Major refactor for coordinated multi-winch, RBR support, hardware moc…

…king, unit tests, config validation, and dev containers. feat: Node and tests for validating configuration feat: Added launch configuration fix: config validation nodes executable, validate seatrac fix: missing shebang feat: Moved validation from nodes to start script refactor: Multiple winches WIP. New conductor refactor: Winch movement refactor: Instrument actions feat: Fixed service message locations feat: Added arm controller for RBR feat: Node for publishing UDP stream, corrected CTD paths build: dev container configuration feat: Multi-camera support fix: config and build fixes found during testing feat: Better buffering for RBR stream, service definition for running relay on another device fix: service import and usage errors debug: runtime progress fix: Improved namespace handling, debug logging fix: Moved instrument specific config to respective arms fix: Include depth from RBR readings feat: Misc fixes to paths and parameter passing feat: Improves task behavior, eliminates race condition refactor: Use semaphores and events instead of locks feat: Will run scheduled depth when profile fails to gather enough data feat: Nomenclature update: Instrument->Payload feat: Convert state class to dataclass refactor: reorganized task parameters in yaml refactor: Move winch control to arm base class feat: Move IFCB operation out of ARM for easier mocking feat: Hardware mocking for local development/testing feat: Upgrade aiohttp fix: IFCB action call error, improvements to naming, loop locking feat: Switch from queue to event-driven tasks. Add wiz_probe behavior test: Unit tests for scheduled depth and wiz behaviors feat: per-task winch speed, chanos arm using RBR sensor feat: Removed files from old multiwinch method fix: Removed unused srv folder/reference fix: Ensure required version of setuptools is available feat: Removed unused files/references feat: Config validation skip switch for launch feat: Moved mock nodes into their own directory fix: Misc typos fix: RBR base behavior fixes refactor: Arm nodes are now launched independently of core PhytO-ARM nodes refactor: phyto-arm start now takes a launchfile name arg fix: Check correct semaphore signal docs: Comments doc: Updated documentation feat: renamed arm launchfiles for consistency feat: Adjusted chanos config for specific depths feat: Better exceptions for out of bounds cases in arm base feat: Added support for wiz probe depth offset config docs: Better example depths feat: Switched to named locking mechanism to allow crashed arms to reenter existing locks feat: Convenience running scripts, fixes missing scripts from build fix: Misc run script issues fix: docker image ref feat: Added development section to README feat: A little more tolerance for malformed RBR messages feat: Cleaned up example.yaml
WHOIGit · Feb 29, 2024 · a8d9fa5 · a8d9fa5
1 parent d7f493f
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diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,56 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
+{
+	"name": "Existing Dockerfile",
+	"build": {
+		"context": "../",
+		// Sets the run context to one level up instead of the .devcontainer folder.
+		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
+		"dockerfile": "../Dockerfile"
+	},
+	"workspaceFolder": "/app",
+	"mounts": [
+		// Manually mount each file/folder from root of repo since just mounting the parent folder
+		// would result in the container ROS workspace being erased. Ugly workaround for now.
+		// Alternatively could use postStart commands to symlink the workspace folder. Might
+		// introduce other headaches.
+		"source=${localWorkspaceFolder}/src/aml_ctd,target=/app/src/aml_ctd,type=bind",
+        "source=${localWorkspaceFolder}/src/ifcb,target=/app/src/ifcb,type=bind",
+        "source=${localWorkspaceFolder}/src/jvl_motor,target=/app/src/jvl_motor,type=bind",
+        "source=${localWorkspaceFolder}/src/phyto_arm,target=/app/src/phyto_arm,type=bind",
+        "source=${localWorkspaceFolder}/src/rbr_maestro3_ctd,target=/app/src/rbr_maestro3_ctd,type=bind",
+		"source=${localWorkspaceFolder}/.gitignore,target=/app/.gitignore,type=bind",
+		"source=${localWorkspaceFolder}/configs,target=/app/configs,type=bind",
+		"source=${localWorkspaceFolder}/deps,target=/app/deps,type=bind",
+		"source=${localWorkspaceFolder}/.devcontainer,target=/app/.devcontainer,type=bind",
+		"source=${localWorkspaceFolder}/.git,target=/app/.git,type=bind",
+		"source=${localWorkspaceFolder}/LICENSE,target=/app/LICENSE,type=bind",
+		"source=${localWorkspaceFolder}/phyto-arm.service,target=/app/phyto-arm.service,type=bind",
+		"source=${localWorkspaceFolder}/.github,target=/app/.github,type=bind",
+		"source=${localWorkspaceFolder}/phyto-arm,target=/app/phyto-arm,type=bind",
+		"source=${localWorkspaceFolder}/scripts,target=/app/scripts,type=bind",
+		"source=/home/ifcb/IFCBacquire/Host/Routines,target=/routines,type=bind",
+		"source=/mnt/data,target=/mnt/data,type=bind"
+	],
+	"runArgs": [
+         "--device=/dev/ttyS3",
+		"--publish=9090:9090/tcp",
+    	"--publish=8098:8098/tcp",
+		"--publish=12345:12345/udp"
+    ]
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line to run commands after the container is created.
+	// "postCreateCommand": "cat /etc/os-release",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "devcontainer"
+}
diff --git a/.gitignore b/.gitignore
@@ -10,4 +10,9 @@ __pycache__
 .venv
 logs
 configs
-!configs/example.yaml
+!configs/example.yaml
+
+# Build artifacts in devcontainer after mount
+apt-requirements.txt
+deps.rosinstall
+python3-requirements.txt
diff --git a/Dockerfile b/Dockerfile
@@ -12,6 +12,7 @@ RUN apt update \
 
 # Install Python dependencies
 COPY deps/python3-requirements.txt ./
+RUN pip install --upgrade setuptools==69.1.0
 RUN python3 -m pip install -r python3-requirements.txt
 
 
@@ -49,6 +50,7 @@ RUN apt update \
 
 # Copy the rest of the sources
 COPY ./src ./src
+COPY ./scripts ./scripts
 
 # Build
 RUN source ./devel/setup.bash \

diff --git a/README.md b/README.md
diff --git a/configs/example.yaml b/configs/example.yaml
@@ -2,69 +2,25 @@ name: Example
 
 
 launch_args:
-    ctd: aml
     log_dir: /mnt/data/roslogs/
     rosbag_prefix: /mnt/data/rosbags/phyto-arm
-    winch: false
     classifier: false
 
 
 alerts:
     # You can post alert messages to Slack by creating an Incoming Webhook for your channel:
-    # - type: slack
-    #   url: https://hooks.slack.com/services/...
+    - type: slack
+      url: https://hooks.slack.com/services/...
 
 
 # Node-specific configuration
 
 gps:
     host: "172.17.0.1"
 
-conductor:
-    range:
-        min:  0.5  # m
-        max:  2.0  # m
-
-    # TODO: Currently unimplemented
-    speed:
-        transit: 0.02  # m/s
-        profile: 0.02  # m/s
-
-    # Minimum level of the profiled sensor data to trigger a sample at depth
-    threshold: 0.0
-
-    # Interval at which we run a cartridge debubble, necessary when IFCB on its side
-    cartridge_debubble_interval: 0 # minutes, 0 = never
-
-    # Interval at which we run a bead sample for maintenance
-    bead_interval: 1440  # minutes, 0 = never
-
-    # Scheduled depths are sampled once per time interval, or when the profile
-    # data does not exceed the configured threshold above.
-    #
-    # Note: Adjusting the scheduled depths after the node has started may resume
-    # from an arbitrary point in the new schedule.
-    schedule:
-        every: 60  # minutes, 0 = never
-        range:
-            first: 0.5  # m
-            last:  2.0  # m
-            count: 4
-
-profiler:
-    resolution: 0.02  # m
-    data_topic: "/ctd/aml/port5/phycoerythrin"
-    data_field: "value"
-
-#  Note these values are not read by PhytO-ARM, they are sought by
-#  the included ds_util_nodes package, which publishes CTD data reads.
-#  https://bitbucket.org/whoidsl/ds_base/src/master/ds_util_nodes/
-ctd_comms:
-    connection:
-        type: "SERIAL"
-        port: "/dev/ttyTHS0"
-        baud: 115200
-        data_bits: 8
+lock_manager:
+    # Use this to control how many motors can be in motion at once.
+    max_moving_winches: 1
 
 ifcb:
     address: "172.17.0.1"
@@ -75,73 +31,181 @@ ifcb:
     # container or namespace.
     data_dir: "/mnt/data/ifcbdata"
 
-# If launch_args.winch = true
-motor:
-    address: "192.168.13.3"
-    port: 502
-    refresh_rate: 1  # hz
-    counts_per_turn: 8192  # defined in manual p.9
 
-# If launch_args.classifier = true
-classifier:
-    # Topic to get images which are sent to classifier
-    image_topic: "/ifcb/roi/image"
-    triton_server_url: "172.17.0.1:9001/"
-    classifier_model: "ifcb_iv3_onnx"
+arm_ifcb:
+    # Configuration related to tasks
+    tasks:
+        phy_peak:
+            # Minimum level of the profiled sensor data to trigger a sample at depth
+            threshold: 0.0
+        scheduled_depth:
+            # Scheduled depths are sampled once per time interval, or when the profile
+            # data does not exceed the configured threshold above.
+            #
+            # Note: Adjusting the scheduled depths after the node has started may resume
+            # from an arbitrary point in the new schedule.
+            every: 60  # minutes, 0 = never
+            range:
+                first: 0.7  # m
+                last:  1.5  # m
+                count: 3
+        wiz_probe:
+            # List of times to sample the Wiz probe in UTC time. List can be any size
+            times:
+                - "12:00"
+                - "14:00"
+                - "16:00"
+                - "18:00"
+            # Minutes to hold this position
+            duration: 30
+            # For this number of minutes before the next time, no other tasks will be scheduled.
+            # Allows any existing tasks to complete and gives the winch time to move into position.
+            preparation_window: 15
+            # Use phycoerythrin peak to determine sample depth
+            use_phy_peak: true
+            # If use_phy_peak == true, then this is the offset from the peak to sample at.
+            # This is added directly to the phy_peak depth, so positive values add depth.
+            peak_offset: 0.5 # m
+            # Depth to sample at if phycoerythrin peak is not used, or if peak not found
+            # Ensure this value is within the winch range or PhytO-ARM will abort
+            default_depth: 1.0
+
+    ifcb_maintenance:
+        # Interval at which we run a cartridge debubble, necessary when IFCB on its side
+        cartridge_debubble_interval: 0 # minutes, 0 = never
+        # Interval at which we run a bead sample for maintenance
+        bead_interval: 1440  # minutes, 0 = never
+
+    ctd_topic: '/arm_ifcb/ctd/depth'
+
+    #  Note these values are not read by PhytO-ARM, they are sought by
+    #  the included ds_util_nodes package, which publishes CTD data reads.
+    #  https://bitbucket.org/whoidsl/ds_base/src/master/ds_util_nodes/
+    ctd_comms:
+        connection:
+            type: "SERIAL"
+            port: "/dev/ttyS3"
+            baud: 115200
+            data_bits: 8
+
+    profiler:
+        resolution: 0.02  # m
+        data_topic: "/ctd/aml/port5/phycoerythrin"
+        data_field: "value"
+
+    motor:
+        address: "192.168.13.3"
+        port: 502
+        refresh_rate: 1  # hz
+        counts_per_turn: 8192  # defined in manual p.9
+
+    winch:
+        enabled: true
 
-camera:
-    # Raymarine CAM220IP defaults
-    video_stream_url: "rtsp://admin:1234@192.168.13.30/h264"
+        range:
+            min:  0.7  # m
+            max:  1.5  # m
+
+        # The spool circumference is needed for an initial estimate of speed
+        spool_circumference: 0.6604  # m
+
+        # Used for calculating rpm_ratio = 60 * gear_ratio / spool_circumference
+        gear_ratio: 60
+
+        max_speed:  0.02  # m/s
+        # Distance from target at which we will reduce speed by half. This controls
+        # the sharpness of our velocity function. A smaller number produces a more
+        # abrupt stop.
+        half_speed_dist: 0.05  # m
 
-winch:
-    # TODO: Almost none of these values are used yet!
+        # Distance from the target at which we are close enough to stop.
+        epsilon: 0.01  # m
 
-    # The spool circumference is needed for an initial estimate of speed
-    spool_circumference: 0.6604  # m
+        safety_envelopes:
+            position: 0.1  # meters
+            time: # Unused for now
+                extra_pct: 10.0
+                extra_sec: 10.0
 
-    gear_ratio: 60
 
-    max_speed:  0.02  # m/s
-    acceleration:  1  # m/s^2
+arm_chanos:
+    tasks:
+        downcast:
+            speed: 0.005  # m/s
+        upcast:
+            stage_duration: 60 # seconds
+            stages:
+                - 1.5 # meters
+                - 1.0
+                - 0.7
 
-    # Distance from target at which we will reduce speed by half. This controls
-    # the sharpness of our velocity function. A smaller number produces a more
-    # abrupt stop.
-    half_speed_dist: 0.05  # m
+    ctd_topic: '/arm_chanos/ctd/depth'
 
-    # Distance from the target at which we are close enough to stop.
-    epsilon: 0.01  # m
+    motor:
+        address: "192.168.13.4"
+        port: 502
+        refresh_rate: 1  # hz
+        counts_per_turn: 8192  # defined in manual p.9
 
-    safety_envelopes:
-        time:
-            extra_pct: 10.0
-            extra_sec: 10.0
-        position: 0.1  # meters
+    winch:
+        enabled: true
+
+        range:
+                min:  0.7  # m
+                max:  1.5  # m
+
+        # The spool circumference is needed for an initial estimate of speed
+        spool_circumference: 0.6604  # m
+
+        # Used for calculating rpm_ratio = 60 * gear_ratio / spool_circumference
+        gear_ratio: 60
+
+        max_speed:  0.02  # m/s
+        # Distance from target at which we will reduce speed by half. This controls
+        # the sharpness of our velocity function. A smaller number produces a more
+        # abrupt stop.
+        half_speed_dist: 0.05  # m
+
+        # Distance from the target at which we are close enough to stop.
+        epsilon: 0.01  # m
+
+        safety_envelopes:
+            position: 0.1  # meters
+            time: # Unused for now
+                extra_pct: 10.0
+                extra_sec: 10.0
+
+
+# If launch_args.classifier = true
+classifier:
+    # Topic to get images which are sent to classifier
+    image_topic: "/ifcb/roi/image"
+    triton_server_url: "172.17.0.1:9001/"
+    classifier_model: "ifcb_iv3_onnx"
+
+camera:
+    fore_camera:
+        video_stream_url: "rtsp://admin:example_password@192.168.13.123/"
+    aft_camera:
+        video_stream_url: "rtsp://admin:example_password@192.168.13.124/"
 
 web:
     field_map:
-        commitHash:
-            # Will get value from COMMIT_HASH environment variable
-            environment: COMMIT_HASH
-            # Default is optional for environment variables. Will error
-            # if variable does not exist and no default provided
-            default: 'No hash'
-        ctdDepth:
-            # Must have 'default' if not 'environment'
-            default: .nan
-            # Optional 'topic' to update value
-            topic: /ctd/depth
-            # Required only when 'topic' is used
-            topic_field: depth
-        gpsLatitude:
+        #optional indicates that a parameter will not be required to be present by the config validator
+        commitHash: #optional
+            environment: COMMIT_HASH #optional, get value from COMMIT_HASH environment variable
+            default: 'No hash' #optional for environment variables
+        ctdDepth: #optional
+            default: .nan # 'default' required if not using 'environment'
+            topic: /ctd/depth #optional, ROS topic to update value
+            topic_field: depth #optional unless 'topic' is used
+        gpsLatitude: #optional
             topic: /gps/fix
             topic_field: latitude
-            # Replace with desired default lat/long
-            default: -999999
-        gpsLongitude:
+            default: -999999 # Replace with desired default lat
+        gpsLongitude: #optional
             topic: /gps/fix
             topic_field: longitude
-            default: -999999
-        defaultOnly:
-            # No topic means this default value is permanent
-            default: 'static_value'
+            default: -999999 # Replace with desired default long
+        defaultOnlyExample: #optional
+            default: 'static_value' # No topic, making this default value permanent