SE-2391: Add more verbose logging to debug customers AI model uploads (…

…#21)

* More verbose FTP model upload handling for client debugging
* lint support

.github/workflows/ci.yml

@@ -63,7 +63,7 @@ jobs:
           source install/local_setup.sh
           source /opt/pleora/ebus_sdk/Ubuntu-22.04-x86_64/bin/set_puregev_env.sh
           cd driver
-          colcon test
+          colcon test --event-handlers console_direct+
           colcon test-result
           cd ..
 
@@ -181,7 +181,7 @@ jobs:
           run: |
             sudo apt-get update
             sudo apt-get install -y build-essential libopencv-dev locales \
-              software-properties-common curl libcurl4-openssl-dev 
+              software-properties-common curl libcurl4-openssl-dev python3-venv python3-pip
             sudo locale-gen en_US en_US.UTF-8
             sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
             export LANG=en_US.UTF-8
@@ -219,6 +219,7 @@ jobs:
         - name: Build ros2 driver for foxy
           run: |
             cd driver
+            pip install -r test_requirements.txt
             source /opt/ros/foxy/setup.sh
             rosdep update --include-eol-distros 
             rosdep install -i --from-path . --rosdistro foxy -y
@@ -234,7 +235,7 @@ jobs:
             export _colcon_cd_root=$(pwd)
             source install/local_setup.sh
             source /opt/pleora/ebus_sdk/Ubuntu-20.04-x86_64/bin/set_puregev_env.sh
-            colcon test
+            colcon test --event-handlers console_direct+ --packages-select bottlenose_camera_driver --ctest-args -R cpplint_test --rerun-failed --output-on-failure
             colcon test-result
             cd ..
         - name: Evaluate test results

CMakeLists.txt

@@ -120,6 +120,13 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
+# Lint
+find_program(CPPLINT cpplint)
+if(CPPLINT)
+    add_test(NAME cpplint_test COMMAND ${CPPLINT} --verbose=0 --recursive src include)
+    set_tests_properties(cpplint_test PROPERTIES WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+endif()
+
 #if(BUILD_TESTING)
 #  find_package(ament_lint_auto REQUIRED)
 #  # the following line skips the linter which checks for copyrights

CPPLINT.cfg

@@ -0,0 +1,37 @@
+filter=+build/class
+filter=-build/c++17
+filter=+build/deprecated
+filter=+build/forward_decl
+filter=+build/include_order
+filter=+build/printf_format
+filter=+build/storage_class
+filter=+legal/copyright
+filter=+readability/boost
+filter=+readability/braces
+#filter=+readability/casting (disabled, makes atomic type casts look rediculous)
+filter=+readability/constructors
+filter=+readability/fn_size
+filter=+readability/function
+filter=+readability/multiline_comment
+filter=+readability/multiline_string
+filter=+readability/streams
+filter=+readability/utf8
+filter=+runtime/arrays
+filter=+runtime/casting
+filter=+runtime/deprecated_fn
+filter=+runtime/explicit
+filter=+runtime/int
+filter=+runtime/memset
+filter=+runtime/mutex
+filter=+runtime/nonconf
+filter=+runtime/printf
+filter=+runtime/printf_format
+#filter=+runtime/references (disabled, we're not google)
+filter=+runtime/rtti
+filter=+runtime/sizeof
+filter=+runtime/string
+filter=+runtime/virtual
+filter=+runtime/vlog
+# cpplint.py enables these filters in reversed order.
+filter=-
+linelength=120

include/bottlenose_camera_driver.hpp

@@ -24,6 +24,10 @@
 #include <cstdio>
 #include <iostream>
 #include <variant>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+
 #include "rclcpp/rclcpp.hpp"
 
 #include "std_msgs/msg/string.hpp"
@@ -39,11 +43,9 @@
 #include <camera_info_manager/camera_info_manager.hpp>
 #include <image_transport/image_transport.hpp>
 
-#include "opencv2/highgui/highgui.hpp"
+#include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc.hpp>
-#include <thread>
-#include <mutex>
-#include <condition_variable>
+
 #include <PvBuffer.h>
 #include <PvDeviceGEV.h>
 #include <PvStreamGEV.h>

include/bottlenose_chunk_parser.hpp

@@ -20,9 +20,9 @@
 #ifndef __BOTTLENOSE_CHUNK_PARSER_HPP__
 #define __BOTTLENOSE_CHUNK_PARSER_HPP__
 
-#include <PvBuffer.h>
 #include <vector>
-#include <stdint.h>
+#include <cstdint>
+#include <PvBuffer.h>
 
 #define MAX_KEYPOINTS 0xFFFF
 #define MAX_BBOXES (100)

src/bottlenose_camera_driver.cpp

@@ -19,31 +19,31 @@
         G. M. Tchamgoue <martin@labforge.ca>  
 */
 
+#include <arpa/inet.h>  // For inet_ntoa
+#include <netinet/in.h> // For struct in_addr
+#include <sys/stat.h>
 #include <unistd.h>
+#include <curl/curl.h>
 #include <chrono>
 #include <memory>
 #include <utility>
 #include <string>
 #include <cassert>
 #include <list>
 #include <filesystem>
-#include <fstream>
 #include <iostream>
-#include <arpa/inet.h>  // For inet_ntoa
-#include <netinet/in.h> // For struct in_addr
 
 #include <PvDevice.h>
 #include <PvStream.h>
 #include <PvSystem.h>
 #include <PvBuffer.h>
 #include <opencv2/opencv.hpp>
-#include <curl/curl.h>
+
 
 #include "bottlenose_camera_driver.hpp"
 #include "bottlenose_parameters.hpp"
 #include "bottlenose_chunk_parser.hpp"
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <sys/stat.h>
 
 #define BUFFER_COUNT ( 16 )
 #define BUFFER_SIZE ( 3840 * 2160 * 3 ) // 4K UHD, YUV422 + ~1 image plane to account for chunk data
@@ -1375,13 +1375,16 @@ bool CameraDriver::configure_ai_model() {
       WAIT_PROPAGATE();
     }
     if(trials == 0) {
-      RCLCPP_ERROR(get_logger(), "Could not file transfer");
+      RCLCPP_ERROR(get_logger(), "Could not file transfer, last device status %s", modelStatus.GetAscii());
       return false;
     }
+    RCLCPP_DEBUG(get_logger(), "Model transfer initiated, last device status %s", modelStatus.GetAscii());
     filesystem::path fsPath(get_parameter("ai_model").as_string());
     string basename = fsPath.filename().string();
     string target = string("ftp://anonymous:@") + ipAddress + "/" + basename;
+    RCLCPP_DEBUG(get_logger(), "Transferring model to %s", target.c_str());
     if(!ftp_upload(target, get_parameter("ai_model").as_string())) {
+      RCLCPP_ERROR_STREAM(get_logger(), "Model transfer failed, for file " << get_parameter("ai_model").as_string() << " file exists: " << filesystem::path(basename));
       return false;
     }
     trials = 10;
@@ -1398,7 +1401,7 @@ bool CameraDriver::configure_ai_model() {
       usleep(100000);
     }
     if(trials == 0) {
-      RCLCPP_ERROR(get_logger(), "Could not initialize model");
+      RCLCPP_ERROR(get_logger(), "Could not initialize model, last status %s", modelStatus.GetAscii());
       return false;
     } else {
       RCLCPP_DEBUG(get_logger(), "Model loaded, last status %s", modelStatus.GetAscii());
@@ -1460,8 +1463,7 @@ bool CameraDriver::load_calibration(uint32_t sid, std::string cname){
 
   if(this->get_parameter(param).as_string().length() > 0) {
     kfile_param = this->get_parameter(param).as_string();        
-  }
-  else{
+  } else {
     std::string default_url = prefix + ament_index_cpp::get_package_share_directory(this->get_name()) + "/config/" + cname + ".yaml";
     this->set_parameter(rclcpp::Parameter(param, default_url));
     kfile_param = this->get_parameter(param).as_string();
@@ -1739,8 +1741,7 @@ bool CameraDriver::set_calibration(){
           return false;
         }
         RCLCPP_DEBUG(get_logger(), "Rectification & undistortion disabled");
-      }
-      else if(num_sensors == 2) {
+      } else if(num_sensors == 2) {
         m_calibrated = set_register("Undistortion", true);
         if(!m_calibrated){
           RCLCPP_ERROR(get_logger(), "Failed to trigger Undistortion mode on camera.");

test_requirements.txt

@@ -0,0 +1 @@
+cpplint==1.6.1