Update the driver to include smart release v4xx (#5) (#8)

Extended driver to include multi-sensor interfaces and sensors simulators introduced for robust testing.

Co-authored-by: Shahrukh <[email protected]>

.github/workflows/dockerbuild.yml

@@ -14,21 +14,20 @@ jobs:
     - name: Checkout
       uses: actions/checkout@v2
 
-    - name: Build the docker container
-      run: docker build . -t umrr-ros:latest
-
-    - name: Get the smartaccess binaries
-      working-directory: ./umrr_ros2_driver
+    - name: Get the Smart Access binaries
       run:  echo "yes" | ./smart_extract.sh
 
+    - name: Build the docker container
+      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
+      run:  docker run --rm -v`pwd`:/code umrr-ros colcon build --packages-select umrr_ros2_driver
 
     - name: Running the unit/integration tests via the docker container and exit
-      run: docker-compose up --exit-code-from ros_node
+      run:  docker-compose up
 
     - name: Getting the test coverage
-      run: docker run --rm -v`pwd`:/code umrr-ros colcon test-result --all --verbose
+      run:  docker run --rm -v`pwd`:/code umrr-ros colcon test-result --all --verbose
 
     - name: Shut down docker containers and networks
-      run: docker-compose down
+      run:  docker-compose down

.gitignore

@@ -3,9 +3,12 @@ install
 log
 *.pyc
 umrr_ros2_driver/__pycache__
-umrr_ros2_driver/smartmicro/cJSON
-umrr_ros2_driver/smartmicro/lib
-umrr_ros2_driver/smartmicro/osal
-umrr_ros2_driver/smartmicro/smart_access_release
-umrr_ros2_driver/smartmicro/LICENSE_3rdParty.txt
-umrr_ros2_driver/smartmicro/LICENSE.txt
+simulator/simulation/build_dir
+simulator/simulation/out
+umrr_ros2_driver/smartmicro/*
+!umrr_ros2_driver/smartmicro/include
+umrr_ros2_driver/smartmicro/include/*
+!umrr_ros2_driver/smartmicro/include/DataServicesIface.h
+!umrr_ros2_driver/smartmicro/include/InstructionBuffer.h
+!umrr_ros2_driver/smartmicro/include/Types.h
+!umrr_ros2_driver/smartmicro/Readme.md

CHANGELOG.md

@@ -4,3 +4,8 @@ All notable changes to this project will be documented in this file. This projec
 ## v1.0.0 - 2021-11-01
 
 This is the first official versioned release of the `smartmicro_ros2_radars`. It provides a ros2 node that is wrapped around `Smart Access C++ API v3.3.15`, interfacing with smartmicro automotive radars and publishing the incoming data as point cloud.
+
+## v2.0.0 - 2022-05-05
+
+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. 

Dockerfile

@@ -5,7 +5,6 @@ RUN apt-get update && apt-get install -y \
     python3 \
     python3-pip \
     ros-foxy-point-cloud-msg-wrapper \
-    tcpdump \
     wget
-RUN pip3 install dpkt
+
 WORKDIR /code

Readme.md

@@ -6,7 +6,7 @@
 There is a need for a node that will interface with a smartmicro radar driver and publish the data
 acquired by the sensor through the ROS2 pipeline. This package implements such a node.
 
-## Get the smartaccess release
+## Get the Smart Access release
 ```bash
 ./smart_extract.sh
 ```
@@ -22,13 +22,14 @@ ros2 launch umrr_ros2_driver radar.launch.py
 - ROS2 foxy
 
 ### UMRR-96 radar and Smart Access API version
-A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR-96 radar (or data recorded from it)
-is required to run this node. This code is bundled with a version of Smart Access API. Please make
+A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96 radar, UMRR11 radar or both 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: `November 01, 2021`
-- Library version: `v3.3.15`
-- User interface version: `Smartaccess UMRR96 Type 153 AUTOMOTIVE v4.1.1`
+- Date of release: `March 25, 2022`
+- Smart Access Automotive version: `v1.1.0`
+- User interface version: `UMRR96 Type 153 AUTOMOTIVE v1.2.1`
+- User interface version: `UMRR11 Type 132 AUTOMOTIVE v1.1.1`
 
 ### Point cloud message wrapper library
 To add targets to the point cloud in a safe and quick fashion a
@@ -61,36 +62,37 @@ For more details, see the [`radar.template.yaml`](param/radar.template.yaml) fil
 - `iface_name`: name of the used network interface
 - `frame_id`: name of the frame in which the messages will be published
 - `history_size`: size of history for the message publisher
+- `model`: the model of the sensor being used 
 
 ## Configuration of the sensors
-In order to use multiple sensors with the node the sensors should be configured separately. There are
-two possible ways to assign IP addresses to the sensors:
-- Through the smartmicro tool `DriveRecorder`.
-- Using the `Smart Access C++ API`.
+In order to use multiple sensors (maximum of up to ten 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`
 
 Each sensor has to be assigned a unique IP address!
 
 ## Development
 The dockerfile can be used to build and test the ros driver.
 
-Building docker container
+Accept the agreement and get the smartaccess release
 ```bash
-docker build . -t umrr-ros:latest
+./smart_extract.sh
 ```
 
-Accept the agreement and get the smartaccess release
+Building docker container
 ```bash
-./smart_extract.sh
+docker build . -t umrr-ros:latest
 ```
 
 Building the driver with the docker container
 ```bash
-docker run --rm -v`pwd`:/code umrr-ros colcon build
+docker run --rm -v`pwd`:/code umrr-ros colcon build --packages-select umrr_ros2_driver
 ```
 
 Running the unit and integration tests via the docker compose
 ```bash
-docker-compose up --exit-code-from ros_node
+docker-compose up
 ```
 
 Getting the test coverage via the docker container
@@ -102,7 +104,10 @@ Stop and remove docker containers and networks
 ```bash
 docker-compose down
 ```
-
+## ARMv8 Support
+The Smart Access release which will be downloaded using the script also offers platform support for armv8. In order to build the driver on an armv8 machine, the `CmakeLists.txt` should be adopted.
+Instead of using the default `lib-linux-x86_64_gcc_9` the user should plugin the `lib-linux-armv8-gcc_9` for armv8.
+
 ## Contribution
 This project is a joint effort between [smartmicro](https://www.smartmicro.com/) and [Apex.AI](https://www.apex.ai/). The initial version of the code was developed by Igor Bogoslavskyi of Apex.AI (@niosus) and was thereafter adapted and extended by smartmicro.
 

docker-compose.yml

@@ -14,19 +14,38 @@
 
 version: "3"
 services:
+    build_simulator: 
+        image: umrr-ros:latest
+        volumes:
+            - .:/code
+        entrypoint: ["/code/simulator/simulation/build_simulator.sh"]
     sensor_0:
+        depends_on:
+            build_simulator:
+                condition: service_completed_successfully
         image: umrr-ros:latest
         volumes:
             - .:/code
-        entrypoint: ["python3", "/code/umrr_ros2_driver/test/transmit_pcap.py"]
+        environment:
+            - 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"]
         networks:
             device_network:
                 ipv4_address: 172.22.10.101
     sensor_1:
+        depends_on:
+            build_simulator:
+                condition: service_completed_successfully
         image: umrr-ros:latest
         volumes:
             - .:/code
-        entrypoint: ["python3", "/code/umrr_ros2_driver/test/transmit_pcap.py"]
+        environment:
+            - 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"]
         networks:
             device_network:
                 ipv4_address: 172.22.10.102
@@ -37,7 +56,7 @@ services:
             - "sensor_1"
         volumes:
             - .:/code
-        command: ["colcon", "test"]
+        command: ["colcon", "test", "--packages-above", "umrr_ros2_driver"]
         networks:
             device_network:
                 ipv4_address: 172.22.10.100

simulator/config_umrr11/com_lib_config.json

@@ -0,0 +1,16 @@
+{
+    "name": "Com Lib Config",
+    "version": "1.0.0",
+    "client_id": 100,
+    "role": "slave",
+    "shared_lib_path": "/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9",
+    "config_path": "/code/simulator/config_umrr11",
+    "user_interface_name": "umrr11_t132_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_umrr11/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_umrr11/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/config_umrr96/com_lib_config.json

@@ -0,0 +1,16 @@
+{
+    "name": "Com Lib Config",
+    "version": "1.0.0",
+    "client_id": 200,
+    "role": "slave",
+    "shared_lib_path": "/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9",
+    "config_path": "/code/simulator/config_umrr96",
+    "user_interface_name": "umrr96_t153_automotive",
+    "user_interface_major_v": 1,
+    "user_interface_minor_v": 2,
+    "user_interface_patch_v": 1,
+    "download_path": "",
+    "instruction_serialization_type": "port_based",
+    "data_serialization_type": "port_based",
+    "alive": false
+}

simulator/config_umrr96/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_umrr96/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

@@ -0,0 +1,29 @@
+project(SensorSimulator)
+
+cmake_minimum_required(VERSION 3.13)
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_C_COMPILER gcc)
+set(CMAKE_CXX_COMPILER g++)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -m64 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -m64 -fPIC")
+set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -m64 -fPIC")
+
+link_directories(${CMAKE_CURRENT_SOURCE_DIR}/${SMART_ACCESS_LIB_FOLDER})
+
+add_executable(simulator
+               src/simulator.cpp)
+
+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)
+
+target_link_libraries(simulator
+                      com_lib
+                      osal
+                      umrr11_t132_automotivev1.1.1_user_interface
+                      umrr96_t153_automotivev1.2.1_user_interface
+                      dl)
+
+install(TARGETS simulator DESTINATION bin)

simulator/simulation/build_simulator.sh

@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+work_dir=$(pwd)
+set -e
+
+cd /code/simulator/simulation
+
+mkdir -p build_dir
+cmake -G "Unix Makefiles" -S. -Bbuild_dir \
+-DCMAKE_INSTALL_PREFIX=out \
+-DSMART_ACCESS_LIB_FOLDER=../../umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9
+make -C build_dir
+make -C build_dir install