AutoModality · danhennage · Feb 21, 2020 · Feb 20, 2020 · Feb 21, 2020 · Feb 21, 2020
diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
@@ -9,16 +9,20 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-18.04, [self-hosted,linux,arm64]]
-      fail-fast: true
     steps:
+      - name: Remove File
+        uses: JesseTG/rm@v1.0.0
+        with:
+          path: '*'
       - uses: actions/checkout@v1
       - name: Package
         id: package
-        uses: AutoModality/action-package-debian-ros@v1.3.0
+        uses: AutoModality/action-package-debian-ros@v1.3.2
         with:
           branch: ${{ github.event.pull_request.head.ref }}
           pull-request-number: ${{ github.event.number }}
           build-number: ${{ github.run_number }}
+          release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
       - name: The generated package
         run: echo "The artifact is ${{ steps.package.outputs.artifact-path }}"
       - name: Deploy

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -39,7 +39,6 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-18.04, [self-hosted,linux,arm64]]
-      fail-fast: true
     needs: release
     name: Package if released
     steps:
@@ -68,6 +67,7 @@ jobs:
         uses: AutoModality/action-package-debian-ros@v1.3.2
         with:
           version: ${{ steps.version.outputs.value }}
+          release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
       - name: Deploy if published
         if: steps.published.outputs.value == 'true'
         id: deploy

diff --git a/.github/workflows/story.yml b/.github/workflows/story.yml
@@ -14,7 +14,10 @@ jobs:
     steps:
       - uses: actions/checkout@v1
       - name: Package
-        uses: AutoModality/action-package-debian-ros@v1.3.0
+        uses: AutoModality/action-package-debian-ros@v1.3.2
+        with:
+          dev-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_DEV_ENTITLEMENT }}
+          release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
 
 
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,35 +2,16 @@ cmake_minimum_required(VERSION 2.8.3)
 project(am_utils)
 
 find_package(catkin REQUIRED COMPONENTS
-  message_generation
   geometry_msgs
   nav_msgs
   genmsg
   std_msgs
   sensor_msgs
   rosconsole
   rostime
+  brain_box_msgs
   )
 
-add_message_files( 
-	DIRECTORY msg
-	FILES 
-	Latency_Image.msg
-	Latency_LaserScan.msg
-	Latency_Odometry.msg
-	Latency_PointCloud.msg
-	Latency_PointCloud2.msg
-	Latency_PoseStamped.msg
-	Latency_PoseWithCovarianceStamped.msg
-	Latency_TwistStamped.msg
-	Latency_TwistWithCovarianceStamped.msg
-	Latency.msg
-        Latency_String.msg
-	LatencyHeader.msg
-	LatencyTest.msg
-        DelayStats.msg
-	)
-
 generate_messages( DEPENDENCIES std_msgs nav_msgs geometry_msgs sensor_msgs)
 
 set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
@@ -39,11 +20,11 @@ catkin_package(
   INCLUDE_DIRS include include/am_utils
   LIBRARIES am_utils
   CATKIN_DEPENDS
-    message_runtime
     geometry_msgs
     nav_msgs
     std_msgs
     sensor_msgs
+    brain_box_msgs
 )
 
 include_directories(
@@ -55,10 +36,24 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
 add_library(am_utils
-  src/latency_wrapper.cpp src/am_statistics.cpp src/topics.cpp src/cansocket.cpp src/am_onlinestatistics.cpp 
+  src/am_bag_utils.cpp
+  src/am_network_utils.cpp
+  src/am_onlinestatistics.cpp 
+  src/am_operator_utils.cpp
+  src/am_statistics.cpp 
+  src/cansocket.cpp 
+  src/fcu_mode_type.cpp
+  src/flightplan_type.cpp
+  src/latency_wrapper.cpp 
+  src/message_util.cpp
+  src/mission_cmd_type.cpp
+  src/operator_msg_type.cpp
+  src/topics.cpp 
  )
+
 target_link_libraries(am_utils ${catkin_LIBRARIES})
-add_dependencies(am_utils am_utils_generate_messages_cpp)
+
+add_dependencies(am_utils brain_box_msgs_generate_messages_cpp)
 
 install(TARGETS am_utils 
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

diff --git a/debian/control b/debian/control
@@ -2,11 +2,11 @@ Source: ros-kinetic-am-utils
 Section: misc
 Priority: extra
 Maintainer: info <info@automodality.com>
-Build-Depends: debhelper (>= 9.0.0), ros-kinetic-catkin, ros-kinetic-geometry-msgs, ros-kinetic-message-generation, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs
+Build-Depends: debhelper (>= 9.0.0), ros-kinetic-catkin, ros-kinetic-geometry-msgs, ros-kinetic-message-generation, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-am-msgs
 Homepage: https://github.com/AutoModality/am-utils
 Standards-Version: 3.9.2
 
 Package: ros-kinetic-am-utils
 Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, ros-kinetic-geometry-msgs, ros-kinetic-message-runtime, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs
+Depends: ${shlibs:Depends}, ${misc:Depends}, ros-kinetic-geometry-msgs, ros-kinetic-message-runtime, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-am-msgs
 Description: The am utils package
diff --git a/include/am_utils/am_bag_utils.h b/include/am_utils/am_bag_utils.h
@@ -0,0 +1,22 @@
+/*
+ * am_bag_utils.cpp
+ *
+ *  Created on: Sep 3, 2015
+ *      Author: dan
+ */
+
+#ifndef BRAIN_BOX_MSGS_INCLUDE_BRAIN_BOX_MSGS_AM_BAG_UTILS_CPP_
+#define BRAIN_BOX_MSGS_INCLUDE_BRAIN_BOX_MSGS_AM_BAG_UTILS_CPP_
+
+#include <ros/ros.h>
+
+namespace brain_box {
+
+class AMBagUtils {
+public:
+	static std::string getFileName();
+};
+
+} /* namespace brain_box */
+
+#endif /* BRAIN_BOX_MSGS_INCLUDE_BRAIN_BOX_MSGS_AM_BAG_UTILS_CPP_ */
diff --git a/include/am_utils/am_network_utils.h b/include/am_utils/am_network_utils.h
@@ -0,0 +1,29 @@
+/*
+ * am_network_utils.h
+ *
+ *  Created on: Jun 2, 2015
+ *      Author: dan
+ */
+
+#ifndef BRAIN_BOX_MSGS_SRC_AM_NETWORK_UTILS_H_
+#define BRAIN_BOX_MSGS_SRC_AM_NETWORK_UTILS_H_
+
+#include <sys/socket.h>
+
+namespace brain_box {
+
+class AMNetworkUtils {
+public:
+	AMNetworkUtils();
+	virtual ~AMNetworkUtils();
+	static void *get_in_addr(struct sockaddr *sa);
+	static void printSource(struct sockaddr_storage their_addr, socklen_t addr_len, long bytesReceived);
+	static int openIncomingSocket(const char *name, const char *port);
+	static int openOutgoingSocket(const char *name, const char *hostname, const char *port, struct addrinfo &addr);
+	static void getMacAddress(std::string channel, std::string &macAddress);
+	static void closeSocket(int sockfp);
+};
+
+} /* namespace brain_box */
+
+#endif /* BRAIN_BOX_MSGS_SRC_AM_NETWORK_UTILS_H_ */
diff --git a/include/am_utils/am_onlinestatistics.h b/include/am_utils/am_onlinestatistics.h
@@ -6,7 +6,7 @@
 #include <math.h>       /* pow */
 #include <vector>
 #include <list>
-#include "am_utils/DelayStats.h"
+#include <brain_box_msgs/DelayStats.h>
 
 namespace am {
 
@@ -17,7 +17,7 @@ class OnlineStatistics {
   void addData( double val );
   void setSize( size_t N );
   void insertion_sort(std::vector<double>& ary);
-  void setDelayStats( am_utils::DelayStats &msg );
+  void setDelayStats( brain_box_msgs::DelayStats &msg );
   inline double getMean() const {return mean_;}
   inline double getVariance() const {return var_;}
   inline double getMin() const {return ary_.front();}

diff --git a/include/am_utils/am_operator_utils.h b/include/am_utils/am_operator_utils.h
@@ -0,0 +1,21 @@
+/*
+ * amoperatorutils.h
+ *
+ *  Created on: Jun 8, 2015
+ *      Author: dan
+ */
+
+#ifndef BRAIN_BOX_MSGS_SRC_AMOPERATORUTILS_H_
+#define BRAIN_BOX_MSGS_SRC_AMOPERATORUTILS_H_
+
+namespace brain_box {
+
+class AMOperatorUtils {
+public:
+	static void changemode(int dir);
+	static int kbhit (void);
+};
+
+} /* namespace brain_box */
+
+#endif /* BRAIN_BOX_MSGS_SRC_AMOPERATORUTILS_H_ */
diff --git a/include/am_utils/am_statistics.h b/include/am_utils/am_statistics.h
@@ -12,7 +12,7 @@
 #include <geometry_msgs/Vector3Stamped.h>
 #include <iostream>
 #include <string>
-#include <am_utils/Latency.h>
+#include <brain_box_msgs/Latency.h>
 
 namespace am
 {
@@ -27,7 +27,7 @@ class Statistics
 
     void setVector(geometry_msgs::Vector3Stamped& vec);
     void setVector(geometry_msgs::Vector3Stamped& vec, ros::Time t);
-    void setLatency(am_utils::Latency& latency);
+    void setLatency(brain_box_msgs::Latency& latency);
 
     void addData(double data_point);
 

diff --git a/include/am_utils/fcu_mode_type.h b/include/am_utils/fcu_mode_type.h
@@ -0,0 +1,38 @@
+/*
+ * fcu_mode_type.h
+ *
+ *  Created on: Nov 25, 2015
+ *      Author: ubuntu
+ */
+
+#ifndef VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FCU_MODE_TYPE_H_
+#define VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FCU_MODE_TYPE_H_
+
+#include <string>
+#include <map>
+
+enum class FCU_MODE {
+	MANUAL=0,
+	ACRO=1,
+	ALTCTL=2,
+	POSCTL=3,
+	OFFBOARD=4,
+	STABILIZED=5,
+	AUTO_MISSION=6,
+	AUTO_LOITER=7,
+	AUTO_RTL=8,
+	AUTO_LAND=9,
+	AUTO_RTGS=10,
+	AUTO_READY=11,
+	AUTO_TAKEOFF=12,
+	UNKNOWN=13,
+};
+
+extern std::map<FCU_MODE, std::string> mode_2_px4;
+extern std::map<std::string, FCU_MODE> px4_2_mode;
+
+#define MODE_TO_PX4(m) mode_2_px4[m]
+#define PX4_TO_MODE(p) px4_2_mode[p]
+#define PX4_TO_MODE_MSG(p) (static_cast<unsigned int>(px4_2_mode[p]))
+
+#endif /* VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FCU_MODE_TYPE_H_ */
diff --git a/include/am_utils/flightplan_type.h b/include/am_utils/flightplan_type.h
@@ -0,0 +1,41 @@
+/*
+ * flightplan_type.h
+ *
+ *  Created on: Nov 24, 2015
+ *      Author: ubuntu
+ */
+
+#ifndef VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FLIGHTPLAN_TYPE_H_
+#define VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FLIGHTPLAN_TYPE_H_
+
+#include <string>
+
+// From the VxFlightPlan.srv file:
+//# key="FP_LOAD" value="id"	load the enclosed flight plan and give it id
+//# key="FP_LOAD_JSON_FILE value="file name"  load json flight plan from file
+//# key="FP_LOAD_PX4_FILE value="file name"  load PX4 flight plan from file
+//# key="FP_DELETE" value="id" delete flight plan with id
+//# key="FP_EXECUTE" value="id"			execute flight plan with id
+//# key="FP_ABORT" value=""  			abort currently executing flight plan
+//# key="FP_PAUSE" value=""				pause currently executing flight plan
+
+/**
+ * Defines for the commands used in VxFlightPlan service requests
+ */
+
+enum class FP_CMD { FP_LOAD=0,
+	FP_LOAD_JSON_FILE,
+	FP_LOAD_PX4_FILE,
+	FP_DELETE,
+    FP_LOAD_FCU,
+    FP_START,
+	FP_ABORT,
+	FP_PAUSE,
+};
+
+extern std::string FP_CMD_KEY[];
+
+#define FP_KEY(k) FP_CMD_KEY[static_cast<int>(k)]
+
+
+#endif /* VISBOX_PACKAGES_COMMON_MESSAGES_INCLUDE_BRAIN_BOX_MSGS_FLIGHTPLAN_TYPE_H_ */