Merge pull request #2032 from usdot-fhwa-stol/release/isetta

Merge release Isetta

.circleci/config.yml

@@ -28,13 +28,13 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/autoware.ai:carma-system-4.2.0
+      - image: usdotfhwastol/autoware.ai:carma-system-4.3.0
         user: carma
         environment:
           TERM: xterm
           INIT_ENV: /home/carma/.base-image/init-env.sh
           ROS_2_ENV: /opt/autoware.ai/ros/install_ros2/setup.bash
-    resource_class: xlarge      
+    resource_class: xlarge
     # Set working directory
     working_directory: "/opt/carma/"
     # Pull code and execute tests
@@ -50,29 +50,32 @@ jobs:
       # Checkout PR branch
       - checkout:
           path: src/CARMAPlatform
-      - run: 
+      - setup_remote_docker:
+          docker_layer_caching: true # DLC will explicitly cache layers here and try to avoid rebuilding.
+      - run:
           name: Pull Deps
           command: |
             source ${INIT_ENV}
             ./src/CARMAPlatform/docker/checkout.bash -r ${PWD}
-            cd ${PWD}
-            sudo apt-get update
       - run:
           name: Build CARMA ROS 1
           command: |
             source ${INIT_ENV}
             export ROS_PARALLEL_JOBS='-j4 -l4' # Try to reduce memory consumption on build
-            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+            make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests ROS 1
           command: |
             source ${INIT_ENV}
             export ROS_PARALLEL_JOBS='-j4 -l4' # Try to reduce memory consumption on build
-            bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+            make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Backup ROS1 compile_commands.json
+          command: |
+            mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json
       - run:
           name: Cleanup before ROS 2 build
           # Clear the build and install folders before building ROS 2 
-          # but leave the build-wrapper output intact
           command: |
             rm -rf /opt/carma/install
             rm -rf /opt/carma/build
@@ -81,14 +84,19 @@ jobs:
           command: |
             source ${INIT_ENV}
             source ${ROS_2_ENV}
-            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+            export ROS_PARALLEL_JOBS='-j4 -l4' # Try to reduce memory consumption on build
+            make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
       - run:
           name: Run C++ Tests ROS 2
           command: |
             source ${INIT_ENV}
             source ${ROS_2_ENV}
-            bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
-          
+            make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Combine ROS1 and ROS2 compile_commands.json files
+          command: |
+            mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
+            jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json
       # Run SonarCloud analysis
       # PR Branches and number extracted from Circle variables and github api
       # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats

.github/workflows/docker.yml

@@ -0,0 +1,14 @@
+name: Docker build
+
+on:
+  push:
+    branches-ignore:
+      - "develop"
+      - "master"
+      - "release/*"
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main

.github/workflows/dockerhub.yml

@@ -0,0 +1,16 @@
+
+
+name: Docker Hub build
+
+on:
+  push:
+    branches:
+      - "develop"
+      - "master"
+
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}

.github/workflows/doxygen.yml

@@ -0,0 +1,59 @@
+#  Copyright (C) 2018-2022 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.
+
+# Configuration file for GitHub Actions 
+# CI will report failure if any executed command returns and error status
+# Operations performed are as follows
+# Build source code Documentation
+# Run Doxygen Action
+# Deploy documentation static webpage to gh-pages
+
+name: Doxygen Action
+
+# Controls when the action will run. Triggers the workflow on push or pull Request events but only for the develop branch
+on:
+  push:
+    branches: [ develop ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Install graphvix to support Graph visualization and representing structural information as diagrams of abstract graphs and networks
+    - name: Install graphviz
+      run: sudo apt install graphviz && sudo dot -c
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v2
+    # Doxygen action for documentation of carma-platform source code by using mattnotmitt github actions workflow
+    - name: Doxygen Action
+      uses: mattnotmitt/[email protected]
+      with:
+        # Path to Doxyfile
+        doxyfile-path: "./Doxyfile" # default is ./Doxyfile
+        # Working directory
+        working-directory: "." # default is .
+    - name: Deploy
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        deploy_key: ${{ secrets.ACTIONS_DEPLOY_KEY }}
+        external_repository: usdot-fhwa-stol/documentation
+        publish_branch: gh-pages
+        # default: gh-pages
+        publish_dir: ./html/
+        destination_dir: ${{ github.event.repository.name }}

.gitignore

@@ -10,6 +10,7 @@ myClock.bin
 /*.tar.gz
 *.class
 **/bin
+**/__pycache__
 
 # ignore build directories
 build

.sonarqube/sonar-scanner.properties

@@ -16,17 +16,21 @@
 sonar.scanner.force-deprecated-java-version-grace-period=true
 sonar.projectKey=usdot-fhwa-stol_CARMAPlatform
 sonar.organization=usdot-fhwa-stol
-sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.cfamily.cache.enabled=false
+sonar.cfamily.compile-commands=/opt/carma/build/compile_commands.json
 sonar.cfamily.threads=4
 sonar.host.url=https://sonarcloud.io
 sonar.sources=src/main
 sonar.tests=src/test
 sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+sonar.coverageReportPaths=/opt/carma/coverage_reports/gcov/coverage.xml
 # Set Git as SCM sensor
 sonar.scm.disabled=false
 sonar.scm.enabled=true
 sonar.scm.provider=git
 sonar.sourceEncoding=UTF-8
+sonar.c.file.suffixes=-
+onar.cpp.file.suffixes=.cpp,.h,.tpp
 
 # Modules, C++ packages
 sonar.modules= bsm_generator, \
@@ -45,7 +49,7 @@ sonar.modules= bsm_generator, \
   carma_wm_ctrl, \
   mpc_follower_wrapper, \
   roadway_objects, \
-  platooning_strategic, \
+  platooning_strategic_IHP, \
   mock_lightbar_driver, \
   platooning_tactical_plugin, \
   port_drayage_plugin, \
@@ -58,12 +62,10 @@ sonar.modules= bsm_generator, \
   carma_record, \
   traffic_incident_parser, \
   motion_computation, \
-  unobstructed_lanechange, \
   yield_plugin, \
   basic_autonomy, \
   cooperative_lanechange,\
   mobilitypath_visualizer, \
-  wz_strategic_plugin, \
   sci_strategic_plugin, \
   stop_controlled_intersection_tactical_plugin, \
   lci_strategic_plugin, \
@@ -74,7 +76,8 @@ sonar.modules= bsm_generator, \
   points_map_filter, \
   light_controlled_intersection_tactical_plugin, \
   platoon_control_ihp, \
-  carma_guidance_plugins
+  carma_guidance_plugins, \
+  carma_cloud_client
 
 guidance.sonar.projectBaseDir                  = /opt/carma/src/CARMAPlatform/guidance
 bsm_generator.sonar.projectBaseDir             = /opt/carma/src/CARMAPlatform/bsm_generator
@@ -92,7 +95,7 @@ carma_wm_ctrl.sonar.projectBaseDir             = /opt/carma/src/CARMAPlatform/ca
 mpc_follower_wrapper.sonar.projectBaseDir      = /opt/carma/src/CARMAPlatform/mpc_follower_wrapper
 truck_inspection_client.sonar.projectBaseDir   = /opt/carma/src/CARMAPlatform/truck_inspection_client
 roadway_objects.sonar.projectBaseDir           = /opt/carma/src/CARMAPlatform/roadway_objects
-platooning_strategic.sonar.projectBaseDir      = /opt/carma/src/CARMAPlatform/platooning_strategic
+platooning_strategic_IHP.sonar.projectBaseDir      = /opt/carma/src/CARMAPlatform/platooning_strategic_IHP
 platooning_tactical_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/platooning_tactical_plugin
 platoon_control_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/platooning_control
 mobilitypath_publisher.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/mobilitypath_publisher
@@ -105,12 +108,10 @@ stop_and_wait_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/stop_an
 carma_record.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/carma_record
 traffic_incident_parser.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/traffic_incident_parser
 motion_computation.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/motion_computation
-unobstructed_lanechange.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/unobstructed_lanechange
 cooperative_lanechange.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/cooperative_lanechange
 yield_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/yield_plugin
 basic_autonomy.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/basic_autonomy
 mobilitypath_visualizer.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/mobilitypath_visualizer
-wz_strategic_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/wz_strategic_plugin
 sci_strategic_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/sci_strategic_plugin
 stop_controlled_intersection_tactical_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/stop_controlled_intersection_tactical_plugin
 system_controller.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/system_controller
@@ -122,55 +123,100 @@ light_controlled_intersection_tactical_plugin.sonar.projectBaseDir = /opt/carma/
 platoon_control_ihp.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/platooning_control_ihp
 lci_strategic_plugin.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/lci_strategic_plugin
 carma_guidance_plugins.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/carma_guidance_plugins
+carma_cloud_client.sonar.projectBaseDir = /opt/carma/src/CARMAPlatform/carma_cloud_client
 
 # C++ Package differences
 # Sources
 guidance.sonar.sources                  = src
+guidance.sonar.exclusions               =test/**
 bsm_generator.sonar.sources             = src
+bsm_generator.sonar.exclusions          =test/**
 gnss_to_map_convertor.sonar.sources     = src
+gnss_to_map_convertor.sonar.exclusions  =test/**
 pure_pursuit_wrapper.sonar.sources      = src
+pure_pursuit_wrapper.sonar.exclusions  =test/**
 route.sonar.sources                     = src
+route.sonar.exclusions  =test/**
 route_following_plugin.sonar.sources    = src
+route_following_plugin.sonar.exclusions  =test/**
 trajectory_executor.sonar.sources       = src
+trajectory_executor.sonar.exclusions  =test/**
 localization_manager.sonar.sources         = src
+localization_manager.sonar.exclusions  =test/**
 health_monitor.sonar.sources            = src
+health_monitor.sonar.exclusions  =test/**
 arbitrator.sonar.sources                = src
+arbitrator.sonar.exclusions  =test/**
 plan_delegator.sonar.sources            = src
+plan_delegator.sonar.exclusions  =test/**
 carma_wm.sonar.sources                  = src
+carma_wm.sonar.exclusions  =test/**
 carma_wm_ctrl.sonar.sources             = src
+carma_wm_ctrl.sonar.exclusions  =test/**
 mpc_follower_wrapper.sonar.sources      = src
+mpc_follower_wrapper.sonar.exclusions  =test/**
 truck_inspection_client.sonar.sources   = src
+truck_inspection_client.sonar.exclusions  =test/**
 roadway_objects.sonar.sources           = src
-platooning_strategic.sonar.sources      = src
+roadway_objects.sonar.exclusions  =test/**
+platooning_strategic_IHP.sonar.sources      = src
+platooning_strategic_IHP.sonar.exclusions  =test/**
 platooning_tactical_plugin.sonar.sources           = src
+platooning_tactical_plugin.sonar.exclusions  =test/**
 platoon_control_plugin.sonar.sources           = src
+platoon_control_plugin.sonar.exclusions  =test/**
 mobilitypath_publisher.sonar.sources           = src
+mobilitypath_publisher.sonar.exclusions  =test/**
 mock_lightbar_driver.sonar.sources      = src
+mock_lightbar_driver.sonar.exclusions  =test/**
 port_drayage_plugin.sonar.sources      = src
+port_drayage_plugin.sonar.exclusions  =test/**
 rosbag_mock_drivers.sonar.sources      = src
+rosbag_mock_drivers.sonar.exclusions  =test/**
 lightbar_manager.sonar.sources      = src
+lightbar_manager.sonar.exclusions  =test/**
 inlanecruising_plugin.sonar.sources      = src
+inlanecruising_plugin.sonar.exclusions  =test/**
 stop_and_wait_plugin.sonar.sources      = src
+stop_and_wait_plugin.sonar.exclusions  =test/**
 carma_record.sonar.sources = src
+carma_record.sonar.exclusions  =test/**
 traffic_incident_parser.sonar.sources = src
+traffic_incident_parser.sonar.exclusions  =test/**
 motion_computation.sonar.sources = src
-unobstructed_lanechange.sonar.sources = src
+motion_computation.sonar.exclusions  =test/**
 cooperative_lanechange.sonar.sources = src
+cooperative_lanechange.sonar.exclusions  =test/**
 yield_plugin.sonar.sources = src
+yield_plugin.sonar.exclusions  =test/**
 basic_autonomy.sonar.sources = src
+basic_autonomy.sonar.exclusions  =test/**
 mobilitypath_visualizer.sonar.sources = src
-wz_strategic_plugin.sonar.sources = src
+mobilitypath_visualizer.sonar.exclusions  =test/**
 sci_strategic_plugin.sonar.sources = src
+sci_strategic_plugin.sonar.exclusions  =test/**
 stop_controlled_intersection_tactical_plugin.sonar.sources = src
+stop_controlled_intersection_tactical_plugin.sonar.exclusions  =test/**
 system_controller.sonar.sources = src
+system_controller.sonar.exclusions  =test/**
 subsystem_controllers.sonar.sources = src
+subsystem_controllers.sonar.exclusions  =test/**
 frame_transformer.sonar.sources = src
+frame_transformer.sonar.exclusions  =test/**
 object_visualizer.sonar.sources = src
+object_visualizer.sonar.exclusions  =test/**
 points_map_filter.sonar.sources = src
+points_map_filter.sonar.exclusions  =test/**
 light_controlled_intersection_tactical_plugin.sonar.sources = src
+light_controlled_intersection_tactical_plugin.sonar.exclusions  =test/**
 platoon_control_ihp.sonar.sources = src
+platoon_control_ihp.sonar.exclusions  =test/**
 lci_strategic_plugin.sonar.sources = src
+lci_strategic_plugin.sonar.exclusions  =test/**
 carma_guidance_plugins.sonar.sources = src
+carma_guidance_plugins.sonar.exclusions  =test/**
+carma_cloud_client.sonar.sources = src
+carma_cloud_client.sonar.exclusions  =test/**
 
 # Tests
 # Note: For C++ setting this field does not cause test analysis to occur. It only allows the test source code to be evaluated.
@@ -188,7 +234,7 @@ carma_wm_ctrl.sonar.tests           = test
 mpc_follower_wrapper.sonar.tests    = test
 truck_inspection_client.sonar.tests = test
 roadway_objects.sonar.tests         = test 
-platooning_strategic.sonar.tests    = test
+platooning_strategic_IHP.sonar.tests    = test
 platooning_tactical_plugin.sonar.tests         = test 
 platoon_control_plugin.sonar.tests         = test
 mobilitypath_publisher.sonar.tests         = test 
@@ -200,12 +246,10 @@ inlanecruising_plugin.sonar.tests   = test
 stop_and_wait_plugin.sonar.tests   = test
 traffic_incident_parser.sonar.tests = test
 motion_computation.sonar.tests = test
-unobstructed_lanechange.sonar.tests = test
 cooperative_lanechange.sonar.tests = test
 yield_plugin.sonar.tests = test
 basic_autonomy.sonar.tests = test
 mobilitypath_visualizer.sonar.tests = test
-wz_strategic_plugin.sonar.tests = test
 sci_strategic_plugin.sonar.tests = test
 platoon_control_ihp.sonar.tests = test
 
@@ -221,3 +265,4 @@ platoon_control_ihp_plugin.sonar.tests = test
 lci_strategic_plugin.sonar.sources = src
 lci_strategic_plugin.sonar.sources = test
 carma_guidance_plugins.sonar.sources = test
+carma_cloud_client.sonar.sources = test

Dockerfile

@@ -33,7 +33,7 @@
 # Stage 1 - Acquire the CARMA source as well as any extra packages
 # /////////////////////////////////////////////////////////////////////////////
 
-FROM usdotfhwastol/autoware.ai:carma-system-4.2.0 AS base-image
+FROM usdotfhwastol/autoware.ai:carma-system-4.3.0 AS base-image
 
 FROM base-image AS source-code