Fix SDSM encoding in CARMA Streets Plugin

[paulbourelly999]

PR Details

Description

Meant to fix encoding issues faced when attempting to encoded SDSM JSON messages sent from the SDSM service. Previous encoding logic was attempt to reduce the amount of raw pointers used in creating the SDSM message from the JSON payload by creating smart pointers instead. This logic was able to create seemly valid C Structs, inspected using asn print functions but encoding these would return errors similar to the one displayed below

To get functional encoding logic, this PR revert to using raw pointers and memory allocation

[2023-12-07 15:29:47.603] src/CARMAStreetsPlugin.cpp (691) - ERROR  : Failed to encoded SDSM message : 
{"msg_cnt":3,"source_id":"","equipment_type":1,"sdsm_time_stamp":{"second":641000,"minute":29,"hour":20,"day":7,"month":12,"year":2023,"offset":0},"ref_pos":{"long":0,"lat":0},"ref_pos_xy_conf":{"semi_major":0,"semi_minor":0,"orientation":0},"objects":[{"detected_object_data":{"detected_object_common_data":{"obj_type":0,"object_id":1,"obj_type_cfd":70,"measurement_time":0,"time_confidence":0,"pos":{"offset_x":-11,"offset_y":-20,"offset_z":-32},"pos_confidence":{"pos":32734,"elevation":1300573664},"speed":70,"speed_confidence":0,"speed_z":50,"heading":0,"heading_conf":0},"detected_object_optional_data":{"detected_obstacle_data":{"obst_size":{"width":5,"length":20,"height":10},"obst_size_confidence":{"width_confidence":0,"length_confidence":0}}}}}]}
Exception encountered: Unable to encode MessageFrame to bytes.

[2023-12-07 15:29:47.603] Utils/src/PluginClient.cpp (405) - ERROR  : CARMAStreetsPlugin terminating from unhandled exception: Segmentation fault
backtrace: (Hint: Use addr2line -C -e <exe> 0x#######) to find line number)
CARMAStreetsPlugin(+0x3e359) [0x55c14e2e0359]
/usr/local/lib/libasn_j2735_r63.so(OCTET_STRING_free+0xb5) [0x7f4e2ca3a1ba]
/lib/x86_64-linux-gnu/libc.so.6(+0x42520) [0x7f4e2c278520]
/usr/local/lib/libasn_j2735_r63.so(OCTET_STRING_free+0xb5) [0x7f4e2ca3a1ba]
/usr/local/lib/libasn_j2735_r63.so(SEQUENCE_free+0x100) [0x7f4e2ca5964a]
CARMAStreetsPlugin(+0x37015) [0x55c14e2d9015]
CARMAStreetsPlugin(+0x1137c1) [0x55c14e3b57c1]
CARMAStreetsPlugin(+0xf67cb) [0x55c14e3987cb]
CARMAStreetsPlugin(+0xe6e68) [0x55c14e388e68]
CARMAStreetsPlugin(+0xdbe22) [0x55c14e37de22]
/lib/x86_64-linux-gnu/libboost_thread.so.1.74.0(+0x150cb) [0x7f4e2c9ac0cb]
/lib/x86_64-linux-gnu/libc.so.6(+0x94ac3) [0x7f4e2c2caac3]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x44) [0x7f4e2c35bbf4]
diagnostic info:
/home/V2X-Hub/src/tmx/TmxUtils/src/PluginExec.cpp(220): Throw in function HandleSignal
Dynamic exception type: tmx::utils::SignalException
std::exception::what: Segmentation fault

Related Issue

CDAR-585

Motivation and Context

Get working SDSM encoding logic

How Has This Been Tested?

Unit testing

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.

[dan-du-car]

The encoding error was this msg_cnt value out of range. Definition of this refer to: https://github.com/usdot-fhwa-stol/CARMASensitive/blob/b63ca0c26a68680ef575d2c995e2620d5068b006/J2735_201603_2023-06-22.asn#L3938

[paulbourelly999]

Yeah figured that out too.

[paulbourelly999]

That was not the cause of the initial errors though since it was failing with message count of 3