Test/airdrop conn 04 24 (#163)

* dev config for SITL

* add readme network command

* add integration test for airdrop conn

* fix default network mode host

* fix lint

.devcontainer/devcontainer.json

@@ -6,16 +6,15 @@
 	// also: need to run obcpp with sudo or add tuas user to dialout group with
 	// 	   `sudo usermod -aG dialout tuas && newgrp && bash`
 	// "runArgs": ["--device=/dev/ttyACM0"], 
-	// "runArgs": [
-	// 	"--network=host"
-	// ],
 
 	// Enable network mode host if on Linux and testing airdrop connectivity
     // "appPort": [ "45906:45906/udp", "45907:45907/udp" ], // port forward airdrop ports for local testing
 	// "runArgs": [
 	// 	"--network=host"
 	// ],
 
+	"extensions.verifySignature": false,
+
 	"customizations": {
 		"vscode": {
 			"settings": {

.vscode/c_cpp_properties.json

@@ -2,8 +2,12 @@
     "configurations": [
         {
             "name": "CMake",
-            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "includePath": [
+                "${workspaceFolder}/include"
+            ],
+            "cppStandard": "c++20"
         }
     ],
     "version": 4
-}
+}

README.md

@@ -242,3 +242,13 @@ int x = 0; // NOLINT
 ### Formatting
 
 No formatter has been added yet. Formatting will be enforced once one is set up.
+
+## Jetson Setup
+
+### Network is Unreachable
+
+If you are having problems sending UDP broadcast packets from the jetson, ensure that the default gateway ip is set correctly. You can use the following command to do this:
+
+```
+route add default gw 192.168.1.1
+```

configs/dev-config.json

@@ -4,7 +4,7 @@
     },
     "network": {
         "mavlink": {
-            "connect": "tcp://172.17.0.1:5760"
+            "connect": "tcp://127.0.0.1:14552"
         },
         "gcs": {
             "port": 5010

docker/Dockerfile.sitl

@@ -0,0 +1,26 @@
+FROM amd64/ubuntu:22.04
+
+# set up user
+ARG USERNAME=tuas USER_UID=1000 USER_GID=1000 DEBIAN_FRONTEND=noninteractive
+RUN groupadd -f --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
+RUN usermod -a -G dialout $USERNAME
+
+USER $USERNAME
+
+# Steps from https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux
+
+WORKDIR /home/$USERNAME
+
+RUN sudo apt-get update && sudo apt-get install git && sudo apt-get install git
+RUN git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
+
+WORKDIR ./ardupilot
+
+RUN Tools/environment_install/install-prereqs-ubuntu.sh -y
+RUN source ~/.profile
+
+# wipe parameters
+RUN timeout 3 ./sim_vehicle.py -w
+
+ENTRYPOINT ./sim_vehicle.py -v ArduPlane -f quadplane --console --map

include/airdrop/packet.h

@@ -4,7 +4,7 @@
 #include <stdint.h>
 
 /**********************************************************************************************
- * LAST UPDATED: 2024/04/15 by Tyler Lentz
+ * LAST UPDATED: 2024/04/24 by Tyler Lentz
  * 
  * This file defines the packet definitions for Airdrop communications. It is used in two
  * separate repositories: 
@@ -103,6 +103,8 @@ inline int validate_packet_as(enum ad_packet_hdr hdr, ad_packet_t packet) {
         case ACK_REVOKE:
         case ABOUT_TO_RELEASE:
         case HEARTBEAT:
+        case SEND_LATLNG:
+        case ACK_LATLNG:
             return (packet.data >= BOTTLE_A && packet.data <= BOTTLE_E);
         default:
             return 0;

src/network/airdrop_client.cpp

@@ -181,6 +181,8 @@ void AirdropClient::_receiveWorker() {
             continue;
         }
 
+        VLOG_F(TRACE, "RECEIVED AIRDROP PACKET %d %d", (int)packet.hdr, (int)packet.data);
+
         Lock lock(this->recv_mut);
         this->recv_queue.emplace(packet);
     }

tests/integration/CMakeLists.txt

@@ -208,6 +208,22 @@ target_add_loguru(airdrop_pathing_2)
 target_include_directories(airdrop_pathing_2 PRIVATE ${ImageMagick_INCLUDE_DIRS})
 target_link_libraries(airdrop_pathing_2 PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
 
+add_executable(airdrop_packets "airdrop_packets.cpp")
+target_link_libraries(airdrop_packets PRIVATE obcpp_lib)
+target_include_directories(airdrop_packets PRIVATE ${INCLUDE_DIRECTORY})
+target_add_protobuf(airdrop_packets)
+target_add_torch(airdrop_packets)
+target_add_torchvision(airdrop_packets)
+target_add_json(airdrop_packets)
+target_add_opencv(airdrop_packets)
+target_add_httplib(airdrop_packets)
+target_add_mavsdk(airdrop_packets)
+target_add_matplot(airdrop_packets)
+target_add_loguru(airdrop_packets)
+
+target_include_directories(airdrop_packets PRIVATE ${ImageMagick_INCLUDE_DIRS})
+target_link_libraries(airdrop_packets PRIVATE -Wl,--copy-dt-needed-entries ${ImageMagick_LIBRARIES})
+
 # airdrop_sockets
 # add_executable(airdrop_sockets src/network/airdrop_sockets.c tests/integration/airdrop_sockets.c)
 # target_include_directories(airdrop_sockets PRIVATE ${INCLUDE_DIRECTORY})

tests/integration/airdrop_packets.cpp

@@ -0,0 +1,59 @@
+#include <thread>
+#include <chrono>
+
+extern "C" {
+    #include "airdrop/packet.h"
+    #include "network/airdrop_sockets.h"
+}
+
+#include "network/airdrop_client.hpp"
+#include "utilities/logging.hpp"
+
+using namespace std::chrono_literals;
+
+int main(int argc, char** argv) {
+    initLogging("/workspaces/obcpp/logs", true, argc, argv);
+
+    ad_socket_result_t result = make_ad_socket(AD_OBC_PORT, AD_PAYLOAD_PORT);
+
+    if (result.is_err) {
+        std::cerr << "SOCKET ERROR: " << result.data.err << std::endl;
+        std::exit(1);
+    }
+
+    AirdropClient airdrop(result.data.res);
+    airdrop.send(ad_latlng_packet_t {.hdr=SEND_LATLNG, .bottle=BOTTLE_A, .lat=32.12345, .lng=76.98765});
+    std::this_thread::sleep_for(5s);
+    LOG_F(INFO, "Checking for ack latlng...");
+    while (true) {
+        auto packet = airdrop.receive(); 
+        if (!packet) {
+            break;
+        }
+        LOG_F(INFO, "test %d %d", static_cast<int>(packet->data), static_cast<int>(packet->hdr));
+    }
+    LOG_F(INFO, "Done with checking for ack latlng");
+    airdrop.send(ad_packet_t {.hdr=SIGNAL, .data=BOTTLE_A});
+    std::this_thread::sleep_for(1s);
+    while (true) {
+        auto packet = airdrop.receive(); 
+        if (!packet) {
+            break;
+        }
+        LOG_F(INFO, "test2 %d %d", static_cast<int>(packet->data), static_cast<int>(packet->hdr));
+    }
+    airdrop.send(ad_packet_t {.hdr=REVOKE, .data=BOTTLE_A});
+    std::this_thread::sleep_for(1s);
+    while (true) {
+        auto packet = airdrop.receive(); 
+        if (!packet) {
+            break;
+        }
+        LOG_F(INFO, "test2 %d %d", static_cast<int>(packet->data), static_cast<int>(packet->hdr));
+    }
+
+    while (true) {
+        std::cout << "stop\n";
+        std::this_thread::sleep_for(1s);
+    }
+}