Merge pull request #9 from usdot-fhwa-stol/release/RX7

Release/rx7
usdot-fhwa-stol · Jul 17, 2019 · 6983419 · 6983419
2 parents 47e83f9 + a9dc407
commit 6983419
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diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -0,0 +1,97 @@
+version: 2
+
+#  Copyright (C) 2018-2019 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
+jobs:
+  build:
+    # Pull docker image from docker hub
+    # XTERM used for better catkin_make output
+    docker:
+      - image: usdotfhwastol/carma-base-ci:2.8.4
+        user: carma
+        environment:
+          TERM: xterm
+          INIT_ENV: /home/carma/.base-image/init-env.sh
+    # 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
+            mkdir CARMAMsgs
+      # Checkout PR branch
+      - checkout:
+          path: src/CARMAAvtVimbaDriver
+      - run: 
+          name: Pull CARMAMsgs
+          command: |
+            source ${INIT_ENV}
+            git clone -b develop --depth 1 git@github.com:usdot-fhwa-stol/CARMAMsgs.git src/CARMAMsgs
+      - run:
+          name: Build Driver
+          command: |
+            source ${INIT_ENV}
+            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}
+            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}
diff --git a/.sonarqube/sonar-scanner.properties b/.sonarqube/sonar-scanner.properties
@@ -0,0 +1,27 @@
+#  Copyright (C) 2018-2019 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.tests=test/
+# Set Git as SCM sensor
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,6 +3,7 @@ project(avt_vimba_camera)
 
 find_package(catkin REQUIRED COMPONENTS
   #libvimba
+  cav_msgs
   camera_info_manager
   diagnostic_updater
   dynamic_reconfigure
@@ -28,8 +29,9 @@ 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
 )
 
 ###########
@@ -58,6 +60,7 @@ function(add_dependencies_and_linkings arg)
   add_dependencies(${arg}
     ${PROJECT_NAME}_gencfg
     #${libvimba_EXPORTED_TARGETS}
+    ${catkin_EXPORTED_TARGETS}
   )
 
   if("${ARCH}" STREQUAL i386)
@@ -94,7 +97,8 @@ 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 +107,29 @@ 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(avt_vimba_camera_lib ${catkin_EXPORTED_TARGETS})
+
 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 +153,7 @@ 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 +189,8 @@ 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 ${catkin_LIBRARIES})
diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,41 @@
+#  Copyright (C) 2018-2019 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+FROM usdotfhwastol/carma-base:2.8.3 as setup
+
+RUN mkdir ~/src
+COPY --chown=carma . /home/carma/src/
+RUN ~/src/docker/checkout.sh
+RUN ~/src/docker/install.sh
+
+FROM usdotfhwastol/carma-base:2.8.3
+
+ARG BUILD_DATE="NULL"
+ARG VERSION="NULL"
+ARG VCS_REF="NULL"
+
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="carma-avt-vimba-driver"
+LABEL org.label-schema.description="AVT VIMBA vision driver + driver wrapper for the CARMA Platform"
+LABEL org.label-schema.vendor="Leidos"
+LABEL org.label-schema.version=${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/CARMAAvtVimbaDriver/"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+LABEL org.label-schema.build-date=${BUILD_DATE}
+
+COPY --from=setup /home/carma/install /opt/carma/app/bin
+RUN sudo chmod -R +x /opt/carma/app/bin
+
+CMD  [ "wait-for-it.sh", "localhost:11311", "--", "roslaunch", "avt_vimba_camera", "mono_camera.launch", "remap_ns:=/saxton_cav/drivers" ]
diff --git a/docker/build-image.sh b/docker/build-image.sh
@@ -0,0 +1,80 @@
+#!/bin/bash
+
+#  Copyright (C) 2018-2019 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.
+
+USERNAME=usdotfhwastol
+
+cd "$(dirname "$0")"
+IMAGE=$(./get-package-name.sh | tr '[:upper:]' '[:lower:]')
+
+echo ""
+echo "##### $IMAGE Docker Image Build Script #####"
+echo ""
+
+while [[ $# -gt 0 ]]; do
+    arg="$1"
+    case $arg in
+        -v|--version)
+            COMPONENT_VERSION_STRING="$2"
+            shift
+            shift
+            ;;
+        --system-release)
+            SYSTEM_RELEASE=true
+            shift
+            ;;
+        -p|--push)
+            PUSH=true
+            shift
+            ;;
+    esac
+done
+
+if [[ -z "$COMPONENT_VERSION_STRING" ]]; then
+    COMPONENT_VERSION_STRING=$("./get-component-version.sh")
+fi
+
+echo "Building docker image for $IMAGE version: $COMPONENT_VERSION_STRING"
+echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
+
+cd ..
+docker build --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    --build-arg VERSION="$COMPONENT_VERSION_STRING" \
+    --build-arg VCS_REF=`git rev-parse --short HEAD` \
+    --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
+
+TAGS=()
+TAGS+=("$USERNAME/$IMAGE:$COMPONENT_VERSION_STRING")
+
+docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:latest
+TAGS+=("$USERNAME/$IMAGE:latest")
+
+echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:latest"
+
+if [ "$SYSTEM_RELEASE" = true ]; then
+    SYSTEM_VERSION_STRING=$("./get-system-version.sh")
+    docker tag $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING
+    echo "Tagged $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING as $USERNAME/$IMAGE:$SYSTEM_VERSION_STRING"
+    TAGS+=("$USERNAME/$IMAGE:$SYSTEM_VERSION_STRING")
+fi
+
+if [ "$PUSH" = true ]; then
+    for tag in $TAGS; do
+        docker push "${tag}"
+    done
+fi
+
+echo ""
+echo "##### $IMAGE Docker Image Build Done! #####"
diff --git a/docker/checkout.sh b/docker/checkout.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+#  Copyright (C) 2018-2019 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# CARMA packages checkout script
+
+set -ex
+
+git clone https://github.com/usdot-fhwa-stol/CARMAMsgs.git ~/src/CARMAMsgs
diff --git a/docker/get-component-version.sh b/docker/get-component-version.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+#  Copyright (C) 2018-2019 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+cd "$(dirname "$0")"
+cd ..
+COMPONENT_TAG_PREFIX="${PWD##*/}"
+git describe --all --match="$COMPONENT_TAG_PREFIX*" --always --dirty="-SNAPSHOT" | awk -F "/" '{print $NF}' | sed "s/$COMPONENT_TAG_PREFIX\_//"
+