[NET] Local Transceiver - receive function and testing (#465)

* current changes (debug)

* Local transceiver receive function updates

* Fixes for half of receive function

* Fix stoi error

* fixes

* Data is received but not decoded

* Waypoints received now B)

* cleanup

* lint fixes

* Fixes

* Merge conflict fixes

---------

Co-authored-by: lross03 <liamyr0802@gmail.com>
Co-authored-by: Sam Dai <89489298+samdai01@users.noreply.github.com>
Co-authored-by: Akshanjay Kompelli <Akshanjay2004@gmail.com>

src/local_pathfinding/.gitignore

@@ -6,3 +6,6 @@ __pycache__/
 # global paths with exceptions
 /global_paths/*.csv
 !/global_paths/mock_global_path.csv
+
+# Python Bindings
+src/local_pathfinding/src/build/pyompl.cpython-310-x86_64-linux-gnu.so

src/network_systems/projects/local_transceiver/inc/at_cmds.h

@@ -15,8 +15,10 @@ const std::string DELIMITER = "\r\n";
 const std::string STATUS_OK = "OK";
 const std::string RSP_READY = "READY";
 
-const std::string CHECK_CONN  = "AT";
-const std::string SBD_SESSION = "AT+SBDIX";  // 5.144
+const std::string CHECK_CONN    = "AT";
+const std::string SBD_SESSION   = "AT+SBDIX";  // 5.144
+const std::string DSBL_CTRLFLOW = "AT&K0";
+const std::string DNLD_TO_QUEUE = "AT+SBDRB";
 
 namespace write_bin  // 5.154
 {

src/network_systems/projects/local_transceiver/inc/local_transceiver.h

@@ -25,6 +25,8 @@ constexpr unsigned int SATELLITE_BAUD_RATE = 19200;
 class LocalTransceiver
 {
     friend class TestLocalTransceiver_parseInMsgValid_Test;
+    friend class TestLocalTransceiver_SendAndReceiveMessage;
+    friend class TestLocalTransceiver_testMailboxBlackbox_Test;
 
 public:
     /**
@@ -124,6 +126,9 @@ class LocalTransceiver
      */
     custom_interfaces::msg::Path receive();
 
+    // TEST
+    bool checkMailbox();
+
 private:
     // Serial port read/write timeout
     constexpr static const struct timeval TIMEOUT

src/network_systems/projects/local_transceiver/src/local_transceiver.cpp

@@ -15,6 +15,7 @@
 #include <custom_interfaces/msg/l_path_data.hpp>
 #include <custom_interfaces/msg/wind_sensors.hpp>
 #include <exception>
+#include <regex>
 #include <stdexcept>
 #include <string>
 
@@ -223,8 +224,101 @@ std::optional<std::string> LocalTransceiver::debugSend(const std::string & cmd)
 
 custom_interfaces::msg::Path LocalTransceiver::receive()
 {
-    std::string                  receivedData = readRsp().value();
-    custom_interfaces::msg::Path to_publish   = parseInMsg(receivedData);
+    static constexpr int MAX_NUM_RETRIES = 20;
+    for (int i = 0; i <= MAX_NUM_RETRIES; i++) {
+        if (i == MAX_NUM_RETRIES) {
+            return parseInMsg("-1");
+        }
+        static const AT::Line check_conn_cmd = AT::Line(AT::CHECK_CONN);
+        if (!send(check_conn_cmd)) {
+            continue;
+        }
+
+        if (!rcvRsps({check_conn_cmd, AT::Line(AT::DELIMITER), AT::Line(AT::STATUS_OK), AT::Line("\n")})) {
+            continue;
+        }
+
+        static const AT::Line disable_ctrlflow_cmd = AT::Line(AT::DSBL_CTRLFLOW);
+        if (!send(disable_ctrlflow_cmd)) {
+            continue;
+        }
+
+        if (!rcvRsps({disable_ctrlflow_cmd, AT::Line(AT::DELIMITER), AT::Line(AT::STATUS_OK), AT::Line("\n")})) {
+            continue;
+        }
+
+        static const AT::Line sbdix_cmd = AT::Line(AT::SBD_SESSION);
+        if (!send(sbdix_cmd)) {
+            continue;
+        }
+
+        auto opt_rsp = readRsp();
+        if (!opt_rsp) {
+            continue;
+        }
+
+        std::string              opt_rsp_val = opt_rsp.value();
+        std::vector<std::string> sbd_status_vec;
+        boost::algorithm::split(sbd_status_vec, opt_rsp_val, boost::is_any_of(AT::DELIMITER));
+
+        std::string sbdix_value;
+        for (const auto & element : sbd_status_vec) {
+            if (element.find("SBDIX:") != std::string::npos) {
+                sbdix_value = element;
+                break;
+            }
+        }
+
+        AT::SBDStatusRsp rsp(sbdix_value);
+
+        if (rsp.MO_status_ == 0) {
+            if (rsp.MT_status_ == 0) {
+                return parseInMsg("-1");
+            } else if (rsp.MT_status_ == 1) {  //NOLINT
+                break;
+            } else if (rsp.MT_status_ == 2) {
+                continue;
+            }
+        } else {
+            continue;
+        }
+    }
+
+    std::string receivedDataBuffer;
+    for (int i = 0; i < MAX_NUM_RETRIES; i++) {
+        static const AT::Line message_to_queue_cmd = AT::Line(AT::DNLD_TO_QUEUE);
+        if (!send(message_to_queue_cmd)) {
+            continue;
+        }
+
+        if (!rcvRsps({message_to_queue_cmd, AT::Line("\n")})) {
+            continue;
+        }
+
+        auto buffer_data = readRsp();
+        if (!buffer_data) {
+            continue;
+        }
+
+        std::regex re(
+          R"(name=\"data\"; filename=\"[^\"]*\"\r?\n(?:.*\r?\n)*\r?\n([\s\S]*?)\r?\n--)", std::regex::ECMAScript);
+
+        std::smatch match;
+
+        if (std::regex_search(*buffer_data, match, re)) {
+            *buffer_data = match[1];
+            std::stringstream ss;
+            ss << *buffer_data;
+            std::cout << ss.str() << std::endl;
+        } else {
+            std::cout << "No match found." << std::endl;
+        }
+
+        receivedDataBuffer = buffer_data.value();
+        break;
+    }
+
+    custom_interfaces::msg::Path to_publish = parseInMsg(receivedDataBuffer);
     return to_publish;
 }
 

src/network_systems/projects/local_transceiver/src/local_transceiver_ros_intf.cpp

@@ -57,7 +57,7 @@ class LocalTransceiverIntf : public NetNode
             lcl_trns_ = std::make_unique<LocalTransceiver>(port, SATELLITE_BAUD_RATE);
 
             static constexpr int  ROS_Q_SIZE     = 5;
-            static constexpr auto TIMER_INTERVAL = std::chrono::milliseconds(500);
+            static constexpr auto TIMER_INTERVAL = std::chrono::milliseconds(300000);
             timer_ = this->create_wall_timer(TIMER_INTERVAL, std::bind(&LocalTransceiverIntf::pub_cb, this));
             pub_   = this->create_publisher<custom_interfaces::msg::Path>(ros_topics::GLOBAL_PATH, ROS_Q_SIZE);
 

src/network_systems/projects/local_transceiver/test/test_local_transceiver.cpp

@@ -1,5 +1,6 @@
 /* IMPORTANT: Make sure only one instance of sailbot_workspace/scripts/run_virtual_iridium.sh is running */
 
+#include <curl/curl.h>
 #include <gtest/gtest.h>
 
 #include <boost/process.hpp>
@@ -12,6 +13,7 @@
 #include <custom_interfaces/msg/detail/helper_rot__struct.hpp>
 #include <custom_interfaces/msg/detail/helper_speed__struct.hpp>
 #include <fstream>
+#include <mutex>
 #include <vector>
 
 #include "at_cmds.h"
@@ -255,3 +257,62 @@ TEST_F(TestLocalTransceiver, parseInMsgValid)
     EXPECT_EQ(parsed_test.waypoints[1].latitude, holder);
     EXPECT_EQ(parsed_test.waypoints[1].longitude, holder);
 }
+
+std::mutex port_mutex;
+
+TEST_F(TestLocalTransceiver, testMailboxBlackbox)
+{
+    std::lock_guard<std::mutex> lock(port_mutex);  // because same port is being used
+
+    std::string holder  = "curl -X POST -F \"test=1234\" http://localhost:8080";
+    std::string holder2 = "printf \"at+sbdix\r\" > $LOCAL_TRANSCEIVER_TEST_PORT";
+
+    system(holder.c_str());   //NOLINT
+    system(holder2.c_str());  //NOLINT
+
+    std::optional<std::string> response = lcl_trns_->readRsp();
+    std::cout << *response << std::endl;
+}
+
+TEST_F(TestLocalTransceiver, parseReceiveMessageBlackbox)
+{
+    std::lock_guard<std::mutex> lock(port_mutex);
+
+    constexpr float     holder = 14.3;
+    Polaris::GlobalPath sample_data;
+
+    Polaris::Waypoint * waypoint_a = sample_data.add_waypoints();
+    waypoint_a->set_latitude(holder);
+    waypoint_a->set_longitude(holder);
+    Polaris::Waypoint * waypoint_b = sample_data.add_waypoints();
+    waypoint_b->set_latitude(holder);
+    waypoint_b->set_longitude(holder);
+
+    std::string serialized_data;
+    ASSERT_TRUE(sample_data.SerializeToString(&serialized_data));
+
+    std::ofstream outfile("/tmp/serialized_data.bin", std::ios::binary);
+    outfile.write(serialized_data.data(), static_cast<std::streamsize>(serialized_data.size()));
+    outfile.close();
+
+    std::string holder2 = "curl -X POST -F \"data=@/tmp/serialized_data.bin\" http://localhost:8080";
+    std::system(holder2.c_str());  //NOLINT
+
+    custom_interfaces::msg::Path received_data = lcl_trns_->receive();
+
+    Polaris::GlobalPath global_path;
+    for (const auto & waypoint : received_data.waypoints) {
+        Polaris::Waypoint * new_waypoint = global_path.add_waypoints();
+        new_waypoint->set_latitude(waypoint.latitude);
+        new_waypoint->set_longitude(waypoint.longitude);
+    }
+
+    if (global_path.waypoints_size() > 0) {
+        ASSERT_EQ(global_path.waypoints_size(), sample_data.waypoints_size())
+          << "Mismatch in number of waypoints received.";
+        ASSERT_EQ(global_path.waypoints(0).latitude(), holder);
+        ASSERT_EQ(global_path.waypoints(0).longitude(), holder);
+    } else {
+        std::cout << "No waypoints received." << std::endl;
+    }
+}

src/website/views/components/DropDown/dropdown.module.css

@@ -1,102 +1,58 @@
-@import 'https://fonts.googleapis.com/css2?family=Raleway:ital,wght@0,100..900;1,100..900&display=swap';
+@import 'https://fonts.googleapis.com/css2?family=Switzer:wght@400;700&display=swap';
 
-.iconButton {
+.flexItemContainer {
+  flex: 1;
   display: flex;
   justify-content: center;
-  align-items: center;
-  font-family: Verdana, sans-serif;
-  padding: 3px;
-  border: 2px solid white;
-  border-radius: 5px;
-  width: 130px;
-  height: 50px;
-  color: white;
-  float: right;
-  margin-right: 20px;
-  box-sizing: border-box;
-  transition: 0.3s ease;
-  transform: none;
-  user-select: none;
+  font-family: Switzer, sans-serif;
+  color: #092e4e;
+  font-weight: bold;
 }
 
-.iconButton:hover {
-  background-color: white;
-  color: #3498db;
-  cursor: pointer;
-  transition: 0.3s ease;
+.detailsFlexContainer {
+  display: flex;
+  justify-content: space-between;
+  width: 100%;
+  position: relative;
+  padding-bottom: 8px;
+  margin-top: 2px;
 }
 
-.iconButtonOpen {
-  font-family: Verdana, Geneva, sans-serif;
-  padding: 3px;
-  border: 2px solid white;
-  border-radius: 5px;
-  width: 130px;
-  height: 50px;
-  float: right;
-  margin-right: 20px;
-  box-sizing: border-box;
-  text-align: center;
-  background-color: white;
-  color: #3498db;
-  cursor: pointer;
-  transition: 0.3s ease;
-  transform: none;
-  user-select: none;
+.detailsFlexContainer::after {
+  content: '';
+  display: block;
+  position: absolute;
+  bottom: 0;
+  left: 0;
+  width: 100%;
+  height: 1px;
+  background-color: black;
 }
 
-.dropdownActive {
-  opacity: 1;
-  visibility: visible;
-  transform: translateY(0);
-  transition: 0.3s ease;
+.contentContainer {
+  display: flex;
+  justify-content: space-between;
+  width: 100%;
+  padding-top: 8px;
 }
 
-.dropdownInactive {
-  opacity: 0;
-  visibility: hidden;
-  transform: translateY(-45px);
-  transition: 0.3s;
-  pointer-events: none;
+.accordionCustom {
+  background-color: #7a8b99;
+  border: 1px solid #bdc3c7;
+  box-shadow: none;
 }
 
-.dropdownMenu {
-  margin: 5px;
-  position: absolute;
-  right: 3px;
-  top: 60px;
-  z-index: 1000;
-  background-color: white;
-  border-bottom: 2px #3498db solid;
-  border-radius: 5px;
+.accordionSummaryCustom {
+  background-color: #d9dddc;
+  color: #00263e;
+  font-family: Switzer, sans-serif;
+  font-weight: bold;
 }
 
-.dropdownItem {
-  text-transform: capitalize;
-  display: grid;
-  grid-template-columns: 90px auto;
-  font-size: 18px;
-  font-family: 'Gill Sans', 'Gill Sans MT', Calibri, 'Trebuchet MS', sans-serif;
-  width: 150px;
-  padding: 10px;
-  height: 40px;
+.accordionDetailsCustom {
   background-color: white;
-  border: 2px white solid;
-  border-radius: 5px;
-  color: #3498db;
-  align-items: center;
-  transform: none;
-  user-select: none;
-  cursor: pointer;
-}
-
-.dropdownItem:hover {
-  background-color: whitesmoke;
-}
-
-.dragDropIndicator {
-  font-size: 20px;
-  font-weight: bold;
-  position: absolute;
-  right: 15px;
+  flex-direction: column;
+  padding: 16px;
+  font-family: Switzer, sans-serif;
+  color: #092e4e;
 }