Merge branch 'master' into AM-677/culvert_alt

Author: danhennage

.github/workflows/nightly.yml

@@ -12,22 +12,3 @@ jobs:
         uses: AutoModality/action-package-debian-ros@v5-ros
         with:
           release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
-      - name: Repo Name
-        if: always()
-        run: echo "REPOSITORY_NAME=$(echo "$GITHUB_REPOSITORY" | awk -F / '{print $2}' | sed -e "s/:refs//")" >> $GITHUB_ENV
-      - name: Test Results
-        if: always()
-        id: xunit-viewer
-        uses: AutoModality/action-xunit-viewer@v1
-        with: 
-          results: catkin_ws/build/${{env.REPOSITORY_NAME}}/test_results/${{env.REPOSITORY_NAME}}
-      - name: Attach Test Reports
-        if: always()
-        uses: actions/upload-artifact@v1
-        with:
-          name: ${{ steps.xunit-viewer.outputs.report-name }}
-          path: ${{ steps.xunit-viewer.outputs.report-dir }}
-      - uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }} # not required for public repos
-

.github/workflows/package.yml

@@ -15,23 +15,13 @@ jobs:
       - uses: AutoModality/action-clean@v1.1.0
       - uses: actions/checkout@v2
       - uses: rlespinasse/github-slug-action@3.1.0 # for GITHUB_REF_SLUG
-      # - name: Restore Cache
-      #   uses: actions/cache@v2
-      #   with:
-      #     path: |
-      #       catkin_ws
-      #     # different caches for different architectures and control files
-      #     # first element in matrix.os is the architecture, by convention
-      #     key: ${{ matrix.os[0] }}-${{ env.GITHUB_REF_SLUG }}-${{ hashFiles('debian/control') }}
       - name: Package
         id: package
         uses: AutoModality/action-package-debian-ros@v5-amros
         with:
           branch: ${{ env.GITHUB_REF_SLUG }}
           build-number: ${{ github.run_number }}
           release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
-      - name: The generated package
-        run: echo "The artifact is ${{ steps.package.outputs.artifact-path }}"
       - name: Deploy
         id: deploy
         uses: AutoModality/action-cloudsmith@0.2.0
@@ -44,21 +34,6 @@ jobs:
           distro: 'ubuntu'
           release: 'bionic'
           file: '${{ steps.package.outputs.artifact-path }}'
-      - name: Repo Name
-        if: contains( matrix.os, 'x64' )
-        run: echo "REPOSITORY_NAME=$(echo "$GITHUB_REPOSITORY" | awk -F / '{print $2}' | sed -e "s/:refs//")" >> $GITHUB_ENV
-      - name: Test Results
-        if: contains( matrix.os, 'x64' )
-        id: xunit-viewer
-        uses: AutoModality/action-xunit-viewer@v1
-        with: 
-          results: catkin_ws/build/${{env.REPOSITORY_NAME}}/test_results/${{env.REPOSITORY_NAME}}
-      - name: Attach Test Reports
-        if: contains( matrix.os, 'x64' )
-        uses: actions/upload-artifact@v1
-        with:
-          name: ${{ steps.xunit-viewer.outputs.report-name }}
-          path: ${{ steps.xunit-viewer.outputs.report-dir }}
   draft-pr:
     runs-on: ubuntu-18.04
     needs: package

.github/workflows/test.yml

@@ -0,0 +1,23 @@
+name: Test
+on: 
+  push:
+  schedule:
+    - cron: '20 05 * * *'
+jobs:
+  test:
+    runs-on: [x64, self-hosted,linux,build]
+    steps:
+      - uses: AutoModality/action-clean@v1.1.0
+      - uses: actions/checkout@v2
+      - name: Test
+        run: amros dev docker run --test
+      - name: Attach Test Reports
+        uses: actions/upload-artifact@v1
+        if: always() #test failures report an error code, but good to attach results
+        with:
+          name: test_results
+          path: test_results.tar.gz
+
+
+
+        

.gitignore

@@ -41,3 +41,4 @@ build
 .catkin_tools
 *.deb
 *.ddeb
+test_results.tar.gz

CMakeLists.txt

@@ -221,23 +221,22 @@ if (CATKIN_ENABLE_TESTING)
                  error_forced 
                  error_status 
                  error_status_without_stats 
+                 error_terminal_before_config
+                 error_tolerant_before_config
+                 hz_config
                  manual_to_disarming 
                  param
+                 platform_app_required_fail
+                 platform_app_required_pass
+                 platform_required_fail
+                 platform_required_pass
                  primary
                  ready_to_shutdown 
                  semi_auto_to_manual
   )
   foreach(TEST_NAME ${TEST_NAMES})
-    add_rostest_gtest(${TEST_NAME}_rostest rostest/${TEST_NAME}/${TEST_NAME}_rostest.test rostest/${TEST_NAME}/${TEST_NAME}_rostest.cpp)
-    target_link_libraries(${TEST_NAME}_rostest ${catkin_LIBRARIES} super_lib)
+    set(PROJECT_TEST_NAME  ${TEST_NAME}_${PROJECT_NAME}_rostest)
+    add_rostest_gtest(${PROJECT_TEST_NAME} rostest/${TEST_NAME}/${TEST_NAME}_rostest.test rostest/${TEST_NAME}/${TEST_NAME}_rostest.cpp)
+    target_link_libraries(${PROJECT_TEST_NAME} ${catkin_LIBRARIES} super_lib)
   endforeach()
-
-  # Create a target ${PROJECT_NAME}_coverage_report
-  if(ENABLE_COVERAGE_TESTING)
-    set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*" )
-    add_code_coverage(
-      NAME ${PROJECT_NAME}_coverage_report
-      DEPENDENCIES tests
-    )
-  endif()
 endif()

Makefile

@@ -2,12 +2,6 @@ SHELL := /bin/bash
 
 BUILD_COMMAND := source /opt/ros/melodic/setup.bash && cd catkin_ws && catkin build -j8
 
-# Test only if on AMD, not ARM, which is already too slow and underpowered and redundant
-ARCH := $(shell arch)
-ifeq ($(ARCH),x86_64)
-BUILD_COMMAND := $(BUILD_COMMAND) && catkin build -j8 --catkin-make-args run_tests
-endif
-
 default:
 	$(BUILD_COMMAND)
 	rm -f catkin_ws/install/lib/pkgconfig/catkin_tools_prebuild.pc

include/am_super/super_node_mediator.h

@@ -47,6 +47,23 @@ class SuperNodeMediator
     ros::Time last_contact;  // last time a message was received from the node
   };
 
+ /**
+  * Describes the platform configuration for the hardware running AMROS.
+  *  maker-model-app
+  * Some variants are just the maker, some maker-model.
+  * Sometimes a variant may provide just the app, indiciating the app could be flown on different platforms.
+  */ 
+  struct PlatformVariant
+  {
+    /** the manufacture of the drone (DJI, ACSL)*/
+    std::string maker;
+    /** The product name of the drone specific to the maker (m210,m300,mini,pf2)*/
+    std::string model;
+    /** The application configuration for the mission (bridge, subt, etc). */
+    std::string app;
+
+  };
+
   struct Supervisor
   {
     /** map of all nodes in the system*/
@@ -288,6 +305,31 @@ class SuperNodeMediator
    */
   bool forceTransition(const SuperState& to_state);
 
+  /**
+   * Validates the actual platform matches the required. 
+   * Empty required platform will always return true.
+   * App provided by itself will ensure the app is correct without concern for the maker/model.
+   * dji_m300_bridge and acsl_pf2_bridge will both pass required app=bridge
+   * 
+   * @returns true if the running platform has matching components for that required
+   */
+  bool isCorrectPlatform(const PlatformVariant &required, const PlatformVariant &actual);
+
+  /** Given the string in the configurations, the variant given 
+   * is populated with the components parsed from the config 
+   *  dji_m300 -> maker=dji,model=m300,app=""
+   *  dji_m300_bridge -> ...,app=bridge
+   * */
+  void platformConfigToVariant(const std::string config, PlatformVariant &variant);
+
+  /** 
+   * Converts the platform struct into a single string, separated by underscores
+   * {maker}
+   * {maker}_{model}
+   * {maker}_{model}_{app}
+   */
+  std::string platformVariantToConfig(const PlatformVariant &variant);
+
 private:
   /** name of supervisor node */
   const std::string SUPER_NODE_NAME;

include/super_lib/am_life_cycle.h

@@ -8,6 +8,7 @@
 #include <diagnostic_msgs/DiagnosticStatus.h>
 
 #include <super_lib/am_stat_list.h>
+#include <super_lib/am_stat_reset.h>
 #include <super_lib/am_life_cycle_types.h>
 #include <super_lib/am_life_cycle_mediator.h>
 
@@ -30,6 +31,18 @@ class AMLifeCycle
 {
   public:
     static constexpr std::string_view BROADCAST_NODE_NAME = "";
+    
+    /**Specific parts of the lifecycle where nodes have responsibilities.*/
+    LifeCycleState getState() const;
+
+    /**Simple indication of health */
+    LifeCycleStatus getStatus() const;
+    
+    /** @brief string represenation of LifeCycleState*/
+    const std::string_view& getStateName();
+    
+    /** @brief string representation of LifeCycleStatus*/
+    const std::string_view& getStatusName();
 
   private:
     /* Variables to help seperate business logic from AMLifeCycle ROS */
@@ -60,6 +73,7 @@ class AMLifeCycle
     void destroy();
     void cleanup();
     void sendNodeUpdate();
+    void error(std::string message, std::string error_code, bool forced = false);
 
   protected:
     std::string node_name_;
@@ -139,8 +153,15 @@ class AMLifeCycle
      * @param error_code provides a reference for the developer to correlate log output to the originating error.
      * @param forced terminal error that will not allow any tolerance
      */
+    [[deprecated("use errorTolerant or errorTerminal with message")]]
     void error(std::string error_code="NNLW",bool forced = false);
 
+    /** Reports an error for immediate shutdown without any tolerance. */
+    void errorTerminal(std::string message, std::string error_code);
+
+    /** Reports an error, but may not shutdown the system if tolerance is allowed.*/
+    void errorTolerant(std::string message, std::string error_code);
+
     /**
      * @brief Function to be defined by the user.
      *        Called at any time and transitions to UNCONFIGURED or FINALIZED.
@@ -155,19 +176,43 @@ class AMLifeCycle
     virtual void onShutdown();
     void doShutdown(bool success);
 
+    /**Initialize statistics by adding to the list*/
     virtual void addStatistics(diagnostic_updater::DiagnosticStatusWrapper& dsw);
+
+    /** Initialize the stats that reset once per second providing the equivalent of rostopic hz to ensure frequency of 
+     * publishing.   Allows for overriding values in roslaunch configurations. 
+     * Provide the target, which is the approximate value you expect to receive. The warnings and errors will be 
+     * provided with tolerance on both sides of the target. 
+     * 
+     * Configurations key use the stats short name.
+     * 
+     * setting a target will also set a min/max 5% warn and 10% error
+     * no target allows for just min or just max or both.
+     * 
+     * stats_target_sets_min_max:
+     *  hz:
+     *   target: 100 # sets min_error=90,min_warn=95,max_warn=105,max_error=110
+     * 
+     * stats_only_min:
+     *  hz:
+     *   error:
+     *     min: 50
+     *   warn:
+     *     min: 60
+     * 
+     * 
+     * @param stats to be configured
+     * */
+    AMStatReset& configureHzStats(AMStatReset& stats);
+
+    /** Called periodically by a timer defaulting to 1 second.
+     * Useful for checking health regularly, but not during 
+     * callbacks which can affect performance and be too granular
+     */
     virtual void heartbeatCB(const ros::TimerEvent& event);
 
     void lifecycleCB(const brain_box_msgs::LifeCycleCommand::ConstPtr msg);
 
-    /**Specific parts of the lifecycle where nodes have responsibilities.*/
-    LifeCycleState getState() const;
-    /**Simple indication of health */
-    LifeCycleStatus getStatus() const;
-    /** @brief string represenation of LifeCycleState*/
-    const std::string_view& getStateName();
-    /** @brief string representation of LifeCycleStatus*/
-    const std::string_view& getStatusName();
 
     double getThrottleS() const;
     void setThrottleS(const double throttleS);

include/super_lib/am_life_cycle_mediator.h

@@ -193,8 +193,12 @@ class AMLifeCycleMediator
 
     bool redundantShutdown(const AMLifeCycleMediator::LifeCycleInfo& info);
 
+    /** @brief return true if already in error state */
     bool redundantError(const AMLifeCycleMediator::LifeCycleInfo& info);
 
+    /** @brief return true if in UNCONFIGURED or CONFIGURING */
+    bool unconfigured(const AMLifeCycleMediator::LifeCycleInfo& info);
+
     bool illegalDestroy(const AMLifeCycleMediator::LifeCycleInfo& info);
 
   private:

launch/am_super.launch

@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <launch>
+    <arg name="platform" value="$(eval optenv('AM_PLATFORM'))" if="$(eval optenv('AM_PLATFORM') != '')" />
+    <arg name="platform" value="dev" if="$(eval optenv('AM_PLATFORM') == '')" />
     <node pkg="am_super" type="am_super" name="am_super" output="screen">
-    	<rosparam command="load" file="$(find am_super)/launch/am_super.yaml"/>    	
+    	<rosparam command="load" file="$(find am_super)/launch/am_super.yaml" subst_value="true">
+            <arg name="platform" value="$(arg platform)" />
+        </rosparam>
     </node>
 </launch>