Fix/readme.md

.circleci/config.yml

@@ -0,0 +1,100 @@
+version: 2
+
+#  Copyright (C) 2018-2021 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+# 
+
+# Configuration file for Circle CI 
+# CI will report failure if any executed command returns and error status
+# Operations performed are as follows
+# Build source code
+# Run unit tests for C++ and Java
+# Run static code analyzer for SourceCloud
+# Upload test results
+# Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
+# TODO (CAR-6025) move to github action to take advantage of dynamic image tag and docker org to remove branch/version coupling
+jobs:
+  build:
+    # Pull docker image from docker hub
+    # XTERM used for better catkin_make output
+    docker:
+      - image: usdotfhwastoldev/carma-base:develop
+        user: carma
+        environment:
+          TERM: xterm
+          INIT_ENV: /home/carma/.base-image/init-env.sh
+    resource_class: large      
+    # Set working directory
+    working_directory: "/opt/carma/"
+    # Pull code and execute tests
+    # Name of each run command defines purpose use
+    steps:
+      - run:
+          name: Create src folder
+          command: |
+            source ${INIT_ENV}
+            mkdir src
+            cd src
+            mkdir CARMAAvtVimbaDriver
+      # Checkout PR branch
+      - checkout:
+          path: src/CARMAAvtVimbaDriver
+      - run: 
+          name: Pull Deps
+          command: |
+            source ${INIT_ENV}
+            ./src/CARMAAvtVimbaDriver/docker/checkout.bash -r ${PWD}
+      - run:
+          name: Build Driver
+          command: |
+            source ${INIT_ENV}
+            export ROS_PARALLEL_JOBS='-j3 -l3' # Try to reduce memory consumption on build
+            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output bash make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
+      - run:
+          name: Run C++ Tests
+          command: |
+            source ${INIT_ENV}
+            export ROS_PARALLEL_JOBS='-j3 -l3' # Try to reduce memory consumption on build
+            bash make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+      # Run SonarCloud analysis
+      # PR Branchs and number extracted from Circle variables and github api
+      # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
+      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. 
+      # The following sonar settings MUST be set in SonarCloud UI NOT in this file
+      # sonar.pullrequest.provider
+      # sonar.pullrequest.github.endpoint
+      # sonar.pullrequest.github.token.secured
+      # sonar.pullrequest.github.repository
+      # Use -X on sonar-scanner to enable debug output
+      - run:
+          name: Run Sonar Scanner
+          command: |
+            source ${INIT_ENV}
+            if [ -z "${CIRCLE_PULL_REQUEST}" ]; then
+              echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}"
+              cd src/CARMAAvtVimbaDriver
+              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} 
+              exit 0;
+            fi
+            echo "PR branch ${CIRCLE_BRANCH}"
+            echo "Repo name ${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}"
+            echo "URL ${CIRCLE_PULL_REQUEST}"
+            export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7`
+            echo "PR number ${PR_NUM}"
+            export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}"
+            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') 
+            echo "Target Branch = ${TARGET_BRANCH}"
+            cd src/CARMAAvtVimbaDriver
+            git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH}
+            sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM}

.github/workflows/docker.yml

@@ -0,0 +1,8 @@
+name: Docker build
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main

.github/workflows/dockerhub.yml

@@ -0,0 +1,16 @@
+name: Docker Hub build
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+    tags:
+      - "carma-system-*"  
+
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}

.gitignore

@@ -5,7 +5,6 @@ src/VimbaCPP/
 lib/
 bin/
 build/
-docs/
 
 # Auto generated code
 cfg/cpp/

.sonarqube/sonar-scanner.properties

@@ -0,0 +1,30 @@
+#  Copyright (C) 2018-2021 LEIDOS.
+#
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+#
+#  http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# Configuration file for Sonar Scanner used for CI
+
+sonar.projectKey=usdot-fhwa-stol_CARMAAvtVimbaDriver
+sonar.organization=usdot-fhwa-stol
+sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.host.url=https://sonarcloud.io
+sonar.sources=src/
+sonar.cfamily.gcov.reportsPath=/opt/carma/coverage_reports/gcov
+sonar.coverageReportPaths=/opt/carma/coverage_reports/gcov/coverage.xml
+sonar.cpp.file.suffixes=.cpp,.h,.tpp
+sonar.c.file.suffixes=-
+sonar.tests=test/
+# Set Git as SCM sensor
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git

CMakeLists.txt

@@ -1,8 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(avt_vimba_camera)
 
+find_package(carma_cmake_common REQUIRED)
+carma_check_ros_version(1)
+
 find_package(catkin REQUIRED COMPONENTS
   #libvimba
+  cav_msgs
   camera_info_manager
   diagnostic_updater
   dynamic_reconfigure
@@ -28,8 +32,9 @@ generate_dynamic_reconfigure_options(
 )
 
 catkin_package(
+  #LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include
-  CATKIN_DEPENDS camera_info_manager diagnostic_updater dynamic_reconfigure image_geometry image_transport roscpp sensor_msgs std_msgs polled_camera
+  CATKIN_DEPENDS camera_info_manager diagnostic_updater dynamic_reconfigure image_geometry image_transport roscpp sensor_msgs std_msgs polled_camera cav_msgs
 )
 
 ###########
@@ -42,22 +47,26 @@ include_directories(
   include
 )
 
-# C++11 support
+# C++14 support
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+if(COMPILER_SUPPORTS_CXX14)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
 elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
 else()
-  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
 endif()
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
+set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
 
 function(add_dependencies_and_linkings arg)
   add_dependencies(${arg}
     ${PROJECT_NAME}_gencfg
+    ${${PROJECT_NAME}_EXPORTED_TARGETS}
     #${libvimba_EXPORTED_TARGETS}
+    ${catkin_EXPORTED_TARGETS}
   )
 
   if("${ARCH}" STREQUAL i386)
@@ -94,7 +103,8 @@ add_executable(mono_camera_node
   src/mono_camera.cpp
   src/avt_vimba_camera.cpp
   src/frame_observer.cpp
-)
+  src/status_camera.cpp
+    )
 
 add_dependencies_and_linkings(mono_camera_node)
 
@@ -103,23 +113,31 @@ add_executable(stereo_camera_node
   src/stereo_camera.cpp
   src/avt_vimba_camera.cpp
   src/frame_observer.cpp
-)
+  )
 
 add_dependencies_and_linkings(stereo_camera_node)
 
 add_executable(sync_node
   src/nodes/sync_node.cpp
   src/sync.cpp
-)
+  )
 
 add_dependencies_and_linkings(sync_node)
 
+add_library(avt_vimba_camera_lib
+  src/status_camera.cpp
+)
+
+add_dependencies_and_linkings(avt_vimba_camera_lib)
+
+
 add_library(avt_camera_nodelets
   src/nodes/mono_camera_nodelet.cpp
   src/nodes/stereo_camera_nodelet.cpp
   src/stereo_camera.cpp
   src/avt_vimba_camera.cpp
   src/frame_observer.cpp)
+
 add_dependencies_and_linkings(avt_camera_nodelets)
 
 #############
@@ -143,7 +161,7 @@ install(DIRECTORY include
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
   plugins.xml
-  launch/mono_camera.launch
+  #launch/mono_camera.launch
   launch/mono_camera_nodelet.launch
   launch/stereo_camera_one_node.launch
   launch/stereo_camera_two_nodes.launch
@@ -179,3 +197,8 @@ elseif("${ARCH}" STREQUAL armv8)
     DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   )
 endif()
+#Test
+## gtest C++ Framework
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+catkin_add_gtest(${PROJECT_NAME}-test test/status_mako_camera_test.cpp)
+target_link_libraries(${PROJECT_NAME}-test avt_vimba_camera_lib ${catkin_LIBRARIES})

Dockerfile

@@ -0,0 +1,50 @@
+#  Copyright (C) 2018-2021 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+ARG DOCKER_ORG="usdotfhwastoldev"
+ARG DOCKER_TAG="develop"
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base
+FROM base as setup
+ARG GIT_BRANCH="develop" 
+
+ARG ROS1_PACKAGES=""
+ENV ROS1_PACKAGES=${ROS1_PACKAGES}
+ARG ROS2_PACKAGES=""
+ENV ROS2_PACKAGES=${ROS2_PACKAGES}
+
+RUN mkdir ~/src
+COPY --chown=carma . /home/carma/src/CARMAAvtVimbaDriver
+RUN ~/src/CARMAAvtVimbaDriver/docker/checkout.bash -b ${GIT_BRANCH}
+RUN ~/src/CARMAAvtVimbaDriver/docker/install.sh
+
+FROM base
+
+ARG BUILD_DATE="NULL"
+ARG VERSION="NULL"
+ARG VCS_REF="NULL"
+
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="carma-avt-vimba-driver"
+LABEL org.label-schema.description="AVT VIMBA vision driver + driver wrapper for the CARMA Platform"
+LABEL org.label-schema.vendor="Leidos"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
+LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/avt_vimba_camera/"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+LABEL org.label-schema.build-date=${BUILD_DATE}
+
+COPY --from=setup /home/carma/install /opt/carma/install
+RUN sudo chmod -R +x /opt/carma/install
+
+CMD  [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "avt_vimba_camera", "mono_camera.launch"]

README.md

@@ -0,0 +1,26 @@
+| CicleCI Build Status | Sonar Code Quality | DockerHub Release | DockerHub Release Candidate | DockerHub Develop |
+|------|-----|-----|-----|-----|
+[![CircleCI](https://img.shields.io/circleci/build/gh/usdot-fhwa-stol/avt_vimba_camera/develop?label=CircleCI)](https://app.circleci.com/pipelines/github/usdot-fhwa-stol/avt_vimba_camera?branch=develop) | [![Quality Gate Status](https://sonarcloud.io/api/project_badges/measure?project=usdot-fhwa-stol_CARMAAvtVimbaDriver&metric=alert_status)](https://sonarcloud.io/dashboard?id=usdot-fhwa-stol_CARMAAvtVimbaDriver) | [![DockerHub build](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml/badge.svg?branch=carma-system-4.5.0)](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml) | [![DockerHub build](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml/badge.svg?branch=release/lavida)](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml)| [![DockerHub build](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml/badge.svg?branch=develop)](https://github.com/usdot-fhwa-stol/avt_vimba_camera/actions/workflows/dockerhub.yml)
+
+# CARMAAvtVimbaDriver
+This is a fork of a third party driver developed for video camera operation.  It is modified for CARMA-specific use.  The master repo, located [here](https://github.com/srv/avt_vimba_camera), had no readme for its home page, so this readme is added to the fork to describe how this repo fits into the rest of the CARMA environment.
+
+# CARMAPlatform
+The primary CARMAPlatform repository can be found [here](https://github.com/usdot-fhwa-stol/carma-platform) and is part of the [USDOT FHWA STOL](https://github.com/usdot-fhwa-stol/)
+github organization. Documentation on how the CARMAPlatform functions, how it will evolve over time, and how you can contribute can be found at the above links as well
+
+## Contribution
+Welcome to the CARMA contributing guide. Please read this guide to learn about our development process, how to propose pull requests and improvements, and how to build and test your changes to this project. [CARMA Contributing Guide](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md) 
+
+## Code of Conduct 
+Please read our [CARMA Code of Conduct](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Code_of_Conduct.md) which outlines our expectations for participants within the CARMA community, as well as steps to reporting unacceptable behavior. We are committed to providing a welcoming and inspiring community for all and expect our code of conduct to be honored. Anyone who violates this code of conduct may be banned from the community.
+
+## Attribution
+The development team would like to acknowledge the people who have made direct contributions to the design and code in this repository. [CARMA Attribution](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/ATTRIBUTION.txt) 
+
+## License
+By contributing to the Federal Highway Administration (FHWA) Connected Automated Research Mobility Applications (CARMA), you agree that your contributions will be licensed under its Apache License 2.0 license. [CARMA License](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/docs/License.md) 
+
+## Contact
+Please click on the CARMA logo below to visit the Federal Highway Adminstration(FHWA) CARMA website. For technical support from the CARMA team, please contact the CARMA help desk at CAVSupportServices@dot.gov.
+[![CARMA Image](https://raw.githubusercontent.com/usdot-fhwa-stol/carma-platform/develop/docs/image/CARMA_icon.png)](https://highways.dot.gov/research/research-programs/operations/CARMA)

calibrations/calibration_50-0536911040.yaml

@@ -0,0 +1,21 @@
+# Calibration file for the spare mobileye camera at STOL
+image_width: 2064
+image_height: 1544
+camera_name: left_optical
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1477.37610504879, 0, 966.3836593155506, 0, 1470.959845844984, 721.682892292772, 0, 0, 1]
+distortion_model: rational_polynomial
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data: [0.1424740048592687, 2.048769427985746, 0.0008456231435827007, -0.0004816724796356829, -2.834810741450366, -0.1613802969459177, 1.425388415204544, -2.584546591478115]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.9905132663703519, -0.003683047506279885, 0.1373677702570837, 0.002297487443287912, 0.9999448926725898, 0.01024368925000131, -0.1373979282805399, -0.009830909371423568, 0.9904671435868766]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [2046.340398990372, 0, 720.5770225524902, 0, 0, 2046.340398990372, 710.3249855041504, 0, 0, 0, 1, 0]