Completion of the transition to a pure JSON-based system

.gitignore

@@ -1,5 +1,6 @@
 .idea
 .vscode
+.claude
 .venv
 _*/
 cmake-build-debug/

CMLibStorage.cmake

@@ -1,3 +1,7 @@
+FIND_PACKAGE(CMLIB REQUIRED COMPONENTS CMCONF)
+
+CMCONF_INIT_SYSTEM(FLEET_PROTOCOL)
+
 SET(STORAGE_LIST DEP)
 
 SET(STORAGE_LIST_DEP "https://github.com/bacpack-system/package-tracker.git")

CMakeLists.txt

@@ -55,17 +55,17 @@ IF (NOT BRINGAUTO_SYSTEM_DEP)
 ENDIF ()
 
 FIND_PACKAGE(nlohmann_json 3.10.5 REQUIRED)
-FIND_PACKAGE(Protobuf 3.21.12 REQUIRED)
 FIND_PACKAGE(fleet-protocol-interface 2.0.0 REQUIRED)
 FIND_PACKAGE(fleet-protocol-cxx-helpers-static 1.1.1 REQUIRED)
+FIND_PACKAGE(async-function-execution-shared 1.0.0 REQUIRED)
+FIND_PACKAGE(aeron 1.48.6 REQUIRED)
 
 IF (FLEET_PROTOCOL_BUILD_EXTERNAL_SERVER)
-    FIND_PACKAGE(fleet-http-client-shared 2.0.0 REQUIRED)
+    FIND_PACKAGE(fleet-http-client-shared 2.0.1 REQUIRED)
     ### fleet-http-client dependencies
     FIND_PACKAGE(Boost CONFIG REQUIRED)
     FIND_PACKAGE(ZLIB REQUIRED)
     FIND_PACKAGE(cpprestsdk REQUIRED)
-    FIND_PACKAGE(libbringauto_logger 1.2.0 REQUIRED)
 ENDIF ()
 
 CMDEF_ADD_LIBRARY(
@@ -74,18 +74,11 @@ CMDEF_ADD_LIBRARY(
         VERSION ${MISSION_MODULE_VERSION}
 )
 
-# Protobuf, JSON mission payload
-SET(Protobuf_USE_STATIC_LIBS ON)
-FILE(GLOB_RECURSE protobuf_mission_cpp_files "lib/protobuf-mission-module/*")
-ADD_LIBRARY(message_handler_lib STATIC ${protobuf_mission_cpp_files})
-TARGET_INCLUDE_DIRECTORIES(message_handler_lib PUBLIC "lib/protobuf-mission-module/")
-TARGET_LINK_LIBRARIES(message_handler_lib PUBLIC protobuf::libprotobuf nlohmann_json::nlohmann_json)
-
 FILE(GLOB_RECURSE HEADERS "include/*")
 
 ADD_LIBRARY(mission_module_hpp INTERFACE ${HEADERS})
 TARGET_INCLUDE_DIRECTORIES(mission_module_hpp INTERFACE "include/")
-TARGET_LINK_LIBRARIES(mission_module_hpp INTERFACE message_handler_lib)
+TARGET_LINK_LIBRARIES(mission_module_hpp INTERFACE nlohmann_json::nlohmann_json)
 
 FILE(GLOB_RECURSE SOURCES "source/bringauto/*")
 
@@ -95,7 +88,6 @@ TARGET_LINK_LIBRARIES(mission_module_sources PUBLIC
         mission_module_hpp
         fleet-protocol-interface::common-headers-interface
         fleet-protocol-cxx-helpers-static::fleet-protocol-cxx-helpers-static
-        message_handler_lib
 )
 
 IF (FLEET_PROTOCOL_BUILD_MODULE_GATEWAY)

cmake/Dependencies.cmake

@@ -1,14 +1,14 @@
 SET(CMAKE_FIND_USE_CMAKE_SYSTEM_PATH FALSE)
 
 BA_PACKAGE_LIBRARY(fleet-protocol-interface          v2.0.0 NO_DEBUG ON)
-BA_PACKAGE_LIBRARY(fleet-protocol-cxx-helpers-static v1.1.1)
+BA_PACKAGE_LIBRARY(fleet-protocol-cpp                v1.2.0)
+BA_PACKAGE_LIBRARY(async-function-execution          v1.0.0)
+BA_PACKAGE_LIBRARY(aeron                             v1.48.6)
 BA_PACKAGE_LIBRARY(zlib                              v1.2.11)
 BA_PACKAGE_LIBRARY(nlohmann-json                     v3.10.5 NO_DEBUG ON)
-BA_PACKAGE_LIBRARY(protobuf                          v4.21.12)
 
 IF (FLEET_PROTOCOL_BUILD_EXTERNAL_SERVER)
-    BA_PACKAGE_LIBRARY(fleet-http-client-shared v2.0.0)
+    BA_PACKAGE_LIBRARY(fleet-http-client-shared v2.0.1)
     BA_PACKAGE_LIBRARY(boost                    v1.86.0)
     BA_PACKAGE_LIBRARY(cpprestsdk               v2.10.20)
-    BA_PACKAGE_LIBRARY(ba-logger                v1.2.0)
 ENDIF ()

docs/mission_module.md

@@ -38,7 +38,7 @@ flowchart TD
 
 ## Structure
 
-Below, the data passed in the messages used in the External Protocol are described. The data structure can also be found in the [.proto](../lib/protobuf-mission-module/) file.
+Below, the data passed in the messages used in the External Protocol are described.
 
 ## Status payload data
 
@@ -166,8 +166,8 @@ Example of command payload when there is no mission defined for the car:
 
 ## Validation
 
-The validation of each of the messages is done against the message structure described above (and in the [.proto](../lib/protobuf-mission-module/) file). The functions for validation:
+The validation of each of the messages is done against the message structure described above. The functions for validation are in `JsonValidator`:
 
-- `parseAutonomyStatus` for status,
-- `parseAutonomyError` for status error,
-- `parseAutonomyCommand` for command.
+- `JsonValidator::validateAutonomyStatus` for status,
+- `JsonValidator::validateAutonomyError` for status error,
+- `JsonValidator::validateAutonomyCommand` for command.

include/bringauto/JsonHelper.hpp

@@ -0,0 +1,81 @@
+#pragma once
+
+#include <bringauto/modules/mission_module/AutonomyAction.hpp>
+#include <bringauto/modules/mission_module/AutonomyState.hpp>
+#include <fleet_protocol/common_headers/memory_management.h>
+
+#include <nlohmann/json.hpp>
+
+
+namespace bringauto {
+
+/**
+ * @brief Utility class for converting between buffers, JSON objects, and mission module enums
+ *
+ * Represents a collection of static conversion and validation utilities tied to the
+ * mission module's JSON message format. Its purpose is to centralise all JSON serialisation,
+ * deserialisation, and structural validation so that the rest of the module does not
+ * depend directly on the nlohmann::json API.
+ */
+class JsonHelper {
+public:
+    /**
+     * @brief Parses a buffer into a JSON object
+     * @param json Output JSON object
+     * @param buffer Input buffer containing a JSON string
+     * @return OK on success, NOT_OK if parsing fails
+     */
+    static int bufferToJson(nlohmann::ordered_json& json, const buffer& buffer);
+
+    /**
+     * @brief Serializes a JSON object into a buffer
+     * @param buffer Output buffer
+     * @param json Input JSON object
+     * @return OK on success, NOT_OK if allocation fails
+     */
+    static int jsonToBuffer(buffer* buffer, const nlohmann::ordered_json& json);
+
+    /**
+     * @brief Converts a string representation of autonomy state to the corresponding enum value
+     * @param state String state value (e.g. "DRIVE", "IN_STOP")
+     * @return Corresponding AutonomyState enum value, ERROR if unrecognized
+     */
+    static modules::mission_module::AutonomyState stringToAutonomyState(std::string_view state);
+
+    /**
+     * @brief Converts an AutonomyState enum value to its string representation
+     * @param state AutonomyState enum value
+     * @return String representation (e.g. "DRIVE", "IN_STOP")
+     */
+    static std::string autonomyStateToString(modules::mission_module::AutonomyState state);
+
+    /**
+     * @brief Converts an AutonomyAction enum value to its string representation
+     * @param action AutonomyAction enum value
+     * @return String representation (e.g. "START", "STOP", "NO_ACTION")
+     */
+    static std::string autonomyActionToString(modules::mission_module::AutonomyAction action);
+
+    /**
+     * @brief Checks whether a JSON object contains all required fields for an AutonomyStatus message
+     * @param status JSON object to validate
+     * @return true if all required fields are present
+     */
+    static bool isValidAutonomyStatus(const nlohmann::ordered_json& status);
+
+    /**
+     * @brief Checks whether a JSON object contains all required fields for an AutonomyCommand message
+     * @param command JSON object to validate
+     * @return true if all required fields are present
+     */
+    static bool isValidAutonomyCommand(const nlohmann::ordered_json& command);
+
+    /**
+     * @brief Checks whether a JSON object contains all required fields for an AutonomyError message
+     * @param errorMessage JSON object to validate
+     * @return true if all required fields are present
+     */
+    static bool isValidAutonomyError(const nlohmann::ordered_json& errorMessage);
+};
+
+}

include/bringauto/JsonValidator.hpp

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <string>
+
+
+namespace bringauto {
+
+/**
+ * @brief Validates JSON messages against the expected mission module message schemas
+ */
+class JsonValidator {
+public:
+    /**
+     * @brief Validates that a JSON string contains the required fields for an AutonomyStatus message
+     * @param status JSON string to validate
+     * @return OK if valid, NOT_OK otherwise
+     */
+    static int validateAutonomyStatus(const std::string &status);
+
+    /**
+     * @brief Validates that a JSON string contains the required fields for an AutonomyCommand message
+     * @param command JSON string to validate
+     * @return OK if valid, NOT_OK otherwise
+     */
+    static int validateAutonomyCommand(const std::string &command);
+
+    /**
+     * @brief Validates that a JSON string contains the required fields for an AutonomyError message
+     * @param errorMessage JSON string to validate
+     * @return OK if valid, NOT_OK otherwise
+     */
+    static int validateAutonomyError(const std::string &errorMessage);
+};
+
+}

include/bringauto/modules/mission_module/AutonomyAction.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+
+namespace bringauto::modules::mission_module {
+
+/**
+ * @brief Represents the action to be performed by the autonomy device
+ */
+enum class AutonomyAction {
+    NO_ACTION,
+    STOP,
+    START
+};
+
+}

include/bringauto/modules/mission_module/AutonomyState.hpp

@@ -0,0 +1,17 @@
+#pragma once
+
+
+namespace bringauto::modules::mission_module {
+
+/**
+ * @brief Represents the driving state of the autonomy device
+ */
+enum class AutonomyState {
+    IDLE,
+    DRIVE,
+    IN_STOP,
+    OBSTACLE,
+    ERROR
+};
+
+}

source/bringauto/JsonHelper.cpp

@@ -0,0 +1,68 @@
+#include <fleet_protocol/common_headers/general_error_codes.h>
+
+#include <bringauto/JsonHelper.hpp>
+
+
+namespace bringauto {
+
+using json = nlohmann::ordered_json;
+using namespace bringauto::modules::mission_module;
+
+int JsonHelper::bufferToJson(json& json, const buffer& buffer) {
+    const auto buffer_data = static_cast<char*> (buffer.data);
+    try {
+        json = json::parse(buffer_data, buffer_data + buffer.size_in_bytes);
+    } catch (json::parse_error &) {
+        return NOT_OK;
+    }
+    return OK;
+}
+
+int JsonHelper::jsonToBuffer(buffer *buffer, const json& json) {
+	const std::string tmp = nlohmann::to_string(json);
+	if (allocate(buffer, tmp.size()) == NOT_OK) {
+		return NOT_OK;
+	}
+	std::memcpy(buffer->data, tmp.c_str(), tmp.size());
+	return OK;
+}
+
+AutonomyState JsonHelper::stringToAutonomyState(const std::string_view state) {
+	if (state == "IDLE")     return AutonomyState::IDLE;
+	if (state == "DRIVE")    return AutonomyState::DRIVE;
+	if (state == "IN_STOP")  return AutonomyState::IN_STOP;
+	if (state == "OBSTACLE") return AutonomyState::OBSTACLE;
+	return AutonomyState::ERROR;
+}
+
+std::string JsonHelper::autonomyStateToString(const AutonomyState state) {
+	switch (state) {
+		case AutonomyState::IDLE:     return "IDLE";
+		case AutonomyState::DRIVE:    return "DRIVE";
+		case AutonomyState::IN_STOP:  return "IN_STOP";
+		case AutonomyState::OBSTACLE: return "OBSTACLE";
+		default:                      return "ERROR";
+	}
+}
+
+std::string JsonHelper::autonomyActionToString(const AutonomyAction action) {
+	switch (action) {
+		case AutonomyAction::STOP:  return "STOP";
+		case AutonomyAction::START: return "START";
+		default:                    return "NO_ACTION";
+	}
+}
+
+bool JsonHelper::isValidAutonomyStatus(const json& status) {
+	return status.contains("state") && status.contains("telemetry") && status.contains("nextStop");
+}
+
+bool JsonHelper::isValidAutonomyCommand(const json& command) {
+	return command.contains("action") && command.contains("stops") && command.contains("route");
+}
+
+bool JsonHelper::isValidAutonomyError(const json& errorMessage) {
+	return errorMessage.contains("finishedStops");
+}
+
+}