new file: engineering_tools/msgIntersect.py (#2378)

engineering_tools/msgIntersect.py

@@ -0,0 +1,56 @@
+## Receive and Forward SAE J2735 Message Payload
+# This script receives messages sent by V2X Hub, strips the Active Message File header, and forwards only the message/payload to CARMA Messenger.
+# The Active Message File is an ASCII-encoded hex string that is required by RSUs. Most other applications require only the message payload
+# found at the end of the file, encoded as a UTF-8 hex string. 
+
+# The script can be run on either PC running V2X Hub or CARMA Messenger. The following configurations must be made:
+# ip_listen, port_listen: IPv4 Address and Port where messages will be received. Must match IP:Port set in Immediate Forward Plugin.
+# ip_send, port_send: IPv4 Address and Port where payload will be sent. Must match IP, Port set in carma-cohda-dsrc-driver dsrc_driver/config/params.yaml.
+# This script assumes both V2X Hub and CARMA Messenger are running on either the same PC or two separate PCs within the same local network. 
+
+
+import socket
+from time import sleep
+from binascii import unhexlify
+
+
+def send(msg, ip_send, port_send):
+    sk_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    sk_send.sendto(msg, (ip_send, port_send))
+    # print("Sent: ", msg)
+    sk_send.close()
+
+def listen(ip_listen, port_listen):
+    listen_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    listen_socket.bind((ip_listen, port_listen))
+
+    return listen_socket
+
+
+def main():
+    # declarations
+    print('Starting intersect.')
+    ip_listen = '127.0.0.1'
+    ip_send = '192.168.0.146'
+    port_listen = 1516  # listen to Immediate Forward Plugin
+    port_send = 5398    # send to CARMA listening_port
+
+    sk_listen = listen(ip_listen, port_listen)
+
+    print("Waiting to receive data\n")
+    while(1):
+        data = sk_listen.recvfrom(10000)[0]
+        data = data.decode('ascii')
+        # print(data)
+
+        idx = data.find("Payload=")
+        payload = data[idx+8:-1]
+        encoded = payload.encode('utf-8')
+        msgBytes = unhexlify(encoded)
+
+        # send
+        send(msgBytes, ip_send, port_send)
+        sleep(0.1)
+
+if __name__=="__main__":
+    main()