Merge release/k900-xil branch into master (#336)

.dockerignore

@@ -6,11 +6,7 @@
 # Ignore VS Code project files for Docker build context
 .vscode
 # Ignore Dockerfiles for Docker build context
-/intersection_model/Dockerfile
-/message_services/Dockerfile
-/scheduling_service/Dockerfile
-/tsc_client_service/Dockerfile
-/signal_opt_service/Dockerfile
+**/Dockerfile
 # Ignore any documentation for Docker build context
 /docs
 # Ignore any examples for Docker build context
@@ -20,28 +16,9 @@
 # Ignore any testing scripts for Docker build context
 /scripts
 # Ignore all local build files for Docker build context
-/kafka_clients/build
-/scheduling_service/build
-/message_services/build
-/signal_opt_service/build
-/intersection_model/build
-/tsc_client_service/build
-/scheduling_service/build
-/streets_utils/streets_service_base/build
-/streets_utils/streets_vehicle_list/build
-/streets_utils/streets_vehicle_scheduler/build
-/streets_utils/streets_api/intersection_client_api/build
-/streets_utils/streets_api/intersection_server_api/build
-/streets_utils/streets_signal_phase_and_timing/build
-/streets_utils/streets_desired_phase_plan/build
-/streets_utils/streets_signal_optimization/build
-/streets_utils/streets_tsc_configuration/build
+**/build/
 # Ignore all local log files for Docker build context
-/message_services/logs
-/signal_opt_service/logs
-/intersection_model/logs
-/tsc_client_service/logs
-/scheduling_service/logs
+**/logs/
 # Ignore local external cloned repos for Docker build context
 /carma_lanelet2
 /intersection_model/src/server/external/lib/pkgconfig/qhttpengine.pc

.github/workflows/ci.yml

@@ -9,7 +9,7 @@ jobs:
         shell: bash
     runs-on: ubuntu-latest-8-cores
     container:
-      image: ubuntu:bionic-20210702
+      image: ubuntu:jammy-20230126
       env:
         DEBIAN_FRONTEND: noninteractive
         INIT_ENV: "/home/carma-streets/.base-image/init-env.sh"
@@ -34,34 +34,25 @@ jobs:
       run: mv $GITHUB_WORKSPACE/${{ github.event.repository.name }} /home/carma-streets
     - name: Install dependencies
       run: |
-        apt-get update
-        apt-get install -y cmake git build-essential libboost-all-dev curl unzip gcc-7 g++-7 autotools-dev automake jq qtbase5-dev qtbase5-dev-tools libqhttpengine-dev libssl-dev libpugixml-dev libgeographic-dev sqlite3 libsqlite3-dev python3-pip
-        pip3 install gcovr
+        mkdir /home/carma-streets/.base-image
+        touch /home/carma-streets/.base-image/init-env.sh
+        cd /home/carma-streets/build_scripts
+        ./install_dependencies.sh
+        ./install_test_dependencies.sh
         mkdir -p /home/carma-streets/ext
-    - name: Install gtest
-      run: |
-        git clone --depth 1 https://github.com/google/googletest/ /home/carma-streets/ext/googletest
-        cd /home/carma-streets/ext/googletest/
-        cmake .
-        make -j
-        make install
+        ./install_rest_server_dependencies.sh
+
     - name: Install librdkafka
       run: |
-        git clone --depth 1 https://github.com/edenhill/librdkafka /home/carma-streets/ext/librdkafka
+        cd /home/carma-streets/ext/
+        git clone --depth 1 https://github.com/confluentinc/librdkafka.git /home/carma-streets/ext/librdkafka
         cd /home/carma-streets/ext/librdkafka/
-        ./configure --prefix=/usr
-        make -j
-        make install
-    - name: Install spdlog
-      run: |
-        git clone --depth 1 https://github.com/gabime/spdlog.git /home/carma-streets/ext/spdlog
-        mkdir -p /home/carma-streets/ext/spdlog/build
-        cd /home/carma-streets/ext/spdlog/build
-        cmake ..
-        make -j
-        make install
+        cmake -H. -B_cmake_build
+        cmake --build _cmake_build
+        cmake --build _cmake_build --target install
     - name: Install rapidjson
       run: |
+        cd /home/carma-streets/ext/
         git clone --depth 1 https://github.com/Tencent/rapidjson /home/carma-streets/ext/rapidjson
         mkdir -p /home/carma-streets/ext/rapidjson/build
         cd /home/carma-streets/ext/rapidjson/build
@@ -71,75 +62,67 @@ jobs:
     - name: Install net-snmp
       run: |
         cd /home/carma-streets/ext/
-        apt-get install -y libperl-dev
+        apt-get install -y libperl-dev curl
         curl -L -O http://sourceforge.net/projects/net-snmp/files/net-snmp/5.9.1/net-snmp-5.9.1.tar.gz 
         tar -xvzf /home/carma-streets/ext/net-snmp-5.9.1.tar.gz
         cd net-snmp-5.9.1/
         ./configure --with-default-snmp-version="1" --with-sys-contact="@@no.where" --with-sys-location="Unknown" --with-logfile="/var/log/snmpd.log" --with-persistent-directory="/var/net-snmp"
         make -j
         make install
-    - name: Install qhttpengine
-      run: |
-        git clone --depth 1 https://github.com/etherealjoy/qhttpengine.git /home/carma-streets/ext/qhttpengine
-        mkdir -p /home/carma-streets/ext/qhttpengine/build
-        cd /home/carma-streets/ext/qhttpengine/build
-        cmake ..
-        make -j
-        make install
-    - name: Install PROJ for coordinate transformations
-      run: |
-        git clone --depth 1 https://github.com/OSGeo/PROJ.git /home/carma-streets/PROJ --branch 6.2.1
-        cd /home/carma-streets/PROJ
-        ./autogen.sh
-        ./configure 
-        make -j
-        make install
-    - name: Download a cmake module for PROJ
-      run: |
-        cd /usr/share/cmake-3.10/Modules
-        curl -O https://raw.githubusercontent.com/mloskot/cmake-modules/master/modules/FindPROJ4.cmake
-    - name: Install ROS melodic
-      run: |
-        apt install -y lsb-release
-        sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc |apt-key add -
-        apt-get update
-        apt-get install -y ros-melodic-catkin
-        cd /opt/ros/melodic/
-        ls -a
-        mkdir -p /home/carma-streets/.base-image
-        echo "source /opt/ros/melodic/setup.bash" > "$INIT_ENV"
-    - name: Install carma_lanelet2
-      run: |
-        mkdir -p /home/carma-streets/carma_lanelet2/src
-        cd /home/carma-streets/carma_lanelet2/src
-        git init
-        echo "temp"
-        git remote add origin -f https://github.com/usdot-fhwa-stol/autoware.ai.git
-        git config core.sparsecheckout true
-        echo "common/hardcoded_params/*" >> .git/info/sparse-checkout
-        echo "common/lanelet2_extension/*" >> .git/info/sparse-checkout
-        echo "lanelet2/*" >> .git/info/sparse-checkout
-        echo "mrt_cmake_modules/*" >> .git/info/sparse-checkout
-        git pull --depth 1 origin refactor_lanelet2_extension
-        git checkout refactor_lanelet2_extension
-        rm -r lanelet2/lanelet2_python
-        rm -r lanelet2/lanelet2_examples
-        cd /home/carma-streets/carma_lanelet2
-        source /opt/ros/melodic/setup.bash
-        apt-get install -y libeigen3-dev python-rospkg
-        ROS_VERSION=1 LANELET2_EXTENSION_LOGGER_TYPE=1 catkin_make install
-        cd /home/carma-streets/carma_lanelet2/install/
-        ls -a
-        echo "source /home/carma-streets/carma_lanelet2/install/setup.bash" >> "$INIT_ENV"
+    # - name: Install PROJ for coordinate transformations
+    #   run: |
+    #     git clone --depth 1 https://github.com/OSGeo/PROJ.git /home/carma-streets/PROJ --branch 6.2.1
+    #     cd /home/carma-streets/PROJ
+    #     ./autogen.sh
+    #     ./configure 
+    #     make -j
+    #     make install
+    # - name: Download a cmake module for PROJ
+    #   run: |
+    #     cd /usr/share/cmake-3.10/Modules
+    #     curl -O https://raw.githubusercontent.com/mloskot/cmake-modules/master/modules/FindPROJ4.cmake
+    # - name: Install ROS melodic
+    #   run: |
+    #     apt install -y lsb-release
+    #     sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+    #     curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc |apt-key add -
+    #     apt-get update
+    #     apt-get install -y ros-melodic-catkin
+    #     cd /opt/ros/melodic/
+    #     ls -a
+    #     mkdir -p /home/carma-streets/.base-image
+    #     echo "source /opt/ros/melodic/setup.bash" > "$INIT_ENV"
+    # - name: Install carma_lanelet2
+    #   run: |
+    #     mkdir -p /home/carma-streets/carma_lanelet2/src
+    #     cd /home/carma-streets/carma_lanelet2/src
+    #     git init
+    #     echo "temp"
+    #     git remote add origin -f https://github.com/usdot-fhwa-stol/autoware.ai.git
+    #     git config core.sparsecheckout true
+    #     echo "common/hardcoded_params/*" >> .git/info/sparse-checkout
+    #     echo "common/lanelet2_extension/*" >> .git/info/sparse-checkout
+    #     echo "lanelet2/*" >> .git/info/sparse-checkout
+    #     echo "mrt_cmake_modules/*" >> .git/info/sparse-checkout
+    #     git pull --depth 1 origin refactor_lanelet2_extension
+    #     git checkout refactor_lanelet2_extension
+    #     rm -r lanelet2/lanelet2_python
+    #     rm -r lanelet2/lanelet2_examples
+    #     cd /home/carma-streets/carma_lanelet2
+    #     source /opt/ros/melodic/setup.bash
+    #     apt-get install -y libeigen3-dev python-rospkg
+    #     ROS_VERSION=1 LANELET2_EXTENSION_LOGGER_TYPE=1 catkin_make install
+    #     cd /home/carma-streets/carma_lanelet2/install/
+    #     ls -a
+    #     echo "source /home/carma-streets/carma_lanelet2/install/setup.bash" >> "$INIT_ENV"
     - name: Install Sonar
       run: |
         SONAR_DIR=/opt/sonarqube
         mkdir $SONAR_DIR
         curl -o $SONAR_DIR/sonar-scanner.zip https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${SONAR_SCANNER_VERSION}-linux.zip
         curl -o $SONAR_DIR/build-wrapper.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
         curl -sL https://deb.nodesource.com/setup_16.x |bash -
-        apt-get install -y nodejs
+        apt-get install -y nodejs unzip
         cd $SONAR_DIR
         for ZIP in *.zip; do
           unzip "$ZIP" -d .
@@ -157,6 +140,7 @@ jobs:
     - name: Tests
       run: |
         cd /home/carma-streets/
+        ldconfig
         ./coverage.sh
     - name: Archive test results
       uses: actions/upload-artifact@v3

.gitignore

@@ -1,21 +1,8 @@
 # Cache objects
 packer_cache/
 # build directories
-message_services/build/
-kafka_clients/build/
-scheduling_service/build/
-streets_utils/streets_service_base/build/
-streets_utils/streets_vehicle_list/build/
-streets_utils/streets_vehicle_scheduler/build/
-streets_utils/streets_signal_phase_and_timing/build/
-streets_utils/streets_api/intersection_client_api/build/
-streets_utils/streets_api/intersection_server_api/build/
-streets_utils/streets_desired_phase_plan/build/
-streets_utils/streets_tsc_configuration/build/
-streets_utils/streets_signal_optimization/build/
-intersection_model/build
-signal_opt_service/build/
-tsc_client_service/build
+**/build/
+**/logs/
 # Crash log
 crash.log
 .env

.sonarqube/sonar-scanner.properties

@@ -22,10 +22,9 @@ sonar.organization=usdot-fhwa-stol
 sonar.cfamily.build-wrapper-output=/home/carma-streets/bw-output
 sonar.cfamily.cache.enabled=false 
 sonar.coverageReportPaths= /home/carma-streets/kafka_clients/coverage/coverage.xml, \
-/home/carma-streets/intersection_model/coverage/coverage.xml, \
 /home/carma-streets/scheduling_service/coverage/coverage.xml, \
 /home/carma-streets/signal_opt_service/coverage/coverage.xml, \
-/home/carma-streets/message_services/coverage/coverage.xml, \
+/home/carma-streets/streets_utils/streets_service_configuration/coverage/coverage.xml, \
 /home/carma-streets/streets_utils/streets_service_base/coverage/coverage.xml, \
 /home/carma-streets/streets_utils/streets_vehicle_list/coverage/coverage.xml, \
 /home/carma-streets/streets_utils/streets_signal_phase_and_timing/coverage/coverage.xml, \
@@ -35,6 +34,9 @@ sonar.coverageReportPaths= /home/carma-streets/kafka_clients/coverage/coverage.x
 /home/carma-streets/streets_utils/streets_desired_phase_plan/coverage/coverage.xml, \
 /home/carma-streets/streets_utils/streets_signal_optimization/coverage/coverage.xml
 
+# TODO : /home/carma-streets/intersection_model/coverage/coverage.xml, \
+# TODO: /home/carma-streets/message_services/coverage/coverage.xml, \
+
 #Encoding of the source code. Default is default system encoding
 sonar.sourceEncoding=UTF-8
 
@@ -59,9 +61,8 @@ sonar.projectVersion=1.0
 # Modules starting with Java packages then C++ packages
 sonar.modules=scheduling_service, \
 kafka_clients, \
-message_services, \
 signal_opt_service, \
-intersection_model, \
+streets_service_configuration, \
 streets_service_base, \
 streets_vehicle_list, \
 streets_signal_phase_and_timing, \
@@ -71,12 +72,15 @@ streets_vehicle_scheduler, \
 streets_desired_phase_plan, \
 streets_signal_optimization
 
+# TODO message_services
+# TODO intersection_model
 
 kafka_clients.sonar.projectBaseDir=/home/carma-streets/kafka_clients/
 scheduling_service.sonar.projectBaseDir=/home/carma-streets/scheduling_service
-message_services.sonar.projectBaseDir=/home/carma-streets/message_services/
+# message_services.sonar.projectBaseDir=/home/carma-streets/message_services/
 signal_opt_service.sonar.projectBaseDir=/home/carma-streets/signal_opt_service/
-intersection_model.sonar.projectBaseDir=/home/carma-streets/intersection_model/
+# intersection_model.sonar.projectBaseDir=/home/carma-streets/intersection_model/
+streets_service_configuration.sonar.projectBaseDir=/home/carma-streets/streets_utils/streets_service_configuration
 streets_service_base.sonar.projectBaseDir=/home/carma-streets/streets_utils/streets_service_base
 streets_vehicle_list.sonar.projectBaseDir=/home/carma-streets/streets_utils/streets_vehicle_list
 tsc_client_service.sonar.projectBaseDir=/home/carma-streets/tsc_client_service
@@ -94,14 +98,16 @@ kafka_clients.sonar.sources                     =src/,include/
 kafka_clients.sonar.exclusions                  =test/**
 scheduling_service.sonar.sources                =src/,include/
 scheduling_service.sonar.exclusions             =test/**
-message_services.sonar.sources                  =src/,include/,lib/
-message_services.sonar.exclusions               =test/**
+# message_services.sonar.sources                  =src/,include/,lib/
+# message_services.sonar.exclusions               =test/**
 signal_opt_service.sonar.sources                =src/,include/
 signal_opt_service.sonar.exclusions             =test/**
-intersection_model.sonar.sources                  =src/,include/
-intersection_model.sonar.exclusions               =src/server/**,test/**
+# intersection_model.sonar.sources                  =src/,include/
+# intersection_model.sonar.exclusions               =src/server/**,test/**
 streets_service_base.sonar.sources              =src/,include/
 streets_service_base.sonar.exclusions           =test/**
+streets_service_configuration.sonar.sources              =src/,include/
+streets_service_configuration.sonar.exclusions           =test/**
 streets_vehicle_list.sonar.sources              =src/,include/
 streets_vehicle_list.sonar.exclusions           =test/**
 tsc_client_service.sonar.sources                =src/,include/
@@ -122,9 +128,10 @@ streets_signal_optimization.sonar.exclusions           =test/**
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
 kafka_clients.sonar.tests=test/
 scheduling_service.sonar.tests=test/
-message_services.sonar.tests=test/
+# message_services.sonar.tests=test/
 signal_opt_service.sonar.tests=test/
-intersection_model.sonar.tests=test/
+# intersection_model.sonar.tests=test/
+streets_service_configuration.sonar.tests=test/
 streets_service_base.sonar.tests=test/
 streets_vehicle_list.sonar.tests=test/
 tsc_client_service.sonar.tests=test/

README.md

@@ -1,6 +1,6 @@
-| CicleCI Build Status | Sonar Code Quality |
+| CI Build Status | Sonar Code Quality |
 |----------------------|---------------------|
-|[![CircleCI](https://circleci.com/gh/usdot-fhwa-stol/carma-streets.svg?style=svg)](https://circleci.com/gh/usdot-fhwa-stol/carma-streets)  	|  [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_carma-streets&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_carma-streets)  | 
+|[![CI](https://github.com/usdot-fhwa-stol/carma-streets/actions/workflows/ci.yml/badge.svg)](https://github.com/usdot-fhwa-stol/carma-streets/actions/workflows/ci.yml) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_carma-streets&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_carma-streets) |
 # DockerHub Release Builds
 | Scheduling Service | Message Services | Intersection Model | Signal Opt Service | Tsc Service |
 |-----|-----|-----|-----|-----|

build.sh

@@ -21,6 +21,8 @@ COVERAGE_FLAGS="-g --coverage -fprofile-arcs -ftest-coverage"
 
 # make install for these subdirectories
 MAKE_INSTALL_DIRS=(
+    "streets_utils/streets_service_configuration"
+    "kafka_clients"
     "streets_utils/streets_service_base"
     "streets_utils/streets_vehicle_list"
     "streets_utils/streets_tsc_configuration"
@@ -29,15 +31,14 @@ MAKE_INSTALL_DIRS=(
     "streets_utils/streets_api/intersection_client_api"
     "streets_utils/streets_vehicle_scheduler"
     "streets_utils/streets_api/intersection_server_api"
-    "kafka_clients"
     "streets_utils/streets_signal_optimization"
 )
 
 # only make for these subdirectories
 MAKE_ONLY_DIRS=(
     "scheduling_service"
-    "intersection_model"
-    "message_services"
+    # "intersection_model"
+    # "message_services"
     "signal_opt_service"
     "tsc_client_service"
 )