Firmware download and custom plugin (#43)

Added headers for firmware download, created a ros2 service which calls the update function using the sensor_id and file path provided. Created a new Firmware download message to be used by the service. Modified the SendCommand message to include value from user.

Added fields for polar coordinates in pc2. Added a new rviz plugin for displaying the targets data and giving the possibility to record and save the data in csv format. Removed targetlist message and subscribers from node

Extended Dockerfile to include dependecies for smart_rviz_plugin. Added new python GUI inside plugin. Updated Readme to include the new plugin and GUI description. Reformatted the plugin files and removed the ignore file.

Extended node to inlcude new interface for A4 T171. Update smart release in extract file. Documentetd new interface info  into Readme and Changelog.

CHANGELOG.md

@@ -42,4 +42,8 @@ This release includes the new DRVEGRD 171 and DRVEGRD 152 user-interface. The re
 
 ## v5.0.0 - 2023-09-22
 
-This release includes CAN communication for all the provided sensor types and sensors interfaces. The params are now extended to include the params/setting for the connected adapters along with the sensor params. 
+This release includes CAN communication for all the provided sensor types and sensors interfaces. The params are now extended to include the params/setting for the connected adapters along with the sensor params.
+
+## v6.0.0 - 2023-12-20
+
+This release includes features for downloading sensor firmware on to the sensors. It also provides custom RVIZ plugins to log the target list data, record and save it. It has a plugin to send instructions to the sensors and also it is possible to dowload the firmware too. This release also includes a python GUI to send custom CAN messages. The radar param templates have now been merged into one param file. The pointcloud has been extended to also include the polar coordinates. Additionally, the release also includes new user interface for sensor A4 T171.

Dockerfile

@@ -1,10 +1,20 @@
 FROM ros:foxy
 
+## Revert to snapshot once GPG key error is resolved
+RUN rm /etc/apt/sources.list.d/ros2-snapshots.list
+RUN apt-get update && apt-get install curl -y
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
 RUN apt-get update && apt-get install -y \
     iputils-ping \
     python3 \
     python3-pip \
     ros-foxy-point-cloud-msg-wrapper \
+    ros-foxy-rviz2 \
+    ros-foxy-rviz-common \
+    ros-foxy-rviz-default-plugins \
+    ros-foxy-rviz-rendering \
     wget
 
 WORKDIR /code

Readme.md

@@ -16,6 +16,22 @@ acquired by the sensor through the ROS2 pipeline. This package implements such a
 ros2 launch umrr_ros2_driver radar.launch.py
 ```
 
+## How to launch the rviz with recorder plugin
+From a separate terminal and after sourcing workspace
+```
+rviz2 -d [`recorder.rviz`](smart_rviz_plugin/config/rviz/recorder.rviz)
+```
+
+![Recorder](smart_rviz_plugin/config/images/recorder_rviz.png "Rviz Outlook")
+
+## How to start the custom can message sender
+From smart_rviz_plugin folder
+```
+python custom_can_sender.py
+```
+
+![Sender](smart_rviz_plugin/config/images/can_sender.png "Custom CAN Sender")
+
 ## Prerequisites
 
 ### Supported ROS distributions:
@@ -26,8 +42,8 @@ A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96, UMRR11, DRVE
 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: `September 22, 2023`
-- Smart Access Automotive version: `v3.4.0`
+- Date of release: `December 20, 2023`
+- Smart Access Automotive version: `v3.5.0`
 - User interface version: `UMRR96 Type 153 AUTOMOTIVE v1.2.2`
 - User interface version: `UMRR11 Type 132 AUTOMOTIVE v1.1.2`
 - User interface version: `UMRR9F Type 169 AUTOMOTIVE v1.1.1`
@@ -37,6 +53,7 @@ sure the version used to publish the data is compatible with this version:
 - User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.0.3`
 - User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.2.2`
 - User interface version: `UMRRA4 Type 171 AUTOMOTIVE v1.0.1`
+- User interface version: `UMRRA4 Type 171 AUTOMOTIVE v1.3.0`
 
 ### Sensor Firmwares
 This ROS2 driver release is compatible with the following sensor firmwares:
@@ -48,6 +65,7 @@ This ROS2 driver release is compatible with the following sensor firmwares:
 - UMRR9F Type 169: V2.0.2
 - UMRR9F Type 169: V2.2.0
 - UMRRA4 Type 171: V1.0.0
+- UMRRA4 Type 171: V1.2.1
 
 ### Point cloud message wrapper library
 To add targets to the point cloud in a safe and quick fashion a
@@ -57,6 +75,11 @@ this project's node. This project can be installed either through `rosdep` or ma
 sudo apt install ros-foxy-point-cloud-msg-wrapper
 ```
 
+To use the GUI provided, it is required to install the following package:
+```
+pip install python-can
+```
+
 ## Inputs / Outputs / Configuration
 
 ### The inputs:
@@ -98,7 +121,7 @@ For the setting up the ***sensors***:
 - `history_size`: size of history for the message publisher
 - `inst_type`: the type of instruction serialization type, relevant to sensors using ethernet and should be 'port_based'
 - `data_type`: the type of data serialization type, relevant to sensors using ethernet and should be 'port_based'
-- `uifname`: the user interface name of the sensor
+- `uifname`: the user interface name of the sensor (refer to the [`user_interfaces`](umrr_ros2_driver/smartmicro/user_interfaces/))
 - `uifmajorv`: the major version of the sensor user interface
 - `uifminorv`: the minor version of the sensor user interface
 - `uifpatchv`: the patch version of the sensor user interface
@@ -124,12 +147,13 @@ A ros2 `SetMode` service should be called to implement these mode changes. There
 For instance, changing the `Index of Transmit Antenna (tx_antenna_idx)` of a UMRR-11 sensor to `AEB (2)` mode would require the following call:
 `ros2 service call /smart_radar/set_radar_mode umrr_ros2_msgs/srv/SetMode "{param: "tx_antenna_idx", value: 2, sensor_id: 100}"`
 
-Similarly, a ros2 `SendCommand` service could be used to send commands to the sensors. There are two inputs for sending a command:
+Similarly, a ros2 `SendCommand` service could be used to send commands to the sensors. There are three inputs for sending a command:
 - `command`: name of the command (specific to the sensor interface)
+- `value`: the value of the command  
 - `sensor_id`: the id of the sensor to which the service call should be sent.
 
 The call for such a service would be as follows:
-`ros2 service call /smart_radar/send_command umrr_ros2_msgs/srv/SendCommand "{command: "comp_eeprom_ctrl_default_param_sec", sensor_id: 100}"`
+`ros2 service call /smart_radar/send_command umrr_ros2_msgs/srv/SendCommand "{command: "comp_eeprom_ctrl_default_param_sec", value: 2, sensor_id: 100}"`
 
 ## Configuration of the sensors
 In order to use multiple sensors (maximum of up to eight sensors) with the node the sensors should be configured separately.
@@ -148,9 +172,23 @@ value in decimal `3232238400` should be used.
 The call for such a service would be as follows:
 `ros2 service call /smart_radar/set_ip_address umrr_ros2_msgs/srv/SetIp "{value_ip: 3232238400, sensor_id: 100}"`
 
-Note: For successfull execution of this call it is important that the sensor is restarted, the ip address in the
+Note: For successful execution of this call it is important that the sensor is restarted, the ip address in the
 [`radar.template.yaml`](umrr_ros2_driver/param/radar.template.yaml) is updated and the driver is build again.
 
+## Firmware download
+All the smartmicro radar sensors have independent firmware which are updated every now and than. To keep the sensor updated a firmware download
+needs to be performed.
+
+A ros2 `FirmwareDownload` service should be called to implement these mode changes. There are two inputs to a ros2 service call:
+- `file_path`: the path where the firmware is located
+- `sensor_id`: the id of the sensor to which the service call should be sent.
+
+The call for such a service would be as follows:
+`ros2 service call /smart_radar/firmware_download umrr_ros2_msgs/srv/FirmwareDownload "{sensor_id: 100, file_path: '/path/to/firmware/file'}"`
+
+Note: The download could be performed only for one sensor at a time!
+Important: The download requires that the transfer length of the interface is set to minimum 4k!
+
 ## Sensor Service Responses
 The sensor services respond with certain value codes. The following is a lookup table for the possible responses:
 
@@ -163,6 +201,13 @@ The sensor services respond with certain value codes. The following is a lookup
 7   |    Value out of minimal bounds
 8   |    Value out of maximal bounds
 
+## Recorder plugin and custom CAN sender
+A custom plugin for rviz to log the target list has been provided. A config file is available which adds this plugin to the rviz. WIth the plugin
+it is now possible to view the target list data for the desired sensor. Along with logging the data the plugin also gives the possibility to record
+the target list data, convert it into a csv format and save it.
+
+Separately, a python GUI is also provided with which it is possible to send custom CAN messages. 
+
 ## Development
 The dockerfile can be used to build and test the ros driver.
 

smart_extract.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-smart_pack=SmartAccessAutomotive_3_4_0.tgz
+smart_pack=SmartAccessAutomotive_3_5_0.tgz
 URL_smartbinaries=https://www.smartmicro.com/fileadmin/media/Downloads/Automotive_Radar/Software/${smart_pack}
 
 cat << EOF

smart_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,101 @@
+cmake_minimum_required(VERSION 3.11)
+
+project(smart_rviz_plugin)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+endif()
+
+add_definitions(-D_BUILD_DIR_PATH="${CMAKE_CURRENT_BINARY_DIR}")
+add_definitions(-D_SRC_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}")
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(umrr_ros2_msgs REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_default_plugins REQUIRED)
+find_package(rviz_rendering REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+
+
+set(CMAKE_AUTOMOC ON)
+
+set(smart_rviz_plugin_SRCS
+  src/smart_recorder.cpp
+  src/smart_services.cpp
+  src/smart_download.cpp
+)
+
+set(smart_rviz_plugin_HDRS
+  include/smart_rviz_plugin/smart_recorder.hpp
+  include/smart_rviz_plugin/smart_services.hpp
+  include/smart_rviz_plugin/smart_download.hpp
+)
+
+add_library(smart_rviz_plugin SHARED
+  ${smart_rviz_plugin_SRCS}
+  ${smart_rviz_plugin_HDRS}
+)
+
+set(dependencies
+  umrr_ros2_msgs
+  pluginlib
+  Qt5
+  rclcpp
+  rviz_common
+  rviz_default_plugins
+  rviz_ogre_vendor
+  rviz_rendering
+  std_msgs
+)
+
+ament_target_dependencies(smart_rviz_plugin
+  ${dependencies}
+)
+
+target_include_directories(smart_rviz_plugin PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/smart_rviz_plugin>
+  ${Qt5Widgets_INCLUDE_DIRS}
+)
+
+
+target_link_libraries(smart_rviz_plugin
+  rviz_common::rviz_common
+)
+
+
+target_compile_definitions(smart_rviz_plugin PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+install(
+  TARGETS smart_rviz_plugin
+  EXPORT smart_rviz_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+ament_export_targets(smart_rviz_plugin HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rclcpp
+  rviz_common
+  rviz_ogre_vendor
+  sensor_msgs
+  umrr_ros2_msgs
+)
+
+ament_package()

umrr_ros2_driver/config/rviz/radar.rviz → smart_rviz_plugin/config/rviz/recorder.rviz

@@ -1,17 +1,13 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
-        - /Grid1
         - /Grid1/Offset1
         - /PointCloud21
-        - /Axes1
       Splitter Ratio: 0.5
-    Tree Height: 762
+    Tree Height: 370
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -24,6 +20,10 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+  - Class: smart_rviz_plugin/TargetList Recorder
+    Name: TargetList Recorder
+  - Class: smart_rviz_plugin/Smart Command Configurator
+    Name: Smart Command Configurator
 Visualization Manager:
   Class: ""
   Displays:
@@ -74,7 +74,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /umrr/targets_0
+        Value: /smart_radar/targets_0
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -148,17 +148,21 @@ Visualization Manager:
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 985
-  Hide Left Dock: true
+    collapsed: false
+  Height: 2090
+  Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000383fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b00000383000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000383fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000383000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004d40000038300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000007d7000007c4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006a00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000045000001b8000000e800fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000026005400610072006700650074004c0069007300740020005200650063006f007200640065007201000002040000049c0000010e00fffffffb000000340053006d00610072007400200043006f006d006d0061006e006400200043006f006e0066006900670075007200610074006f007201000006a7000001620000016200ffffff000000010000010f00000383fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000383000000be00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000722000007c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
+  Smart Command Configurator:
+    collapsed: false
+  TargetList Recorder:
+    collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1236
-  X: 263
-  Y: 67
+  Width: 3840
+  X: 0
+  Y: 33