Merge release/k900 for 4.4.0 release (#326)

.github/workflows/ci.yml

@@ -0,0 +1,170 @@
+name: CI
+on:
+  push:
+  pull_request:
+jobs:
+  build:
+    defaults:
+      run:
+        shell: bash
+    runs-on: ubuntu-latest-8-cores
+    container:
+      image: ubuntu:bionic-20210702
+      env:
+        DEBIAN_FRONTEND: noninteractive
+        INIT_ENV: "/home/carma-streets/.base-image/init-env.sh"
+        SONAR_SCANNER_VERSION: "4.6.2.2472"
+        TERM: xterm
+      options: "--user root"
+    steps:
+    # Bionic's git version is not sufficient for actions/checkout 0 fetch-depth,
+    # remove this step after rebasing carma-streets to newer Ubuntu release
+    - name: Install newer git for checkout
+      run: |
+        apt-get update
+        apt-get install -y software-properties-common
+        add-apt-repository -u ppa:git-core/ppa
+        apt-get install -y git
+    - name: Checkout ${{ github.event.repository.name }}
+      uses: actions/checkout@v3.3.0
+      with:
+        path: ${{ github.event.repository.name }}
+        fetch-depth: 0
+    - name: Move source code
+      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 -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
+    - name: Install librdkafka
+      run: |
+        git clone --depth 1 https://github.com/edenhill/librdkafka /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
+    - name: Install rapidjson
+      run: |
+        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
+        cmake ..
+        make -j
+        make install
+    - name: Install net-snmp
+      run: |
+        cd /home/carma-streets/ext/
+        apt-get install -y libperl-dev
+        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 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
+        cd $SONAR_DIR
+        for ZIP in *.zip; do
+          unzip "$ZIP" -d .
+          rm "$ZIP"
+        done
+        mv $(ls $SONAR_DIR |grep "sonar-scanner-") $SONAR_DIR/sonar-scanner/
+        mv $(ls $SONAR_DIR |grep "build-wrapper-") $SONAR_DIR/build-wrapper/
+        echo $SONAR_DIR/sonar-scanner/bin >> $GITHUB_PATH
+        echo $SONAR_DIR/build-wrapper >> $GITHUB_PATH
+    - name: Build
+      run: |
+        source ${INIT_ENV}
+        cd /home/carma-streets/
+        build-wrapper-linux-x86-64 --out-dir /home/carma-streets/bw-output ./build.sh
+    - name: Tests
+      run: |
+        cd /home/carma-streets/
+        ./coverage.sh
+    - name: Archive test results
+      uses: actions/upload-artifact@v3
+      with:
+        name: Test Results
+        path: /home/carma-streets/test_results
+    - name: Run SonarScanner
+      uses: usdot-fhwa-stol/actions/sonar-scanner@main
+      with:
+        sonar-token: ${{ secrets.SONAR_TOKEN }}
+        working-dir: /home/carma-streets

.sonarqube/sonar-scanner.properties

@@ -20,7 +20,6 @@ sonar.host.url=https://sonarcloud.io
 sonar.projectKey=usdot-fhwa-stol_carma-streets
 sonar.organization=usdot-fhwa-stol
 sonar.cfamily.build-wrapper-output=/home/carma-streets/bw-output
-sonar.cfamily.threads=1
 sonar.cfamily.cache.enabled=false 
 sonar.coverageReportPaths= /home/carma-streets/kafka_clients/coverage/coverage.xml, \
 /home/carma-streets/intersection_model/coverage/coverage.xml, \

Doxyfile

@@ -906,7 +906,8 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = docs/ISSUE_TEMPLATE.md \
+  			 docs/PULL_REQUEST_TEMPLATE.md
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded