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Foundational codebase with support for java federates

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Project "cpswt-core" for CPSWT

The cpswt-core project contains all software needed to run Java-based federates in CPSWT.

Table of Contents

Constituent Modules

cpswt-core contains the core modules for the implementation of the Cyber-Physical Systems Wind Tunnel (CPSWT). In particular, it contains modules to allows Java-based federates to participate in federations, the federation manager module which is responsible for coordinating federation execution, and a module for COA management.

The modules used for CPSWT functionality are as follows. Any modules not listed are under development or are not currently being used.

cpswt-core/root

This module contains the Java base classes for Java classes that implement HLA interaction and object classes in CPSWT. These Java base classes, InteractionRoot and ObjectRoot, actually contain all of the functionality needed to implement any HLA interaction or object class in Java. Importantly, they allow Java-based federates to use dynamic messaging: this enables the federates to manipulate any HLA interaction or object class instance using only the InteractionRoot or ObjectRoot Java base classes, respectively. That is, an HLA interaction or object instance can be manipulated without an explicit corresponding Java class.

cpswt-core/base-events

The modules contains HLA interaction and object classes that are “built-in” to CPSWT. These classes are derived from InteractionRoot and ObjectRoot.

Class List (indentation shows inheritance):

HLA Interactions:

InteractionRoot
  C2WInteractionRoot
    ActionBase
    EmbeddedMessaging
    FederateJoinInteraction
    FederateResignInteraction
    OutcomeBase
    SimLog
      VeryLowPrio
      LowPrio
      MediumPrio
      HighPrio
    SimulationControl
      SimPause
      SimResume
      SimEnd

HLA Objects:

ObjectRoot
  FederateObject

cpswt-core/coa

This module contains the Java classes necessary to implement Courses of Action (COA), i.e. complex behavior that is designed into a federation via its federation model.

cpswt-core/config

This module contains Java classes that determine the contents of federate configuration files, as well as read them.

cpswt-core/federate-base

This module contain Java classes that implement behavior that all federates must have. Among them are:

  • SynchronizedFederate – the base class of all Java federates that are instantiated directly from their representation in a CPSWT model.
  • InteractionMappingBase and InteractionMappingManager – classes that provide base functionality for Mapper federates.

cpswt-core/federation-manager

This module contains the Java classes that implement the FederationManager, which:

  • Must be executed first for any federation
  • Coordinates the execution of all federates in the federation so that they all initialize themselves and start execution simultaneously.

cpswt-core/utils

This module contains various utility classes used by the other modules.

CPSWT Software Installation and Instructions to Build and Publish cpswt-core Modules on Ubuntu 20.04 LTS (Focal Fossa)

Table of Contents

The following CPSWT installation instructions were performed on a VirtualBox VM with 128 GB Disk and 12GB RAM.

Currently, only Ubuntu 20.04 LTS (Focal Fossa) is supported.

NOTE

There are several text boxes in the instructions below that contain commands that you need to execute at the shell command-line.

To copy any of these commands, hover over the textbox and a small “copy” button will appear at the right of the textbox (two rounded rectangles, one on top of the other). Press this button, and the command will be copied to your clipboard.

Then, to paste the command in your shell, select your shell window and press SHIFT-CTRL-V.

General Software Installation

This sections contains instructions for the installation of 3rd-party software that is needed to run CPSWT federations.

Install Needed Packages

  1. After initial install of Ubuntu 20.04 LTS, be sure to upgrade all of the currently installed packages:
    1. Execute the following command to update the available packages for your Ubuntu installation: 
      sudo apt update
    2. Execute the following command to upgrade all of the currently installed packages in your Ubuntu installation: 
      sudo apt upgrade -y

  1. The following packages must be installed:

    • apt-transport-https
    • bison
    • build-essential
    • ca-certificates
    • clang
    • cmake
    • curl
    • doxygen
    • flex
    • gcc
    • gdb
    • gettext
    • git
    • gradle
    • graphviz
    • libboost1.71-all-dev
    • libcppunit-dev
    • libeigen3-dev
    • libffmpeg-ocaml-dev
    • libfox-1.6-dev
    • libgdal-dev
    • libgl2ps-dev
    • libgtest-dev
    • libjsoncpp-dev
    • libosgearth-dev
    • libproj-dev
    • libqt5opengl5-dev
    • libwebkit2gtk-4.0-37
    • libxerces-c-dev
    • libxml2-dev
    • lld
    • make
    • maven
    • mongodb
    • mpi-default-dev
    • openjdk-8-jdk
    • openjdk-11-jdk
    • openjdk-17-jdk
    • openscenegraph-plugin-osgearth
    • perl
    • python2
    • python3
    • python3-pip
    • python-is-python3
    • qt5-qmake
    • qtbase5-dev
    • qtbase5-dev-tools
    • qtchooser
    • software-properties-common
    • swig
    • wget
    • xterm
    • zlib1g-dev

    They can be installed with the following command:

    apt install -y apt-transport-https bison build-essential ca-certificates clang cmake curl doxygen flex gcc gdb gettext git gradle graphviz libboost1.71-all-dev libcppunit-dev libeigen3-dev libffmpeg-ocaml-dev libfox-1.6-dev libgdal-dev libgl2ps-dev libgtest-dev libjsoncpp-dev libosgearth-dev libproj-dev libqt5opengl5-dev libwebkit2gtk-4.0-37 libxerces-c-dev libxml2-dev lld make maven mongodb mpi-default-dev openjdk-8-jdk openjdk-17-jdk openscenegraph-plugin-osgearth perl python2 python3 python3-dev python3-pip python-is-python3 qt5-qmake qtbase5-dev qtbase5-dev-tools qtchooser software-properties-common swig wget xterm zlib1g-dev

  2. The following python packages (for python3) must also be installed:

    • jinja2
    • matplotlib
    • numpy
    • pandas
    • posix_ipc
    • python-dateutil
    • scipy
    • seaborn
    • webgme-bindings

    They can be installed with the following command:

    sudo python3 -m pip install --system --upgrade jinja2 matplotlib numpy pandas posix_ipc python-dateutil scipy seaborn webgme-bindings

  3. Set java-17-openjdk-amd64 to be the default java used by your system by executing the following command:

    sudo update-java-alternatives -s java-1.17.0-openjdk-amd64

    NOTE

    Ignore any errors output by the above command.

  4. There will be several modifications to your .bashrc file in these instructions. The first is set your JAVA_HOME to the directory of your Java installation.

    Granted the openjdk-17-jdk package was installed in step 1, the following command should be appended to your .bashrc file in your home directory:

    export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64

    NOTE

    To see a list of all environment variables that need to be defined or modified in your .bashrc file, see Summary of Environment Variable Definitions and Modifications Needed for CPSWT at the end of this document.

    NOTE

    Whenever command is added in your .bashrc file, it will only have an effect when you spawn and use a new shell, and this effect is needed immediately. So, whenever a command is added to your .bashrc in these instructions either:

    • Kill your current shell, spawn a new one, and use this new shell to continue with these installation instructions.

    • Type the command directly into your current shell, in this case

      export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64.

Install Portico 2.1.0

  1. As these instructions are being written, a compressed tarball to install Portico version 2.1.0 can be downloaded by typing the following URL into your Google Chrome web brower.

    https://master.dl.sourceforge.net/project/portico/Portico/portico-2.1.0/portico-2.1.0-linux64.tar.gz?viasf=1

    However, if this link does not work, you should be able to download the Portico version 2.1.0 as follows:

    1. Go to https://porticoproject.org using your Google Chrome web browser
    2. Click on portico-2.1.0-linux64.tar.gz at the right side of the resulting page, under Linux 64-bit and May 6th
    3. On the resulting page, click on portico-2.1.0-linux64.tar.gz
    4. The file portico-2.1.0-linux64.tar.gz should be downloaded into your Downloads directory under your home directory.

  2. Execute the following commands to untar the portico-2.1.0-linux64.tar.gz tarball into your home directory:

    cd
tar xf <YOUR-HOME-DIRECTORY>/Downloads/portico-2.1.0-linux64.tar.gz

  3. Append the following command to your .bashrc file:

    export RTI_HOME="<YOUR-HOME-DIRECTORY>/portico-2.1.0"

    After doing this remember to either kill your current shell and spawn a new one or type this command into your current shell.

    NOTE

    To see a list of all environment variables that need to be defined or modified in your .bashrc file, see Summary of Environment Variable Definitions and Modifications Needed for CPSWT

Install Apache Archiva version 2.2.5

  1. As these instructions are being written, a compressed tarball to install Apache Archiva version 2.2.5 can be downloaded by typing the following URL into your Google Chrome web brower.

    https://archive.apache.org/dist/archiva/2.2.5/binaries/apache-archiva-2.2.5-bin.tar.gz

    However, if this link does not work, you should be able to download the Apache Archiva version 2.2.5 as follows:

    1. Go to https://archiva.apache.org using your Google Chrome web browser
    2. Click on the Introduction menu item at the top of the resulting page
    3. On the resulting dropdown menu, click on Downloads
    4. In the Previous Versions section of the resulting page, click on Apache Archiva Archives
    5. On the resulting page, click on 2.2.5/
    6. On the resulting page, click on binaries/
    7. On the resulting page, click on apache-archiva-2.2.5-bin.tar.gz
    8. The file apache-archiva-2.2.5-bin.tar.gz should be downloaded into your Downloads directory under your home directory.

  2. Untar the apache-archiva-2.2.5-bin.tar.gz tarball into your /opt directory:

    1. Become root using the following command: 
      sudo su -
    2. Change your current directory to the /opt directory: 
      cd /opt
    3. Untar the apache-archiva-2.2.5-bin.tar.gz tarball: 
      tar xf <YOUR-HOME-DIRECTORY>/Downloads/apache-archiva-2.2.5-bin.tar.gz
    4. DON’T EXIT OUT OF THE root USER ID YET – GO TO THE NEXT STEP BELOW

  3. Start the Archiva server and set up Archiva to execute on boot:

    1. Edit the file /etc/systemd/system/archiva.service using your favorite editor by executing the editor from the command-line, i.e. as root. It should not exist yet, and so should be created when you edit it.
    2. Place the following text in this file: 
      [Unit]
Description=Archiva Server
Documentation=https://archiva.apache.org/docs/2.2.5/
After=network.target

[Service]
Type=forking
PIDFile=/opt/apache-archiva-2.2.5/logs/archiva.pid
WorkingDirectory=/opt/apache-archiva-2.2.5
ExecStart=bash -ic "export PATH=/usr/lib/jvm/java-8-openjdk-amd64/bin:$PATH ; exec /opt/apache-archiva-2.2.5/bin/archiva start"
ExecStop=/opt/apache-archiva-2.2.5/bin/archiva stop

[Install]
WantedBy=multi-user.target
    1. Save the file and exit the editor
    2. Type the following two commands at the root shell prompt: 
      systemctl enable archiva
systemctl start archiva
    3. Exit out of the root userid: 
      exit
    4. The Archiva server should now be started and will start automatically on boot.

  4. Test and set up the Archiva server:

    1. Using your Google Chrome web browser, go to http://localhost:8080. The resulting page should be the Archiva home page for your Archiva server.

      NOTE

      Archiva can take several seconds to start up. If your browser reports that it cannot load the page, or the page is taking a long time to load, wait 60 seconds (ample time) and try again.

    2. In the upper right-hand corner of you Archiva server’s home page, click Create Admin User
    3. On the resulting page, enter the following information:
      • Username: admin
      • Full Name: <whatever you think is appropriate>
      • Password: adminpass123
      • Confirm Password: adminpass123
      • Email Address: <your email address>
      • Validated: <check the box>
      • Locked: <LEAVE BOX UNCHECKED>
      • Change password required: <LEAVE BOX UNCHECKED>
    4. Press the Save button
    5. Archiva is good to go!

NOTE

It is important that you use admin and adminpass123 as your Archiva administrator username and password, respectively, as they are used in other parts of these instructions.

Software for Java-based Federates

The following instructions show how to install, build and publish software needed to use Java-based federates in CPSWT.

Working with Gradle

Gradle is the build tool the CPSWT project uses to build, test, and publish its software to the installed Archiva repository on your system.

For Gradle to work properly in this capacity, the following steps must be performed:

  1. Create the .gradle directory under your home directory, if it doesn’t already exist, by executing the following commands:

    cd
mkdir .gradle

  2. Edit the /.gradle/gradle.properties file using your favorite editor and give it the contents below:

    archivaUser=admin
archivaPassword=adminpass123
archivaHostId=localhost
archivaPort=8080
version=0.8.0-SNAPSHOT

org.gradle.console=plain

omnetppHome=/opt/omnetpp-5.6.2

  3. IMPORTANT: to execute gradle to build/test/publish software, we will be using the gradle wrapper executable, which will reside in the directories where we perform the building/testing/publishing.

    NOTE

    DO NOT EXECUTE the following two commands below – they’re only there to show how to set up the gradle wrapper

    1. To set up the gradle wrapper executable, change to the given directory (this happens in a few places below) and execute the following command in your shell: 
      gradle wrapper --gradle-version=8.0
    2. To execute the gradle-wrapper, use the following command while in the given directory: 
      ./gradlew <options> [arguments]

Build CPSWT Java Packages and Publish to Archiva

NOTE

To build CPSWT Packages and publish them to Archiva, we first need to clone the git repositories where they reside. To do this, it is best to create a directory under your home directory where all needed CPSWT git repositories will be cloned (there 3 total needed for these instructions).

It is recommended that you call this directory cpswt. To create it, enter the following commands:

cd
mkdir cpswt

This directory will be referred to as <CPSWT-HOME> for the remainder of these instructions.

IMPORTANT: <CPSWT-HOME> is an absolute path , not a relative path. For instance, if you made <CPSWT-HOME> the cpswt directory under <YOUR-HOME-DIRECTORY>, then <CPSWT-HOME> represents “<YOUR-HOME-DIRECTORY>/cpswt”.

  1. Clone the cpswt-core git repository:
    1. Change your directory to <CPSWT-HOME>: 
      cd <CPSWT-HOME>
    2. Clone the repository: 
      git clone [email protected]:SimIntToolkit/cpswt-core.git
  2. Change to the <CPSWT-HOME>/cpswt-core/cpswt-core directory (you read that right – cpswt-core appears twice): 
    cd <CPSWT-HOME>/cpswt-core/cpswt-core
  3. Install the gradle wrapper: 
    gradle wrapper --gradle-version=8.0
  4. Execute the following sequence of commands in order: 
    ./gradlew :utils:publish
./gradlew :root:publish
./gradlew :base-events:publish
./gradlew :config:publish
./gradlew :federate-base:publish
./gradlew :coa:publish
./gradlew :federation-manager:publish
./gradlew :fedmanager-host:publish
  5. To test if the Java packages have been published to Archiva, do the following:

    1. Go to http://localhost:8080 using your Google Chrome browser

    2. On the resulting page, click on Browse in the upper left-hand corner under Artifacts

    3. Under Browse Repository in the top-middle-left of the page, click on the small down-arrow on the right side of a small textbox.

    4. In the resulting drop-down menu, click Archive Managed Snapshot Repository

    5. Click on org.cpswt, which should be a short ways down the page from Browse Repository mentioned above.

    6. A list should appear that contains all of the packages you published above using ./gradlew (in alphabetical order):

      • base-events
      • coa
      • config
      • federate-base
      • federation-manager
      • fedmanager-host
      • root
      • utils

This concludes the setup for CPSWT for the HelloWorldJava example!

Summary of Environment Variable Definitions and Modifications Needed for CPSWT

The following lines must be added to the end of the .bashrc file in your home directory. They define or modify important environment variables needed for CPSWT.

Make the following substitutions in the values for these environment variables:

  • Substitute your actual home directory (e.g. /home/vagrant) for <YOUR-HOME-DIRECTORY>
export JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64
export RTI_HOME="<YOUR-HOME-DIRECTORY>/portico-2.1.0"

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Foundational codebase with support for java federates

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