v2x hub Integration: Implement telematic plugin to subscribe to all TMX messages from V2xHub #565

dan-du-car · 2023-11-17T15:17:34Z

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.

Related Issue

#591
WFD-392

Motivation and Context

CDA telematic

How Has This Been Tested?

Unit test
Integration test

Types of changes

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:

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.
I have read the CONTRIBUTING document.
V2XHUB Contributing Guide
I have added tests to cover my changes.
All new and existing tests passed.

paulbourelly999 · 2023-11-17T19:52:01Z

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);


Why this change?

This unit test sometimes failed. https://github.com/usdot-fhwa-OPS/V2X-Hub/actions/runs/6895436333/job/18759375988

I ran the unit test in local and the list count sometimes equals to 1, sometimes equals to 2.

This is a issue. Can we create a bug for this is we do not plan to address it in this PR and leave a TODO comment here outlining what you found.

paulbourelly999 · 2023-11-20T13:23:28Z

ext/build.sh

+cmake . -DNATS_BUILD_NO_SPIN=ON
+make -j${numCPU}
+make install


After we install this dependency, we should delete the source code.

Addressed a3b68aa

paulbourelly999 · 2023-11-20T13:24:19Z

scripts/install_dependencies.sh

@@ -31,6 +31,9 @@ DEPENDENCIES="build-essential \
    wget \
    zip \
    zlib1g \
+    rapidjson-dev \


Is there a reason we need to use rapidjson instead of any of the json libraries we currently have installed in V2X-Hub

I think the xml to json library use the rapidjson lib

paulbourelly999 · 2023-11-20T13:26:33Z

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);


What changed here for the RSU Health Monitor Plugin

The JSON was an array. My intention is to create a JSON object.

paulbourelly999 · 2023-11-20T13:27:13Z

src/v2i-hub/TelematicBridgePlugin/CMakeLists.txt

+find_package(RapidJSON REQUIRED)
+
+BuildTmxPlugin()
+TARGET_LINK_LIBRARIES ( ${PROJECT_NAME} tmxutils jsoncpp)


if we are not linking rapidjson, what is the point of finding the package?

Addressed https://github.com/usdot-fhwa-OPS/V2X-Hub/pull/565/files#diff-44401677ab8e59119c4870aabc314fba94c3a4cb82288919cf11b36257a5efe0

paulbourelly999 · 2023-11-20T13:28:44Z

src/v2i-hub/TelematicBridgePlugin/src/TelematicBridgeMsgWorker.cpp

+
+namespace TelematicBridge
+{
+    bool TelematicBridgeMsgWorker::HexToBytes(const string &hexPaylod, vector<char> &byteBuffer)


What is this method for?

Added comments

paulbourelly999 · 2023-11-20T13:30:00Z

src/v2i-hub/TelematicBridgePlugin/src/TelematicBridgeMsgWorker.cpp

+
+        if (decode_rval.code != RC_OK)
+        {
+            erroross.str("");


What is this erroross object?

ostringstream

paulbourelly999 · 2023-11-20T13:33:26Z

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

+        size_t allocated_size; // this is the total size of the buffer.
+    };
+
+    class TelematicBridgeMsgWorker


Does this object have any state information? Is there a reason we need a class for this or could we just define functions here without a class

Addressed 5ca81e0

paulbourelly999 · 2023-11-20T13:39:16Z

src/v2i-hub/TelematicBridgePlugin/CMakeLists.txt

+target_link_libraries(${PROJECT_NAME}_lib  PUBLIC tmxutils jsoncpp)
+file(GLOB_RECURSE TEST_SOURCES LIST_DIRECTORIES false test/*.h test/*.cpp)
+add_executable(${PROJECT_NAME}_test ${TEST_SOURCES})
+target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME}_lib gtest)


If you link the following you do not need to create a main.cpp file for testing.

target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME}_lib GTest::Main

paulbourelly999 · 2023-11-20T13:40:05Z

src/v2i-hub/TelematicBridgePlugin/manifest.json

+    "exeLocation": "/bin/TelematicBridgePlugin",
+    "coreIpAddr": "127.0.0.1",
+    "corePort": 24601,
+    "messageTypes": [],


Update Message Types here if we want status counts for the messages this plugin handles.

This plugin intents to subscribe to all messages. what exact messageTypes should be list here?

The same as Immediate Forward plugin, messageTypes is empty array.

paulbourelly999 · 2023-11-20T13:50:37Z

src/v2i-hub/TelematicBridgePlugin/src/TelematicBridgePlugin.cpp

+{
+    TelematicBridgePlugin::TelematicBridgePlugin(const string &name) : PluginClient(name)
+    {
+        AddMessageFilter("*", "*", IvpMsgFlags_None);


Will this only pickup messages with no IvpMsgFlags? I imagine this filter should look essentially identical to the ImmediateForward filter, except it should not require a DSRC flag.

The immediate forward filer looks like this :

AddMessageFilter("J2735", "*", IvpMsgFlags_RouteDSRC);

In our case we probably do not want to subscribe to all tmx messages by default but build in some configuration (similar to Immediate Forward) where we can specify a TMX message PSID that we want to subscribe to.

How do we map the PSID to each TMX message? eg: time sync TMX message, do we have a PSID for that? Which messages use the IvpMsgFlags_RouteDSRC flag? When I test the J2735 message with Message receiver plugin, I can subcribe to the J2735 without IvpMsgFlags_RouteDSRC flag. The intention for this plugin is to discover all messages. So that the plugin can tell telematic system what topics/message available in V2xHub. V2xHub UI does not control what to subscribe to. Instead, the telematic UI will receive a list of all available topics/messages and decide which messages to send to cloud. Note: we will create a mapping between messages and topics as the plugin discover messages with the AddMessageFilter func.

Immediate Forward plugin subscribe to all J2735 message and use IVPMessage rather than routable message.

paulbourelly999

Although I think it is unnecessary to pull in a new JSON dependency for the Telematics bridge when we already have jsoncpp included, I think it probably not worth the effort now to try and change the logic for the existing code. Some changes that I think are worth while:

Removing any unnecessary classes. If something is not stateful, meaning it does not have a state associated with it, I think we can just have free functions instead of creating an object and having static methods associated with it.

Additionally, I think its worth while reworking the configuration surrounding the messages we want to forward to telematics. I think this should be very similar to how Immediate Forward works in that we should be able to configure what J2735 messages, as well as what TMX messages get forwarded to Telematics.

Lastly, I am not sure I understand why the processing of J2735 messages for this plugin requires so many custom methods, like converting hex string to bytes (etc). I am unsure how different this plugin is from Message Receiver and Immediate forward. Why do we need these methods there, but not here. Considering using different Handle methods. Maybe instead of ivp message we should be dealing with routeable message.

@paulbourelly999 This plugin is very similar to Immediate Forward plugin. The only differences from immediate Forward is that it decodes the J2735 and also subscribes to any other TMX messages other than J2735.

dan-du-car added 12 commits November 16, 2023 19:15

init

2cb49ca

update sonar cloud

9b685ae

fix unit test failure

d9dddf9

update code coverage

614941b

update code coverage

4b4a8b8

address code smell

f21faab

update coverage

0fac3f8

update

47de4e6

update

30d8528

flat json

eece9af

update unit test

b9d209e

code smell

8b4d24d

dan-du-car requested a review from paulbourelly999 November 17, 2023 16:08

paulbourelly999 reviewed Nov 17, 2023

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paulbourelly999 reviewed Nov 20, 2023

View reviewed changes

paulbourelly999 requested changes Nov 20, 2023

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dan-du-car added 5 commits November 20, 2023 15:09

address comments

5ca81e0

address comments

a3b68aa

unnecessary log

2f951d4

address comments

9e63a6a

address comments

31f0be3

paulbourelly999 approved these changes Nov 21, 2023

View reviewed changes

dan-du-car merged commit 774b31f into develop Nov 21, 2023
8 of 9 checks passed

dan-du-car deleted the telematic_bridge branch November 21, 2023 23:56

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v2x hub Integration: Implement telematic plugin to subscribe to all TMX messages from V2xHub #565

v2x hub Integration: Implement telematic plugin to subscribe to all TMX messages from V2xHub #565

dan-du-car commented Nov 17, 2023 •

edited by paulbourelly999

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v2x hub Integration: Implement telematic plugin to subscribe to all TMX messages from V2xHub #565

v2x hub Integration: Implement telematic plugin to subscribe to all TMX messages from V2xHub #565

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dan-du-car commented Nov 17, 2023 • edited by paulbourelly999 Loading

PR Details

Description

Related Issue

Motivation and Context

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Types of changes

Checklist:

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dan-du-car commented Nov 17, 2023 •

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