Merge release/lavida (4.5.0) branch into master (#213)

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# PR Details
## Description

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

## Related GitHub Issue

<!--- This project only accepts pull requests related to open GitHub
issues or Jira Keys -->
<!--- 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 DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## Related Jira Key

<!-- e.g. CAR-123 -->

## 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**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.
@MishkaMN

.github/workflows/ci.yml

@@ -1,21 +1,34 @@
 name: "CI: Run tests"
 on:
   pull_request:
+    types: [opened, synchronize, reopened]
   push:
+    branches:
+      - develop
+      - master
+      - "release/*"
 jobs:          
   sonar: # sonar job is to setup and run sonar scan analysis on telematic cloud messaging code
     runs-on: ubuntu-latest  
     steps:
       - uses: actions/checkout@v3
-      - name: Set up JDK 11
+      - name: Set up JDK 11 (Default) and 17 (Sonar)
         uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java
         with:
-          java-version: 11
+          # Last java version is default and set for JAVA_HOME
+          java-version: |
+            17
+            11
           distribution: "temurin"        
       - name: Build and analyze
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # Needed to get PR information, if any
           SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} 
+        # Build and package application using Java 8
+        # Run sonar plugin using Java 17
         run: |
           cd co-simulation
-          mvn -e -X clean org.jacoco:jacoco-maven-plugin:prepare-agent package sonar:sonar -Dlicense.skip -Dmaven.test.failure.ignore=false  -Pcoverage jacoco:report -Dsonar.projectKey=usdot-fhwa-stol_carma-simulation -Dsonar.projectName=carma-simulation -Dsonar.organization=usdot-fhwa-stol -Dsonar.host.url=https://sonarcloud.io        
+          export JAVA_HOME=$JAVA_HOME_11_X64
+          mvn -e -X clean org.jacoco:jacoco-maven-plugin:prepare-agent package -Dlicense.skip -Dmaven.test.failure.ignore=false  -Pcoverage jacoco:report 
+          export JAVA_HOME=$JAVA_HOME_17_X64
+          mvn sonar:sonar -Dsonar.java.jdkHome=${JAVA_17_X64} -Dsonar.projectKey=usdot-fhwa-stol_carma-simulation -Dsonar.projectName=carma-simulation -Dsonar.organization=usdot-fhwa-stol -Dsonar.host.url=https://sonarcloud.io 

.github/workflows/docker.yml

@@ -1,12 +1,7 @@
 name: Docker build
-
 on:
-  push:
-    branches-ignore:
-      - "develop"
-      - "release/*"
   pull_request:
-      types: [opened, synchronize, reopened]
+    types: [opened, synchronize, reopened]
 
 jobs:
   docker:

.github/workflows/dockerhub.yml

@@ -1,11 +1,12 @@
 name: Docker Hub build
-
 on:
   push:
     branches:
       - "develop"
       - "master"
       - "release/*"
+    tags:
+      - "carma-system-*"
 
 jobs:
   dockerhub:

Dockerfile

@@ -46,12 +46,15 @@ RUN sed -i 's|http://archive.ubuntu.com|http://us.archive.ubuntu.com|g' /etc/apt
 RUN apt-get update && apt-get install -y sudo
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 RUN adduser $SUMO_USER sudo --disabled-password
+COPY docker/ /home/carma/src/docker
+
+RUN /home/carma/src/docker/install_dependencies.sh
 
 COPY --chown=carma:carma . /home/carma/src
 USER carma
 WORKDIR /home/carma/src
 COPY --chown=carma:carma docker/env.sh /home/carma/.base-image/
-RUN docker/install.sh
+RUN docker/build.sh
 
 ENTRYPOINT [ "/home/carma/src/docker/entrypoint.sh" ]
 CMD [ "mosaic.sh", "-s", "Tiergarten" ]

co-simulation/NOTICE-THIRD-PARTY.md

@@ -69,6 +69,30 @@ Apache Commons Text (1.6)
  * Source: https://git-wip-us.apache.org/repos/asf?p=commons-text
 
 
+Apache WebServices Common Utilities (1.0.2)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.ws.commons.util:ws-commons-util:1.0.2`
+ * Project: http://ws.apache.org/commons/util
+ * Source: https://svn.apache.org/viewcvs.cgi/webservices/commons/trunk/util
+
+
+Apache XML-RPC Client Library (3.1.3)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.xmlrpc:xmlrpc-client:3.1.3`
+ * Project: http://ws.apache.org/xmlrpc/xmlrpc-client/
+ * Source: https://svn.apache.org/viewvc/webservices/xmlrpc/tags/xmlrpc-3.1.3/xmlrpc-client
+
+
+Apache XML-RPC Common Library (3.1.3)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `org.apache.xmlrpc:xmlrpc-common:3.1.3`
+ * Project: http://ws.apache.org/xmlrpc/xmlrpc-common/
+ * Source: https://svn.apache.org/viewvc/webservices/xmlrpc/tags/xmlrpc-3.1.3/xmlrpc-common
+
+
 Commons Compiler (2.7.5)
 
  * License: New BSD License
@@ -357,3 +381,11 @@ Woodstox (5.1.0)
  * Source: https://github.com/FasterXML/woodstox
 
 
+XML Commons External Components XML APIs (1.0.b2)
+
+ * License: The Apache Software License, Version 2.0
+ * Maven artifact: `xml-apis:xml-apis:1.0.b2`
+ * Project: http://xml.apache.org/commons/#external
+ * Source: https://svn.apache.org/viewvc/xml/commons/tags/xml-commons-1_0_b2
+
+

co-simulation/bridge/carla_integration/bridge_helper.py

@@ -111,7 +111,7 @@ def _get_recommended_carla_blueprint(sumo_actor):
         return random.choice(blueprints)
 
     @staticmethod
-    def get_carla_blueprint(sumo_actor, sync_color=False):
+    def get_carla_blueprint(sumo_actor, sumo_id, sync_color=False):
         """
         Returns an appropriate blueprint based on the received sumo actor.
         """
@@ -144,7 +144,7 @@ def get_carla_blueprint(sumo_actor, sync_color=False):
             driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
             blueprint.set_attribute('driver_id', driver_id)
 
-        blueprint.set_attribute('role_name', 'sumo_driver')
+        blueprint.set_attribute('role_name', sumo_id)
 
         logging.debug(
             '''[BridgeHelper] sumo vtype %s will be spawned in carla with the following attributes:

co-simulation/bridge/carla_integration/synchronization.py

@@ -99,7 +99,7 @@ def tick(self):
         sumo_spawned_actors = self.sumo.spawned_actors - set(self.carla2sumo_ids.values())
         for sumo_actor_id in sumo_spawned_actors:
             sumo_actor = self.sumo.get_actor(sumo_actor_id)
-            carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, self.sync_vehicle_color)
+            carla_blueprint = BridgeHelper.get_carla_blueprint(sumo_actor, sumo_actor_id, self.sync_vehicle_color)
             if carla_blueprint is not None:
                 carla_transform = BridgeHelper.get_carla_transform(sumo_actor.transform,
                                                                    sumo_actor.extent)

co-simulation/bundle/pom.xml

@@ -17,7 +17,7 @@
     <properties>
         <maven.deploy.skip>true</maven.deploy.skip>
     </properties>
-
+    
     <dependencies>
         <!-- Core -->
         <dependency>

co-simulation/bundle/src/assembly/mosaic-bundle.xml

@@ -161,10 +161,17 @@
                 <include>com.carrotsearch:hppc</include>
                 <!-- [END] GraphHopper dependencies -->
 
+                <!-- [START] XmlRpc dependencies -->
+                <include>org.apache.xmlrpc:xmlrpc-client</include>
+                <include>org.apache.xmlrpc:xmlrpc-common</include>
+                <include>org.apache.ws.commons.util:ws-commons-util</include>
+                <!-- [END] XmlRpc dependencies -->
+
                 <include>com.jcraft:jsch</include>
                 <include>com.google.protobuf:protobuf-java</include>
                 <include>org.xerial:sqlite-jdbc</include>
                 <include>org.java-websocket:Java-WebSocket</include>
+
             </includes>
         </dependencySet>
     </dependencySets>

co-simulation/bundle/src/assembly/resources/etc/logback.xml

@@ -7,7 +7,7 @@
             <property name="logDirectory" value="${logDirectory}"/>
             <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="STDOUT-Progress" class="ch.qos.logback.core.ConsoleAppender">
@@ -26,7 +26,7 @@
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/MOSAIC.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
 
@@ -35,15 +35,15 @@
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Mapping.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
 
             <appender name="ApplicationLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Application.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="ApplicationLogDelegation" class="ch.qos.logback.classic.sift.SiftingAppender">
@@ -67,71 +67,71 @@
                 <immediateFlush>true</immediateFlush>
                 <file>${logDirectory}/Navigation.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="TrafficLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Traffic.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="CarlaLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Carla.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="CarmaLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Carma.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="InfrastructureLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Infrastructure.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="EnvironmentLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Environment.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="CommunicationLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Communication.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
             <appender name="CommunicationDetailsLog" class="ch.qos.logback.core.FileAppender">
                 <file>${logDirectory}/CommunicationDetails.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
                 <append>false</append>
             </appender>
             <appender name="CellLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/Cell.log</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line - %msg%n</pattern>
                 </encoder>
             </appender>
 
             <appender name="ActivityLog" class="ch.qos.logback.core.FileAppender">
                 <charset>UTF-8</charset>
                 <file>${logDirectory}/RuntimeEvents.csv</file>
                 <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
-                    <pattern>%date %-5level %logger{0} [%thread] - %msg%n</pattern>
+                    <pattern>%date %-5level %C{0}:%line [%thread] - %msg%n</pattern>
                 </encoder>
             </appender>
 

co-simulation/bundle/src/assembly/resources/etc/runtime.json

@@ -49,7 +49,8 @@
             "subscriptions": [
                 "CarlaTraciResponse",
                 "SimulationStepResponse",
-                "CarlaV2xMessageReception"
+                "CarlaV2xMessageReception",
+                "DetectorRegistration"
             ],
             "javaClasspathEntries": []
         },
@@ -63,7 +64,8 @@
             "deploy": false,
             "start": false,
             "subscriptions": [
-                "V2xMessageReception"
+                "V2xMessageReception",
+                "VehicleUpdates"
             ],
             "javaClasspathEntries": []
         },
@@ -114,7 +116,8 @@
             "deploy": false,
             "start": false,
             "subscriptions": [
-                "V2xMessageReception"
+                "V2xMessageReception",
+                "DetectedObjectInteraction"
             ],
             "javaClasspathEntries": []
         },

co-simulation/bundle/src/assembly/resources/scenarios/Town04/carla/carla_config.json

@@ -2,5 +2,7 @@
     "updateInterval": 100,
     "carlaUE4Path": "/opt/carla/",
     "bridgePath": "/opt/carma-simulation/scenarios/Town04/carla; bridge.sh",
-    "carlaConnectionPort": 8913
+    "carlaConnectionPort": 8913,
+    "carlaCDASimAdapterUrl":"http://172.2.0.5:8000/RPC2"
+
 }