Implement behavior services and attack framework for RSU

source/_nav.rstinc

@@ -7,6 +7,7 @@
    Install and Launch <wiki/install-and-launch>
    Problems and Solutions <wiki/troubleshooting>
    Additional Scripts <wiki/additional-scripts>
+   OpenCDA Service Layer <wiki/services>
 
 .. toctree::
    :hidden:

source/wiki/services.rst

@@ -0,0 +1,110 @@
+OpenCDA Service Layer
+==========
+
+Behavior Service Orchestration
+-------------------------------
+
+A behavior service system has been introduced for simulation participants, including
+Road-Side Units (RSU) and vehicles.
+
+The ``BehaviorService`` interface defines the protocol that every service attached to
+a participant must implement. It describes the service lifecycle:
+
+* ``on_attach`` - initialize the service for a particular participant instance
+* ``process`` - process incoming messages and return a typed result
+* ``on_detach`` - release service resources before the participant is destroyed
+
+``BehaviorServiceRegistry`` is a global registry that supports:
+
+* registration via the ``@BehaviorServiceRegistry.register`` decorator
+* class lookup by service name
+* a ``create_service`` factory method
+
+The registry automatically discovers and loads built-in services from the ``services/``
+subpackage.
+
+A ``DummyService`` has been added for testing purposes. It accepts text messages and
+returns them with an appended suffix, verifying that registration and message routing
+work correctly.
+
+Both ``RSUManager`` and ``VehicleManager`` have been updated to support service
+configuration and lifecycle management - including config loading from YAML,
+attach/detach handling, and message routing by ``service_id``. This unified the
+service architecture across vehicles and road-side infrastructure.
+
+AIM Services
+------------
+
+``AIMModelManager`` has been extracted from the OpenCDA core into the service layer
+to align with the service-based architecture. Three new services were introduced.
+
+**aim-server**
+
+The server-side AIM service. It receives a batch of requests from vehicles,
+runs ML inference, and returns predicted trajectories.
+
+**aim-client**
+
+The client-side service, running on each vehicle. It builds a request to the server
+with the vehicle's current position, speed, heading, and route.
+Upon receiving a response, it generates a movement command for the ``movement-controller``.
+
+**movement-controller**
+
+Accepts movement commands with a target position and controls vehicle motion.
+
+All inter-service communication is routed through typed ``TransportMessage`` objects,
+eliminating direct dependencies between components.
+
+Service Priority
+----------------
+
+Priority-aware ordering has been added to the behavior service system. Services are
+now initialized and processed in ascending order of their numeric ``priority`` field -
+a lower value means the service runs first. Priority is configured in the
+scenario YAML file.
+
+Attack Framework *(Draft)*
+---------------------------
+
+A framework for simulating adversarial attacks on simulation participants has been
+introduced.
+
+Core abstractions:
+
+* ``AttackProtocol`` - interface for a concrete attack, composed of stages (``AttackStageProtocol``)
+* ``AttackManager`` - orchestrates attacks, manages registries, and collects results
+* ``AttackRegistry`` - registry of registered attacks
+* ``StageRegistry`` - registry of attack stages
+* ``AttackContext`` - execution context passed to an attack at runtime
+* ``AttackResult`` - result produced by a completed attack
+
+**Capability System**
+
+A capability binding mechanism (``CapabilityBindings``) has been introduced, linking
+named capabilities (``Capability``) to concrete service methods. This allows attacks
+and external components to interact with a service through a stable interface,
+without knowledge of its internal implementation.
+
+Supported capabilities:
+
+* ``request.observe`` - observe incoming requests
+* ``request.submit`` - submit requests
+* ``response.observe`` - observe responses
+* ``response.submit`` - submit responses
+* ``command.submit`` - submit movement commands
+* ``state.observe`` - observe service state
+
+**BehaviorService Extensions**
+
+The ``BehaviorService`` protocol has been extended with a ``get_state()`` method that
+returns an immutable snapshot of the current service state. State objects have been
+implemented for the existing services:
+
+* ``AIMServerState`` - tracked and processed vehicle IDs and counts
+* ``AIMClientState`` - attachment status and next target position
+
+**Example Attack**
+
+``AIMClientResponseSniffer`` has been added as a demonstration attack. It uses a
+``Sniffer`` stage to intercept AIM server response messages addressed to clients.