Feature/time source

.github/workflows/docker.yml

@@ -0,0 +1,9 @@
+name: Docker build
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      runner: ubuntu-latest

.github/workflows/dockerhub.yml

@@ -0,0 +1,17 @@
+name: Docker Hub build
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+    tags:
+      - "carma-system-*"
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
+    with:
+      runner: ubuntu-latest

Dockerfile

@@ -1,51 +1,61 @@
 FROM ubuntu:22.04
 # update package manager and install prerequisites
 RUN apt-get update -y && \
-	apt-get install -y build-essential cmake git wget pkg-config sqlite3 libcurl4-openssl-dev libsqlite3-dev libtiff5-dev
+        apt-get install -y build-essential cmake git wget pkg-config sqlite3 libcurl4-openssl-dev libsqlite3-dev libtiff5-dev
 # download geodesy projection library source
 WORKDIR /tmp
 RUN wget -q https://download.osgeo.org/proj/proj-9.3.0.tar.gz && \
-	tar -xzf proj-9.3.0.tar.gz && \
-	rm proj-9.3.0.tar.gz && \
-	mv proj-9.3.0 proj && \
-	mkdir -p proj/build
+        tar -xzf proj-9.3.0.tar.gz && \
+        rm proj-9.3.0.tar.gz && \
+        mv proj-9.3.0 proj && \
+        mkdir -p proj/build
 # download openjdk
 RUN wget -q https://download.java.net/java/GA/jdk21.0.1/415e3f918a1f4062a0074a2794853d0d/12/GPL/openjdk-21.0.1_linux-x64_bin.tar.gz && \
-	tar -xzf openjdk-21.0.1_linux-x64_bin.tar.gz && \
-	rm openjdk-21.0.1_linux-x64_bin.tar.gz && \
-	mv jdk-21.0.1 /opt/jdk
+        tar -xzf openjdk-21.0.1_linux-x64_bin.tar.gz && \
+        rm openjdk-21.0.1_linux-x64_bin.tar.gz && \
+        mv jdk-21.0.1 /opt/jdk
 # download apache tomcat
-RUN wget -q https://dlcdn.apache.org/tomcat/tomcat-9/v9.0.83/bin/apache-tomcat-9.0.83.tar.gz && \
-	tar -xzf apache-tomcat-9.0.83.tar.gz && \
-	rm apache-tomcat-9.0.83.tar.gz && \
-	mv apache-tomcat-9.0.83 tomcat && \
-	sed -i 's/appBase="webapps"/appBase="webapps\/carmacloud"/g' tomcat/conf/server.xml && \
-	rm -r tomcat/webapps/*
+RUN wget -q https://archive.apache.org/dist/tomcat/tomcat-9/v9.0.83/bin/apache-tomcat-9.0.83.tar.gz && \
+        tar -xzf apache-tomcat-9.0.83.tar.gz && \
+        rm apache-tomcat-9.0.83.tar.gz && \
+        mv apache-tomcat-9.0.83 tomcat && \
+        sed -i 's/appBase="webapps"/appBase="webapps\/carmacloud"/g' tomcat/conf/server.xml && \
+        rm -r tomcat/webapps/*
 # download carma-cloud source
 RUN git clone https://github.com/usdot-fhwa-stol/carma-cloud.git cc && \
-	rm cc/lib/libcs2cswrapper.so && \
-	mkdir -p tomcat/webapps/carmacloud/ROOT && \
-	mv cc/web/* tomcat/webapps/carmacloud/ROOT
+        rm cc/lib/libcs2cswrapper.so
 # compile geodesy projection library
 WORKDIR /tmp/proj/build
 RUN cmake .. && \
-	cmake --build . && \
-	cmake --build . --target install
+        cmake --build . && \
+        cmake --build . --target install && \
+        ldconfig
 # compile jni projection library
 WORKDIR /tmp/cc/src/cc/geosrv
 RUN gcc -c -std=c11 -fPIC -Wall -I /opt/jdk/include/ -I /opt/jdk/include/linux/ -I /tmp/proj/src/ cs2cswrapper.c && \
-	gcc -shared -lproj cs2cswrapper.o -o libcs2cswrapper.so && \
-	mv *.so /usr/lib
+        gcc -shared cs2cswrapper.o -lproj -o /usr/local/lib/libcs2cswrapper.so
 # compile carma-cloud java source and cleanup
 WORKDIR /tmp
-RUN find ./cc/src -name "*.java" > sources.txt && \
-	mkdir -p tomcat/webapps/carmacloud/ROOT/WEB-INF/classes && \
-	/opt/jdk/bin/javac -cp tomcat/lib/servlet-api.jar:cc/lib/commons-compress-1.18.jar:cc/lib/javax.json.jar:cc/lib/json-20210307.jar:cc/lib/keccakj.jar:cc/lib/log4j-api-2.16.0.jar:cc/lib/vector_tile.jar -d tomcat/webapps/carmacloud$
-	rm sources.txt && \
-	/opt/jdk/bin/java -cp tomcat/webapps/carmacloud/ROOT/WEB-INF/classes/:tomcat/lib/servlet-api.jar cc.ws.UserMgr ccadmin admin_testpw > tomcat/webapps/carmacloud/user.csv && \
-	echo "JAVA_HOME=/opt/jdk" > tomcat/bin/setenv.sh && \
-	mv tomcat /opt && \
-	rm -r proj && \
-	rm -r cc
-# start carma-cloud
-CMD /opt/tomcat/bin/catalina.sh start
+RUN mkdir -p tomcat/webapps/carmacloud/ROOT && \
+        mv cc/web/* tomcat/webapps/carmacloud/ROOT && \
+        mkdir -p tomcat/webapps/carmacloud/ROOT/WEB-INF/classes && \
+        find ./cc/src -name "*.java" > sources.txt && \
+        /opt/jdk/bin/javac -cp tomcat/lib/servlet-api.jar:cc/lib/commons-compress-1.18.jar:cc/lib/javax.json.jar:cc/lib/json-20210307.jar:cc/lib/keccakj.jar:cc/lib/log4j-api-2.16.0.jar:cc/lib/vector_tile.jar -d tomcat/webapps/carmacloud/ROOT/WEB-INF/classes @sources.txt && \
+        rm sources.txt && \
+        gunzip cc/osmbin/*.gz && \
+        mv cc/lib tomcat/webapps/carmacloud/ROOT/WEB-INF && \
+        mv cc/osmbin/rop.csv tomcat/webapps/carmacloud && \
+        mv cc/osmbin/storm.csv tomcat/webapps/carmacloud && \
+        mv cc/osmbin/units.csv tomcat/webapps/carmacloud && \
+        mv cc/osmbin tomcat/webapps/carmacloud && \
+        mv tomcat/webapps/carmacloud/ROOT/WEB-INF/log4j2.properties tomcat/webapps/carmacloud/ROOT/WEB-INF/classes && \
+        touch tomcat/webapps/carmacloud/event.csv && \
+        mkdir -p tomcat/work/carmacloud/xodr && \
+        mkdir -p tomcat/work/carmacloud/validate/xodr && \
+        /opt/jdk/bin/java -cp tomcat/webapps/carmacloud/ROOT/WEB-INF/classes/:tomcat/lib/servlet-api.jar cc.ws.UserMgr ccadmin admin_testpw > tomcat/webapps/carmacloud/user.csv && \
+        echo 'JAVA_HOME=/opt/jdk' > tomcat/bin/setenv.sh && \
+        sed -i 's/<param-value>ambassador-address<\/param-value>/<param-value>172.2.0.2<\/param-value>/g' tomcat/webapps/carmacloud/ROOT/WEB-INF/web.xml && \
+        sed -i 's/<param-value>simulation-url<\/param-value>/<param-value>http:\/\/172.2.0.47:8080\/carmacloud\/simulation<\/param-value>/g' tomcat/webapps/carmacloud/ROOT/WEB-INF/web.xml && \
+        mv tomcat /opt && \
+        rm -r proj && \
+        rm -r cc

src/cc/ctrl/TcmReqParser2.java

@@ -32,6 +32,14 @@ public void startElement(String sUri, String sLocalName,
 	{
 		switch (sQname)
 		{
+			case "TrafficControlRequest":
+			{
+				String sVal;
+				m_nPort = (sVal = iAtt.getValue("port")) != null ? Integer.parseInt(sVal) : m_nPort;
+				m_bList = (sVal = iAtt.getValue("list")) != null ? Boolean.parseBoolean(sVal) : m_bList;
+				break;
+			}
+
 			case "bounds":
 			{
 				m_oBounds = new TcBounds();
@@ -40,11 +48,8 @@ public void startElement(String sUri, String sLocalName,
 				m_oReq.m_oBounds = new ArrayList();
 				break;
 			}
-
 
 			default:
-
-
 		}
 	}
 
@@ -113,8 +118,8 @@ public void endElement(String sUri, String sLocalName, String sQname)
 			default:
 				break;
 		}
-
 	}
+
 
 	public TcmReq parseRequest(InputStream oIn)
 	   throws Exception

src/cc/geosrv/xodr/rdmk/RoadMark.java

@@ -80,6 +80,9 @@ public static RoadMark getRoadMark(double dDist, ArrayList<RoadMark> oRoadMarks)
 
 	public static int getColor(String sColor)
 	{
+		if (sColor == null)
+			return 0;
+
 		int nIndex = COLORS.length;
 		while (nIndex-- > 0)
 		{

src/cc/ws/CtrlTiles.java

@@ -518,7 +518,7 @@ private void addControl(HttpServletRequest oReq, HttpServletResponse oRes)
 				dCenter = Arrays.add(dCenter, dW);
 			}
 			CtrlLineArcs oCla = new CtrlLineArcs(-1, -1, -1, -1, XodrUtil.getLaneType("driving"), dCenter, 0.1);
-			TrafCtrl oCtrl = new TrafCtrl(TrafCtrlEnums.CTRLS[nType][0], nControlValue, nVtypes, lNow, lNow, oCla.m_dLineArcs, sLabel, bReg, ProcCtrl.CC);
+			TrafCtrl oCtrl = new TrafCtrl(TrafCtrlEnums.CTRLS[nType][0], nControlValue, nVtypes, 0L, 0L, oCla.m_dLineArcs, sLabel, bReg, ProcCtrl.CC);
 			oCtrl.write(ProcCtrl.g_sTrafCtrlDir, ProcCtrl.g_dExplodeStep, ProcCtrl.g_nDefaultZoom, ProcCtrl.CC);
 			ArrayList<TrafCtrl> oCtrls = new ArrayList();
 			oCtrls.add(oCtrl);
@@ -624,7 +624,7 @@ private void saveEdit(HttpServletRequest oReq, HttpServletResponse oRes)
 			}
 			else
 			{	
-				TrafCtrl oNewCtrl = new TrafCtrl(sType, nControlValue, nVtypes, lNow, lNow, oOriginalCtrl, sLabel, bReg, ProcCtrl.CC);
+				TrafCtrl oNewCtrl = new TrafCtrl(sType, nControlValue, nVtypes, 0L, 0L, oOriginalCtrl, sLabel, bReg, ProcCtrl.CC);
 				oCtrlToWrite = oNewCtrl;
 				oNewCtrl.write(ProcCtrl.g_sTrafCtrlDir, ProcCtrl.g_dExplodeStep, ProcCtrl.g_nDefaultZoom, ProcCtrl.CC);
 				ArrayList<TrafCtrl> oCtrls = new ArrayList(1);

src/cc/ws/SimFederate.java

@@ -0,0 +1,121 @@
+package cc.ws;
+
+import java.io.BufferedInputStream;
+import java.io.DataOutputStream;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.InetSocketAddress;
+import java.net.Socket;
+import javax.servlet.ServletConfig;
+import javax.servlet.ServletException;
+import javax.servlet.http.HttpServlet;
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+import org.json.JSONObject;
+import org.json.JSONTokener;
+
+
+public class SimFederate extends HttpServlet implements Runnable
+{
+	protected static final Logger LOGGER = LogManager.getRootLogger();
+
+	private long m_lRetryInterval = 60000L; // registration retry 60 seconds
+	private String m_sAmbassadorAddress;
+	private String m_sCarmaCloudUrl = "";
+	private TimeSource m_oTs;
+
+
+	public SimFederate()
+	{
+	}
+
+
+	@Override
+	public void init()
+	{
+		ServletConfig oConf = getServletConfig();
+
+		String sRetry = oConf.getInitParameter("retry");
+		if (sRetry != null)
+			m_lRetryInterval = Integer.parseInt(sRetry) * 1000L;
+
+		String sAddress = oConf.getInitParameter("ambassador");
+		if (sAddress != null)
+		{
+			try
+			{
+				InetAddress.getByName(sAddress); // validate network address
+				m_sAmbassadorAddress = sAddress;
+				m_oTs = new TimeSource(true);
+
+				String sUrl = oConf.getInitParameter("url");
+				if (sUrl != null)
+					m_sCarmaCloudUrl = sUrl;
+
+				new Thread(this).start(); // begin registration cycle
+			}
+			catch (Exception oEx)
+			{
+			}
+		}
+
+		if (m_oTs == null) // simulation time source not created
+			m_oTs = new TimeSource(false);
+	}
+
+
+	@Override
+	public void doPost(HttpServletRequest oReq, HttpServletResponse oRes)
+	   throws ServletException, IOException
+	{
+		JSONObject oJson;
+		try (BufferedInputStream oIn = new BufferedInputStream(oReq.getInputStream()))
+		{
+			oJson = new JSONObject(new JSONTokener(oIn));
+		}
+
+		long lSeq = -1L;
+		long lStep = -1L;
+		if (oJson.has("seq") && oJson.has("timestep"))
+		{
+			lSeq = oJson.getLong("seq");
+			lStep = oJson.getLong("timestep");
+			m_oTs.m_lSimTime = lStep;
+		}
+		LOGGER.debug(String.format("seq: %d timestep: %d timesource: %d", lSeq, lStep, m_oTs.currentTimeMillis()));
+	}
+
+
+	@Override
+	public void run()
+	{
+		boolean bRegistered = false;
+		while (!bRegistered)
+		{
+			try (Socket oSock = new Socket())
+			{
+				oSock.connect(new InetSocketAddress(m_sAmbassadorAddress, 1617), 10000);
+				DataOutputStream oOut = new DataOutputStream(oSock.getOutputStream());
+				oOut.writeUTF(String.format("{\"id\":\"carma-cloud\", \"url\":\"%s\"}", m_sCarmaCloudUrl));
+				bRegistered = true;
+			}
+			catch (Exception oEx)
+			{
+				LOGGER.error(oEx);
+			}
+
+			if (!bRegistered)
+			{
+				try
+				{
+					Thread.sleep(m_lRetryInterval);
+				}
+				catch (Exception oEx)
+				{
+				}
+			}
+		}
+	}
+}

src/cc/ws/TcmReqServlet.java

@@ -90,6 +90,7 @@ public void doPost(HttpServletRequest oReq, HttpServletResponse oRes)
 	   throws ServletException, IOException
 	{
 		StringBuilder sReq = new StringBuilder(1024);
+		sReq.append(oReq.getRemoteAddr());
 		try (BufferedInputStream oIn = new BufferedInputStream(oReq.getInputStream()))
 		{
 			int nByte;
@@ -109,8 +110,12 @@ public void run()
 		{
 			long lNow = System.currentTimeMillis();
 			String sReq = Thread.currentThread().getName();
+			int nPos = sReq.indexOf('<');
+			String sHost = sReq.substring(0, nPos);
+			sReq = sReq.substring(nPos);
+
 			TcmReqParser oReqParser;
-			if (sReq.indexOf("<tcrV01>") >= 0)
+			if (sReq.contains("<tcrV01>"))
 				oReqParser = new TcmReqParser();
 			else
 				oReqParser = new TcmReqParser2();
@@ -233,7 +238,7 @@ public void run()
 
 					if (!oReqParser.m_bList)
 					{
-						HttpURLConnection oHttpClient = (HttpURLConnection)new URL(String.format("http://tcmreplyhost:%d/tcmreply", oReqParser.m_nPort)).openConnection();
+						HttpURLConnection oHttpClient = (HttpURLConnection)new URL(String.format("http://%s:%d/tcmreply", sHost, oReqParser.m_nPort)).openConnection();
 						oHttpClient.setFixedLengthStreamingMode(sBuf.length());
 						oHttpClient.setRequestProperty("Content-Type", "application/x-www-form-urlencoded");
 						oHttpClient.setDoOutput(true);
@@ -262,7 +267,8 @@ public void run()
 
 			if (oReqParser.m_bList)
 			{
-				HttpURLConnection oHttpClient = (HttpURLConnection)new URL(String.format("http://tcmreplyhost:%d/tcmreply", oReqParser.m_nPort)).openConnection();
+				String sUrl = String.format("http://%s:%d/tcmreply", sHost, oReqParser.m_nPort);
+				HttpURLConnection oHttpClient = (HttpURLConnection)new URL(sUrl).openConnection();
 				oHttpClient.setRequestProperty("Content-Encoding", "gzip");
 				oHttpClient.setRequestProperty("Content-Type", "application/x-www-form-urlencoded");
 				oHttpClient.setDoOutput(true);
@@ -287,7 +293,7 @@ public void run()
 					}
 					catch (Exception oEx)
 					{
-						oEx.printStackTrace();
+						LOGGER.error(sUrl, oEx);
 					}
 				}
 				sBuf.insert(0, "<?xml version=\"1.0\" encoding=\"UTF-8\"?><TrafficControlMessageList>");

src/cc/ws/TimeSource.java

@@ -0,0 +1,37 @@
+package cc.ws;
+
+
+public class TimeSource
+{
+	private static TimeSource g_oInstance;
+
+	private boolean m_bSim; // determines if instance is in simulation mode
+	long m_lSimTime; // package private time set by simulation federate
+
+
+	protected TimeSource()
+	{
+	}
+
+
+	TimeSource(boolean bSim)
+	{
+		m_bSim = bSim;
+		g_oInstance = this;
+	}
+
+
+	public static TimeSource getInstance()
+	{
+		return g_oInstance;
+	}
+
+
+	public long currentTimeMillis()
+	{
+		if (m_bSim)
+			return m_lSimTime;
+
+		return System.currentTimeMillis();
+	}
+}