Include new DRVEGRD 169 user interface v2.0.0 (#28)

New modes for the new DRVEGRD 169 user interface v2.0.0 and additional node service for saving mode changes.

.gitignore

@@ -6,6 +6,7 @@ umrr_ros2_driver/__pycache__
 simulator/simulation/build_dir
 simulator/simulation/out
 umrr_ros2_driver/include/umrr_ros2_driver/sensor_params.hpp
+umrr_ros2_driver/include/umrr_ros2_driver/sensor_commands.hpp
 umrr_ros2_driver/smartmicro/*
 !umrr_ros2_driver/smartmicro/include
 umrr_ros2_driver/smartmicro/include/*

CHANGELOG.md

@@ -31,3 +31,7 @@ This minor release introduces signal-to-noise field in the pointclouds and also
 ## v3.2.1 - 2022-12-16
 
 This release fixes the offset which causes anomaly in pointclouds from DRVEGRD 152 sensor. It also fixes the timestamp calculation bug which causes rviz to crash and updates the simulator source files.
+
+## v4.0.0 - 2023-02-06
+
+This release includes the new DRVEGRD 169 user-interface. The release includes new modes for DRVEGRD 169 and also introduces an additional ros2 service to save configurations. Previously used model 'UMRR9F' in radar parameters has been divided into two versions, the 'UMRR9F_V1_1_1' and 'UMRR9F_V2_0_0'.

Readme.md

@@ -26,11 +26,12 @@ 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: `December 16, 2022`
-- Smart Access Automotive version: `v2.2.3`
+- Date of release: `February 06, 2023`
+- Smart Access Automotive version: `v3.0.0`
 - 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`
+- User interface version: `UMRR9F Type 169 AUTOMOTIVE v2.0.0`
 - User interface version: `UMRR9D Type 152 AUTOMOTIVE v1.0.2`
 
 ### Sensor Firmwares
@@ -39,6 +40,7 @@ This ROS2 driver release is compatible with the following sensor firmwares:
 - UMRR96 Type 153: V5.2.4
 - UMRR9D Type 152: V2.1.0
 - UMRR9F Type 169: V1.3.0
+- UMRR9F Type 169: V2.0.2
 
 ### Point cloud message wrapper library
 To add targets to the point cloud in a safe and quick fashion a
@@ -72,7 +74,7 @@ For more details, see the [`radar.template.yaml`](umrr_ros2_driver/param/radar.t
 - `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 
+- `model`: the model('umrr11', 'umrr9d', 'umrr96', 'umrr9f_v1_1_1', 'umrr9f_v2_0_0') of the sensor being used
 
 ## Mode of operations of the sensors
 The smartmicro radars come equipped with numerous features and modes of operation. Using the ros2 services provided one
@@ -84,7 +86,7 @@ A ros2 `SetMode` service should be called to implement these mode changes. There
 - `sensor_id`: the id of the sensor to which the service call should be sent.
 
 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 /smartmicro_radar_node/set_radar_mode umrr_ros2_msgs/srv/SetMode "{param: "tx_antenna_idx", value: 2, sensor_id: 100}"`
+`ros2 service call /smart_radar/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 eight sensors) with the node the sensors should be configured separately.
@@ -101,11 +103,18 @@ value in decimal `3232238400` should be used.
 - `sensor_id`: the sensor whose ip address is to be changed.
 
 The call for such a service would be as follows:
-`ros2 service call /smartmicro_radar_node/set_ip_address umrr_ros2_msgs/srv/SetIp "{value_ip: 3232238400, sensor_id: 100}"`
+`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
 [`radar.template.yaml`](umrr_ros2_driver/param/radar.template.yaml) is updated and the driver is build again.
 
+## Saving mode changes
+In order to save the mode changes, an additional service if provided. This service offers different save options and also the possibility to
+set the default values for the sensors. The list of all the options could be found in the [`sensor_commands.json`](umrr_ros2_driver/config/sensor_commands.json).
+
+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}"`
+
 ## Sensor Service Responses
 
 The sensor services respond with certain value codes. The following is a lookup table for the possible responses:

smart_extract.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-smart_pack=SmartAccessAutomotive_2_2_3.tgz
+smart_pack=SmartAccessAutomotive_3_0_0.tgz
 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/libumrr9f_t169_automotivev2.0.0_user_interface.so"
     "${PROJECT_SOURCE_DIR}/smartmicro/lib-linux-x86_64-gcc_9/libumrr9d_t152_automotivev1.0.2_user_interface.so"
 DESTINATION lib)
 
@@ -65,6 +66,7 @@ set(CONFIG_FILE_PATH "${CONFIG_FOLDER_PATH}/smart_access_config.json")
 set(HW_INVENTORY_FILE_PATH "${CONFIG_FOLDER_PATH}/hw_inventory.json")
 set(ROUTING_TABLE_FILE_PATH "${CONFIG_FOLDER_PATH}/routing_table.json")
 set(SENSOR_PARAM_FILE_PATH "${PROJECT_SOURCE_DIR}/config/sensor_params.json")
+set(SENSOR_COMMAND_FILE_PATH "${PROJECT_SOURCE_DIR}/config/sensor_commands.json")
 configure_file(
     "${PROJECT_SOURCE_DIR}/cmake/smart_access_config.json.in" "${CONFIG_FILE_PATH}" @ONLY)
 configure_file(
@@ -73,6 +75,9 @@ configure_file(
 configure_file(
     "${PROJECT_SOURCE_DIR}/cmake/sensor_params.hpp.in"
     "${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/sensor_params.hpp" @ONLY)
+configure_file(
+    "${PROJECT_SOURCE_DIR}/cmake/sensor_commands.hpp.in"
+    "${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/sensor_commands.hpp" @ONLY)
 
 ament_auto_add_library(smartmicro_radar_node SHARED "src/smartmicro_radar_node.cpp")
 
@@ -81,6 +86,7 @@ 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_v2_0_0
 smartmicro/include/umrr9d_t152_automotive_v1_0_2)
 
 # link smart_access_lib-linux-x86_64-gcc_9 to the node
@@ -92,6 +98,7 @@ target_link_libraries(smartmicro_radar_node
     umrr11_t132_automotivev1.1.1_user_interface
     umrr96_t153_automotivev1.2.1_user_interface
     umrr9f_t169_automotivev1.1.1_user_interface
+    umrr9f_t169_automotivev2.0.0_user_interface
     umrr9d_t152_automotivev1.0.2_user_interface)
 
 rclcpp_components_register_node(smartmicro_radar_node

umrr_ros2_driver/cmake/sensor_commands.hpp.in

@@ -0,0 +1,31 @@
+// Copyright 2021 Apex.AI, Inc.
+//
+// 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.
+
+#ifndef UMRR_ROS2_DRIVER__CMAKE_SENSOR_COMMAND_PATH_H_
+#define UMRR_ROS2_DRIVER__CMAKE_SENSOR_COMMAND_PATH_H_
+
+namespace smartmicro
+{
+namespace drivers
+{
+namespace radar
+{
+
+constexpr auto KSensorCommandFilePath ="@SENSOR_COMMAND_FILE_PATH@";
+
+}  // namespace radar
+}  // namespace drivers
+}  // namespace smartmicro
+
+#endif  // UMRR_ROS2_DRIVER__CMAKE_SENSOR_COMMAND_PATH_H_

umrr_ros2_driver/config/sensor_commands.json

@@ -0,0 +1,17 @@
+{
+   "commands":
+   [
+      {
+         "name": "comp_eeprom_ctrl_save_param_sec",
+         "comment": "Save the parameter inside the EEPROM. (3102.3)"
+      },
+      {
+         "name": "comp_eeprom_ctrl_reset_param_sec",
+         "comment": "Restore default values in RAM. EEPROM content is not changed. (3102.2)"
+      },
+      {
+         "name": "comp_eeprom_ctrl_default_param_sec",
+         "comment": "Restore default values in RAM and EEPROM. (3102.1)"
+      }
+   ]
+}

umrr_ros2_driver/config/sensor_params.json

@@ -147,6 +147,12 @@
                     "min": 0,
                     "max": 2,
                     "default": 1
+                },
+                {
+                    "model": "umrr9f_v2_0_0",
+                    "min": 0,
+                    "max": 2,
+                    "default": 1
                 }
             ]
         },

umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp

@@ -28,6 +28,7 @@
 #include <umrr11_t132_automotive_v1_1_1/DataStreamServiceIface.h>
 #include <umrr96_t153_automotive_v1_2_1/DataStreamServiceIface.h>
 #include <umrr9f_t169_automotive_v1_1_1/DataStreamServiceIface.h>
+#include <umrr9f_t169_automotive_v2_0_0/DataStreamServiceIface.h>
 #include <umrr9d_t152_automotive_v1_0_2/DataStreamServiceIface.h>
 
 #include <array>
@@ -36,6 +37,7 @@
 
 #include "umrr_ros2_msgs/srv/set_ip.hpp"
 #include "umrr_ros2_msgs/srv/set_mode.hpp"
+#include "umrr_ros2_msgs/srv/send_command.hpp"
 
 namespace smartmicro
 {
@@ -117,12 +119,27 @@ class UMRR_ROS2_DRIVER_PUBLIC SmartmicroRadarNode : public ::rclcpp::Node
   /// @param[in]  client_id  The client_id of the sensor
   ///
 
-  void targetlist_callback_umrr9f(
+  void targetlist_callback_umrr9f_v1_1_1(
     const std::uint32_t sensor_idx,
     const std::shared_ptr<
       com::master::umrr9f_t169_automotive_v1_1_1::comtargetlistport::ComTargetListPort> &
       targetlist_port_umrr9f,
     const com::types::ClientId client_id);
+  ///
+  /// @brief      A callback that is called when a new target list port for
+  /// umrr9f arrives.
+  ///
+  /// @param[in]  sensor_idx   The sensor id for respective published topic.
+  /// @param[in]  target_list_port  The target list port
+  /// @param[in]  client_id  The client_id of the sensor
+  ///
+
+  void targetlist_callback_umrr9f_v2_0_0(
+    const std::uint32_t sensor_idx,
+    const std::shared_ptr<
+      com::master::umrr9f_t169_automotive_v2_0_0::comtargetlistport::ComTargetListPort> &
+      targetlist_port_umrr9f_v2_0_0,
+    const com::types::ClientId client_id);
 
   ///
   /// @brief      A callback that is called when a new target list port for
@@ -147,13 +164,21 @@ class UMRR_ROS2_DRIVER_PUBLIC SmartmicroRadarNode : public ::rclcpp::Node
   void update_config_files_from_params();
 
   ///
-  /// @brief      Callaback for getting the instruction response.
+  /// @brief      Callaback for getting the parameter response.
   ///
-  void sensor_response(
+  void mode_response(
     const com::types::ClientId client_id,
     const std::shared_ptr<com::master::ResponseBatch> & response,
     const std::string instruction_name);
 
+  ///
+  /// @brief      Callaback for getting the command response.
+  ///
+  void command_response(
+    const com::types::ClientId client_id,
+    const std::shared_ptr<com::master::ResponseBatch> & response,
+    const std::string command_name);
+
   ///
   /// @brief      Callback for changing IP address.
   ///
@@ -175,8 +200,16 @@ class UMRR_ROS2_DRIVER_PUBLIC SmartmicroRadarNode : public ::rclcpp::Node
     const std::shared_ptr<umrr_ros2_msgs::srv::SetIp::Request> request,
     std::shared_ptr<umrr_ros2_msgs::srv::SetIp::Response> response);
 
+  ///
+  /// @brief      Send command to the sensor.
+  ///
+  void radar_command(
+    const std::shared_ptr<umrr_ros2_msgs::srv::SendCommand::Request> request,
+    std::shared_ptr<umrr_ros2_msgs::srv::SendCommand::Response> response);
+
   rclcpp::Service<umrr_ros2_msgs::srv::SetMode>::SharedPtr mode_srv_;
   rclcpp::Service<umrr_ros2_msgs::srv::SetIp>::SharedPtr ip_addr_srv_;
+  rclcpp::Service<umrr_ros2_msgs::srv::SendCommand>::SharedPtr command_srv_;
 
   std::array<detail::SensorConfig, detail::kMaxSensorCount> m_sensors{};
 
@@ -197,7 +230,8 @@ bool check_signal = false;
 std::shared_ptr<com::master::CommunicationServicesIface> m_services{};
 std::shared_ptr<com::master::umrr11_t132_automotive_v1_1_1::DataStreamServiceIface> data_umrr11{};
 std::shared_ptr<com::master::umrr96_t153_automotive_v1_2_1::DataStreamServiceIface> data_umrr96{};
-std::shared_ptr<com::master::umrr9f_t169_automotive_v1_1_1::DataStreamServiceIface> data_umrr9f{};
+std::shared_ptr<com::master::umrr9f_t169_automotive_v1_1_1::DataStreamServiceIface> data_umrr9f_v1_1_1{};
+std::shared_ptr<com::master::umrr9f_t169_automotive_v2_0_0::DataStreamServiceIface> data_umrr9f_v2_0_0{};
 std::shared_ptr<com::master::umrr9d_t152_automotive_v1_0_2::DataStreamServiceIface> data_umrr9d{};
 
 }  // namespace radar

umrr_ros2_driver/launch/radar.launch.py

@@ -39,11 +39,13 @@ def generate_launch_description():
     radar_node = Node(
         package=PACKAGE_NAME,
         executable='smartmicro_radar_node_exe',
-        parameters=[LaunchConfiguration('radar_param_file')],
-        name='smartmicro_radar_node'
+        name='smart_radar',
+        parameters=[LaunchConfiguration('radar_param_file')]
     )
 
     return LaunchDescription([
         radar_params,
         radar_node
     ])
+
+

umrr_ros2_driver/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>umrr_ros2_driver</name>
-  <version>3.2.1</version>
+  <version>4.0.0</version>
   <description>A node to publish data from a smartmicro radar.</description>
   <maintainer email="[email protected]">s.m.s, smart microwave sensors GmbH.</maintainer>
   <license>Apache 2.0 License</license>

umrr_ros2_driver/param/radar.template.yaml

@@ -14,7 +14,8 @@
           # As many as 10 sensors all named as "sensor_<number>" in increasing order of numbers,
           # e.g., sensor_0, sensor_1, etc. The list must start with sensor_0.
           sensor_0:
-              # The model of the connected sensor.
+              # The model of the connected sensor. Available models umrr11, umrr9d, umrr96,
+              # umrr9f_v1_1_1, umrr9f_v2_0_0
               model: "umrr11"
               # The client_id of the sensor/source, must be a unique integer.
               id: 100
@@ -41,7 +42,7 @@
               history_size: 10
           sensor_2:
               # The model of the connected sensor.
-              model: "umrr9f"
+              model: "umrr9f_v1_1_1"
               # The client_id of the sensor/source, must be a unique integer.
               id: 300
               # The ip address of the sensor or of the source acting as a sensor.