Arpa 28 humble

.devcontainer/devcontainer.json

@@ -0,0 +1,35 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
+{
+	"name": "V2X-ROS Conversion",
+	"build": {
+		// Sets the run context to one level up instead of the .devcontainer folder.
+		"context": "..",
+		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
+		"dockerfile": "../Dockerfile"
+	},
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line to run commands after the container is created.
+	// "postCreateCommand": "cat /etc/os-release",
+
+	// Configure tool-specific properties.
+	"customizations": {
+			"vscode": {
+				"extensions": [
+					"ms-vscode.cpptools",
+					"ms-vscode.cpptools-extension-pack",
+					"ms-vscode.cmake-tools",
+					"twxs.cmake"
+				]
+			}
+	}
+
+	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "devcontainer"
+}

.github/workflows/ci.yml

@@ -48,6 +48,8 @@ jobs:
         else
           echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
         fi
+    - name: Install stol-j2735 package from STOL APT repo
+      run: ./src/${{ github.event.repository.name }}/docker/install_dependencies.sh
     - name: Checkout dependencies
       run: |
         source "$INIT_ENV"

.gitignore

@@ -0,0 +1,4 @@
+/.vscode
+/build
+/install
+/log

.sonarqube/sonar-scanner.properties

@@ -33,12 +33,10 @@ sonar.sourceEncoding=UTF-8
 # Modules, C++ packages
 sonar.modules= j2735_convertor, \
   cpp_message, \
-  lib_asn1c, \
   v2x-ros-conversion
 
 j2735_convertor.sonar.projectBaseDir=/opt/carma/src/v2x-ros-conversion/ros-conversion/j2735_convertor
 cpp_message.sonar.projectBaseDir=/opt/carma/src/v2x-ros-conversion/ros-conversion/cpp_message
-lib_asn1c.sonar.projectBaseDir=/opt/carma/src/v2x-ros-conversion/ros-conversion/lib_asn1c
 v2x-ros-conversion.sonar.projectBaseDir=/opt/carma/src/v2x-ros-conversion/ros-conversion/v2x-ros-conversion
 
 # C++ Package differences

Dockerfile

@@ -1,4 +1,4 @@
-#  Copyright (C) 2018-2024 LEIDOS.
+#  Copyright (C) 2018-2025 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
@@ -11,19 +11,22 @@
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
+
 ARG DOCKER_ORG="usdotfhwastoldev"
 ARG DOCKER_TAG="develop-humble"
 FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
+COPY --chown=carma . /home/carma/src/
+
+RUN ~/src/docker/install_dependencies.sh
+
 FROM base_image as setup
 ARG GIT_BRANCH="develop-humble" 
 
-RUN mkdir ~/src
-COPY --chown=carma . /home/carma/src/
 RUN ~/src/docker/checkout.bash -b ${GIT_BRANCH}
 
 RUN ~/src/docker/install.sh
 
-FROM base_image
+RUN rm -rf /home/carma/src/
 
 ARG BUILD_DATE="NULL"
 ARG VERSION="NULL"
@@ -39,9 +42,8 @@ LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-messeng
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-COPY --from=setup /opt/carma/install /opt/carma/install
+RUN sudo chmod -R +x /opt/carma/install
 
 RUN pip install future
 
-CMD  [ "wait-for-it", "localhost:11311", "--", "ros2", "v2x-ros-conversion", "v2x-ros-conversion.launch.py" ]
-
+CMD  [ "wait-for-it", "localhost:11311", "--", "source", "/opt/carma/install/setup.bash", "&&", "ros2", "v2x-ros-conversion", "v2x-ros-conversion.launch.py"]

docker/get-repo-name.sh

@@ -1,5 +1,23 @@
 #!/bin/bash
 
+#  Copyright (C) 2018-2024 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.
+
+basename -s .git `git config --get remote.origin.url`
+
+#!/bin/bash
+
 #  Copyright (C) 2018-2024 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

docker/install.sh

@@ -16,6 +16,5 @@
 
 # Build ros2
 cd ~/
-source /home/carma/catkin/setup.bash
 source /opt/ros/humble/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --install-base /opt/carma/install

docker/install_dependencies.sh

@@ -0,0 +1,15 @@
+#!/bin/sh
+
+# exit on errors
+set -e
+
+# Get ubuntu distribution code name. All STOL APT debian packages are pushed to S3 bucket based on distribution codename.
+. /etc/lsb-release
+
+# add the STOL APT repository
+echo "deb [trusted=yes] http://s3.amazonaws.com/stol-apt-repository ${DISTRIB_CODENAME} main" | sudo tee /etc/apt/sources.list.d/stol-apt-repository.list
+
+sudo apt-get update
+
+# install all things needed for deployment, always done
+sudo apt-get install -y stol-j2735-1

ros-conversion/cpp_message/CMakeLists.txt

@@ -1,5 +1,5 @@
 
-# Copyright (C) 2022-2023 LEIDOS.
+# Copyright (C) 2022-2025 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
@@ -16,11 +16,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(cpp_message)
 
-set(ros_environment_DIR "usr/local/lib/cmake")
-
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
-find_package(asn1c REQUIRED)
+
+# STOL Debian package CMake install path
+list(APPEND CMAKE_PREFIX_PATH "/opt/carma/cmake/")
+set(CMAKE_INSTALL_RPATH "/opt/carma/lib")
+
+find_package(stol-j2735 REQUIRED)
 
 carma_check_ros_version(2)
 carma_package()
@@ -36,7 +39,9 @@ set(node_lib cpp_message_node)
 # Includes
 include_directories(
 	include
-	include/generated       
+)
+link_directories(
+        /opt/carma/lib
 )
 
 ament_export_include_directories(include)
@@ -57,38 +62,29 @@ ament_auto_add_library(${node_lib} SHARED
         src/SDSM_Message.cpp
         )
 
+target_link_libraries(${node_lib} ::stol-j2735)
+target_include_directories(${node_lib}
+        PUBLIC
+                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                $<INSTALL_INTERFACE:include>
+                /opt/carma/include/stol-j2735
+                )
 
-add_library(testlib SHARED IMPORTED)
-
-# Following is asn1c library install path outside the container, which is usually fixed as /opt/carma/install/
-set(ASN1C_INSTALL_PATH ${asn1c_DIR}/../../../)
-
-set_target_properties(testlib PROPERTIES
-  IMPORTED_LOCATION ${ASN1C_INSTALL_PATH}/lib/libasn1c.so
-)
-
-target_link_libraries(${node_lib} testlib)
-
-ament_auto_add_executable(${node_exec} 
-        src/main.cpp 
+ament_auto_add_executable(${node_exec}
+        src/main.cpp
 )
 
 # Register component
 rclcpp_components_register_nodes(${node_lib} "cpp_message::Node")
 
-# All locally created targets will need to be manually linked
-# ament auto will handle linking of external dependencies
-target_link_libraries(${node_exec}
-        ${node_lib}
-)
-
-# Testing
-if(BUILD_TESTING)  
+# # Testing
+if(BUILD_TESTING)
 
   find_package(ament_lint_auto REQUIRED)
+
   ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable
 
-  ament_add_gtest(test_cpp_message_node 
+  ament_add_gtest(test_cpp_message_node
                         test/test_MobilityOperations.cpp
                         test/test_EmergencyVehicleAck.cpp
                         test/test_EmergencyVehicleResponse.cpp
@@ -104,13 +100,18 @@ if(BUILD_TESTING)
                         test/test_SDSM.cpp
                         )
 
-  ament_target_dependencies(test_cpp_message_node ${${PROJECT_NAME}_FOUND_TEST_DEPENDS})
+  ament_target_dependencies(test_cpp_message_node ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} )
 
   target_link_libraries(test_cpp_message_node ${node_lib})
+  target_include_directories(test_cpp_message_node
+        PUBLIC
+                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                $<INSTALL_INTERFACE:include>
+                )
 
 endif()
 
 # Install
 ament_auto_package(
         INSTALL_TO_SHARE launch
-)
+)