Incorporate sensor type DRVEGRD 152

Linkt to issue #11

CHANGELOG.md

@@ -19,3 +19,7 @@ This release also offers the possibilty of configuring the ip addresses of the s
 ## 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. 
+
+## v3.1.0 - 2022-10-19
+
+This release includes the new smartmicro sensor DRVEGRD 152. The driver offers mode changes and configuration of the DRVEGRD 152 along with publishing the radar targets as pointcloud data. The callbacks for datastream now require a clientID. 

Readme.md

@@ -22,20 +22,23 @@ ros2 launch umrr_ros2_driver radar.launch.py
 - ROS2 foxy
 
 ### UMRR radars and Smart Access API version
-A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96 radar, UMRR11 radar or UMRR9F radar are 
+A [smartmicro](https://www.smartmicro.com/automotive-radar) UMRR96, UMRR11, DRVEGRD 152 or DRVEGRD 169 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: `September 22, 2022`
-- Smart Access Automotive version: `v2.0.0`
+- Date of release: `October 19, 2022`
+- Smart Access Automotive version: `v2.1.0`
 - 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`
+- User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.0.1`
 
 ### 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
+- UMRR9D Type 152: V1.0.0
+- UMRR9F Type 169: V1.3.0
 
 ### Point cloud message wrapper library
 To add targets to the point cloud in a safe and quick fashion a

docker-compose.yml

@@ -64,12 +64,28 @@ services:
         networks:
             device_network:
                 ipv4_address: 172.22.10.103
+    sensor_3:
+        depends_on:
+            build_simulator:
+                condition: service_completed_successfully
+        image: umrr-ros:latest
+        volumes:
+            - .:/code
+        environment:
+            - SMART_ACCESS_CFG_FILE_PATH=/code/simulator/config_umrr9d/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:    ["11", "1", "0", "C"]
+        networks:
+            device_network:
+                ipv4_address: 172.22.10.104
     ros_node:
         image: umrr-ros:latest
         depends_on:
             - "sensor_0"
             - "sensor_1"
             - "sensor_2"
+            - "sensor_3"
         volumes:
             - .:/code
         command: ["colcon", "test", "--packages-above", "umrr_ros2_driver"]

simulator/config_umrr9d/com_lib_config.json

@@ -0,0 +1,16 @@
+{
+    "name": "Com Lib Config",
+    "version": "1.0.0",
+    "client_id": 400,
+    "role": "slave",
+    "shared_lib_path": "/code/umrr_ros2_driver/smartmicro/lib-linux-x86_64-gcc_9",
+    "config_path": "/code/simulator/config_umrr9d",
+    "user_interface_name": "umrr9d_t152_automotive",
+    "user_interface_major_v": 1,
+    "user_interface_minor_v": 0,
+    "user_interface_patch_v": 1,
+    "download_path": "",
+    "instruction_serialization_type": "port_based",
+    "data_serialization_type": "port_based",
+    "alive": false
+}

simulator/config_umrr9d/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_umrr9d/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/src/simulator.cpp

@@ -1,37 +1,55 @@
+// Copyright (c) 2021, s.m.s, smart microwave sensors GmbH, Brunswick, Germany.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include <CommunicationServicesIface.h>
 #include <DataServicesIface.h>
 #include <DeviceMonitorServiceIface.h>
 #include <Instruction.h>
 #include <InstructionBatch.h>
 #include <InstructionBuffer.h>
 #include <InstructionServiceIface.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
 #include <chrono>
 #include <filesystem>
 #include <fstream>
 #include <iostream>
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
+#include <memory>
 #include <string>
 #include <thread>
 
 using namespace com::common;
 using namespace com::master;
 using namespace com::types;
 
+namespace
+{
 uint64_t identifier;
 uint64_t majorVersion;
 uint64_t minorVersion;
 std::string port;
 std::string portFile;
-
+}  // namespace
 
 std::shared_ptr<com::common::DataServicesIface> dataServices =
-    com::common::DataServicesIface::Get();
+  com::common::DataServicesIface::Get();
 
-void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer) {
-  InstructionBuffer *receive =
-      reinterpret_cast<InstructionBuffer *>(buffer.GetBufferPtr());
+void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer)
+{
+  InstructionBuffer * receive = reinterpret_cast<InstructionBuffer *>(buffer.GetBufferPtr());
   int sizeIncomingBuf = buffer.GetSize();
   uint32_t instnumber = receive->GetNumOfInstructions();
   auto instructions = receive->GetInstructions();
@@ -41,40 +59,33 @@ void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer) {
       std::cout << "Base user interface major version set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(1);
-    } else if (instruction->GetSectionId() == 3042 &&
-               instruction->GetId() == 21) {
+    } else if (instruction->GetSectionId() == 3042 && instruction->GetId() == 21) {
       std::cout << "Base user interface minor version set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(0);
-    } else if (instruction->GetSectionId() == 3042 &&
-               instruction->GetId() == 22) {
+    } else if (instruction->GetSectionId() == 3042 && instruction->GetId() == 22) {
       std::cout << "User interface identifier set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(identifier);
-    } else if (instruction->GetSectionId() == 3042 &&
-               instruction->GetId() == 23) {
+    } else if (instruction->GetSectionId() == 3042 && instruction->GetId() == 23) {
       std::cout << "User interface major version set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(majorVersion);
-    } else if (instruction->GetSectionId() == 3042 &&
-               instruction->GetId() == 24) {
+    } else if (instruction->GetSectionId() == 3042 && instruction->GetId() == 24) {
       std::cout << "User interface minor version set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
       instruction->SetValue(minorVersion);
-    } else if (instruction->GetSectionId() == 2010 &&
-               instruction->GetId() == 2) {
-      std::cout << "UMRR96 mode frequency_sweep set!"
-                << std::endl;
+    } else if (instruction->GetSectionId() == 2010 && 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() == 4) {
+      std::cout << "UMRR11 mode angular_separation set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
-    } else if (instruction->GetSectionId() == 2010 &&
-               instruction->GetId() == 4) {
-      std::cout << "UMRR11 mode angular_separation set!"
-                << std::endl;
+    } 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 if (instruction->GetSectionId() == 2010 &&
-               instruction->GetId() == 5) {
-      std::cout << "UMRR9F mode range_toggle_mode set!"
-                << std::endl;
+    } else if (instruction->GetSectionId() == 2010 && instruction->GetId() == 1) {
+      std::cout << "UMRR9D mode center_frequency_idx set!" << std::endl;
       instruction->SetResponse(COM_INSTR_PORT_SUCCESS);
     } else {
       std::cout << "Unknown instruction received from ROS driver!" << std::endl;
@@ -84,17 +95,17 @@ void slave_callback(ClientId clientId, PortId, BufferDescriptor buffer) {
   dataServices->SetInstructionBuffer(clientId, *receive, nullptr);
 }
 
-void stream_port(std::string portFile) {
-
+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();
+  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];
+  char * filebuffer = new (std::nothrow) char[size];
 
   if (filebuffer == nullptr) {
     std::cout << "error assigning memory!" << std::endl;
@@ -104,18 +115,17 @@ void stream_port(std::string portFile) {
   BufferDescriptor bufferdesc((uint8_t *)filebuffer, size);
   std::this_thread::sleep_for(std::chrono::seconds(1));
 
-  if (ERROR_CODE_OK !=
-      dataServices->StreamDataPort(masterId, portTargetListId, bufferdesc)) {
+  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[]) {
+
+int main(int argc, char * argv[])
+{
   if (argc != 5) {
     std::cout << "Specifiy User Interface for the sensor" << std::endl;
     return 1;
@@ -125,28 +135,29 @@ int main(int argc, char *argv[]) {
   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!");
   }
-  
+
   auto Start = std::chrono::steady_clock::now();
 
   while (1) {
-
-    if(port == "A") {
+    if (port == "A") {
       std::string portFile = "/code/simulator/targetlist_port_v2_1_0.bin";
       stream_port(portFile);
-    }
-    else if(port == "B") {
+    } else if (port == "B") {
       std::string portFile = "/code/simulator/targetlist_port_v3_0_0.bin";
       stream_port(portFile);
-    }
-    else {
+    } else if (port == "C") {
+      std::string portFile = "/code/simulator/targetlist_port_v4_0_0.bin";
+      stream_port(portFile);
+    } else {
       std::cout << "Invalid input!" << std::endl;
     }
-    if (std::chrono::steady_clock::now() - Start > std::chrono::seconds(30))
+    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_2_0_0.tar.gz
+smart_pack=SmartAccessAutomotive_2_1_0.tar.gz
 URL_smartbinaries=https://www.smartmicro.com/fileadmin/media/Downloads/Automotive_Radar/Software/${smart_pack}
 
 cat << EOF

umrr_ros2_driver/CMakeLists.txt

@@ -56,6 +56,7 @@ install(FILES
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr11_t132_automotivev1.1.1_user_interface.so"
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr96_t153_automotivev1.2.1_user_interface.so"
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9f_t169_automotivev1.1.1_user_interface.so"
+    "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9d_t152_automotivev1.0.1_user_interface.so"
 DESTINATION lib)
 
 set(LIB_PATH "${CMAKE_INSTALL_PREFIX}/lib")
@@ -79,7 +80,8 @@ target_include_directories(smartmicro_radar_node PUBLIC ${CMAKE_INSTALL_PREFIX}/
 smartmicro/include/
 smartmicro/include/umrr11_t132_automotive_v1_1_1
 smartmicro/include/umrr96_t153_automotive_v1_2_1
-smartmicro/include/umrr9f_t169_automotive_v1_1_1)
+smartmicro/include/umrr9f_t169_automotive_v1_1_1
+smartmicro/include/umrr9d_t152_automotive_v1_0_1)
 
 # link smart_access_lib-linux-x86_64-gcc_9 to the node
 target_link_libraries(smartmicro_radar_node
@@ -89,7 +91,8 @@ target_link_libraries(smartmicro_radar_node
     osal
     umrr11_t132_automotivev1.1.1_user_interface
     umrr96_t153_automotivev1.2.1_user_interface
-    umrr9f_t169_automotivev1.1.1_user_interface)
+    umrr9f_t169_automotivev1.1.1_user_interface
+    umrr9d_t152_automotivev1.0.1_user_interface)
 
 rclcpp_components_register_node(smartmicro_radar_node
     PLUGIN "smartmicro::drivers::radar::SmartmicroRadarNode"