Extend driver to include sensor type DRVEGRD 169

.github/workflows/dockerbuild.yml

@@ -21,7 +21,7 @@ jobs:
       run:  docker build . -t umrr-ros:latest
 
     - name: Building the driver with the docker container
-      run:  docker run --rm -v`pwd`:/code umrr-ros colcon build --packages-select umrr_ros2_driver umrr_ros2_msgs
+      run:  docker run --rm -v`pwd`:/code umrr-ros colcon build
 
     - name: Running the unit/integration tests via the docker container and exit
       run:  docker-compose up

CHANGELOG.md

@@ -9,8 +9,13 @@ This is the first official versioned release of the `smartmicro_ros2_radars`. It
 
 This major release of the driver includes multi-user interfaces. The driver now supports and publishes data from UMRR96 and UMRR11.
 A new test approach has been implemented which simulates the sensors and interfaces with the node hence making the tests more robust.
+Requires new sensor firmware, if using UMRR11-T132: V5.1.4 and if using UMRR96-T153: V5.2.4.
 
 ## v2.1.0 - 2022-06-02
 
 This minor release of the driver offer ros2 services to communicate with the sensor. The driver now supports mode changes for UMRR96 and UMRR11.
-This release also offers the possibilty of configuring the ip addresses of the sensor using ros2 services. The tests are further extended to inlcude ros2 services check.
+This release also offers the possibilty of configuring the ip addresses of the sensor using ros2 services. The tests are further extended to inlcude ros2 services check. Requires new sensor firmware, if using UMRR11-T132: V5.1.4 and if using UMRR96-T153: V5.2.4.
+
+## v3.0.0 - 2022-09-23
+
+Major release includes the new smartmicro sensor DRVEGRD 169. The driver offers mode changes and configuration of the DRVEGRD 169 along with publishing the radar targets as pointcloud data. The callbacks for datastream now require a clientID. 

Readme.md

@@ -21,15 +21,21 @@ ros2 launch umrr_ros2_driver radar.launch.py
 ### Supported ROS distributions:
 - ROS2 foxy
 
-### UMRR-96 radar and Smart Access API version
-A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96 radar, UMRR11 radar or both are 
+### UMRR radars and Smart Access API version
+A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96 radar, UMRR11 radar or UMRR9F radar are 
 required to run this node. This code is bundled with a version of Smart Access API. Please make
 sure the version used to publish the data is compatible with this version:
 
-- Date of release: `June 02, 2022`
-- Smart Access Automotive version: `v1.1.0`
+- Date of release: `September 22, 2022`
+- Smart Access Automotive version: `v2.0.0`
 - User interface version: `UMRR96 Type 153 AUTOMOTIVE v1.2.1`
 - User interface version: `UMRR11 Type 132 AUTOMOTIVE v1.1.1`
+- User interface version: `UMRR9F Type 169 AUTOMOTIVE v1.1.1`
+
+### Sensor Firmwares
+This ROS2 driver release is compatible with the following sensor firmwares:
+- UMRR11 Type 132: V5.1.4
+- UMRR96 Type 153: V5.2.4
 
 ### Point cloud message wrapper library
 To add targets to the point cloud in a safe and quick fashion a
@@ -45,6 +51,7 @@ sudo apt install ros-foxy-point-cloud-msg-wrapper
 The inputs are coming as network packages generated in either of the following two ways:
 - Through directly interfacing with the sensor
 - Through a provided pcap file
+- Through using the sensor simulators
 
 These inputs are processed through the Smart Access C++ API and trigger a callback. Every time this
 callback is triggered a new point cloud message is created and published.
@@ -77,7 +84,7 @@ For instance, changing the `Index of Transmit Antenna (tx_antenna_idx)` of a UMR
 `ros2 service call /smartmicro_radar_node/set_radar_mode umrr_ros2_msgs/srv/SetMode "{param: "tx_antenna_idx", value: 2, sensor_id: 100}"`
 
 ## Configuration of the sensors
-In order to use multiple sensors (maximum of up to ten sensors) with the node the sensors should be configured separately.
+In order to use multiple sensors (maximum of up to eight sensors) with the node the sensors should be configured separately.
 The IP addresses of the sensors could be assigned using:
 - The smartmicro tool `DriveRecorder`.
 - Using the `Smart Access C++ API`
@@ -112,6 +119,12 @@ The sensor services respond with certain value codes. The following is a lookup
 ## Development
 The dockerfile can be used to build and test the ros driver.
 
+### Prerequisites
+
+- Docker version >= 20.10.14
+- Docker compose version >= 1.29.2
+
+## Building and Testing
 Accept the agreement and get the smartaccess release
 ```bash
 ./smart_extract.sh
@@ -124,7 +137,7 @@ docker build . -t umrr-ros:latest
 
 Building the driver with the docker container
 ```bash
-docker run --rm -v`pwd`:/code umrr-ros colcon build --packages-select umrr_ros2_driver umrr_ros2_msgs
+docker run --rm -v`pwd`:/code umrr-ros colcon build
 ```
 
 Running the unit and integration tests via the docker compose

docker-compose.yml

@@ -30,7 +30,7 @@ services:
             - SMART_ACCESS_CFG_FILE_PATH=/code/simulator/config_umrr11/com_lib_config.json
             - LD_LIBRARY_PATH=/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9
         entrypoint: ["/code/simulator/simulation/out/bin/simulator"]
-        command:    ["4", "1", "1"]
+        command:    ["4", "1", "1", "A"]
         networks:
             device_network:
                 ipv4_address: 172.22.10.101
@@ -45,15 +45,31 @@ services:
             - SMART_ACCESS_CFG_FILE_PATH=/code/simulator/config_umrr96/com_lib_config.json
             - LD_LIBRARY_PATH=/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9
         entrypoint: ["/code/simulator/simulation/out/bin/simulator"]
-        command:    ["5", "1", "2"]
+        command:    ["5", "1", "2", "A"]
         networks:
             device_network:
                 ipv4_address: 172.22.10.102
+    sensor_2:
+        depends_on:
+            build_simulator:
+                condition: service_completed_successfully
+        image: umrr-ros:latest
+        volumes:
+            - .:/code
+        environment:
+            - SMART_ACCESS_CFG_FILE_PATH=/code/simulator/config_umrr9f/com_lib_config.json
+            - LD_LIBRARY_PATH=/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9
+        entrypoint: ["/code/simulator/simulation/out/bin/simulator"]
+        command:    ["9", "1", "1", "B"]
+        networks:
+            device_network:
+                ipv4_address: 172.22.10.103
     ros_node:
         image: umrr-ros:latest
         depends_on:
             - "sensor_0"
             - "sensor_1"
+            - "sensor_2"
         volumes:
             - .:/code
         command: ["colcon", "test", "--packages-above", "umrr_ros2_driver"]

simulator/config_umrr9f/com_lib_config.json

@@ -0,0 +1,16 @@
+{
+    "name": "Com Lib Config",
+    "version": "1.0.0",
+    "client_id": 300,
+    "role": "slave",
+    "shared_lib_path": "/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9",
+    "config_path": "/code/simulator/config_umrr9f",
+    "user_interface_name": "umrr9f_t169_automotive",
+    "user_interface_major_v": 1,
+    "user_interface_minor_v": 1,
+    "user_interface_patch_v": 1,
+    "download_path": "",
+    "instruction_serialization_type": "port_based",
+    "data_serialization_type": "port_based",
+    "alive": false
+}

simulator/config_umrr9f/hw_inventory.json

@@ -0,0 +1,12 @@
+{
+    "hwItems": [
+        {
+            "type": "eth",
+            "dev_id": 1,
+            "iface_name": "eth0",
+            "port": 55555
+        }
+    ],
+    "name": "HW inventory List",
+    "version": "1.1.0"
+}

simulator/config_umrr9f/routing_table.json

@@ -0,0 +1,14 @@
+{
+    "clients": [
+        {
+            "client_id": 1,
+            "data_serialization_type": "port_based",
+            "instruction_serialization_type": "port_based",
+            "ip": "172.22.10.100",
+            "link_type": "eth",
+            "port": 55555
+        }
+    ],
+    "name": "Client Routing Table",
+    "version": "1.0.0"
+}

simulator/simulation/CMakeLists.txt

@@ -17,13 +17,15 @@ add_executable(simulator
 target_include_directories(simulator PUBLIC
                            ../../umrr_ros2_driver/smartmicro/include
                            umrr_ros2_driver/smartmicro/include/umrr11_t132_automotive_v1_1_1
-                           umrr_ros2_driver/smartmicro/include/umrr96_t153_automotive_v1_2_1)
+                           umrr_ros2_driver/smartmicro/include/umrr96_t153_automotive_v1_2_1
+                           umrr_ros2_driver/smartmicro/include/umrr9f_t169_automotive_v1_1_1)
 
 target_link_libraries(simulator
                       com_lib
                       osal
                       umrr11_t132_automotivev1.1.1_user_interface
                       umrr96_t153_automotivev1.2.1_user_interface
+                      umrr9f_t169_automotivev1.1.1_user_interface
                       dl)
 
 install(TARGETS simulator DESTINATION bin)

simulator/simulation/src/simulator.cpp

@@ -22,6 +22,9 @@ using namespace com::types;
 uint64_t identifier;
 uint64_t majorVersion;
 uint64_t minorVersion;
+std::string port;
+std::string portFile;
+
 
 std::shared_ptr<com::common::DataServicesIface> dataServices =
     com::common::DataServicesIface::Get();
@@ -59,13 +62,18 @@ void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer) {
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(minorVersion);
     } else if (instruction->GetSectionId() == 2010 &&
-               instruction->GetId() == 0) {
-      std::cout << "Instruction for mode change tx_antenna answered!"
+               instruction->GetId() == 2) {
+      std::cout << "UMRR96 mode frequency_sweep set!"
                 << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
     } else if (instruction->GetSectionId() == 2010 &&
-               instruction->GetId() == 2) {
-      std::cout << "Instruction for mode change sweep_idx answered!"
+               instruction->GetId() == 4) {
+      std::cout << "UMRR11 mode angular_separation set!"
+                << std::endl;
+      instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
+    } else if (instruction->GetSectionId() == 2010 &&
+               instruction->GetId() == 5) {
+      std::cout << "UMRR9F mode range_toggle_mode set!"
                 << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
     } else {
@@ -76,51 +84,68 @@ void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer) {
   dataServices->SetInstructionBuffer(clientId, *receive, nullptr);
 }
 
+void stream_port(std::string portFile) {
+
+  dataServices->RegisterInstRecvCallback(slave_callback);
+
+  ClientId masterId = 1;
+  PortId portTargetListId = 66;
+  std::ifstream ifs(portFile, std::ifstream::binary | std::ios::binary);
+  std::filebuf *pbuf = ifs.rdbuf();
+  int size = pbuf->pubseekoff(0, ifs.end, ifs.in);
+  pbuf->pubseekpos(0, ifs.in);
+  char *filebuffer = new (std::nothrow) char[size];
+
+  if (filebuffer == nullptr) {
+    std::cout << "error assigning memory!" << std::endl;
+  }
+
+  pbuf->sgetn(filebuffer, size);
+  BufferDescriptor bufferdesc((uint8_t *)filebuffer, size);
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+
+  if (ERROR_CODE_OK !=
+      dataServices->StreamDataPort(masterId, portTargetListId, bufferdesc)) {
+    return;
+  }
+
+  std::cout << "sensor is transmitting data! " << std::endl;
+  ifs.close();
+  delete[] filebuffer;
+
+}
+
 int main(int argc, char *argv[]) {
-  if (argc != 4) {
+  if (argc != 5) {
     std::cout << "Specifiy User Interface for the sensor" << std::endl;
     return 1;
   }
 
   identifier = strtoll(argv[1], nullptr, 10);
   majorVersion = strtoll(argv[2], nullptr, 10);
   minorVersion = strtoll(argv[3], nullptr, 10);
-
+  port = argv[4];
+
   if (!dataServices->Init()) {
     throw std::runtime_error("Data services have not been initialized!");
   }
-
-  dataServices->RegisterInstRecvCallback(slave_callback);
+
   auto Start = std::chrono::steady_clock::now();
 
   while (1) {
-    ClientId masterId = 1;
-    PortId portTargetListId = 66;
-    std::string portFile = "/code/simulator/targetlist_port.bin";
-    std::ifstream ifs(portFile, std::ifstream::binary | std::ios::binary);
-    std::filebuf *pbuf = ifs.rdbuf();
-    int size = pbuf->pubseekoff(0, ifs.end, ifs.in);
-    pbuf->pubseekpos(0, ifs.in);
-    char *filebuffer = new (std::nothrow) char[size];
-
-    if (filebuffer == nullptr) {
-      std::cout << "error assigning memory!" << std::endl;
-    }
-
-    pbuf->sgetn(filebuffer, size);
-    BufferDescriptor bufferdesc((uint8_t *)filebuffer, size);
-    std::this_thread::sleep_for(std::chrono::seconds(1));
 
-    if (ERROR_CODE_OK !=
-        dataServices->StreamDataPort(masterId, portTargetListId, bufferdesc)) {
-      return -1;
+    if(port == "A") {
+      std::string portFile = "/code/simulator/targetlist_port_v2_1_0.bin";
+      stream_port(portFile);
     }
-
-    std::cout << "sensor is transmitting data! " << std::endl;
-    ifs.close();
-    delete[] filebuffer;
-
-    if (std::chrono::steady_clock::now() - Start > std::chrono::seconds(40))
+    else if(port == "B") {
+      std::string portFile = "/code/simulator/targetlist_port_v3_0_0.bin";
+      stream_port(portFile);
+    }
+    else {
+      std::cout << "Invalid input!" << std::endl;
+    }
+    if (std::chrono::steady_clock::now() - Start > std::chrono::seconds(30))
       break;
   }
   return 0;

smart_extract.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-smart_pack=SmartAccessAutomotive_1_1_0.tar.gz
+smart_pack=SmartAccessAutomotive_2_0_0.tar.gz
 URL_smartbinaries=https://www.smartmicro.com/fileadmin/media/Downloads/Automotive_Radar/Software/${smart_pack}
 
 cat << EOF