DB Utility Tool

CMakeLists.txt

@@ -43,6 +43,7 @@ endforeach()
 
 # Boost
 find_package(Boost 1.74.0 COMPONENTS REQUIRED
+    program_options
     serialization
     system
     thread

functions.cmake

@@ -1,24 +1,26 @@
 # Create module library
 function(make_lib module srcs link_libs inc_dirs compile_defs)
-    add_library(${module} INTERFACE ${srcs})
-    target_compile_definitions(${module} INTERFACE ${compile_defs})
-    target_link_libraries(${module} INTERFACE ${link_libs})
+    add_library(${module} ${srcs})
+    ament_target_dependencies(${module} PUBLIC ${ROS_DEPS})
+    target_compile_definitions(${module} PUBLIC ${compile_defs})
+    target_link_libraries(${module} PUBLIC ${link_libs})
     target_include_directories(
-        ${module} INTERFACE
+        ${module} PUBLIC
         ${CMAKE_CURRENT_LIST_DIR}/inc
         ${CMAKE_SOURCE_DIR}/lib
         ${inc_dirs}
     )
     add_dependencies(${module} ${AUTOGEN_TARGETS})
+    set(${module}_inc_dir ${CMAKE_CURRENT_LIST_DIR}/inc CACHE INTERNAL "${module} header include directory")
 endfunction()
 
-# Create module ROS executable
-function(make_exe module srcs link_libs inc_dirs ${compile_defs})
+# Create project module ROS executable
+function(make_exe module srcs link_libs inc_dirs compile_defs)
     set(bin_module bin_${module})
     add_executable(${bin_module} ${srcs})
     target_compile_definitions(${bin_module} PUBLIC ${compile_defs})
     ament_target_dependencies(${bin_module} PUBLIC ${ROS_DEPS})
-    target_link_libraries(${bin_module} PUBLIC ${link_libs})
+    target_link_libraries(${bin_module} PUBLIC ${link_libs} boost_program_options)
     target_include_directories(
         ${bin_module} PUBLIC
         ${CMAKE_CURRENT_LIST_DIR}/inc

lib/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_subdirectory(cmn_hdrs)
 add_subdirectory(protofiles)
+add_subdirectory(sailbot_db)
 
 # add directories as needed

lib/sailbot_db/CMakeLists.txt

@@ -0,0 +1,36 @@
+set(module sailbot_db)
+
+set(link_libs
+    ${PROTOBUF_LINK_LIBS}
+    mongo::mongocxx_shared
+    mongo::bsoncxx_shared
+)
+
+set(inc_dirs
+    ${PROTOBUF_INCLUDE_PATH}
+    ${LIBMONGOCXX_INCLUDE_DIRS}
+    ${LIBBSONCXX_INCLUDE_DIRS}
+)
+
+set(srcs
+    ${CMAKE_CURRENT_LIST_DIR}/src/sailbot_db.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/src/util_db.cpp
+)
+
+# make sailbot_db library
+make_lib(${module} "${srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
+
+set(bin_srcs
+    ${srcs}
+    ${CMAKE_CURRENT_LIST_DIR}/src/main.cpp
+)
+
+# Make executable
+make_exe(${module} "${bin_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
+
+# Create unit test
+set(test_srcs
+    ${srcs}
+    ${CMAKE_CURRENT_LIST_DIR}/test/test_sailbot_db.cpp
+)
+make_unit_test(${module} "${test_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")

projects/remote_transceiver/inc/sailbot_db.h → lib/sailbot_db/inc/sailbot_db.h

@@ -10,88 +10,8 @@
 #include "sensors.pb.h"
 #include "waypoint.pb.h"
 
-// BSON document formats (from: https://ubcsailbot.atlassian.net/wiki/spaces/prjt22/pages/1907589126/Database+Schemas):
-
-// GPS
-// {
-//   latitude: decimal,
-//   longitude: decimal,
-//   speed: decimal,
-//   heading: decimal,
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// Global Path
-// {
-//   waypoints: [
-//     {
-//       latitude: decimal,
-//       longitude: decimal
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// Local Path
-// {
-//   waypoints: [
-//     {
-//       latitude: decimal,
-//       longitude: decimal
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// AIS Ships
-// {
-//   ships: [
-//     {
-//       id: Number,
-//       latitude: decimal,
-//       longitude: decimal,
-//       cog: decimal,
-//       rot: decimal,
-//       sog: decimal,
-//       width: decimal,
-//       length: decimal
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// Generic Sensors
-// {
-//   genericSensors: [
-//     {
-//       id: integer
-//       data: long
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// Wind Sensors
-// {
-//   windSensors: [
-//     {
-//       speed: decimal,
-//       direction: number
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
-
-// Batteries
-// {
-//   batteries: [
-//     {
-//       voltage: decimal,
-//       current: decimal
-//     }
-//   ],
-//   timestamp: <year - 2000>-<month>-<day> <hour>:<minute>:<second>
-// }
+// >>>>IMPORTANT<<<<<
+// BSON document formats from: https://ubcsailbot.atlassian.net/wiki/spaces/prjt22/pages/1907589126/Database+Schemas:
 
 const std::string COLLECTION_AIS_SHIPS    = "ais_ships";
 const std::string COLLECTION_BATTERIES    = "batteries";
@@ -125,14 +45,15 @@ class SailbotDB
         /**
          * @brief overload stream operator
          */
-        friend std::ostream & operator<<(std::ostream & os, const RcvdMsgInfo & info)
-        {
-            os << "Latitude: " << info.lat_ << "\n"
-               << "Longitude: " << info.lon_ << "\n"
-               << "Accuracy (km): " << info.cep_ << "\n"
-               << "Timestamp: " << info.timestamp_;
-            return os;
-        }
+        friend std::ostream & operator<<(std::ostream & os, const RcvdMsgInfo & info);
+
+        /**
+         * @brief Get a properly formatted timestamp string
+         *
+         * @param tm standard C/C++ time structure
+         * @return tm converted to a timestamp string
+         */
+        static std::string mkTimestamp(const std::tm & tm);
     };
 
     /**
@@ -141,7 +62,7 @@ class SailbotDB
     * @param db_name          name of desired database
     * @param mongodb_conn_str URL for mongodb database (ex. mongodb://localhost:27017)
     */
-    explicit SailbotDB(const std::string & db_name, const std::string & mongodb_conn_str);
+    SailbotDB(const std::string & db_name, const std::string & mongodb_conn_str);
 
     /**
      * @brief Format and print a document in the DB

lib/sailbot_db/inc/util_db.h

@@ -0,0 +1,114 @@
+#pragma once
+
+#include <random>
+#include <span>
+
+#include "sailbot_db.h"
+#include "sensors.pb.h"
+#include "utils/utils.h"
+
+class UtilDB : public SailbotDB
+{
+public:
+    static constexpr int NUM_AIS_SHIPS       = 15;  // arbitrary number
+    static constexpr int NUM_GENERIC_SENSORS = 5;   // arbitrary number
+    static constexpr int NUM_PATH_WAYPOINTS  = 5;   // arbitrary number
+
+    /**
+     * @brief Construct a UtilDB, which has debug utilities for SailbotDB
+     *
+     * @param db_name
+     * @param mongodb_conn_str
+     * @param rng
+     */
+    UtilDB(const std::string & db_name, const std::string & mongodb_conn_str, std::shared_ptr<std::mt19937> rng);
+
+    /**
+     * @brief Delete all documents in all collections
+     */
+    void cleanDB();
+
+    /**
+    * @brief Generate random data for all sensors
+    *
+    * @return Sensors object
+    */
+    Polaris::Sensors genRandSensors();
+
+    /**
+     * @return timestamp for the current time
+     */
+    static std::tm getTimestamp();
+
+    /**
+    * @brief Generate random sensors and Iridium msg info
+    *
+    * @param tm Timestamp returned by getTimestamp() (with any modifications made to it)
+    * @return std::pair<Sensors, SailbotDB::RcvdMsgInfo>
+    */
+    std::pair<Polaris::Sensors, SailbotDB::RcvdMsgInfo> genRandData(const std::tm & tm);
+
+    /**
+    * @brief Query the database and check that the sensor and message are correct
+    *
+    * @param expected_sensors
+    * @param expected_msg_info
+    */
+    bool verifyDBWrite(
+      std::span<Polaris::Sensors> expected_sensors, std::span<SailbotDB::RcvdMsgInfo> expected_msg_info);
+
+    /**
+     * @brief Dump and check all sensors and timestamps from the database
+     *
+     * @param tracker           FailureTracker that gets if any unexpected results are dumped
+     * @param expected_num_docs Expected number of documents. tracker is updated if there's a mismatch
+     * @return std::pair{Vector of dumped Sensors, Vector of dumped timestamps}
+     */
+    std::pair<std::vector<Polaris::Sensors>, std::vector<std::string>> dumpSensors(
+      utils::FailTracker & tracker, size_t expected_num_docs = 1);
+
+private:
+    std::shared_ptr<std::mt19937> rng_;  // random number generator
+
+    /**
+    * @brief generate random GPS data
+    *
+    * @param gps_data GPS data to modify
+    */
+    void genRandGpsData(Polaris::Sensors::Gps & gps_data);
+
+    /**
+    * @brief generate random ais ships data
+    *
+    * @param ais_ship AIS ship data to modify
+    */
+    void genRandAisData(Polaris::Sensors::Ais & ais_ship);
+
+    /**
+    * @brief generate random generic sensor data
+    *
+    * @param generic_sensor Generic sensor data to modify
+    */
+    void genRandGenericSensorData(Polaris::Sensors::Generic & generic_sensor);
+
+    /**
+    * @brief generate random battery data
+    *
+    * @param battery battery data to modify
+    */
+    void genRandBatteryData(Polaris::Sensors::Battery & battery);
+
+    /**
+    * @brief generate random wind sensors data
+    *
+    * @param wind_data Wind sensor data to modify
+    */
+    void genRandWindData(Polaris::Sensors::Wind & wind_data);
+
+    /**
+    * @brief generate random path data
+    *
+    * @param path_data Path data to modify
+    */
+    void genRandPathData(Polaris::Sensors::Path & path_data);
+};