Merge branch 'main' into kristatraboulay/426-update-physics-engine-node

.devcontainer/base-dev/base-dev.Dockerfile

@@ -374,4 +374,6 @@ ENV DEBIAN_FRONTEND=
 # install dev python3 dependencies
 RUN pip3 install \
     # for juypter notebooks
-    ipykernel
+    ipykernel \
+    # to generate ompl python bindings
+    pybind11

src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py

@@ -12,15 +12,15 @@ class FluidGenerator:
     """This class provides functionality to generate velocity vectors representing fluid movements.
 
     Attributes:
-        `generator` (VectorGenerator): The vector generator used to generate 3D fluid velocities.
+        `generator` (VectorGenerator): The vector generator used to generate 2D fluid velocities.
         `velocity` (NDArray): The most recently generated fluid velocity vector, expressed in
             meters per second (m/s). It is expected to be a 3D vector.
     """
 
     def __init__(self, generator: VectorGenerator):
         self.__generator = generator
         self.__velocity = np.array(self.__generator.next())
-        assert self.__velocity.shape == (3,)
+        assert self.__velocity.shape == (2,)
 
     def next(self) -> NDArray:
         """Generates the next velocity vector for the fluid simulation.

src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py

@@ -11,9 +11,9 @@ class TestFluidGenerator:
     @pytest.mark.parametrize(
         "vector",
         [
-            (np.array([1, 0, 1])),
-            (np.array([0, 1, 0])),
-            (np.array([1, 0, 0])),
+            (np.array([1, 0])),
+            (np.array([0, 1])),
+            (np.array([1, 0])),
         ],
     )
     def test_velocity_constant(self, vector):
@@ -26,10 +26,10 @@ def test_velocity_constant(self, vector):
     @pytest.mark.parametrize(
         "mean, cov",
         [
-            (np.array([1, 2, 0]), np.array([[2, 1, 1], [1, 2, 2], [3, 1, 2]])),
-            (np.array([4, 5, 3]), np.array([[3, 1, 2], [1, 3, 2], [1, 2, 2]])),
-            (np.array([100, 50, 20]), np.array([[10, 5, 5], [5, 10, 1], [6, 2, 5]])),
-            (np.array([120, 130, 40]), np.array([[10, 5, 0], [5, 10, 2], [1, 3, 5]])),
+            (np.array([1, 2]), np.array([[2, 1], [1, 2]])),
+            (np.array([4, 5]), np.array([[3, 1], [1, 3]])),
+            (np.array([100, 50]), np.array([[10, 5], [5, 10]])),
+            (np.array([120, 130]), np.array([[10, 5], [5, 10]])),
         ],
     )
     def test_velocity_random(self, mean, cov):
@@ -42,12 +42,12 @@ def test_velocity_random(self, mean, cov):
     @pytest.mark.parametrize(
         "vector",
         [
-            (np.array([1, 0, 1])),
-            (np.array([0, 1, 0])),
-            (np.array([-1, 0, 1])),
-            (np.array([0, -1, 0])),
-            (np.array([1, 1, 1])),
-            (np.array([-1, -1, -1])),
+            (np.array([1, 0])),
+            (np.array([0, 1])),
+            (np.array([-1, 0])),
+            (np.array([0, -1])),
+            (np.array([1, 1])),
+            (np.array([-1, -1])),
         ],
     )
     def test_speed(self, vector):
@@ -60,12 +60,12 @@ def test_speed(self, vector):
     @pytest.mark.parametrize(
         "vector, expected_direction",
         [
-            (np.array([1, 0, 1]), 0),
-            (np.array([0, 1, -3]), 90),
-            (np.array([-1, 0, -1]), -180),
-            (np.array([0, -1, 0]), -90),
-            (np.array([1, 1, 4]), 45),
-            (np.array([-1, -1, 6]), -135),
+            (np.array([1, 0]), 0),
+            (np.array([0, 1]), 90),
+            (np.array([-1, 0]), -180),
+            (np.array([0, -1]), -90),
+            (np.array([1, 1]), 45),
+            (np.array([-1, -1]), -135),
         ],
     )
     def test_direction(self, vector, expected_direction):

src/global_launch/config/README.md

@@ -262,7 +262,7 @@ specified within an array: one for the `x` component, and one for the `y` compon
 
 - _Description_: The mean value for the wind generated, expressed in kilometers per hour (km/h), for the multivariate
 Gaussian generator.
-- _Datatype_: `double` array, length 3
+- _Datatype_: `double` array, length 2
 - _Range_: `(0.0, MAX_DOUBLE)`
 
 **`wind_generation.mvgaussian_params.cov`**
@@ -276,7 +276,7 @@ since ROS parameters do not support native 2D array types.
 
 - _Description_: The mean value for the current generated, expressed in kilometers per hour (km/h), for the multivariate
 Gaussian generator.
-- _Datatype_: `double` array, length 3
+- _Datatype_: `double` array, length 2
 - _Range_: `(0.0, MAX_DOUBLE)`
 
 **`current_generation.mvgaussian_params.cov`**

src/global_launch/config/globals.yaml

@@ -62,12 +62,12 @@ physics_engine_node:
             value: [1.0, 0.0]
       wind_generation:
          mvgaussian_params:
-            mean: [5.0, 5.0, 0.0]
-            cov: "[[25.0, 10.0, 5.0], [10.0, 15.0, 2.0], [5.0, 2.0, 20.0]]"
+            mean: [5.0, 5.0]
+            cov: "[[25.0, 10.0], [10.0, 15.0]]"
       current_generation:
          mvgaussian_params:
-            mean: [1.0, 0.5, 0.0]
-            cov: "[[0.5, 0.1, 0.05], [0.1, 0.3, 0.02], [0.05, 0.02, 0.2]]"
+            mean: [1.0, 0.5]
+            cov: "[[0.5, 0.1], [0.1, 0.3]]"
 data_collection_node:
    ros__parameters:
       file_name: 'ros_data_collection'

src/local_pathfinding/local_pathfinding/local_path.py

@@ -47,6 +47,8 @@ def __init__(
                 HelperLatLon(latitude=waypoint.latitude, longitude=waypoint.longitude)
                 for waypoint in global_path.waypoints
             ]
+        else:
+            self.global_path = global_path
 
         if filtered_wind_sensor:  # TODO: remove when mock can be run
             self.wind_speed = filtered_wind_sensor.speed.speed

src/local_pathfinding/local_pathfinding/ompl_path.py

@@ -5,17 +5,18 @@
 won't work). The C++ API is documented on the OMPL website:
 https://ompl.kavrakilab.org/api_overview.html.
 """
+
 from __future__ import annotations
 
 from typing import TYPE_CHECKING, List, Tuple, Type
 
-from custom_interfaces.msg import HelperLatLon
 from ompl import base as ob
 from ompl import geometric as og
 from ompl import util as ou
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
 import local_pathfinding.coord_systems as cs
+from custom_interfaces.msg import HelperLatLon
 from local_pathfinding.objectives import get_sailing_objective
 
 if TYPE_CHECKING:
@@ -39,7 +40,7 @@ def __init__(self, local_path_state: LocalPathState, logger: RcutilsLogger):
 
         self.reference_latlon = (
             local_path_state.global_path[-1]
-            if local_path_state and len(local_path_state.global_path) > 0
+            if local_path_state.global_path and len(local_path_state.global_path) > 0
             else HelperLatLon(latitude=0.0, longitude=0.0)
         )
 

src/local_pathfinding/test/test_ompl_path.py

@@ -21,7 +21,14 @@
 
 
 def test_OMPLPathState():
-    state = ompl_path.OMPLPathState(local_path_state=None, logger=RcutilsLogger())
+    local_path_state = LocalPathState(
+        gps=GPS(),
+        ais_ships=AISShips(),
+        global_path=Path(),
+        filtered_wind_sensor=WindSensor(),
+        planner="rrtstar",
+    )
+    state = ompl_path.OMPLPathState(local_path_state, logger=RcutilsLogger())
     assert state.state_domain == (-1, 1), "incorrect value for attribute state_domain"
     assert state.state_range == (-1, 1), "incorrect value for attribute start_state"
     assert state.start_state == pytest.approx(

src/network_systems/projects/remote_transceiver/test/test_remote_transceiver.cpp

@@ -218,7 +218,8 @@ TEST_F(TestRemoteTransceiver, rockblockWebServerExample)
     curl = curl_easy_init();
 
     if (curl != nullptr) {
-        curl_easy_setopt(curl, CURLOPT_URL, "http://localhost:8100/?data=B&imei=300434065264590&username=myuser");
+        curl_easy_setopt(
+          curl, CURLOPT_URL, "http://localhost:8100/?data=thisistestdata&ec=B&imei=300434065264590&username=myuser");
 
         curl_easy_setopt(curl, CURLOPT_CUSTOMREQUEST, "POST");
 

src/network_systems/scripts/README.md

@@ -28,8 +28,13 @@ This web server is a virtual implementation of the Rockblock Web Servers used to
  [here](https://docs.groundcontrol.com/iot/rockblock/web-services/sending-mt-message).
 
 This virtual server follows this specification with one notable difference, it will return the specific error code that
-is contained in the `data` section of the request sent to it.
+is contained in the `ec` section of the request sent to it.
 
-So a request to this url: <http://localhost:8100/?data=B&imei=300434065264590&username=myuser> will return
-`FAILED,11, No RockBLOCK with this IMEI found on your account` since `data=B` and B is hex for 11 which is the
+So a request to this url: <http://localhost:8100/?data=thisistestdata&ec=B&imei=300434065264590&username=myuser> will
+return `FAILED,11, No RockBLOCK with this IMEI found on your account` since `ec=B` and B is hex for 11 which is the
  corresponding error code as mentioned above.
+
+Continuing on, the data parameter now implements the functionality for any form of data to be handled by the server.
+This data will be written to `TEMP_FILE_PATH` so that any tests can properly verify that the rockblock web server will
+have received the correct data. So as above, if all goes well, `thisistestdata` should be written to the file located
+at `TEMP_FILE_PATH`.

src/network_systems/scripts/rockblock_web_server.py

@@ -1,5 +1,6 @@
 import http.server
 import logging
+import os
 import random
 import signal
 import socketserver
@@ -24,29 +25,32 @@
 logging.basicConfig(level=logging.DEBUG, format="%(asctime)s - %(levelname)s - %(message)s")
 logger = logging.getLogger(__name__)
 
+TEMP_FILE_PATH = "/tmp/remote_transceiver/downstream_test.log"
+
 
 # Custom HTTP request handler
 class MyHandler(http.server.BaseHTTPRequestHandler):
 
     def do_POST(self):
         logger.debug("Received POST request.")
         # Extract data parameter from the request
-        data = self.get_data()
+        data, error_code = self.get_data()
         logger.debug(f"Extracted data: {data}")
 
-        # Check if data is not empty
         if data:
             try:
-                # Decode the hex data
-                error_code = int(data, 16)
-                logger.debug(f"Decoded error code: {error_code}")
-            except ValueError:
-                # If decoding fails, return error code 99
-                logger.error("Failed to decode data. Using error code 99.")
-                error_code = 99
-        else:
-            # Default error code if data is empty
-            logger.warning("No data found. Using error code 99.")
+                os.makedirs(os.path.dirname(TEMP_FILE_PATH), exist_ok=True)
+                with open(TEMP_FILE_PATH, "w") as f:
+                    f.write(data)
+                logger.info(f"Data written to {TEMP_FILE_PATH}")
+                logger.info(f"Data written is: {data}")
+            except Exception as e:
+                logger.error(f"Failed to write data to file: {e}")
+
+        try:
+            error_code = int(error_code, 16) if error_code else 99
+        except ValueError:
+            logger.error("Failed to decode ec parameter. Using error code 99.")
             error_code = 99
 
         # Handle error codes and special case for error_code 0
@@ -75,7 +79,9 @@ def get_data(self):
         """Extracts the data parameter from the URL query string (e.g., ?data=48656C6C6F)"""
         query = parse.urlsplit(self.path).query
         params = dict(parse.parse_qsl(query))
-        return params.get("data", "")
+        data = params.get("data", "")
+        error_code = params.get("ec", "")
+        return data, error_code
 
 
 # Set up the server