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Aaron Roller
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Merge pull request #140 from AutoModality/AM-686/platform-req
feat: platform variant enforced for launch AM-686/platform-req
2 parents 8468d5c + c772819 commit 2873032

15 files changed

Lines changed: 480 additions & 3 deletions

‎CMakeLists.txt‎

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@@ -224,6 +224,10 @@ if (CATKIN_ENABLE_TESTING)
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hz_config
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manual_to_disarming
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param
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platform_app_required_fail
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platform_app_required_pass
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platform_required_fail
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platform_required_pass
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primary
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ready_to_shutdown
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semi_auto_to_manual

‎include/am_super/super_node_mediator.h‎

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ros::Time last_contact; // last time a message was received from the node
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};
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/**
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* Describes the platform configuration for the hardware running AMROS.
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* maker-model-app
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* Some variants are just the maker, some maker-model.
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* Sometimes a variant may provide just the app, indiciating the app could be flown on different platforms.
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*/
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struct PlatformVariant
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{
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/** the manufacture of the drone (DJI, ACSL)*/
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std::string maker;
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/** The product name of the drone specific to the maker (m210,m300,mini,pf2)*/
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std::string model;
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/** The application configuration for the mission (bridge, subt, etc). */
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std::string app;
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};
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struct Supervisor
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{
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/** map of all nodes in the system*/
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*/
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bool forceTransition(const SuperState& to_state);
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/**
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* Validates the actual platform matches the required.
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* Empty required platform will always return true.
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* App provided by itself will ensure the app is correct without concern for the maker/model.
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* dji_m300_bridge and acsl_pf2_bridge will both pass required app=bridge
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*
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* @returns true if the running platform has matching components for that required
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*/
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bool isCorrectPlatform(const PlatformVariant &required, const PlatformVariant &actual);
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/** Given the string in the configurations, the variant given
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* is populated with the components parsed from the config
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* dji_m300 -> maker=dji,model=m300,app=""
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* dji_m300_bridge -> ...,app=bridge
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* */
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void platformConfigToVariant(const std::string config, PlatformVariant &variant);
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/**
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* Converts the platform struct into a single string, separated by underscores
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* {maker}
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* {maker}_{model}
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* {maker}_{model}_{app}
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*/
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std::string platformVariantToConfig(const PlatformVariant &variant);
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private:
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/** name of supervisor node */
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const std::string SUPER_NODE_NAME;

‎launch/am_super.launch‎

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<?xml version="1.0" ?>
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<launch>
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<arg name="platform" value="$(eval optenv('AM_PLATFORM'))" />
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<node pkg="am_super" type="am_super" name="am_super" output="screen">
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<rosparam command="load" file="$(find am_super)/launch/am_super.yaml"/>
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<rosparam command="load" file="$(find am_super)/launch/am_super.yaml" subst_value="true">
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<arg name="platform" value="$(arg platform)" />
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</rosparam>
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</node>
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</launch>

‎launch/am_super.yaml‎

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platform:
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actual: $(arg platform)

‎rostest/platform_app_required_fail/platform_app_required_fail_rostest.cpp‎

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#include <am_rostest_lib/am_rostest.h>
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class PlatformAppRequiredFailTest : public RostestBase, am::AMLifeCycle
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{
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protected:
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PlatformAppRequiredFailTest() : RostestBase() {
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}
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};
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TEST_F(PlatformAppRequiredFailTest, requiredPlatformInLaunchFile)
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{
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std::string missing = "missing";
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std::string platform_required_param;
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ros::param::param<string>("/am_super/platform/required", platform_required_param, missing);
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ASSERT_EQ(platform_required_param,missing);
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std::string platform_app_required_param;
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ros::param::param<string>("/am_super/platform/app/required", platform_app_required_param, missing);
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ASSERT_EQ(platform_app_required_param,"other");
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std::string platform_actual_param;
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ros::param::param<string>("/am_super/platform/actual", platform_actual_param, missing);
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ASSERT_EQ(platform_actual_param,"maker_model_test");
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waitUntil(LifeCycleState::CONFIGURING,"LL88");
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waitUntil(LifeCycleState::FINALIZED,"88LL");
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waitUntilMissionState(brain_box_msgs::VxState::SHUTDOWN,"L8L8");
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}
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int main(int argc, char** argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, ros::this_node::getName());
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return RUN_ALL_TESTS();
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}

‎rostest/platform_app_required_fail/platform_app_required_fail_rostest.test‎

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<launch>
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<!-- include test file and pass in this test node name -->
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<include file="$(find am_super)/rostest/am_super_rostest.test">
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<arg name="test_name" value="platform_app_required_fail"/>
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</include>
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<!-- only the app matters, the maker/model does not -->
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<rosparam param="/am_super/platform/app/required">other</rosparam>
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<rosparam param="/am_super/platform/actual">maker_model_test</rosparam>
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</launch>

‎rostest/platform_app_required_pass/platform_app_required_pass_rostest.cpp‎

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#include <am_rostest_lib/am_rostest.h>
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class PlatformAppRequiredPassTest : public RostestBase, am::AMLifeCycle
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{
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protected:
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PlatformAppRequiredPassTest() : RostestBase() {
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}
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};
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TEST_F(PlatformAppRequiredPassTest, requiredPlatformInLaunchFile)
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{
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std::string missing = "missing";
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std::string platform_required_param;
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ros::param::param<string>("/am_super/platform/required", platform_required_param, missing);
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ASSERT_EQ(platform_required_param,missing);
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std::string platform_app_required_param;
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ros::param::param<string>("/am_super/platform/app/required", platform_app_required_param, missing);
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ASSERT_EQ(platform_app_required_param,"test");
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std::string platform_actual_param;
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ros::param::param<string>("/am_super/platform/actual", platform_actual_param, missing);
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ASSERT_EQ(platform_actual_param,"maker_model_test");
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waitUntil(LifeCycleState::CONFIGURING,"XXSS");
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waitUntil(LifeCycleState::INACTIVE,"SSXX");
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waitUntilMissionState(brain_box_msgs::VxState::READY,"XSXS");
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}
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int main(int argc, char** argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, ros::this_node::getName());
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return RUN_ALL_TESTS();
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}

‎rostest/platform_app_required_pass/platform_app_required_pass_rostest.test‎

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<launch>
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<!-- include test file and pass in this test node name -->
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<include file="$(find am_super)/rostest/am_super_rostest.test">
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<arg name="test_name" value="platform_app_required_pass"/>
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</include>
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<!-- only the app matters, the maker/model does not -->
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<rosparam param="/am_super/platform/app/required">test</rosparam>
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<rosparam param="/am_super/platform/actual">maker_model_test</rosparam>
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</launch>

‎rostest/platform_required_fail/platform_required_fail_rostest.cpp‎

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#include <am_rostest_lib/am_rostest.h>
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class PlatformRequiredFailTest : public RostestBase, am::AMLifeCycle
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{
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protected:
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PlatformRequiredFailTest() : RostestBase() {
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}
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};
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TEST_F(PlatformRequiredFailTest, requiredPlatformDifferentThanActual)
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{
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std::string platform_required_param;
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ros::param::param<string>("/am_super/platform/required", platform_required_param, "missing");
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ASSERT_EQ(platform_required_param,"test");
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std::string platform_actual_param;
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ros::param::param<string>("/am_super/platform/actual", platform_actual_param, "missing");
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ASSERT_EQ(platform_actual_param,"not_test");
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waitUntil(LifeCycleState::CONFIGURING,"UIYT");
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waitUntil(LifeCycleState::FINALIZED,"23SS");
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waitUntilMissionState(brain_box_msgs::VxState::SHUTDOWN,"HYUJ");
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}
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int main(int argc, char** argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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ros::init(argc, argv, ros::this_node::getName());
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return RUN_ALL_TESTS();
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}

‎rostest/platform_required_fail/platform_required_fail_rostest.test‎

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<launch>
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<!-- include test file and pass in this test node name -->
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<include file="$(find am_super)/rostest/am_super_rostest.test">
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<arg name="test_name" value="platform_required_fail"/>
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</include>
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<rosparam param="/am_super/platform/required">test</rosparam>
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<rosparam param="/am_super/platform/actual">not_test</rosparam>
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</launch>

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