Merge pull request #126 from chalmers-revere/pre-release

Pre release

CMakeLists.txt

@@ -120,6 +120,7 @@ ExternalProject_Add(system
     CMAKE_ARGS "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}"
     CMAKE_ARGS "-DOPENDAVINCI_DIR=${OPENDAVINCI_DIR}"
     CMAKE_ARGS "-DODVDVEHICLE_DIR=${ODVDVEHICLE_DIR}"
+    CMAKE_ARGS "-DODVDFH16TRUCK_DIR=${ODVDFH16TRUCK_DIR}"
     CMAKE_ARGS "-DODVDTRIMBLE_DIR=${ODVDTRIMBLE_DIR}"
     CMAKE_ARGS "-DODVDIMU_DIR=${ODVDIMU_DIR}"
     CMAKE_ARGS "-DCXXTEST_INCLUDE_DIR=${CXXTEST_INCLUDE_DIR}"
@@ -139,6 +140,7 @@ ExternalProject_Add(tools
     CMAKE_ARGS "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}"
     CMAKE_ARGS "-DOPENDAVINCI_DIR=${OPENDAVINCI_DIR}"
     CMAKE_ARGS "-DODVDVEHICLE_DIR=${ODVDVEHICLE_DIR}"
+    CMAKE_ARGS "-DODVDFH16TRUCK_DIR=${ODVDFH16TRUCK_DIR}"
     CMAKE_ARGS "-DCXXTEST_INCLUDE_DIR=${CXXTEST_INCLUDE_DIR}"
     CMAKE_ARGS "-DEIGEN3_INCLUDE_DIR=${OPENDAVINCI_DIR}/include/opendavinci"
     CMAKE_ARGS "-DKALMAN_INCLUDE_DIR=${KALMAN_INCLUDE_DIR}"

ChangeLog

@@ -1,3 +1,4 @@
+0.4.0 - Changes due to Rhino's updated DBC file
 0.3.0 - Propagating OpenDLV.core v0.7.1 release
 0.2.0 - Updated underlying base image.
 0.1.0 - Update to new OpenDLV.core base image

VERSION

@@ -1 +1 @@
-0.3.0
+0.4.0

code/system/CMakeLists.txt

@@ -57,6 +57,10 @@ find_package(ODVDOpenDLVData REQUIRED)
 SET (CMAKE_MODULE_PATH "${ODVDVEHICLE_DIR}/share/cmake-${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}/Modules" ${CMAKE_MODULE_PATH})
 FIND_PACKAGE (ODVDVehicle REQUIRED)
 
+###########################################################################
+# Find ODVDVehicle.
+SET (CMAKE_MODULE_PATH "${ODVDFH16TRUCK_DIR}/share/cmake-${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}/Modules" ${CMAKE_MODULE_PATH})
+FIND_PACKAGE (ODVDFH16Truck REQUIRED)
 
 ###########################################################################
 # Find ODVDTrimble.
@@ -74,6 +78,7 @@ INCLUDE_DIRECTORIES(SYSTEM ${AUTOMOTIVEDATA_INCLUDE_DIRS})
 include_directories(SYSTEM ${OPENDAVINCI_INCLUDE_DIRS})
 include_directories(SYSTEM ${OPENDLV_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${ODVDVEHICLE_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${ODVDFH16TRUCK_INCLUDE_DIRS})
 include_directories(SYSTEM ${ODVDOPENDLVDATA_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${ODVDTRIMBLE_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${ODVDIMU_INCLUDE_DIRS})
@@ -87,6 +92,7 @@ set(LIBRARIES ${OPENDAVINCI_LIBRARIES}
               ${OPENDLV_LIBRARIES}
               ${AUTOMOTIVEDATA_LIBRARIES}
               ${ODVDVEHICLE_LIBRARIES}
+              ${ODVDFH16TRUCK_LIBRARIES}
               ${ODVDOPENDLVDATA_LIBRARIES}
               ${ODVDTRIMBLE_LIBRARIES}
               ${ODVDIMU_LIBRARIES})

code/system/application/action/src/act/act.cpp

@@ -22,7 +22,7 @@
 #include "opendavinci/odcore/data/Container.h"
 #include "opendavinci/odcore/data/TimeStamp.h"
 
-#include "odvdopendlvdata/GeneratedHeaders_ODVDOpenDLVData.h"
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 
 #include "act/act.hpp"
 

code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp

@@ -26,7 +26,7 @@
 #include "opendavinci/odcore/data/Container.h"
 #include "opendavinci/odcore/data/TimeStamp.h"
 
-#include "odvdopendlvdata/GeneratedHeaders_ODVDOpenDLVData.h"
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 
 #include "opendavinci/odcore/strings/StringToolbox.h"
 
@@ -184,8 +184,8 @@ void Intersection::nextContainer(odcore::data::Container &a_container)
   } else if (a_container.getDataType() == opendlv::perception::Environment::ID()) {
     opendlv::perception::Environment message = a_container.getData<opendlv::perception::Environment>();
     ActOnEnvironment(message);
-  } else if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     float speed = static_cast<float>(speedKph / 3.6);
 

code/system/application/knowledge/src/gcdc16/rule/platoon/platoon.cpp

@@ -25,7 +25,7 @@
 #include "opendavinci/odcore/data/Container.h"
 #include "opendavinci/odcore/data/TimeStamp.h"
 
-#include "odvdopendlvdata/GeneratedHeaders_ODVDOpenDLVData.h"
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 
 #include "opendavinci/odcore/strings/StringToolbox.h"
 
@@ -228,8 +228,8 @@ void Platoon::receivedContainerMergeScenario(odcore::data::Container &a_containe
 
   //m_speed = 7; // hardcoded for testing
 
-  if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     m_speed = (float) speedKph / 3.6f;
   }

code/system/application/knowledge/src/ivrule/ivrule.cpp

@@ -26,7 +26,7 @@
 #include <iostream>
 
 #include "opendavinci/odcore/data/TimeStamp.h"
-#include "odvdopendlvdata/GeneratedHeaders_ODVDOpenDLVData.h"
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 
 namespace opendlv {
 namespace knowledge {
@@ -109,8 +109,8 @@ void Ivrule::nextContainer(odcore::data::Container &a_container)
   if(a_container.getDataType() == opendlv::perception::Environment::ID()) {
     opendlv::perception::Environment message = a_container.getData<opendlv::perception::Environment>();
     ReadEnvironment(message);
-  } else  if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else  if (a_container.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    auto propulsion = a_container.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
     double speedKph = propulsion.getPropulsionShaftVehicleSpeed();
     m_speed = static_cast<float>(speedKph / 3.6);
   }

code/system/application/sensation/include/geolocation/geolocation.hpp

@@ -30,6 +30,7 @@
 #include "geolocation/kinematicmodel.hpp"
 #include "geolocation/kinematicobservationmodel.hpp"
 
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 #include "odvdopendlvdata/GeneratedHeaders_ODVDOpenDLVData.h"
 #include "odvdtrimble/GeneratedHeaders_ODVDTrimble.h"
 #include "odvdimu/GeneratedHeaders_ODVDIMU.h"
@@ -81,7 +82,7 @@ class Geolocation
   opendlv::proxy::MagnetometerReading m_magnetometerReading; 
   opendlv::proxy::AccelerometerReading m_accelerometerReading;
   opendlv::proxy::reverefh16::Steering m_steeringReading;
-  opendlv::proxy::reverefh16::Propulsion m_propulsionReading;
+  opendlv::proxy::reverefh16::VehicleSpeed m_propulsionReading;
 
   bool m_debug;
 

code/system/application/sensation/src/geolocation/geolocation.cpp

@@ -30,8 +30,7 @@
 #include <opendavinci/odcore/data/TimeStamp.h>
 
 
-// #include "opendlv/data/environment/Point3.h"
-// #include <fh16mapping/GeneratedHeaders_fh16mapping.h>
+#include <odvdfh16truck/GeneratedHeaders_ODVDFH16Truck.h>
 
 #include "geolocation/geolocation.hpp"
 
@@ -96,8 +95,8 @@ void Geolocation::nextContainer(odcore::data::Container &a_c)
     m_accelerometerReading = a_c.getData<opendlv::proxy::AccelerometerReading>();
   } else if(a_c.getDataType() == opendlv::proxy::reverefh16::Steering::ID()) {
     m_steeringReading = a_c.getData<opendlv::proxy::reverefh16::Steering>();
-  } else if(a_c.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
-    m_propulsionReading = a_c.getData<opendlv::proxy::reverefh16::Propulsion>();
+  } else if(a_c.getDataType() == opendlv::proxy::reverefh16::VehicleSpeed::ID()) {
+    m_propulsionReading = a_c.getData<opendlv::proxy::reverefh16::VehicleSpeed>();
   }
 } 
 
@@ -246,17 +245,17 @@ odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode Geolocation::body()
       odcore::data::TimeStamp durationAfterGpsReading = timeAfterGpsReading - now;
 
       auto propulsionContainer = getKeyValueDataStore().get(
-          opendlv::proxy::reverefh16::Propulsion::ID());
+          opendlv::proxy::reverefh16::VehicleSpeed::ID());
       auto propulsion = propulsionContainer.getData<
-          opendlv::proxy::reverefh16::Propulsion>();
+          opendlv::proxy::reverefh16::VehicleSpeed>();
 
       if (propulsionContainer.getReceivedTimeStamp().getSeconds() > 0) {
-        control.v() = propulsion.getPropulsionShaftVehicleSpeed()/3.6;
+        control.v() = propulsion.getVehicleSpeedShaftVehicleSpeed()/3.6;
         // TODO: to m/s --- get the message in si unit
       }
 
 
-      if (propulsion.getPropulsionShaftVehicleSpeed() < 0.1) {
+      if (propulsion.getVehicleSpeedShaftVehicleSpeed() < 0.1) {
           control.v() = 0.0;
       // if we don't get any data from the CAN,
       // we try to fill the speed from GPS data

docker/Makefile

@@ -18,7 +18,7 @@
 ###############################################################################
 # Parameters for this Makefile.
 BASE_IMAGE=seresearch/opendlv-core-on-opendavinci-ubuntu-16.04-complete
-BASE_IMAGE_VERSION=v0.7.1
+BASE_IMAGE_VERSION=v0.8.0
 
 ###############################################################################
 # Tools.

docker/completeBuild.sh

@@ -33,7 +33,7 @@ cd /opt/opendlv.build
 
 echo "[opendlv Docker builder] Complete build."
 cmake -E remove_directory .
-CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH cmake -D CXXTEST_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/cxxtest -D OPENDAVINCI_DIR=/opt/od4 -D ODVDVEHICLE_DIR=/opt/opendlv.core -D ODVDTRIMBLE_DIR=/opt/opendlv.core -D ODVDIMU_DIR=/opt/opendlv.core -D KALMAN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/kalman/include -D TINYCNN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/tiny-cnn -D CMAKE_INSTALL_PREFIX=/opt/opendlv /opt/opendlv.sources
+CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH cmake -D CXXTEST_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/cxxtest -D OPENDAVINCI_DIR=/opt/od4 -D ODVDVEHICLE_DIR=/opt/opendlv.core -D ODVDFH16TRUCK_DIR=/opt/opendlv.core -D ODVDTRIMBLE_DIR=/opt/opendlv.core -D ODVDIMU_DIR=/opt/opendlv.core -D KALMAN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/kalman/include -D TINYCNN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/tiny-cnn -D CMAKE_INSTALL_PREFIX=/opt/opendlv /opt/opendlv.sources
 CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH make -j4
 EOF
 

docker/incrementalBuild.sh

@@ -31,7 +31,7 @@ cd /opt/opendlv.build
 echo "[opendlv Docker builder] Incremental build."
 
 mkdir -p build.system && cd build.system
-CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH cmake -D CXXTEST_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/cxxtest -D OPENDAVINCI_DIR=/opt/od4 -D ODVDVEHICLE_DIR=/opt/opendlv.core -D ODVDTRIMBLE_DIR=/opt/opendlv.core -D ODVDIMU_DIR=/opt/opendlv.core -D EIGEN3_INCLUDE_DIR=/opt/od4/include/opendavinci -D KALMAN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/kalman/include -D TINYCNN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/tiny-cnn -D CMAKE_INSTALL_PREFIX=/opt/opendlv /opt/opendlv.sources/code/system
+CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH cmake -D CXXTEST_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/cxxtest -D OPENDAVINCI_DIR=/opt/od4 -D ODVDVEHICLE_DIR=/opt/opendlv.core -D ODVDFH16TRUCK_DIR=/opt/opendlv.core -D ODVDTRIMBLE_DIR=/opt/opendlv.core -D ODVDIMU_DIR=/opt/opendlv.core -D EIGEN3_INCLUDE_DIR=/opt/od4/include/opendavinci -D KALMAN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/kalman/include -D TINYCNN_INCLUDE_DIR=/opt/opendlv.sources/thirdparty/tiny-cnn -D CMAKE_INSTALL_PREFIX=/opt/opendlv /opt/opendlv.sources/code/system
 
 CCACHE_DIR=/opt/ccache PATH=/usr/lib/ccache:/opt/od4/bin:$PATH make -j4 && make test && make install
 EOF

resources/odvd/ODVDOpenDLVData.odvd

@@ -256,65 +256,8 @@ message opendlv.action.Correction [id = 186] {
   float amplitude [id = 4];
 }
 
-message opendlv.proxy.reverefh16.ManualControl [id = 191] {
-    double accelerationPedalPosition [id = 1];
-    double brakePedalPosition [id = 2];
-    double torsionBarTorque [id = 3];
-    odcore::data::TimeStamp fromSensor [id = 4];
-}
-
-message opendlv.proxy.reverefh16.AccelerationRequest [id = 192] {
-    bool enableRequest [id = 1];
-    double accelerationPedalPosition [id = 2];
-}
-
-message opendlv.proxy.reverefh16.BrakeRequest [id = 193] {
-    bool enableRequest [id = 1];
-    double brake [id = 2];
-}
-
-message opendlv.proxy.reverefh16.SteeringRequest [id = 194] {
-    bool enableRequest [id = 1];
-    double steeringRoadWheelAngle [id = 2];
-    double steeringDeltaTorque [id = 3];
-}
-
-message opendlv.proxy.reverefh16.Axles [id = 195] {
-    double loadAxle11 [id = 1];
-    double loadAxle12 [id = 2];
-    double loadAxle13 [id = 3];
-    odcore::data::TimeStamp fromSensor [id = 4];
-}
-
-message opendlv.proxy.reverefh16.Propulsion [id = 196] {
-    double propulsionShaftVehicleSpeed [id = 1];
-    odcore::data::TimeStamp fromSensor [id = 2];
-}
-
-message opendlv.proxy.reverefh16.VehicleState [id = 197] {
-    double accelerationX [id = 1];
-    double accelerationY [id = 2];
-    double yawRate [id = 3];
-    odcore::data::TimeStamp fromSensor [id = 4];
-}
-
-message opendlv.proxy.reverefh16.Wheels [id = 198] {
-    double speedWheel111 [id = 1];
-    double speedWheel112 [id = 2];
-    double speedWheel121 [id = 3];
-    double speedWheel122 [id = 4];
-    double speedWheel131 [id = 5];
-    double speedWheel132 [id = 6];
-    odcore::data::TimeStamp fromSensor [id = 7];
-}
-
-message opendlv.proxy.reverefh16.Steering [id = 199] {
-    double roadwheelangle [id = 1];
-    double steeringwheelangle [id = 2];
-    odcore::data::TimeStamp fromSensor [id = 3];
-}
-
 // This message broadcasts the system's health as key/values.
 message opendlv.system.diagnostics.HealthStatus [id = 200] {
     map<string,string> status [id = 1];
 }
+