Feat/config json (#152)

* Loaded in user specified JSON, Got Values

Additionally:
-Did fix Anthony said for Magick++.h no such file or directory for Playground and MavlinkClient to get it to make
-Some modification in protos which I don't remember touching

* Generate default config can't read from one

* Generate default config when can't read from one

* Put config values into OBC constructor

- Changed parameters for OBC constuctor and connectMavlink
- Made it so connectMavlink will use config value

* pass mavlink_url into connectMavThread

account for changes to obc

* Made OBCConfig struct

Generate struct based on command line input
    - throw error if file not found
    - generate default if no filename passed

Pass struct into OBC instead of unwrapped configs

* fix lint & mavlink url not working

* add logging dir to config

---------

Co-authored-by: Tyler Lentz <[email protected]>

configs/config.json

@@ -0,0 +1,13 @@
+{
+    "logging": {
+        "dir": "/workspaces/obcpp/logs"
+    },
+    "network": {
+        "mavlink": {
+            "connect": "serial:///dev/ttyACM0"
+        },
+        "gcs": {
+            "port": 5010
+        }
+    }
+}

configs/default-config.json

@@ -0,0 +1,13 @@
+{
+    "logging": {
+        "dir": "/workspaces/obcpp/logs"
+    },
+    "network": {
+        "gcs": {
+            "port": 5010
+        },
+        "mavlink": {
+            "connect": "tcp://172.17.0.1:5760"
+        }
+    }
+}

configs/dev-config.json

@@ -0,0 +1,13 @@
+{
+    "logging": {
+        "dir": "/workspaces/obcpp/logs"
+    },
+    "network": {
+        "mavlink": {
+            "connect": "tcp://172.17.0.1:5760"
+        },
+        "gcs": {
+            "port": 5010
+        }
+    }
+}

include/core/obc.hpp

@@ -9,14 +9,15 @@
 #include "core/mission_state.hpp"
 #include "network/gcs.hpp"
 #include "network/mavlink.hpp"
+#include "utilities/obc_config.hpp"
 
 /*
  *  The highest level class for the entire OBC
  *  This contains all of the mission state, mission config, etc...
  */
 class OBC {
  public:
-    explicit OBC(uint16_t gcs_port);
+    explicit OBC(OBCConfig config);
 
     void run();
 
@@ -28,7 +29,7 @@ class OBC {
     std::thread connectMavThread;
     std::thread connectAirdropThread;
 
-    void connectMavlink();
+    void connectMavlink(std::string mavlink_url);
     void connectAirdrop();
 };
 

include/network/mavlink.hpp

@@ -29,7 +29,7 @@ class MavlinkClient {
      * example:
      *   MavlinkClient("tcp://192.168.65.254:5762")
      */ 
-    explicit MavlinkClient(const char* link);
+    explicit MavlinkClient(std::string link);
 
     /*
      * BLOCKING. Continues to try to upload the mission based on the passed through MissionConfig

include/utilities/obc_config.hpp

@@ -0,0 +1,21 @@
+#ifndef INCLUDE_UTILITIES_OBC_CONFIG_HPP_
+#define INCLUDE_UTILITIES_OBC_CONFIG_HPP_
+
+#include <string>
+
+struct OBCConfig {
+    std::string logging_dir;
+
+    std::string network_mavlink_connect;
+    int network_gcs_port;
+
+    // Load user specified config json, or make a new one
+    OBCConfig(int argc, char* argv[]);
+
+ private:
+    const std::string configsPath = "/workspaces/obcpp/configs/";
+
+    void makeDefault();
+};
+
+#endif  // INCLUDE_UTILITIES_OBC_CONFIG_HPP_

src/core/obc.cpp

@@ -12,18 +12,25 @@
 #include "network/mavlink.hpp"
 #include "network/airdrop_client.hpp"
 #include "utilities/logging.hpp"
+#include "utilities/obc_config.hpp"
 extern "C" {
     #include "network/airdrop_sockets.h"
 }
 
 // TODO: allow specifying config filename
-OBC::OBC(uint16_t gcs_port) {
+OBC::OBC(OBCConfig config) {
+    int gcs_port = config.network_gcs_port;
+
     this->state = std::make_shared<MissionState>();
     this->state->setTick(new MissionPrepTick(this->state));
 
     this->gcs_server = std::make_unique<GCSServer>(gcs_port, this->state);
 
-    this->connectMavThread = std::thread([this]{this->connectMavlink();});
+    // Don't need to look at these futures at all because the connect functions
+    // will set the global mission state themselves when connected, which everything
+    // else can check.
+    this->connectMavThread = std::thread([this, config]
+        {this->connectMavlink(config.network_mavlink_connect);});
     this->connectAirdropThread = std::thread([this]{this->connectAirdrop();});
 }
 
@@ -34,12 +41,11 @@ void OBC::run() {
     }
 }
 
-void OBC::connectMavlink() {
+void OBC::connectMavlink(std::string mavlink_url) {
     loguru::set_thread_name("mav connect");
 
     // TODO: pull mav ip from config file
-    std::shared_ptr<MavlinkClient> mav(new MavlinkClient("serial:///dev/ttyACM0:57600"));
-    // std::shared_ptr<MavlinkClient> mav(new MavlinkClient("tcp://172.17.0.1:5760"));
+    std::shared_ptr<MavlinkClient> mav(new MavlinkClient(mavlink_url));
     this->state->setMav(mav);
 }
 

src/main.cpp

@@ -1,5 +1,4 @@
 #include <chrono>
-#include <string>
 
 extern "C" {
     #include "network/airdrop_sockets.h"
@@ -8,14 +7,15 @@ extern "C" {
 #include "core/obc.hpp"
 #include "utilities/constants.hpp"
 #include "utilities/logging.hpp"
+#include "utilities/obc_config.hpp"
 
 
 int main(int argc, char* argv[]) {
+    OBCConfig config(argc, argv);
+
     // TODO: pull logging folder from config
-    initLogging("/workspaces/obcpp/logs", true, argc, argv);
+    initLogging(config.logging_dir, true, argc, argv);
 
-    // In future, load configs, perhaps command line parameters, and pass
-    // into the obc object
-    OBC obc(DEFAULT_GCS_PORT);
+    OBC obc(config);
     obc.run();
 }

src/network/mavlink.cpp

@@ -18,14 +18,14 @@
 #include "utilities/logging.hpp"
 #include "core/mission_state.hpp"
 
-MavlinkClient::MavlinkClient(const char* link) {
-    LOG_F(INFO, "Connecting to Mav at %s", link);
+MavlinkClient::MavlinkClient(std::string link) {
+    LOG_F(INFO, "Connecting to Mav at %s", link.c_str());
 
     while (true) {
         LOG_F(INFO, "Attempting to add mav connection...");
         const auto conn_result = this->mavsdk.add_any_connection(link);
         if (conn_result == mavsdk::ConnectionResult::Success) {
-            LOG_F(INFO, "Mavlink connection successfully established at %s", link);
+            LOG_F(INFO, "Mavlink connection successfully established at %s", link.c_str());
             break;
         }
 

src/pathing/tree.cpp

@@ -8,6 +8,7 @@
 #include "pathing/environment.hpp"
 #include "utilities/datatypes.hpp"
 #include "utilities/rng.hpp"
+#include "utilities/logging.hpp"
 
 RRTNode::RRTNode(const RRTPoint& point, double cost, double path_length,
                  const std::vector<XYZCoord> path)
@@ -363,7 +364,7 @@ void RRTTree::RRTStar(RRTNode* sample, double rewire_radius) {
 
 void RRTTree::setCurrentHead(RRTNode* goal) {
     if (goal == nullptr) {
-        std::cout << "FAILURE: Goal is not in the tree\n" << std::endl;
+        LOG_F(ERROR, "FAILURE: Goal is not in the tree");
         return;
     }
 

src/utilities/CMakeLists.txt

@@ -4,6 +4,7 @@ SET(FILES
     common.cpp
     datatypes.cpp
     logging.cpp
+    obc_config.cpp
     rng.cpp
 )
 

src/utilities/obc_config.cpp

@@ -0,0 +1,44 @@
+#include "utilities/obc_config.hpp"
+
+#include <fstream>
+#include <stdexcept>
+#include <string>
+
+#include "nlohmann/json.hpp"
+
+using json = nlohmann::json;
+
+
+OBCConfig::OBCConfig(int argc, char* argv[]) {
+    // If config-json name is passed in
+    if (argc > 1) {
+        // Load in json file
+        std::ifstream configStream(configsPath + std::string(argv[1]));
+        if (!configStream.is_open()) {
+            throw std::invalid_argument("Invalid config-json name");
+        }
+        json configs = json::parse(configStream);
+
+        // Set configs
+        this->logging_dir = configs["logging"]["dir"];
+        this->network_mavlink_connect = configs["network"]["mavlink"]["connect"];
+        this->network_gcs_port = configs["network"]["gcs"]["port"];
+    } else {
+        makeDefault();  // Detect if there is already a default-config.json?
+    }
+}
+
+void OBCConfig::makeDefault() {
+    // Set configs
+    this->logging_dir = "/workspaces/obcpp/logs";
+    this->network_mavlink_connect = "tcp://172.17.0.1:5760";
+    this->network_gcs_port = 5010;
+
+    // Create default configs
+    json configs;
+    configs["logging"]["dir"] = this->logging_dir;
+    configs["network"]["mavlink"]["connect"] = this->network_mavlink_connect;
+    configs["network"]["gcs"]["port"] = this->network_gcs_port;
+    std::ofstream configFile(configsPath + "default-config.json");
+    configFile << configs.dump(4);  // Dump to file with 4 space indents
+}