Feat/udp2 (#180)

* include udp squared submodule

* obcpp binary now compiling w/ udp2 protocol

* pass unit tests

* redisable logging in tests

* update integration test

* update integrationt test after testing with cody

* fix lint

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "protos"]
 	path = protos
 	url = https://github.com/tritonuas/protos.git
+[submodule "include/udp_squared"]
+	path = include/udp_squared
+	url = https://github.com/tritonuas/udp_squared.git

CMakeLists.txt

@@ -197,6 +197,7 @@ if(CPPLINT)
     COMMAND cpplint
     # Do not require licenses, TODO assignment, Google versions of C++ libs
     # also don't check for runtime/references since Google's public style guidelines are behind https://github.com/cpplint/cpplint/issues/148
+    --exclude=../include/udp_squared
     --filter=-legal,-readability/todo,-build/c++11,-runtime/references
     --linelength=100
     --recursive

include/network/airdrop_client.hpp

@@ -11,7 +11,7 @@
 #include <future>
 
 extern "C" {
-    #include "airdrop/packet.h"
+    #include "udp_squared/protocol.h"
     #include "network/airdrop_sockets.h"
 }
 #include "protos/obc.pb.h"
@@ -23,26 +23,25 @@ class AirdropClient {
     explicit AirdropClient(ad_socket_t socket);
     ~AirdropClient();
 
-    bool send(ad_packet_t packet);
-    bool send(ad_latlng_packet_t packet);
+    bool send(packet_t packet);
     // Receives oldest packet since last receive() call, ignoring any
     // HEARTBEAT packets as those are parsed by the client itself
     // and exposed through the TODO function.
-    std::optional<ad_packet_t> receive();
+    std::optional<packet_t> receive();
 
     // Returns list of all the payloads we have not heard from for more than
     // `threshold` seconds, and includes how many seconds it has been since
     // we last heard from them.
     std::list<std::pair<BottleDropIndex, std::chrono::milliseconds>>
         getLostConnections(std::chrono::milliseconds threshold);
 
-    std::optional<ad_mode> getMode();
+    std::optional<drop_mode_t> getMode();
 
  private:
-    std::optional<ad_mode> mode {};
+    std::optional<drop_mode_t> mode {};
     ad_socket_t socket {};
 
-    std::queue<ad_packet_t> recv_queue;
+    std::queue<packet_t> recv_queue;
     std::mutex recv_mut;
 
     std::atomic_bool stop_worker;
@@ -58,15 +57,15 @@ class AirdropClient {
     void _receiveWorker();
 
     // Blocking implementation of receive for internal use
-    ad_packet_t _receiveBlocking();
+    packet_t _receiveBlocking();
 
     // Parses packets for heartbeat information and stores it in the
     // lastHeartbeat array.
     // Returns true if it is a heartbeat packet, in which case
     // it should NOT be placed in the recv_queue. Otherwise, returns
     // false, meaning that it was NOT a heartbeat and should be exposed
     // to the user of the client through the nonblocking receive function.
-    bool _parseHeartbeats(ad_packet_t packet);
+    bool _parseHeartbeats(packet_t packet);
 };
 
 #endif  // INCLUDE_NETWORK_AIRDROP_CLIENT_HPP_

include/network/airdrop_sockets.h

@@ -3,7 +3,7 @@
 
 #include <stdlib.h>
 
-#include "airdrop/packet.h"
+#include "udp_squared/protocol.h"
 
 struct ad_socket {
     uint16_t send_port;
@@ -44,7 +44,6 @@ typedef struct ad_int_result ad_int_result_t;
     }; \
     return result
 
-ad_packet_t make_ad_packet(uint8_t hdr, uint8_t data);
 
 // TODO: write documentation
 ad_socket_result_t make_ad_socket(uint16_t recv_port, uint16_t send_port);
@@ -66,8 +65,7 @@ ad_int_result_t set_socket_nonblocking(int sock_fd);
 // Send packet on the network through sock_fd
 // Either returns an error string or the number of bytes sent.
 // IMPORTANT: must have previously called set_send_thread from curr thread.
-ad_int_result_t send_ad_packet(ad_socket_t socket, ad_packet_t packet);
-ad_int_result_t send_ad_latlng_packet(ad_socket_t socket, ad_latlng_packet_t packet);
+ad_int_result_t send_ad_packet(ad_socket_t socket, packet_t packet);
 
 // Receive packet and place into buf, which is of length buf_len.
 // Either returns an error string or the number of bytes read.

include/network/mock/packet_queue.h

@@ -1,11 +1,11 @@
 #ifndef INCLUDE_NETWORK_MOCK_PACKET_QUEUE_H_
 #define INCLUDE_NETWORK_MOCK_PACKET_QUEUE_H_
 
-#include "airdrop/packet.h"
-
 #include <stdlib.h>
 #include <semaphore.h>
 
+#include "udp_squared/protocol.h"
+
 /* 
  * Implementation of a thread-safe queue for the mock airdrop sockets code. 
  * Essentially, the mock sockets are using these queues in the background to 
@@ -15,7 +15,7 @@
 #define MAX_PACKETS 100
 
 typedef struct packet_queue {
-    ad_packet_t _arr[MAX_PACKETS];
+    packet_t _arr[MAX_PACKETS];
     size_t _front;    // index of first element in the queue
     size_t _back;     // index of next element in the queue
     size_t _num_elems;
@@ -35,13 +35,13 @@ int pqueue_empty(packet_queue_t* queue);
 int pqueue_full(packet_queue_t* queue);
 
 // precondition: queue is not empty
-void pqueue_push(packet_queue_t* queue, ad_packet_t packet);
+void pqueue_push(packet_queue_t* queue, packet_t packet);
 
 // remove front packet from queue and return
-ad_packet_t pqueue_pop(packet_queue_t* queue);
+packet_t pqueue_pop(packet_queue_t* queue);
 
 // remove front packet from queue, but if the queue is empty
 // then wait until there is something to pop
-ad_packet_t pqueue_wait_pop(packet_queue_t* queue);
+packet_t pqueue_wait_pop(packet_queue_t* queue);
 
 #endif  // INCLUDE_NETWORK_MOCK_PACKET_QUEUE_H_

src/CMakeLists.txt

@@ -2,6 +2,10 @@ add_library(obcpp_protos STATIC
     ${PROJECT_SOURCE_DIR}/build/gen_protos/protos/obc.pb.cc 
 )
 
+add_library(obcpp_udp2 STATIC
+    ${PROJECT_SOURCE_DIR}/include/udp_squared/internal/helper.c
+)
+
 add_subdirectory(camera)
 add_subdirectory(core)
 add_subdirectory(cv)
@@ -20,6 +24,7 @@ target_link_libraries(obcpp_lib INTERFACE
     obcpp_pathing
     obcpp_ticks
     obcpp_utilities
+    obcpp_udp2
 )
 
 # for use in unit tests
@@ -33,6 +38,7 @@ target_link_libraries(obcpp_lib_mock INTERFACE
     obcpp_pathing
     obcpp_ticks
     obcpp_utilities
+    obcpp_udp2
 )
 
 add_executable(${PROJECT_NAME} main.cpp)

src/core/obc.cpp

@@ -68,7 +68,7 @@ void OBC::connectAirdrop() {
     ad_socket_result_t result;
     while (true) {
         LOG_F(INFO, "Attempting to create airdrop socket.");
-        result = make_ad_socket(AD_OBC_PORT, AD_PAYLOAD_PORT);
+        result = make_ad_socket(UDP2_OBC_PORT, UDP2_PAYLOAD_PORT);
         if (!result.is_err) {
             LOG_F(INFO, "Established airdrop socket.");
             break;