KJBlanch/opendlv-radar

Repository for software pertaining to the implementation of a Navico Radar within an opendlv microservice.

OpenDLV microservice to provide a PPI for a Navico Radar

Table of Contents

• Dependencies
• Usage
• Docker
• Build from sources
• Demo
• Commit convention
• Branch convention
• License

Dependencies

The following dependecies are included and will compile with the software.

• libcluon -

• Unit Test Framework Catch2 -

The following dependecies are NOT included and require installation to build from source. This is only required if NOT using the docker-compose file.

• X11 -

Usage

It is recommended to use the self-contained docker file to build, test and run. However, demonstration of the current system requires the software built from source. This has been tested on Ubuntu 18.04 LTS.

Docker

Requires docker and docker compose.

From a terminal within the working folder:

docker-compose up

Compiling with docker will handle all dependencies as well as run the test-radar-navigation testing file, comprised of 10 unit-tests built using the catch infrastructure.

NOTE Whilst the software is currently compilable with docker, there are communication bugs between docker containers, resulting in a non-functional system, aside from initialising. Therefore, for current build demonstration, it will have to be built from source and deployed locally. All testing can be done either via docker-compose or the local build.

Build from sources on example Ubuntu 18.04 LTS

To build this software, you need cmake, C++14 or newer, make, and X11/X11-dev. Having these preconditions, just run cmake and make as follows:

mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release ..
make && make test && make install

For an expanded look at the unit-tests, run the following

ctest --verbose

Run X11 Demo on example Ubuntu 18.04 LTS.

Whilst the program itself relies upon recieving Cluon Envelopes (From OpenDLV Navico software or OpenDLV .rec file playback), it has a demonstrator mode which is self contained. By attaching the --demo flag, a second instance of the program will be able to send a dummy envelope to the first.

Instance 1.

./opendlv-device-radar-navigation --cid=111 --id=15 --name="/polar1"

Instance 2.

./opendlv-device-radar-navigation --cid=111 --id=16 --demo

Commit Convention

Commit Number. Author

Fixes

Features

New/Ongoing Bugs

Compilability/Status

Branch Convention

Main - For release (Build & testing handled by GitLab Actions)

WIP - For versioning, and bughandling before release.

Other subranches are feature related. Optic = OpticFlow implementation

License

• This project is released under the terms of the GNU GPLv3 License