Feature/carma messenger ambassador (#228)

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# PR Details
## Description

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Implement carma messenger ambassador
## Related GitHub Issue

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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 -->
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## Related Jira Key
CXC-88
<!-- e.g. CAR-123 -->

## Motivation and Context

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

## How Has This Been Tested?

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<!--- Include details of your testing environment, and the tests you ran
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: -->

- [ ] 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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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.

co-simulation/fed/mosaic-application/pom.xml

@@ -54,6 +54,12 @@
             <version>${mosaic.version}</version>
             <type>test-jar</type>
             <scope>test</scope>
+            <exclusions>
+                <exclusion>
+                    <groupId>org.eclipse.mosaic</groupId>
+                    <artifactId>mosaic-application</artifactId>
+                </exclusion>
+            </exclusions>
         </dependency>
     </dependencies>
 

co-simulation/fed/mosaic-carma-messenger/pom.xml

@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <modelVersion>4.0.0</modelVersion>
+
+  <parent>
+        <groupId>org.eclipse.mosaic</groupId>
+        <artifactId>mosaic-parent</artifactId>
+        <version>22.1-SNAPSHOT</version>
+        <relativePath>../../pom.xml</relativePath>
+  </parent>
+
+  <artifactId>mosaic-carma-messenger</artifactId>
+  <name>CARMA Messenger Ambassador</name>
+
+  <dependencies>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-rti-api</artifactId>
+      <version>${mosaic.version}</version>
+    </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-objects</artifactId>
+      <version>${mosaic.version}</version>
+    </dependency>
+    <dependency>
+        <groupId>gov.dot.fhwa.saxton</groupId>
+        <artifactId>mosaic-carma-utils</artifactId>
+        <version>${mosaic.version}</version>
+    </dependency>
+    <dependency>
+      <groupId>com.google.code.gson</groupId>
+      <artifactId>gson</artifactId>
+      <version>2.8.9</version>
+    </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-interactions</artifactId>
+      <version>${mosaic.version}</version>
+    </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-utils</artifactId>
+      <version>${mosaic.version}</version>
+      <type>test-jar</type>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-geomath</artifactId>
+      <version>${mosaic.version}</version>
+      <type>test-jar</type>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>org.eclipse.mosaic</groupId>
+      <artifactId>mosaic-objects</artifactId>
+      <version>${mosaic.version}</version>
+      <type>test-jar</type>
+      <scope>test</scope>
+    </dependency>
+    <dependency>
+      <groupId>ch.qos.logback</groupId>
+      <artifactId>logback-classic</artifactId>
+    </dependency>
+    <dependency>
+      <groupId>junit</groupId>
+      <artifactId>junit</artifactId>
+      <version>4.11</version>
+      <scope>test</scope>
+    </dependency>
+      <dependency>
+          <groupId>org.eclipse.mosaic</groupId>
+          <artifactId>mosaic-application</artifactId>
+          <version>22.1-SNAPSHOT</version>
+          <scope>compile</scope>
+      </dependency>
+      <dependency>
+          <groupId>javax.xml.bind</groupId>
+          <artifactId>jaxb-api</artifactId>
+          <version>2.3.1</version>
+      </dependency>
+      <dependency>
+          <groupId>commons-codec</groupId>
+          <artifactId>commons-codec</artifactId>
+          <version>1.15</version>
+      </dependency>
+      <dependency>
+          <groupId>jakarta.xml.bind</groupId>
+          <artifactId>jakarta.xml.bind-api</artifactId>
+          <version>2.3.2</version>
+      </dependency>
+      <dependency>
+          <groupId>org.glassfish.jaxb</groupId>
+          <artifactId>jaxb-runtime</artifactId>
+          <version>2.3.2</version>
+      </dependency>
+      <dependency>
+          <groupId>org.eclipse.mosaic</groupId>
+          <artifactId>mosaic-utils</artifactId>   
+          <version>${mosaic.version}</version>
+          <scope>compile</scope>
+      </dependency>
+      <dependency>
+        <groupId>org.eclipse.mosaic</groupId>
+        <artifactId>mosaic-carma</artifactId>
+        <version>22.1-SNAPSHOT</version>
+        <scope>compile</scope>
+      </dependency>
+      <dependency>
+        <groupId>org.eclipse.mosaic</groupId>
+        <artifactId>mosaic-common-utils</artifactId>
+        <version>22.1-SNAPSHOT</version>
+        <scope>compile</scope>
+      </dependency>
+  </dependencies>
+
+  <profiles>
+        <profile>
+            <id>skip-carma-messenger-tests</id>
+
+            <build>
+                <pluginManagement>
+                    <plugins>
+                        <plugin>
+                            <artifactId>maven-surefire-plugin</artifactId>
+                            <configuration>
+                                <skipTests>true</skipTests>
+                            </configuration>
+                        </plugin>
+                    </plugins>
+                </pluginManagement>
+            </build>
+        </profile>
+    </profiles>
+</project>

co-simulation/fed/mosaic-carma-messenger/src/main/java/org/eclipse/mosaic/fed/carmamessenger/ambassador/CarmaMessengerInstance.java

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+package org.eclipse.mosaic.fed.carmamessenger.ambassador;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.InetAddress;
+
+import org.eclipse.mosaic.lib.CommonUtil.ambassador.CommonInstance;
+
+
+public class CarmaMessengerInstance extends CommonInstance{
+
+    private String messengerEmergencyState;
+    private int rxBridgeMessagePort;
+
+    public CarmaMessengerInstance(String carmaMessengerVehicleId, String sumoRoleName, InetAddress targetAddress, int v2xPort, int timeSyncPort, String messengerEmergencyState, int rxBridgeMessagePort) {
+        super(carmaMessengerVehicleId, sumoRoleName, targetAddress, v2xPort, timeSyncPort);
+        this.messengerEmergencyState = messengerEmergencyState;
+        this.rxBridgeMessagePort = rxBridgeMessagePort;
+    }
+    /**
+     * Carma Messenger Emergency state
+     */
+
+    public String getMessengerEmergencyState() {
+        return messengerEmergencyState;
+    }
+
+    public void setMessengerEmergencyState(String messengerEmergencyState) {
+        this.messengerEmergencyState = messengerEmergencyState;
+    }
+
+    public int getRxBridgeMessagePort() {
+        return rxBridgeMessagePort;
+    }
+
+    public void setRxBridgeMessagePort(int rxBridgeMessagePort) {
+        this.rxBridgeMessagePort = rxBridgeMessagePort;
+    }
+
+    public void sendVehStatusMsgs(byte[] data) throws IOException {
+        if (super.rxMsgsSocket == null) {
+            throw new IllegalStateException("Attempted to send data before opening socket");
+        }
+
+        DatagramPacket packet = new DatagramPacket(data, data.length, super.getTargetAddress(), rxBridgeMessagePort);
+        super.rxMsgsSocket.send(packet);
+    }
+}

co-simulation/fed/mosaic-carma-messenger/src/main/java/org/eclipse/mosaic/fed/carmamessenger/ambassador/CarmaMessengerInstanceManager.java

@@ -0,0 +1,111 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+package org.eclipse.mosaic.fed.carmamessenger.ambassador;
+
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+
+import org.eclipse.mosaic.lib.CommonUtil.ambassador.CommonInstanceManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import com.google.gson.Gson;
+
+import gov.dot.fhwa.saxton.TimeSyncMessage;
+
+public class CarmaMessengerInstanceManager extends CommonInstanceManager<CarmaMessengerInstance, CarmaMessengerRegistrationMessage>{
+
+    private static final int BRIDGE_TARGET_PORT = 5500;
+    private final Logger log = LoggerFactory.getLogger(this.getClass());
+
+    /**
+     * Callback to invoked when a new CARMA Platform instance registers with the mosaic-carma ambassador for the first time
+     * @param registration The new instance's registration data
+     */
+    public void onNewRegistration(CarmaMessengerRegistrationMessage registration) {
+        super.setTargetPort(5600);
+        if (!managedInstances.containsKey(registration.getVehicleRole())) {
+            try {
+                newCarmaMessengerInstance(
+                    registration.getVehicleId(),
+                    registration.getVehicleRole(),
+                    InetAddress.getByName(registration.getRxMessageIpAddress()),
+                    registration.getRxMessagePort(),
+                    registration.getRxTimeSyncPort(),
+                    registration.getMessengerEmergencyState(),
+                    registration.getRxBridgeMessagePort()
+                );
+            } catch (UnknownHostException e) {
+                throw new RuntimeException(e);
+            }
+        } else {
+            // log warning
+            log.warn("Received duplicate registration for vehicle " + registration.getVehicleRole());
+        }
+    }
+
+    /**
+     * This function is used to send out encoded timestep update to all registered
+     * instances the manager has on the managed instances map
+     * 
+     * @param message This time message is used to store current seq and timestep
+     *                from the ambassador side
+     * @throws IOException
+     */
+    @Override
+    public void onTimeStepUpdate(TimeSyncMessage message) throws IOException {
+        if (managedInstances.size() == 0) {
+            log.debug("There are no registered instances");
+        }
+        else {
+            Gson gson = new Gson();
+            byte[] bytes = gson.toJson(message).getBytes();
+            for (CarmaMessengerInstance currentInstance : managedInstances.values()) {
+                log.debug("Sending CARMA Messenger instance {} at {}:{} time sync message for time {}!" ,
+                    currentInstance.getVehicleId(), 
+                    currentInstance.getTargetAddress(), 
+                    currentInstance.getTimeSyncPort(),
+                    currentInstance.getMessengerEmergencyState(), 
+                    message.getTimestep());
+                currentInstance.sendTimeSyncMsg(bytes);
+            }
+        }
+    }
+
+
+    /**
+     * Helper function to configure a new CARMA Platform instance object upon registration
+     * @param carmaMessengerVehId The CARMA Platform vehicle ID (e.g. it's license plate number)
+     * @param sumoRoleName The Role Name associated with the CARMA Platform's ego vehicle in CARLA
+     * @param targetAddress The IP address to which received simulated V2X messages should be sent
+     * @param v2xPort The port to which received simulated V2X messages should be sent
+     * @param timeSyncPort The port to which to send time sync messages.
+     */
+    private void newCarmaMessengerInstance(String carmaMessengerVehId, String sumoRoleName, InetAddress targetAddress, int v2xPort, int timeSyncPort, String messengerEmergencyState, int rxBridgeMessagePort) {
+        CarmaMessengerInstance tmp = new CarmaMessengerInstance(carmaMessengerVehId, sumoRoleName, targetAddress, v2xPort, timeSyncPort, messengerEmergencyState, rxBridgeMessagePort);
+        try {
+            tmp.bind();
+            log.info("New CARMA Messenger instance '{}' registered with CARMA Instance Manager.", sumoRoleName);
+        } catch (IOException e) {
+            log.error("Failed to bind CARMA Messenger instance with ID '{}' to its RX message socket: {}",
+            sumoRoleName, e.getMessage());
+            log.error("Stack trace:", e);
+            throw new RuntimeException(e);
+        }
+        managedInstances.put(sumoRoleName, tmp);
+    }
+}

co-simulation/fed/mosaic-carma-messenger/src/main/java/org/eclipse/mosaic/fed/carmamessenger/ambassador/CarmaMessengerMessageAmbassador.java

@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2023 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.
+ */
+package org.eclipse.mosaic.fed.carmamessenger.ambassador;
+
+import org.eclipse.mosaic.lib.CommonUtil.ambassador.CommonMessageAmbassador;
+import org.eclipse.mosaic.lib.CommonUtil.configuration.CommonConfiguration;
+import org.eclipse.mosaic.lib.util.objects.ObjectInstantiation;
+import org.eclipse.mosaic.rti.api.parameters.AmbassadorParameter;
+
+public class CarmaMessengerMessageAmbassador extends CommonMessageAmbassador<CarmaMessengerInstanceManager, CarmaMessengerRegistrationReceiver, CarmaMessengerRegistrationMessage, CommonConfiguration>{
+
+
+    /**
+     * Create a new {@link CarmaMessengerMessageAmbassador} object.
+     *
+     * @param ambassadorParameter includes parameters for the
+     *                            CarmaMessageAmbassador.
+     */
+    public CarmaMessengerMessageAmbassador(AmbassadorParameter ambassadorParameter) {
+        super(ambassadorParameter, CarmaMessengerRegistrationMessage.class, CommonConfiguration.class);
+
+        try {
+            // Read the CARMA message ambassador configuration file
+            commonConfiguration = new ObjectInstantiation<>(CommonConfiguration.class, log)
+                    .readFile(ambassadorParameter.configuration);
+        } catch (InstantiationException e) {
+            log.error("Configuration object could not be instantiated: ", e);
+        }
+
+        log.info("The update interval of CARMA message ambassador is " + commonConfiguration.updateInterval + " .");
+
+        // Check the CARMA update interval
+        if (commonConfiguration.updateInterval <= 0) {
+            throw new RuntimeException("Invalid update interval for CARMA message ambassador, should be >0.");
+        }
+        log.info("CARMA message ambassador is generated.");
+    }
+
+}