<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
For the POC TIM/TSP use case, priority-eligible vehicles will broadcast
J2375 Signal Request Message (SRM) to the MMITSS Roadside Processor
(MRP), which in turn will send J2375 Signal Status Message (SSM) in
acknowledgement.

Since MRP is being integrated with CARMA Streets, CARMA Streets / V2XHub
needs to #1) consume the json SSM (used by the MMITSS MRP internally,
see
[here](https://github.com/mmitss/mmitss-az/blob/master/src/mrp/priority-request-server/Readme.md)
and
[here](https://github.com/mmitss/mmitss-az/blob/master/src/mrp/priority-request-server/SSM.json))
sent on the CARMA Streets Kafka broker, #2) encode it according to the
J2375 [ASN.1
](https://leidoscorpus.sharepoint.us/:f:/s/STR/EpU-cLOWhUtGvsddHUSf8I4Bf7-Ot8oMIY4yf2m7x2-Uag?e=0Rvpug)schema,
and #3) broadcast J2375 SSMs through RSU.

For #1) the V2XHub carma-streets-plugin needs to pull the json SSM from
CARMA Steets Kafa broker.

For #3) the V2XHub immediate-forward-plugin configuration needs to to be
updated.

<!--- Describe your changes in detail -->

## Related Issue
#534
<!--- 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
TM/TSP
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

Removing unexpected comma in manifest.json

## Related Issue

<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] 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
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Adds PSID metadata to BSMs and SRMs that are sent to the Message
Receiver plugin. If "RouteMessage" is enabled, the messages will be
available for the Immediate Forward plugin to use.

Additional changes were made to build process to speed up process.

## Related Issue

<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Sent BSMs and SRMs to Message Receiver plugin. Messages were transmitted
by Immediate Forward plugin when "RouteMessage" was enabled and not
routed when disabled. Previously, messages were skipped or not routed,
respectively.

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [X] 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
script now installs necessary dependencies, creates secret files,
prompts user to input mysql passwords, and create v2xhub user
<!--- Describe your changes in detail -->

## Related Issue
open JIRA task to update initialization script for amd64 and arm64


## Motivation and Context
requested by project leads, automates v2xhub setup/initialization

## How Has This Been Tested?
code has been used to setup v2xhub from scratch

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [ x] 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.
- ###potential change to documentation as running this script automates
setup. user only needs to clone the repo, run the script, and input
passwords when prompted, then navigate to https://127.0.0.1:19760 to
accept security certs then v2xhub is ready to use.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
- Remove the kafka consumer/producer initialization during config
parameter update.
<!--- Describe your changes in detail -->
- Replace consumer creation with v2xhub kafka_client library.
- Add producer creation in kafka_client library
## Related Issue
#543
<!--- 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
NA
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Local integration testing
<!--- Please describe in detail how you tested your changes. -->
<!--- 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Changes made to fix localhost address to reach V2X Hub Web UI and allow
for script to be run multiple times without changing mysql password
files.

## Related Issue

<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] 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
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…release changes

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->

## Related Issue

<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] 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
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

#550)

…ets plugin

+ Update CARMA-Streets Plugin to be simulation time aware

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->
Move Kafka time producer for CARMA-Streets time synchronization to
CARMA-Streets plugin. This removes unnecessary dependency on kafka for
CDASimAdapter and also makes CARMA-Streets Plugin contain entire
interface to CARMA-Streets including simulation. CARMA-Streets Plugin
now extends our simulation time aware PluginClient which can be further
extended to listen for simulated messages.
## Related Issue
#549
<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Locally integration testing with python time step script to send udp
time step messages.
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…bassador and send sensors information (#554)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Update the CDASimAdapter registration message to include the sensors
information.
Read the sensors information from local file and store the sensors
information in the CDASimAdapter
 plugin.
<!--- Describe your changes in detail -->

## Related Issue
NA
<!--- 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
CDA research
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
unit test
local integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…lated Object Dectections and publish the serialized object to Kafka (#552)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Implement the design from
https://usdot-carma.atlassian.net/browse/CDAR-148
Part 2.B: Implement the logic in CDASimAdapter to listen to UDP socket
and receive DetectedObject. Then serialize this C++ object to TMX bus so
that CARMAStreetPlugin can receive it form the TMX bus.

As a V2X-Hub user, I need the CDASimAdapter to listen for Simulated
Object Detection Messages on an open port and broadcast received
messages on the TMX message bus.
<!--- Describe your changes in detail -->

## Related Issue
https://usdot-carma.atlassian.net/browse/CDAR-191
https://usdot-carma.atlassian.net/browse/CDAR-184
<!--- This project only accepts pull requests related to open issues -->
<!--- If suggesting a new feature or change, please discuss it in an
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<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please link to the issue here: -->


## Related Jira Key
https://usdot-carma.atlassian.net/browse/CDAR-191
https://usdot-carma.atlassian.net/browse/CDAR-184

## Motivation and Context
CDA research
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test 
Local integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…ype + unit test (#555)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
As an V2XHub developer, I want to update the code for ASN.1 parser to
recognize these SDSM message type.


usdot-fhwa-stol/CARMASensitive@a11650b
<!--- Describe your changes in detail -->

## Related Issue
NA
<!--- 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
CDA research
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->
Corrected sensor type spelling in sensor config file
## Related Issue

<!--- 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
Fix sensor config file
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
CDASim Infrastructure Registration Integration testing in XIL-Cloud
environment.
<!--- Please describe in detail how you tested your changes. -->
<!--- 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
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [ ] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [x] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Changes : 
- Added return statement for init method of kafka producer to avoid
undefine behavior
- Replaced error logs and null returns with throwing exceptions in Kafka
consumer producer initialization in carma-streets plugin
- Added stop command for devcontainer setup
- Removed consumer group ID configuration, using plugin name instead
<!--- Describe your changes in detail -->

## Related Issue
#558 
<!--- 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

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- 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
- [ ] My change requires a change to the documentation.
- [ ] 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)
- [ ] I have added tests to cover my changes.
- [x] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

Support added for converting inbound ASN.1 SDSMs to a more usable json
format for data manipulation and passing. May be deployed for data
fusion on infrastructure in the future.

## Related Issue

NA

## Motivation and Context

CDA Research

## How Has This Been Tested?

V2X-hub builds, added unit tests pass for test objects

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
- [ ] My change requires a change to the documentation.
- [ ] 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.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->
Temporary fix for TMX Message invalid JSON serialization (See Issue
#561). Fix uses regex to
filter out quotations from json string for attributes that are bool,
numeric or null.
## Related Issue

<!--- 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
Maintain simulation time synchronization functionality of
V2X-Hub/CARMA-Streets
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Tested in local dev container environment.
<!--- Please describe in detail how you tested your changes. -->
<!--- 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
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- [ ] 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.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [x] All new and existing tests passed.

…updates (#562)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

Added functionality to convert SDSMs from inbound json strings to
outbound ASN.1 styled C-structs to facilitate communication over the
CARMA Streets plugin in both directions.

## Related Issue

CDAR-308

## Motivation and Context

<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

Tested locally in VSCode with new unit tests for the conversion between
jsons and the ASN.1 C-struct messages.

## 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)
- [X] 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
- [ ] My change requires a change to the documentation.
- [ ] 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.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
RSU health monitor plugin is a V2xHub plugin that interface with its
connected RSU directly via SNMP protocol. The plugin is responsible for
monitoring the connected RSU status by constantly ping RSU device. For
detailed design of this plugin, refer to
https://usdot-carma.atlassian.net/wiki/spaces/WFD2/pages/2640740360/RSU+Health+Monitor+Plugin+Design
.
<!--- Describe your changes in detail -->

## Related Issue
NA
<!--- 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
Data visualization
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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
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- [ ] 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.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…MX messages from V2xHub (#565)

<!-- Thanks for the contribution, this is awesome. -->

# 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.
<!--- Describe your changes in detail -->

## Related Issue
NA
<!--- 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
CDA telematic
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test
Integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
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- [ ] 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.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
This is the implementation story for the telematic bridge to stream
J2735 data from V2xHub into the cloud at near real time. The module
design refers to
https://usdot-carma.atlassian.net/wiki/spaces/WFD2/pages/2640379977/V2xHub+WFD+Bridge+Design
The following functionalities should be implemented for this module:

Able to forward the JSON message to telematic cloud when the message
type is requested by end users through telematic UI.

Able to register itself with WFD cloud services.

Able to map each TMX message type to each individual topic.  

Able to provide available topics to telematic cloud.

Able to stream the requested TMX message in JSON format to telematic
cloud.
<!--- Describe your changes in detail -->

## Related Issue
NA
<!--- 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
Telematic tool data collection
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit test and local integration testing
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] 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. -->
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- [ ] I have added any new packages to the sonar-scanner.properties file
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- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

…ld when there is no topic available (#569)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Telematic bridge sends null topics when there is no topic available. The
idea value for this topics is empty array value [] rather than a null
value. This PR is to initialize the topics value with empty array
<!--- Describe your changes in detail -->

## Related Issue
#570
<!--- This project only accepts pull requests related to open issues -->
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## Motivation and Context
telematic testing
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- 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)
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- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
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- [ ] 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)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
<!--- Describe your changes in detail -->
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
](https://usdot-carma.atlassian.net/browse/CDAR-585)<!--- 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
Get working SDSM encoding logic
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Unit testing 
<!--- Please describe in detail how you tested your changes. -->
<!--- 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
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- [ ] I have added any new packages to the sonar-scanner.properties file
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- [ ] 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.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Temporary fix for JSON serialization for TMX messages. See related issue
for more detailed description of error behavior. Using simple regex
replacement to correct bool, double and integer values
<!--- Describe your changes in detail -->

## Related Issue
#561 (#561)
<!--- This project only accepts pull requests related to open issues -->
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issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
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<!--- Please link to the issue here: -->

## Motivation and Context
Fix for VRU UC 1 testing of SDSM functionality
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Integration tested in CDASim deployment 
<!--- Please describe in detail how you tested your changes. -->
<!--- 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: -->

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to change)

## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
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- [ ] I have added tests to cover my changes.
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<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Added SDSM to Immediate Forward Plugin Messages to forward and fixed
PSID to match j3224 documentation
```
The system shall set the PSID value to the value assigned to “Sensor Sharing Service” (0x90), as listed by IEEE-RA website
```
<!--- Describe your changes in detail -->

## Related Issue
[CDAR-300](https://usdot-carma.atlassian.net/browse/CDAR-300)
<!--- This project only accepts pull requests related to open issues -->
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## Motivation and Context
VRU UC1 
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
<!--- 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
CDA Sim deployment tested
<!--- 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:

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that apply. -->
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- [ ] I have added any new packages to the sonar-scanner.properties file
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<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
When running a simulation with CARMA Streets, the position data in the
SDSMs appear to lag the ground truth significantly.
In the included image, the square inside the blue circle indicates the
VRU’s reported position in the SDSM. The blue square is its actual
position. They yellow circle shows CARMA’s reported SDSM position with
the green rectangle showing its actual position.


![image](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/72627660-d8ab-4a4e-8c37-db73c3bd919c)

Based on a visualization of carla-sensor-lib’s logs for the pedestrian
(actor 221), it appears that the position data does get updated at some
point. The image below is a timestamp vs. x position graph.
After further investigation, there is a difference in time stamps
between the SDSMs and external objects.

![image](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/3ddcf1ae-8429-4d3b-82c4-66f2fc646200)

It was found that is was largely due to the CDASimAdapter only consuming
detection data at 10 hz (wall time). When running at real-time speed,
the simulation can generate detection data at significantly higher
frequency. This PR updates the consuming frequency to 200 Hz. This fix
should be sufficient until the number of simultaneous detection exceeds
10 objects of 100Hz frequency.

Improved delay shown below:


![screenshot](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/1d03c6c0-bbf2-4318-86ad-583e2b1ae6a6)

<!--- Describe your changes in detail -->

## Related Issue

<!--- 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
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<!--- Please link to the issue here: -->

## Motivation and Context
Fix detection data delay for SDSM data
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
CDASim Deployment
<!--- Please describe in detail how you tested your changes. -->
<!--- 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
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## Checklist:

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- [ ] I have added any new packages to the sonar-scanner.properties file
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[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

Note: newest version nats 3.8.0 breaks docker build

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Fix the Docker build by setting nats.c version to install. Also fix the
readme. CHanges already merged to develop under
#584
<!--- Describe your changes in detail -->

## Related Issue
VH-1277
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## Motivation and Context
Fix CI processes and README
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
CI
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## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
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<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Adds logs to support
usdot-fhwa-stol/carma-analytics-fotda#43
<!--- Describe your changes in detail -->

## Related Issue
CDAR-774
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## Motivation and Context
Data Analysis
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?

<!--- Please describe in detail how you tested your changes. -->
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to -->
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## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

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- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
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- [ ] I have added any new packages to the sonar-scanner.properties file
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- [ ] I have updated the documentation accordingly.
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[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description
Update V2X-hub release version
<!--- Describe your changes in detail -->

## Related Issue

<!--- This project only accepts pull requests related to open issues -->
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issue first -->
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## Motivation and Context

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## How Has This Been Tested?

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## Types of changes

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- [ ] 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:

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that apply. -->
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- [ ] 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](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
@MishkaMN