Merge branch 'main' into APP-723-cameras

viamrobotics · Oct 17, 2022 · b67b404 · b67b404
2 parents 1a6232a + dde5b84
commit b67b404
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Showing 88 changed files with 872 additions and 439 deletions.
diff --git a/.artifact/tree.json b/.artifact/tree.json
@@ -50802,129 +50802,67 @@
         }
       }
     },
-    "temp_mock_camera": {
-      "color": {
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-        }
-      },
-      "depth": {
+    "mock_mono_camera": {
+      "rgb": {
         "0.png": {
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         "1.png": {
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         "10.png": {
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         "11.png": {
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+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
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         "12.png": {
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+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
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         "13.png": {
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         "14.png": {
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+          "size": 834386
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+          "size": 834386
         },
         "4.png": {
-          "hash": "59765705cd3ff8331b908f5a2f2b7d20",
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+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "5.png": {
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+          "hash": "f87b5643a7b58bc4cdf231ab096038b7",
+          "size": 833993
         },
         "6.png": {
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+          "hash": "d17c07b754a6c274915a94a2dd978c02",
+          "size": 819850
         },
         "7.png": {
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+          "hash": "87f3db7908d0455ffe3b2a51093abe16",
+          "size": 824040
         },
         "8.png": {
-          "hash": "95683c3b3c6a93282c3d06fabcd149ed",
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+          "hash": "c40ec042eb926ed5e012c0a505b0453d",
+          "size": 787645
         },
         "9.png": {
-          "hash": "fcac230bb47d1617838e48fe3ca10f56",
-          "size": 505238
+          "hash": "97cb4afc22754e0433303ae8b44d380f",
+          "size": 813831
         }
       }
     }

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -51,3 +51,4 @@ jobs:
     uses: viamrobotics/rdk/.github/workflows/test.yml@main
     secrets:
       ARTIFACT_READ_ONLY_GCP_CREDENTIALS: ${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}
+      MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -21,6 +21,7 @@ jobs:
     uses: viamrobotics/rdk/.github/workflows/test.yml@main
     secrets:
       ARTIFACT_READ_ONLY_GCP_CREDENTIALS: ${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}
+      MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
 
   appimage:
     needs: test

diff --git a/.github/workflows/pullrequest.yml b/.github/workflows/pullrequest.yml
@@ -19,6 +19,7 @@ jobs:
     uses: viamrobotics/rdk/.github/workflows/test.yml@main
     secrets:
       ARTIFACT_READ_ONLY_GCP_CREDENTIALS: ${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}
+      MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
 
   # This lets people add an "appimage" tag to have appimages built for the PR
   appimage:

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -6,10 +6,13 @@ on:
     secrets:
       ARTIFACT_READ_ONLY_GCP_CREDENTIALS:
         required: true
+      MONGODB_TEST_OUTPUT_URI:
+        required: true
 
 env:
   GOPRIVATE: "github.com/viamrobotics/*,go.viam.com/*"
   GOOGLE_APPLICATION_CREDENTIALS_FILENAME: "google-credentials.json"
+  MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
 
 jobs:
   build_and_test:
@@ -60,7 +63,7 @@ jobs:
     - name: Test
       if: matrix.platform == 'linux/amd64'
       run: |
-        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS -u testbot bash -lc 'make cover test-web'
+        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS,MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_BASE_REF -u testbot bash -lc 'make cover test-web'
 
     - name: Code Coverage Summary Report
       if: matrix.platform == 'linux/amd64'

diff --git a/.gitignore b/.gitignore
@@ -35,6 +35,8 @@ node_modules/
 docs/
 
 # Test data
+json.log
+json2.log
 coverage.txt
 coverage2.txt
 coverage.xml

diff --git a/Makefile b/Makefile
@@ -36,7 +36,8 @@ tool-install:
 		github.com/golangci/golangci-lint/cmd/golangci-lint \
 		github.com/AlekSi/gocov-xml \
 		github.com/axw/gocov/gocov \
-		github.com/bufbuild/buf/cmd/buf
+		github.com/bufbuild/buf/cmd/buf \
+		gotest.tools/gotestsum
 
 buf: buf-web
 
@@ -58,13 +59,13 @@ lint-web:
 typecheck-web:
 	npm run typecheck --prefix web/frontend
 
-cover:
+cover: tool-install
 	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh cover
 
 test: test-go test-web
 
-test-go:
-	./etc/test.sh
+test-go: tool-install
+	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh
 
 test-web:
 	npm run test:unit --prefix web/frontend
@@ -76,7 +77,11 @@ test-pi:
 
 test-e2e:
 	go build $(LDFLAGS) -o bin/test-e2e/server web/cmd/server/main.go
-	./etc/e2e.sh
+	./etc/e2e.sh -o 'run'
+
+open-cypress-ui:
+	go build $(LDFLAGS) -o bin/test-e2e/server web/cmd/server/main.go
+	./etc/e2e.sh -o 'open'
 
 test-integration:
 	cd services/slam/builtin && sudo --preserve-env=APPIMAGE_EXTRACT_AND_RUN go test -v -run TestOrbslamIntegration

diff --git a/components/base/boat/base.go b/components/base/boat/base.go
@@ -288,7 +288,7 @@ func (b *boat) Width(ctx context.Context) (int, error) {
 
 func (b *boat) IsMoving(ctx context.Context) (bool, error) {
 	for _, m := range b.motors {
-		isMoving, err := m.IsPowered(ctx, nil)
+		isMoving, _, err := m.IsPowered(ctx, nil)
 		if err != nil {
 			return false, err
 		}

diff --git a/components/base/wheeled/wheeled_base.go b/components/base/wheeled/wheeled_base.go
@@ -226,7 +226,7 @@ func (base *wheeledBase) WaitForMotorsToStop(ctx context.Context) error {
 		anyOff := false
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(ctx, nil)
+			isOn, _, err := m.IsPowered(ctx, nil)
 			if err != nil {
 				return err
 			}
@@ -258,7 +258,7 @@ func (base *wheeledBase) Stop(ctx context.Context, extra map[string]interface{})
 
 func (base *wheeledBase) IsMoving(ctx context.Context) (bool, error) {
 	for _, m := range base.allMotors {
-		isMoving, err := m.IsPowered(ctx, nil)
+		isMoving, _, err := m.IsPowered(ctx, nil)
 		if err != nil {
 			return false, err
 		}

diff --git a/components/base/wheeled/wheeled_base_test.go b/components/base/wheeled/wheeled_base_test.go
@@ -79,9 +79,10 @@ func TestWheelBaseMath(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(context.Background(), nil)
+			isOn, powerPct, err := m.IsPowered(context.Background(), nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 	})
 
@@ -93,9 +94,10 @@ func TestWheelBaseMath(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(context.Background(), nil)
+			isOn, powerPct, err := m.IsPowered(context.Background(), nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 	})
 
@@ -105,26 +107,29 @@ func TestWheelBaseMath(t *testing.T) {
 
 		err = base.allMotors[0].SetPower(ctx, 1, nil)
 		test.That(t, err, test.ShouldBeNil)
-		isOn, err := base.allMotors[0].IsPowered(ctx, nil)
+		isOn, powerPct, err := base.allMotors[0].IsPowered(ctx, nil)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, isOn, test.ShouldBeTrue)
+		test.That(t, powerPct, test.ShouldEqual, 1.0)
 
 		err = base.WaitForMotorsToStop(ctx)
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(ctx, nil)
+			isOn, powerPct, err := m.IsPowered(ctx, nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 
 		err = base.WaitForMotorsToStop(ctx)
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(ctx, nil)
+			isOn, powerPct, err := m.IsPowered(ctx, nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 	})
 
@@ -142,9 +147,10 @@ func TestWheelBaseMath(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(ctx, nil)
+			isOn, powerPct, err := m.IsPowered(ctx, nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 	})
 	// Spin tests
@@ -178,9 +184,10 @@ func TestWheelBaseMath(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		for _, m := range base.allMotors {
-			isOn, err := m.IsPowered(ctx, nil)
+			isOn, powerPct, err := m.IsPowered(ctx, nil)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(t, isOn, test.ShouldBeFalse)
+			test.That(t, powerPct, test.ShouldEqual, 0.0)
 		}
 	})