Crowsnest-processor-point-rotations

A crowsnest microservice that connects to MQTT broker. The main functions is to rotate points for both Radar and LIDAR sensor. The point rotation can be for example be to stabilizing the view North-up or horizontally.

How it works

For now, this microservice just does the basics.

• Connects to MQTT
• Transform head-up matrix to north-up
• Wraps into a brefv message
• Sending message to MQTT broker

Typical setup: docker-compose.nmea-anavs.yml

version: "3"
services:
  multicast-nmea:
    image: ghcr.io/mo-rise/crowsnest-connector-udp-nmea:latest
    restart: unless-stopped
    network_mode: "host"
    environment:
      - MCAST_GRP=239.192.0.3
      - MCAST_PORT=60003
      - MQTT_TOPIC_RAW=CROWSNEST/SEAHORSE/GNSS/0/RAW
      - MQTT_TOPIC_JSON=CROWSNEST/SEAHORSE/GNSS/0/JSON

Development setup

To setup the development environment:

    python3 -m venv venv
    source ven/bin/activate

Install everything thats needed for development:

    pip install -r requirements_dev.txt

To run the linters:

    black main.py tests
    pylint main.py

To run the tests:

    no automatic tests yet...

Add brefv as submodule:

git submodule add <url>

# Once the project is added to your repo, you have to init and update it.
git init
git submodule add git@github.com:MO-RISE/brefv.git
git submodule update

mkdir brefv-spec
datamodel-codegen --input brefv/envelope.json --input-file-type jsonschema --output brefv-spec/envelope.py
datamodel-codegen --input brefv/messages --input-file-type jsonschema  --reuse-model --output brefv-spec/messages

Program

Function based on Open3D

License

Apache 2.0, see LICENSE