobs:
           fetch-depth: 0
           submodules: recursive
       - name:  Install sonar-scanner and build-wrapper
-        uses: sonarsource/sonarcloud-github-c-cpp@v1
+        uses: sonarsource/sonarcloud-github-c-cpp@v2
       - name: Run install_dependencies.sh script
         run: |
           scripts/install_dependencies.sh

diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp b/src/v2i-hub/CARMAStreetsPlugin/src/CARMAStreetsPlugin.cpp
@@ -685,23 +685,19 @@ void CARMAStreetsPlugin::SubscribeSDSMKafkaTopic(){
 				{
 					sdsm_convertor.encodeSDSM(sdsm_ptr, sdsmEncodedMsg);
 				}
-				catch (TmxException &ex) 
+				catch( std::exception const & x )
 				{
-					// Skip messages that fail to encode.
-					PLOG(logERROR) << "Failed to encoded SDSM message : \n" << payload_str << std::endl << "Exception encountered: " 
-						<< ex.what() << std::endl;
-					ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_SensorDataSharingMessage, sdsm_ptr.get()); // may be unnecessary
+					PLOG(logERROR) << "Failed to encoded SDSM message : " << payload_str << std::endl << boost::diagnostic_information( x ) << std::endl;
 					SetStatus<uint>(Key_SDSMMessageSkipped, ++_sdsmMessageSkipped);
 					continue;
 				}
 
-				ASN_STRUCT_FREE_CONTENTS_ONLY(asn_DEF_SensorDataSharingMessage, sdsm_ptr.get()); // same as above
 				PLOG(logDEBUG) << "sdsmEncodedMsg: "  << sdsmEncodedMsg;
-
 				//Broadcast the encoded SDSM message
 				sdsmEncodedMsg.set_flags(IvpMsgFlags_RouteDSRC);
-				sdsmEncodedMsg.addDsrcMetadata(0x8002);
-				BroadcastMessage(static_cast<routeable_message &>(sdsmEncodedMsg));		
+				sdsmEncodedMsg.addDsrcMetadata(tmx::messages::api::msgPSID::sensorDataSharingMessage_PSID);
+				BroadcastMessage(static_cast<routeable_message &>(sdsmEncodedMsg));
+
 			}
 		}
 	}
@@ -710,8 +706,16 @@ void CARMAStreetsPlugin::SubscribeSDSMKafkaTopic(){
 
 void CARMAStreetsPlugin::HandleSimulatedSensorDetectedMessage(simulation::SensorDetectedObject &msg, routeable_message &routeableMsg)
 {
+	// TODO: This is a temporary fix for tmx message container property tree
+	// serializing all attributes as strings. This issue needs to be fixed but
+	// is currently out of scope. TMX Messages should be correctly serialize to 
+	// and from json. This temporary fix simply using regex to look for numeric,
+	// null, and bool values and removes the quotations around them.
 	PLOG(logDEBUG) <<  "Produce sensor detected message in JSON format:  " << msg.to_string() <<std::endl;
-	produce_kafka_msg( msg.to_string(), _transmitSimSensorDetectedObjTopic);
+	boost::regex exp("\"(null|true|false|-?[0-9]+(\\.[0-9]+)?)\"");
+	std::stringstream ss;
+	std::string rv = boost::regex_replace(msg.to_string(), exp, "$1");
+	produce_kafka_msg( rv, _transmitSimSensorDetectedObjTopic);
 }
 
 bool CARMAStreetsPlugin::getEncodedtsm3( tsm3EncodedMessage *tsm3EncodedMsg,  Json::Value metadata, Json::Value payload_json )

diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp b/src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.cpp
diff --git a/src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.h b/src/v2i-hub/CARMAStreetsPlugin/src/JsonToJ3224SDSMConverter.h
@@ -31,16 +31,19 @@ namespace CARMAStreetsPlugin
          * @param json Incoming Json value with sdsm information that is consumed from a Kafka topic.
          * @param sdsm Outgoing J3224 sdsm object that is populated by the json value.
          */
-        void convertJsonToSDSM(const Json::Value &sdsm_json, std::shared_ptr<SensorDataSharingMessage>  sdsm) const;
+
+        void convertJsonToSDSM(const Json::Value &sdsm_json, const std::shared_ptr<SensorDataSharingMessage_t> &sdsm) const;
 
         /***
          * @brief Encode J3224 SDSM
          * @param Pointer to  J3224 SDSM object
          * @param Encoded J3224 SDSM
          */
-        void encodeSDSM(const std::shared_ptr<SensorDataSharingMessage> &sdsmPtr, tmx::messages::SdsmEncodedMessage &encodedSDSM) const;
-
+        void encodeSDSM(const std::shared_ptr<SensorDataSharingMessage_t> &sdsmPtr, tmx::messages::SdsmEncodedMessage &encodedSDSM) const;
+    
         ~JsonToJ3224SDSMConverter() = default;
+    private:
+        void populateOptionalData(const Json::Value &optional_data_json, DetectedObjectOptionalData_t *optional_data) const;
     };
 
 }
diff --git a/src/v2i-hub/CARMAStreetsPlugin/test/test_JsonToJ3224SDSMConverter.cpp b/src/v2i-hub/CARMAStreetsPlugin/test/test_JsonToJ3224SDSMConverter.cpp
diff --git a/src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp b/src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp
@@ -126,27 +126,27 @@ namespace CDASimAdapter{
 
     void CDASimAdapter::start_immediate_forward_thread() {
         if ( !immediate_forward_timer ) {
-            immediate_forward_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            immediate_forward_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
         immediate_forward_tick_id = immediate_forward_timer->AddPeriodicTick([this]() {
             this->attempt_message_from_v2xhub();
 
         } // end of lambda expression
-        , std::chrono::milliseconds(100) );
+        , std::chrono::milliseconds(5) );
 
         immediate_forward_timer->Start();
 
     }
 
     void CDASimAdapter::start_message_receiver_thread() {
         if ( !message_receiver_timer ) {
-            message_receiver_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            message_receiver_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
 
         message_receiver_tick_id = message_receiver_timer->AddPeriodicTick([this]() {
             this->attempt_message_from_simulation();
         } // end of lambda expression
-        , std::chrono::milliseconds(100) );
+        , std::chrono::milliseconds(5) );
         message_receiver_timer->Start();
 
     }
@@ -174,7 +174,7 @@ namespace CDASimAdapter{
         {
             if(!external_object_detection_thread_timer)
             {
-                external_object_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>();
+                external_object_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
             }            
             external_object_detection_thread_timer->AddPeriodicTick([this](){
                 PLOG(logDEBUG1) << "Listening for Sensor Detected Message from CDASim." << std::endl;
@@ -187,7 +187,7 @@ namespace CDASimAdapter{
                     PLOG(logDEBUG1) << "CDASim connection has not yet received an simulated sensor detected message!" << std::endl;
                 }
             }//End lambda
-            , std::chrono::milliseconds(100));
+            , std::chrono::milliseconds(5));
             external_object_detection_thread_timer->Start();
         }
         catch ( const UdpServerRuntimeError &e ) 
@@ -216,13 +216,13 @@ namespace CDASimAdapter{
     void CDASimAdapter::start_time_sync_thread_timer() {
         PLOG(logDEBUG) << "Creating Thread Timer for time sync" << std::endl;
         if ( !time_sync_timer ) {
-            time_sync_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            time_sync_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
         time_sync_tick_id = time_sync_timer->AddPeriodicTick([this]() {
             PLOG(logDEBUG1) << "Listening for time sync messages from CDASim." << std::endl;
             this->attempt_time_sync();
         } // end of lambda expression
-        , std::chrono::milliseconds(100));
+        , std::chrono::milliseconds(5));
         time_sync_timer->Start();
     }
 

diff --git a/src/v2i-hub/ImmediateForwardPlugin/manifest.json b/src/v2i-hub/ImmediateForwardPlugin/manifest.json
@@ -14,7 +14,7 @@
     },
     {
       "key": "Messages_Destination_1",
-      "default": "{ \"Messages\": [ { \"TmxType\": \"SPAT-P\", \"SendType\": \"SPAT\", \"PSID\": \"0x8002\", \"Channel\": \"183\" }, { \"TmxType\": \"MAP-P\", \"SendType\": \"MAP\", \"PSID\": \"0x8002\", \"Channel\": \"183\" }, { \"TmxType\": \"PSM-P\", \"SendType\": \"PSM\", \"PSID\": \"0x27\", \"Channel\": \"183\" } ,{ \"TmxType\": \"TMSG07-P\", \"SendType\": \"TMSG07\", \"PSID\": \"0x8002\", \"Channel\": \"183\" },{ \"TmxType\": \"TMSG03-P\", \"SendType\": \"TMSG03\", \"PSID\": \"0xBFEE\", \"Channel\": \"183\" },{ \"TmxType\": \"TMSG05-P\", \"SendType\": \"TMSG05\", \"PSID\": \"0xBFEE\", \"Channel\": \"183\" }, { \"TmxType\": \"SSM-P\", \"SendType\": \"SSM\", \"PSID\": \"0x8002\", \"Channel\": \"183\" }] }",
+      "default": "{ \"Messages\": [ { \"TmxType\": \"SPAT-P\", \"SendType\": \"SPAT\", \"PSID\": \"0x8002\", \"Channel\": \"183\" }, { \"TmxType\": \"MAP-P\", \"SendType\": \"MAP\", \"PSID\": \"0x8002\", \"Channel\": \"183\" }, { \"TmxType\": \"PSM-P\", \"SendType\": \"PSM\", \"PSID\": \"0x27\", \"Channel\": \"183\" } ,{ \"TmxType\": \"TMSG07-P\", \"SendType\": \"TMSG07\", \"PSID\": \"0x8002\", \"Channel\": \"183\" },{ \"TmxType\": \"TMSG03-P\", \"SendType\": \"TMSG03\", \"PSID\": \"0xBFEE\", \"Channel\": \"183\" },{ \"TmxType\": \"TMSG05-P\", \"SendType\": \"TMSG05\", \"PSID\": \"0x8003\", \"Channel\": \"183\" }, { \"TmxType\": \"SSM-P\", \"SendType\": \"SSM\", \"PSID\": \"0x8002\", \"Channel\": \"183\" },{ \"TmxType\": \"SDSM\", \"SendType\": \"SensorDataSharingMessage\", \"PSID\": \"0x8010\", \"Channel\": \"183\" }] }",
       "description": "JSON data defining the message types, PSIDs, and channel number for messages forwarded to the V2X radio at destination 1."
     },
     {

diff --git a/src/v2i-hub/TelematicBridgePlugin/src/TelematicUnit.cpp b/src/v2i-hub/TelematicBridgePlugin/src/TelematicUnit.cpp
@@ -219,7 +219,7 @@ namespace TelematicBridge
         message[TESTING_TYPE_KEY] = testingType;
         message[EVENT_NAME_KEY] = eventName;
         message[TIMESTAMP_KEY] = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
-        Json::Value topics;
+        Json::Value topics = Json::arrayValue;
         for (const auto &topic : availableTopicList)
         {
             if (!boost::icontains(excludedTopics, topic))

diff --git a/src/v2i-hub/TelematicBridgePlugin/test/test_TelematicUnit.cpp b/src/v2i-hub/TelematicBridgePlugin/test/test_TelematicUnit.cpp
@@ -43,6 +43,10 @@ namespace TelematicBridge
         auto reply = TelematicUnit::constructAvailableTopicsReplyString(unit, eventLocation, testingType, eventName, topics, excluded_topic);
         auto json = TelematicUnit::parseJson(reply);
         ASSERT_EQ("test_topic", json["topics"][0]["name"].asString());
+
+        reply = TelematicUnit::constructAvailableTopicsReplyString(unit, eventLocation, testingType, eventName, {}, excluded_topic);
+        json = TelematicUnit::parseJson(reply);
+        ASSERT_EQ(1, json["topics"].isArray());
     }
 
     TEST_F(test_TelematicUnit, constructPublishedDataString)