Update DSRC driver to support C1T V2X use on ARM

Dockerfile

@@ -1,21 +1,19 @@
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastoldev/carma-base:develop as setup
+FROM usdotfhwastoldev/carma-base:develop-arm as setup
 
-ARG ROS1_PACKAGES=""
-ENV ROS1_PACKAGES=${ROS1_PACKAGES}
 ARG ROS2_PACKAGES=""
 ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
@@ -24,15 +22,15 @@ COPY --chown=carma . /home/carma/src/
 RUN ~/src/docker/checkout.bash
 RUN ~/src/docker/install.sh
 
-FROM usdotfhwastoldev/carma-base:develop
+FROM usdotfhwastoldev/carma-base:develop-arm
 
 ARG BUILD_DATE="NULL"
 ARG VERSION="NULL"
 ARG VCS_REF="NULL"
 
 LABEL org.label-schema.schema-version="1.0"
 LABEL org.label-schema.name="carma-cohda-dsrc-driver"
-LABEL org.label-schema.description="Cohda DSRC On-Board Unit comms driver for the CARMA Platform"
+LABEL org.label-schema.description="Cohda DSRC On-Board Unit comms driver for ARM processors"
 LABEL org.label-schema.vendor="Leidos"
 LABEL org.label-schema.version=${VERSION}
 LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"

docker/build-image.sh

@@ -1,13 +1,13 @@
 #!/bin/bash
 
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -17,7 +17,7 @@
 USERNAME=usdotfhwastol
 
 cd "$(dirname "$0")"
-IMAGE=$(basename `git rev-parse --show-toplevel`)
+IMAGE=$USERNAME/carma-cohda-dsrc-driver:develop-arm
 
 echo ""
 echo "##### $IMAGE Docker Image Build Script #####"
@@ -84,7 +84,7 @@ while [[ $# -gt 0 ]]; do
             else
                 echo "Unknown argument $arg..."
                 exit -1
-            fi 
+            fi
             shift
             ;;
     esac
@@ -94,7 +94,7 @@ if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
     echo "Performing incremental build of image to rebuild packages: ROS1>> $ROS1_PACKAGES ROS2>> $ROS2_PACKAGES..."
 
     echo "Updating Dockerfile references to use most recent image as base image"
-    # Trim of docker image LS command sourced from 
+    # Trim of docker image LS command sourced from
     # https://stackoverflow.com/questions/50625619/why-doesnt-the-cut-command-work-for-a-docker-image-ls-command
     # Question Asker: Chris F
     # Question Answerer: Arount
@@ -140,8 +140,8 @@ elif [[ $COMPONENT_VERSION_STRING = "SNAPSHOT" ]]; then
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 else
-    #The addition of --network=host was a fix for a DNS resolution error that occured 
-    #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are 
+    #The addition of --network=host was a fix for a DNS resolution error that occured
+    #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are
     # discussed here: https://github.com/moby/moby/issues/41003
     docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \

docker/checkout.bash

@@ -1,13 +1,13 @@
 #!/bin/bash
 
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -35,10 +35,5 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
-else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-fi
+git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
+git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop

docker/install.sh

@@ -1,30 +1,20 @@
 #!/bin/bash
 
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-if [[ ! -z "$ROS2_PACKAGES" ]]; then
-    echo "Sourcing previous build for incremental build start point..."
-    source /opt/carma/install/setup.bash
-else
-    echo "Sourcing base image for full build..."
-    source /opt/ros/foxy/setup.bash
-fi
+source /opt/ros/humble/install/setup.bash
 
 cd ~/
-if [[ ! -z "$ROS2_PACKAGES" ]]; then
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $ROS2_PACKAGES
-else
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
-fi
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to dsrc_driver

dsrc_driver/config/DSRC.cfg

@@ -5,7 +5,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("dsrc_address", str_t, 0, "DSRC Address", "192.168.88.40")
+gen.add("dsrc_address", str_t, 0, "DSRC Address", "192.168.217.16")
 gen.add("dsrc_listening_port", int_t, 0, "DSRC Port", 1516)
 gen.add("listening_port", int_t, 0, "Local Port", 5398)
 

dsrc_driver/config/params.yaml

@@ -1,3 +1,3 @@
-dsrc_address: "192.168.88.40"
+dsrc_address: "192.168.217.16"
 dsrc_listening_port: 1516
-listening_port: 5398
+listening_port: 5398

dsrc_driver/launch/drivers.launch.py

@@ -0,0 +1,94 @@
+# Copyright (C) 2024 LEIDOS.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import EnvironmentVariable
+from launch.substitutions import PythonExpression
+from launch.conditions import IfCondition
+from launch.actions import GroupAction
+from launch_ros.actions import PushRosNamespace
+from carma_ros2_utils.launch.get_log_level import GetLogLevel
+
+import launch.actions
+import launch.events
+
+import launch_ros.actions
+import launch_ros.events
+import launch_ros.events.lifecycle
+import lifecycle_msgs.msg
+
+def generate_launch_description():
+    """
+    Launch desired CARMA Messenger drivers
+    """
+
+    env_log_levels = EnvironmentVariable('CARMA_ROS_LOGGING_CONFIG', default_value='{ "default_level" : "WARN" }')
+
+    configuration_delay = LaunchConfiguration('configuration_delay')
+    declare_configuration_delay_arg = DeclareLaunchArgument(
+        name ='configuration_delay', default_value='4.0')
+
+    drivers = LaunchConfiguration('drivers')
+    declare_drivers_arg = DeclareLaunchArgument(
+        name = 'drivers', default_value = 'dsrc_driver', description = "Desired drivers to launch specified by package name."
+    )
+
+    dsrc_group = GroupAction(
+        condition=IfCondition(PythonExpression(["'dsrc_driver' in '", drivers, "'.split()"])),
+        actions=[
+            PushRosNamespace(EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface')),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([ FindPackageShare('dsrc_driver'), '/launch/dsrc_driver.py']),
+                launch_arguments = {
+                    'log_level' : GetLogLevel('dsrc_driver', env_log_levels),
+                    }.items()
+            ),
+        ]
+    )
+
+    ros2_cmd = launch.substitutions.FindExecutable(name='ros2')
+
+    process_configure_dsrc_driver_node = launch.actions.ExecuteProcess(
+        cmd=[ros2_cmd, "lifecycle", "set", [ EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface'), "/dsrc_driver_node" ], "configure"],
+    )
+
+    configuration_trigger = launch.actions.TimerAction(
+        period=configuration_delay,
+        actions=[
+            process_configure_dsrc_driver_node
+        ]
+    )
+
+    configured_event_handler_dsrc_driver_node = launch.actions.RegisterEventHandler(launch.event_handlers.OnExecutionComplete(
+            target_action=process_configure_dsrc_driver_node,
+            on_completion=[
+                launch.actions.ExecuteProcess(
+                    cmd=[ros2_cmd, "lifecycle", "set", [ EnvironmentVariable('CARMA_INTR_NS', default_value='hardware_interface'), "/dsrc_driver_node" ], "activate"],
+                )
+            ]
+        )
+    )
+
+    return LaunchDescription([
+        declare_configuration_delay_arg,
+        declare_drivers_arg,
+        dsrc_group,
+        configuration_trigger,
+        configured_event_handler_dsrc_driver_node
+    ])