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CARMA Streets forwards the visual warning message to CARMA Cloud (#344)
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* init

* update

* init

* address circle CI

* address coments

* comments

* update
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@dan-du-car
dan-du-car authored Mar 22, 2022
1 parent 74c0369 commit e2af63d
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Showing 2 changed files with 46 additions and 7 deletions.
40 changes: 35 additions & 5 deletions src/v2i-hub/CARMACloudPlugin/src/CARMACloudPlugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ CARMACloudPlugin::CARMACloudPlugin(string name) :PluginClient(name) {
url ="http://127.0.0.1:33333"; // 33333 is the port that will send from v2xhub to carma cloud ## initally was 23665
base_hb = "/carmacloud/v2xhub";
base_req = "/carmacloud/tcmreq";
base_ack = "/carmacloud/tcmack";
method = "POST";
_not_ACK_TCMs = std::make_shared<multimap<string, tsm5EncodedMessage>>();
std::thread Broadcast_t(&CARMACloudPlugin::Broadcast_TCMs, this);
Expand Down Expand Up @@ -90,7 +91,7 @@ void CARMACloudPlugin::HandleCARMARequest(tsm4Message &msg, routeable_message &r
char xml_str[10000];
sprintf(xml_str,"<?xml version=\"1.0\" encoding=\"UTF-8\"?><TrafficControlRequest><reqid>%s</reqid><reqseq>%ld</reqseq><scale>%ld</scale>%s</TrafficControlRequest>",reqid, reqseq,scale,bounds_str);

PLOG(logINFO) << "Sent TCR: "<< xml_str<<endl;
PLOG(logINFO) << "Sent TCR to cloud: "<< xml_str<<endl;
CloudSend(xml_str,url, base_req, method);

}
Expand Down Expand Up @@ -120,6 +121,7 @@ void CARMACloudPlugin::HandleMobilityOperationMessage(tsm3Message &msg, routeabl
string even_log_description = GetValueFromStrategyParamsByKey(strategy_params_v, "reason");
string acknnowledgement_str = GetValueFromStrategyParamsByKey(strategy_params_v, "acknowledgement");
string traffic_control_id = GetValueFromStrategyParamsByKey(strategy_params_v, "traffic_control_id");
string msgnum = GetValueFromStrategyParamsByKey(strategy_params_v, "msgnum");
boost::trim(traffic_control_id);
std::transform(traffic_control_id.begin(), traffic_control_id.end(), traffic_control_id.begin(), ::tolower );
ss.str("");
Expand All @@ -136,12 +138,26 @@ void CARMACloudPlugin::HandleMobilityOperationMessage(tsm3Message &msg, routeabl
//Create an event log object for both positive and negative ACK (ackownledgement), and broadcast the event log
tmx::messages::TmxEventLogMessage event_log_msg;

//acknnowledgement: Flag to indicate whether the received geofence was processed successfully by the CAV
//acknnowledgement: Flag to indicate whether the received geofence was processed successfully by the CMV. 1 mapping to acknowledged by CMV
std::transform(acknnowledgement_str.begin(), acknnowledgement_str.end(), acknnowledgement_str.begin(), ::tolower );
acknnowledgement_str.find("true") != std::string::npos ? event_log_msg.set_level(IvpLogLevel::IvpLogLevel_info) : event_log_msg.set_level(IvpLogLevel::IvpLogLevel_warn);
acknnowledgement_str.find("1") != std::string::npos ? event_log_msg.set_level(IvpLogLevel::IvpLogLevel_info) : event_log_msg.set_level(IvpLogLevel::IvpLogLevel_warn);
event_log_msg.set_description(mo_strategy + ": Traffic control id = " + traffic_control_id + ( CMV_id.length() <= 0 ? "":", CMV Id = " + CMV_id )+ ", reason = " + even_log_description);
PLOG(logDEBUG) << "event_log_msg " << event_log_msg << std::endl;
this->BroadcastMessage<tmx::messages::TmxEventLogMessage>(event_log_msg);

//send negative ack to carma-cloud if not receiving any ack from CMV. acknowledgement_status__acknowledged = 1
if(acknnowledgement_str.find("1") == std::string::npos )
{
stringstream sss;
sss << "<?xml version=\"1.0\" encoding=\"UTF-8\"?><TrafficControlAcknowledgement><reqid> " << traffic_control_id
<< "</reqid><msgnum>"<< msgnum
<<"</msgnum><cmvid>"<< CMV_id
<<"</cmvid><acknowledgement>" << acknowledgement_status::acknowledgement_status__rejected
<< "</acknowledgement><description>" << even_log_description
<< "</description></TrafficControlAcknowledgement>";
PLOG(logINFO) << "Sent Negative ACK: "<< sss.str() <<endl;
CloudSend(sss.str(),url, base_ack, method);
}
}
}

Expand Down Expand Up @@ -179,8 +195,12 @@ void CARMACloudPlugin::CARMAResponseHandler(QHttpEngine::Socket *socket)

string tcm = _cloudUpdate;

cout<<"Received this from cloud"<<tcm<<endl;

PLOG(logINFO) << "Received TCM from cloud" << tcm << std::endl;
if(tcm.length() == 0)
{
PLOG(logERROR) << "Received TCM length is zero, and skipped." << std::endl;
return;
}
// new updateTags section
tcm=updateTags(tcm,"<TrafficControlMessage>","<TestMessage05><body>");
tcm=updateTags(tcm,"</TrafficControlMessage>","</body></TestMessage05>");
Expand Down Expand Up @@ -255,6 +275,15 @@ void CARMACloudPlugin::Broadcast_TCMs()
event_log_msg.set_description(_TCMAcknowledgementStrategy + ": " + _TCMNOAcknowledgementDescription + " Traffic control id = " + tcmv01_req_id_hex);
PLOG(logDEBUG) << "event_log_msg " << event_log_msg << std::endl;
this->BroadcastMessage<tmx::messages::TmxEventLogMessage>(event_log_msg);

//send negative ack to carma-cloud
stringstream sss;
sss << "<?xml version=\"1.0\" encoding=\"UTF-8\"?><TrafficControlAcknowledgement><reqid> " << tcmv01_req_id_hex
<< "</reqid><msgnum></msgnum><cmvid></cmvid><acknowledgement>" << acknowledgement_status::acknowledgement_status__not_acknowledged
<< "</acknowledgement><description>" << _TCMNOAcknowledgementDescription
<< "</description></TrafficControlAcknowledgement>";
PLOG(logINFO) << "Sent No ACK as Time Out: "<< sss.str() <<endl;
CloudSend(sss.str(),url, base_ack, method);
break;
}
std::unique_ptr<tsm5EncodedMessage> msg;
Expand Down Expand Up @@ -361,6 +390,7 @@ int CARMACloudPlugin::CloudSend(string msg,string url, string base, string metho
if(strcmp(method.c_str(),"POST")==0)
{
curl_easy_setopt(req, CURLOPT_POSTFIELDS, msg.c_str());
curl_easy_setopt(req, CURLOPT_TIMEOUT, 2L); // Sets a 2 second timeout
res = curl_easy_perform(req);
if(res != CURLE_OK)
{
Expand Down
13 changes: 11 additions & 2 deletions src/v2i-hub/CARMACloudPlugin/src/CARMACloudPlugin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,12 @@ using namespace OpenAPI;


namespace CARMACloudPlugin {


enum acknowledgement_status {
acknowledgement_status__acknowledged = 1, //Acknowledged by CMV
acknowledgement_status__rejected = 2, //CMV cannot process the TCM message
acknowledgement_status__not_acknowledged = 3 //CMV does not respond at all within the v2xhub repeatedly broadcast time period
};

class CARMACloudPlugin: public PluginClient {
public:
Expand Down Expand Up @@ -151,7 +156,11 @@ class CARMACloudPlugin: public PluginClient {
pthread_mutex_t _timMutex = PTHREAD_MUTEX_INITIALIZER;
J2735MessageFactory factory;
uint64_t _frequency = 0;
string url,base_hb, base_req, method;
string url;
string base_hb;
string base_req;
string method;
string base_ack;

//Comma separated string for list of strategies from MobilityOperation messages
std::string _strategies;
Expand Down

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