[tigroo]

Changes

• IoT3 SDK:
  • mobility add helpers on quadtree
• examples:
  • display: create the server and the log and the mqtt readers

Close #568

Close #369

Test

How to test

1. Create a log file with 1 CAM + 1 CPM with 1 perceived object (Toulouse area):

mkdir -p /tmp/logs
cat > /tmp/logs/its.log << 'EOF'
{"message_type":"cam","origin":"self","version":"2.4.0","source_uuid":"car_001","timestamp":1784727122140,"message":{"protocol_version":1,"station_id":555,"generation_delta_time":64291,"basic_container":{"station_type":5,"reference_position":{"latitude":436004000,"longitude":14500000,"position_confidence_ellipse":{"semi_major":10,"semi_minor":50,"semi_major_orientation":1},"altitude":{"value":14750,"confidence":1}}},"high_frequency_container":{"basic_vehicle_container_high_frequency":{"heading":{"value":1800,"confidence":2},"speed":{"value":144,"confidence":3},"drive_direction":0,"vehicle_length":{"value":40,"confidence":0},"vehicle_width":20,"longitudinal_acceleration":{"value":10,"confidence":2},"curvature":{"value":11,"confidence":4},"curvature_calculation_mode":0,"yaw_rate":{"value":562,"confidence":2}}}}}
{"message_type":"cpm","origin":"self","version":"2.1.1","source_uuid":"car_001","timestamp":1784727122141,"message":{"protocol_version":1,"station_id":555,"management_container":{"station_type":15,"reference_time":711612002141,"reference_position":{"latitude":436004000,"longitude":14500000,"position_confidence_ellipse":{"semi_major":10,"semi_minor":50,"semi_major_orientation":1},"altitude":{"value":14750,"confidence":1}}},"perceived_object_container":[{"object_id":1,"measurement_delta_time":-525,"position":{"x_coordinate":{"value":500,"confidence":20},"y_coordinate":{"value":-200,"confidence":30}},"velocity":{"cartesian_velocity":{"x_velocity":{"value":0,"confidence":127},"y_velocity":{"value":0,"confidence":127}}},"object_perception_quality":0}],"originating_rsu_container":[]}}
EOF

2. Execute the 3 display example binaries following the documentation into the README file.

Finished `dev` profile [unoptimized + debuginfo] target(s) in 0.15s
     Running `target/debug/examples/display_log_reader /tmp/logs 26 /tmp/display.db`
INFO [libits::client::logger] Logger ready on stdout
📂 Input directory: /tmp/logs
📊 Zoom level: 26
🗄️  Database: /tmp/display.db

📂 Scanning directory: /tmp/logs
   Found 1 log file(s)
🗄️  Opening database: /tmp/display.db
📖 Parsing at zoom level 26...

  📄 Processing: /tmp/logs/its.log

✅ Parsing complete:
   - Files processed: 1
   - Messages stored: 3
   - Messages skipped (no position): 0
   - Duplicates skipped: 0
   - Errors: 0
   - Database: /tmp/display.db
📊 Database Statistics
   Database: /tmp/display.db
   Total unique quadtiles: 2
   Total messages: 3

📅 Days with data: 1
   2026-07-22 : 3 messages

📨 Message types:
   cam : 1 messages
   cpm : 1 messages
   cpm po : 1 messages

🔝 Top 10 quadkeys (global):
Quadkey                       Count Mean Confidence    Type(s)
----------------------------------------------------------------------
12022203022221313333211031          2             0.0    cam,cpm
12022203022221313333300331          1            25.0     cpm po

Finished `dev` profile [unoptimized + debuginfo] target(s) in 0.12s
     Running `target/debug/examples/display_mqtt_reader --config examples/config.ini`
INFO [libits::client::logger] Logger ready on stdout
INFO [libits::transport::mqtt] Transport: standard MQTT; TLS enabled
🔌 Connecting to MQTT broker: test.mosquitto.org:8886
   Client ID: com_app_its-client-1
   Topics: ["#"]
   Zoom level: 18
   Database: examples/display.db
✅ Subscribed to topics
📡 Listening for messages...
JSON parse error on topic Ahoydtu_Kraftwerk120240107/version: trailing characters at line 1 column 4
...

Finished `dev` profile [unoptimized + debuginfo] target(s) in 0.17s
     Running `target/debug/examples/display_server --config examples/config.ini`
INFO [libits::client::logger] Logger ready on stdout
📊 Database Statistics
   Database: /tmp/display.db
   Total unique quadtiles: 2
   Total messages: 3

📅 Days with data: 1
   2026-07-22 : 3 messages

📨 Message types:
   cam : 1 messages
   cpm : 1 messages
   cpm po : 1 messages

🔝 Top 10 quadkeys (global):
Quadkey                       Count Mean Confidence    Type(s)
----------------------------------------------------------------------
12022203022221313333211031          2             0.0    cam,cpm
12022203022221313333300331          1            25.0     cpm po

🚀 Server running on http://0.0.0.0:3000 (DB: /tmp/display.db)
📍 Open your browser and navigate to the URL above

Select the date (DAY) 2026-07-22. You should see 1 CAM and 1 CPM with 1 PO (3 messages).

3. Publish another CAM + CPM from nearby (slightly different location):

docker run -it --rm eclipse-mosquitto mosquitto_pub -h test.mosquitto.org -p 8886 -t default/outQueue/v2x/cam/car_002_fixdate/1/2/0/2/2/2/0/3/0/2/2/2/2/1/3/1/3/3/3/3/1/1/3/3/2/2 --tls-version tlsv1.2 --capath /etc/ssl/certs/ -m '{"message_type":"cam","origin":"self","version":"2.4.0","source_uuid":"car_002_fixdate","timestamp":1784727122142,"message":{"protocol_version":1,"station_id":666,"generation_delta_time":64291,"basic_container":{"station_type":5,"reference_position":{"latitude":436005000,"longitude":14501000,"position_confidence_ellipse":{"semi_major":10,"semi_minor":50,"semi_major_orientation":1},"altitude":{"value":14750,"confidence":1}}},"high_frequency_container":{"basic_vehicle_container_high_frequency":{"heading":{"value":1800,"confidence":2},"speed":{"value":144,"confidence":3},"drive_direction":0,"vehicle_length":{"value":40,"confidence":0},"vehicle_width":20,"longitudinal_acceleration":{"value":10,"confidence":2},"curvature":{"value":11,"confidence":4},"curvature_calculation_mode":0,"yaw_rate":{"value":562,"confidence":2}}}}}'
docker run -it --rm eclipse-mosquitto mosquitto_pub -h test.mosquitto.org -p 8886 -t default/outQueue/v2x/cpm/car_002_fixdate/1/2/0/2/2/2/0/3/0/2/2/2/2/1/3/1/3/3/3/3/1/1/3/3/2/2 --tls-version tlsv1.2 --capath /etc/ssl/certs/ -m '{"message_type":"cpm","origin":"self","version":"2.1.1","source_uuid":"car_002_fixdate","timestamp":1784727122143,"message":{"protocol_version":1,"station_id":666,"management_container":{"station_type":15,"reference_time":711612002143,"reference_position":{"latitude":436005000,"longitude":14501000,"position_confidence_ellipse":{"semi_major":10,"semi_minor":50,"semi_major_orientation":1},"altitude":{"value":14750,"confidence":1}}},"perceived_object_container":[{"object_id":1,"measurement_delta_time":-525,"position":{"x_coordinate":{"value":500,"confidence":4096},"y_coordinate":{"value":-200,"confidence":4096}},"velocity":{"cartesian_velocity":{"x_velocity":{"value":0,"confidence":127},"y_velocity":{"value":0,"confidence":127}}},"object_perception_quality":0}],"originating_rsu_container":[]}}'

NB: if a huge traffic is on the broker, you may retry to be served.

Select the date (TODAY) , e.g 2026 09 9.

Refresh the map - you should now see 2 CAMs and 2 CPMs with 1 PO at different locations (6 messages).

[nbuffon]

I really wonder why theses "examples" are barely using libits, and mostly rewriting parsing and data manipulation functions.
What's the rational behind not using the messages' structures through Message to access the values they carry for example ?

[nbuffon]

Sending a CAM did correctly add a point on the map
But CPM failed

JSON parse error on topic default/outQueue/v2x/cpm/car_002/1/2/0/2/2/2/0/3/0/2/2/2/2/1/3/1/3/3/3/3/1/1/3/3/2/2: data did not match any variant of untagged enum Message at line 1 column 618

[tigroo]

Sending a CAM did correctly add a point on the map But CPM failed

JSON parse error on topic default/outQueue/v2x/cpm/car_002/1/2/0/2/2/2/0/3/0/2/2/2/2/1/3/1/3/3/3/3/1/1/3/3/2/2: data did not match any variant of untagged enum Message at line 1 column 618

I fixed the cpm example into the description, a bad copy/paste on my side :(.