Merge release/lavida (4.5.0) branch into master (#411)

.devcontainer/README.md

@@ -0,0 +1,26 @@
+# CARMA Streets Dev Container Setup
+## Introduction
+This is the setup for the VSCode extension [devcontainer](https://code.visualstudio.com/docs/devcontainers/containers) extension, which allows developers to standup a containerized development environment with the VS Code IDE. The current configuration includes the installation of common VSCode plugins for C++, CMake, Python, Mark Down and more. A complete list of VS Code installed plugins can be found in the `./devcontainer/devcontainer.json` under `"customizations.vscode.extensions` attribute. The setup also stands up the CARMA Streets [docker compose file](../docker-compose.yml) , which provides your development environment with easy access to Kafka and CARMA Streets services for integration testing of functionality.
+## Suggested Structure of CARMA Street Service
+```bash
+├── <streets_service_name>
+│   ├── src/                        # Source Code
+│   ├── include/                    # Headers
+│   ├── manifest.json               # CARMA Streets Service configuration file
+│   ├── CMakeLists.txt              # CMake build file
+│   ├── README.md                   # Documentation about Service
+│   ├── build.sh                    # Build script to build streets_util libraries for service and service itself
+|   ├── install_dependencies.sh     # Optional file to install external dependencies not included in base image
+│   └── Dockerfile                  # Dockerfile to build streets serivce
+```
+## Setup for new CARMA Streets Service
+* Select a streets base image ([streets base images](../README.md#base-images)) and uncomment appropriate lines in `.devcontainer/devcontainer.json` and `.devcontainer/docker-compose-devcontainer.yml` (See comments in files)
+* Use ctrl-shift-P (Command Pallette) and select *Dev Containers: Open Folder in Container*.
+* Use VS Code terminals to build new streets service, preferably using a `build.sh` script under your new service directory(see [Sensor Data Sharing Service](../sensor_data_sharing_service/README.md)).
+## Setup for existing CARMA Streets Service
+* Select a streets base image ([streets base images](../README.md#base-images)) and uncomment appropriate lines in `.devcontainer/devcontainer.json` and `.devcontainer/docker-compose-devcontainer.yml` (See comments in files)
+* Comment out existing service inside `docker-compose.yml`
+* Use ctrl-shift-P (Command Pallette) and select *Dev Containers: Open Folder in Container*.
+* Use VS Code terminals to build existing streets service, preferably using a `build.sh` script under your new service directory(see [Sensor Data Sharing Service](../sensor_data_sharing_service/README.md)).
+
+

.devcontainer/devcontainer.json

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+{
+	"name": "Existing Docker Compose (Extend)",
+	// First "../docker-compose.yml launches all of CARMA Street including Kafka, V2X-Hub and existing CARMA Streets service
+	// Second "docker-compose-devcontainer.yml" lauches dev container for developing and integration testing new and existing
+	// CARMA Streets services 
+	"dockerComposeFile": [
+		"../docker-compose.yml",
+		"docker-compose-devcontainer.yml"
+	],
+
+	// Uncomment for Streets Service Base dev environment
+	"service": "streets_service_base",
+	// Uncomment for Streets Service Base Lanelet aware dev environment
+	// "service": "streets_service_base_lanelet_aware",
+	// Specify the services you want to run
+	"runServices": ["php", "v2xhub", "db", "zookeeper", "kafka", "kowl"],
+	// The optional 'workspaceFolder' property is the path VS Code should open by default when
+	// connected. This is typically a file mount in .devcontainer/docker-compose.yml
+	"workspaceFolder": "/home/carma-streets/",
+
+	// Uncomment for Sensor Data Sharing Service  .
+	// "postCreateCommand": "/home/carma-streets/sensor_data_sharing_service/build.sh",
+
+	// Configure tool-specific properties.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"ms-vscode.cpptools-extension-pack",
+				"github.vscode-github-actions",
+				"yzhang.markdown-all-in-one",
+				"ms-python.python",
+				"ms-python.black-formatter",
+				"ms-python.isort",
+				"streetsidesoftware.code-spell-checker",
+				"sonarsource.sonarlint-vscode",
+				"esbenp.prettier-vscode"
+			]
+		}
+	},
+	"shutdownAction": "stopCompose"
+
+}

.devcontainer/docker-compose-devcontainer.yml

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+version: '3.7'
+services:
+  # Uncomment for streets service base dev environment
+  streets_service_base:
+    # Replace bionic with distro of choice
+    image: usdotfhwastoldev/streets_service_base:bionic
+    # Remove build parameter to force pull from dockerhub
+    build:
+      context: .
+      dockerfile: ./streets_service_base/Dockerfile
+      args:
+        UBUNTU_CODENAME: bionic
+    network_mode: host
+    command: /bin/sh -c "while sleep 1000; do :; done"
+
+
+  # Uncomment for streets service base lanelet aware dev environment
+  streets_service_base_lanelet_aware:
+    image: usdotfhwastoldev/streets_service_base_lanelet_aware:bionic
+    # Remove build parameter to force pull from dockerhub
+    build:
+      context: .
+      dockerfile: ./streets_service_base_lanelet_aware/Dockerfile
+    network_mode: host
+
+
+    volumes:
+      # Update this to wherever you want VS Code to mount the folder of your project
+      - .:/home/carma-streets:cached
+
+    # Uncomment the next four lines if you will use a ptrace-based debugger like C++, Go, and Rust.
+    # cap_add:
+    #   - SYS_PTRACE
+    # security_opt:
+    #   - seccomp:unconfined
+
+    # Overrides default command so things don't shut down after the process ends.
+    command: /bin/sh -c "while sleep 1000; do :; done"
+

.github/workflows/develop.yml

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+name: develop
+on:
+  push:
+    branches: [develop]
+jobs:
+  docker-build:
+    strategy:
+        matrix:
+            include:
+             - ubuntu-codename: bionic
+               build_lanelet_aware: true
+            # Currently install_lanelet2_dependencies.sh script only works for bionic. Disabled lanelet_aware build on newer distributions pending script updates.
+             - ubuntu-codename: focal
+               build_lanelet_aware: false
+            # Currently install_lanelet2_dependencies.sh script only works for bionic. Disabled lanelet_aware build on newer distributions pending script updates.
+             - ubuntu-codename: jammy
+               build_lanelet_aware: false
+    runs-on: ubuntu-latest
+    steps:
+      - name: Log in to the Container registry
+        uses: docker/login-action@v2
+        with:
+            username: ${{ secrets.DOCKERHUB_USERNAME }}
+            password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Docker Build Streets Service Base
+        uses: docker/build-push-action@v3
+        with:
+            push: true
+            build-args: |
+                UBUNTU_CODENAME=${{ matrix.ubuntu-codename }}
+            tags: usdotfhwastol/streets_service_base:${{ matrix.ubuntu-codename }}
+            file: ./streets_service_base/Dockerfile
+      - name: Docker Build Streets Service Base Lanelet Aware
+        if: ${{ matrix.build_lanelet_aware }} 
+        uses: docker/build-push-action@v3
+        with:
+          push: true
+          tags: usdotfhwastol/streets_service_base_lanelet_aware:${{ matrix.ubuntu-codename }}
+          file: ./streets_service_base_lanelet_aware/Dockerfile          
+  build:
+    needs: docker-build
+    defaults:
+      run:
+        shell: bash
+    runs-on: ubuntu-latest-8-cores
+    container:
+      image: usdotfhwastoldev/streets_service_base_lanelet_aware:bionic
+      env:
+        DEBIAN_FRONTEND: noninteractive
+        SONAR_SCANNER_VERSION: "5.0.1.3006"
+        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: |
+        cd /home/carma-streets/build_scripts
+        ./install_test_dependencies.sh
+        mkdir -p /home/carma-streets/ext
+        ./install_rest_server_dependencies.sh
+    - name: Install net-snmp
+      run: |
+        cd /home/carma-streets/ext/
+        apt-get install -y libperl-dev curl
+        curl -k -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: Set up JDK 17
+      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: 17
+        distribution: "temurin"        
+    - 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 $SONAR_DIR/build-wrapper.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
+        curl -sL https://deb.nodesource.com/setup_16.x | bash -
+        apt-get install -y nodejs unzip
+        # Set the JAVA_HOME to a compatible version of Java, e.g., Java 17
+        export JAVA_HOME=$GITHUB_WORKSPACE/java-17
+        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
+      env:
+        JAVA_HOME: $GITHUB_WORKSPACE/java-17
+
+    - name: Check Java Version
+      run: |
+        java -version
+        echo $JAVA_HOME         
+    - name: Build
+      run: |
+        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/
+        ldconfig
+        ./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