generated from wessel/boilerplate
feat(lifecycle & interface): added docs for arch and testing.
This commit is contained in:
@@ -1,169 +0,0 @@
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# ROS2 Interface Definitions - g2_2025_interfaces
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## Package Overview
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This document describes the custom ROS2 interface definitions in the `g2_2025_interfaces` package. These interfaces provide standardized communication protocols for the TI Minor Grade Generator system.
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**Package Name**: `g2_2025_interfaces`
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**Interface Types**: Messages, Services, Actions
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**Location**: `src/g2_2025_interfaces/`
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## Message Types (.msg)
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### Exam.msg
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Represents examination result data exchanged between system components.
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```
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string student_name
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string course_name
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int32 result
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builtin_interfaces/Time timestamp
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```
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**Field Descriptions**:
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- `student_name`: Name identifier for the student
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- `course_name`: Course identifier for the examination
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- `result`: Numerical exam result/grade (integer value)
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- `timestamp`: Timestamp of the message
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**Usage**: Primary message type for exam result communication between ExamResultGenerator and grade processing nodes.
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### Student.msg
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Represents student information and course enrollment data.
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```
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string student_name
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string course_name
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builtin_interfaces/Time timestamp
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```
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**Field Descriptions**:
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- `student_name`: Name identifier for the student
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- `course_name`: Course identifier for enrollment/management
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- `timestamp`: Timestamp of the message
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**Usage**: Used for student-course management operations and enrollment tracking.
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## Service Definitions (.srv)
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### Exams.srv
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Service interface for grade calculation operations using multiple exam results.
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#### Request
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```
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string student_name
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string course_name
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int32[] exam_grades
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```
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#### Response
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```
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int32 result # Final calculated result
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```
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**Request Fields**:
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- `student_name`: Student identifier for grade calculation
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- `course_name`: Course identifier for context
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- `exam_grades`: Array of exam grades to be processed
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**Response Fields**:
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- `result`: Final calculated grade result (integer value)
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**Usage**: Main service interface used by GradeCalculator node for processing multiple exam grades into final results.
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## Action Definitions (.action)
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### Retake.action
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Action interface for managing retake exam scheduling and processing workflows.
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#### Goal
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```
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string student_name
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string course_name
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```
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#### Result
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```
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float32 result
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```
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#### Feedback
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```
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string status
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```
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**Goal Fields**:
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- `student_name`: Student for which a retake is requested
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- `course_name`: Course for which a retake is requested
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**Result Field**
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- `result`: Progress indicator or intermediate result (float value) (*Not Implemented*)
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**Feedback Field**:
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- `status`: Status indicator (*Not Implemented*)
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**Usage**: Used by RetakeScheduler node to handle long-running retake management operations with progress feedback.
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## Node Interface Usage
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### ExamResultGenerator Node
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**Publishers**:
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- **Topic**: `exam_results`
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- **Message Type**: `g2_2025_interfaces::msg::Exam`
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- **Purpose**: Publishes generated exam results to downstream processing nodes
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- **Rate**: Configurable interval (default: 2 seconds)
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**Subscribers**:
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- **Topic**: `student_course_management`
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- **Message Type**: `g2_2025_interfaces::msg::Student`
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- **Purpose**: Receives student-course enrollment updates for exam generation queue
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### FinalGradeDeterminator Node
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**Subscribers**:
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- **Topic**: `exam_results`
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- **Message Type**: `g2_2025_interfaces::msg::Exam`
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- **Purpose**: Collects exam results for grade calculation processing
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**Service Clients**:
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- **Service**: `calculate_grade`
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- **Service Type**: `g2_2025_interfaces::srv::Exams`
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- **Purpose**: Requests grade calculation from GradeCalculator when threshold is met
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**Publishers**:
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- **Topic**: `student_course_management`
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- **Message Type**: `g2_2025_interfaces::msg::Student`
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- **Purpose**: Communicate end of enrollment when grade has been calculated
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### GradeCalculator Node
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**Service Servers**:
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- **Service**: `calculate_grade`
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- **Service Type**: `g2_2025_interfaces::srv::Exams`
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- **Purpose**: Provides grade calculation services for multiple exam grades
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- **Processing**: Applies business logic (averaging, bonus points, validation)
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### RetakeScheduler Node
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**Action Servers**:
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- **Action**: `retake_request`
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- **Action Type**: `g2_2025_interfaces::action::Retake`
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- **Purpose**: Handles long-running retake scheduling operations
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- **Feedback**: Provides progress updates during scheduling process
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### RetakeGradeDeterminator Node
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**Service Clients**:
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- **Service**: `calculate_grade`
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- **Service Type**: `g2_2025_interfaces::srv::Exams`
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- **Purpose**: Requests specialized retake grade calculations
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**Subscribers**:
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- **Topic**: `retake_results`
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- **Message Type**: `g2_2025_interfaces::msg::Exam`
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- **Purpose**: Processes completed retake exam results
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@@ -1,42 +0,0 @@
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# ExamResultGenerator (`assignments::one::exam_result_generator`)
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## Overview
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The `ExamResultGenerator` is the core node responsible for simulating exam result generation.
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It maintains a queue of student-course combinations that need exam results, generates random
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grades, and publishes them to the system.
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#### Implementation Details
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**Parameters**
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- **`delay_between_grades_ms`** (int, default: 2000): Delay (in milliseconds) between generated grades.
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**Constructor**
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```cpp
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ExamResultGenerator()
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```
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- Initializes ROS2 node with name `exam_result_generator`
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- Sets up random number generation infrastructure
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- Creates DatabaseManager instance with node logger
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- Establishes ROS2 publishers, subscribers, and timers
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- Loads initial pending combinations from database
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**Core Functions**
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**`void queue_pending_combinations()`**
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- Gets all student-course combinations needing exam results
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- Populates operations queue from database
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- Called at initialization and when database state changes
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**`void generate_random_result()`**
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- Main exam result generation executed by timer
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- Selects random student-course combination from queue
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- Stores result in database and publishes to ROS2 topic
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**`void student_management_callback(const g2_2025_interfaces::msg::Student::SharedPtr msg)`**
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- Toggles combinations in/out of processing queue
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- Updates database with new enrollments
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**`void add_student_course_combination(const StudentCourse& sc)`**
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- Enrolls student into course via database
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- Adds combination to processing queue
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@@ -1,39 +0,0 @@
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# FinalGradeDeterminator (`assignments::one::final_grade_determinator`)
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## Overview
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The `FinalGradeDeterminator` node collects exam results for student-course combinations, triggers grade calculation when enough results are gathered, and stores final grades in the database. It interacts with ROS2 publishers, subscribers, and service clients to manage the grading workflow.
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#### Implementation Details
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**Parameters**
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- **`grade_collection_amount`** (int, default: 5): Number of exam results required before triggering grade calculation for a student-course combination.
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**Constructor**
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```cpp
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FinalGradeDeterminator()
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```
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- Initializes ROS2 node with name `final_grade_determinator`
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- Declares and retrieves `grade_collection_amount` parameter
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- Sets up `DatabaseManager`
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- Creates publisher for student course management
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- Subscribes to exam results topic
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- Initializes service client for grade calculation
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**Core Functions**
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**`void exam_results_callback(const g2_2025_interfaces::msg::Exam::SharedPtr msg)`**
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- Updates internal map with received exam result for student-course combo
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- Checks if enough results have been collected
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- Triggers grade calculation request when threshold is met
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**`void grade_calculator_request(StudentCourse combo)`**
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- Waits for grade calculator service to be available
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- Sends async request with collected exam grades for the student-course combination
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- Uses callback to handle service response
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**`void grade_calculator_response(rclcpp::Client<g2_2025_interfaces::srv::Exams>::SharedFuture future, StudentCourse studentCourseCombo)`**
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- Verifies database connection
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- Publishes final student message to ROS2 topic
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- Logs final grade information
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- Stores final course result in database
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@@ -1,25 +0,0 @@
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# GradeCalculator (`assignments::one::grade_calculator::GradeCalculator`)
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## Overview
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The `GradeCalculator` node provides a ROS2 service for calculating student exam grades. It processes exam scores, applies custom logic for specific student names, and ensures grade results are within valid bounds.
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#### Implementation Details
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**Constructor**
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```cpp
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GradeCalculator()
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```
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- Initializes ROS2 node with name `grade_calculator`
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- Creates a ROS2 service server for `grade_calculator_service`
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- Binds the service callback to handle grade calculation requests
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- Logs service startup
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**Core Functions**
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**`void grade_calculator_callback(const Exams::Request::SharedPtr request, const Exams::Response::SharedPtr response)`**
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- Checks if exam grades are provided
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- Calculates the total and average of exam grades
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- Converts student name to lowercase for comparison
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- Adds a bonus of 10 points if the student name is "wessel"
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- Ensures the final grade is clamped between 10 and 100
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- Sends the calculated grade back through the service response
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452
doc/architecture/nodes/HardwareInterface.md
Normal file
452
doc/architecture/nodes/HardwareInterface.md
Normal file
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# HardwareInterface (`assignments::two::g2_2025_lifecycle_node`)
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## Overview
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The `HardwareInterface` is a ROS2 node responsible for managing low-level hardware communication with IMU sensors. It abstracts the complexity of dual communication backends (serial and MQTT), provides JSON parsing of sensor data, and publishes standardized `sensor_msgs::msg::Imu` messages to the ROS2 ecosystem. The node handles continuous data acquisition, buffering of fragmented reads, and robust error recovery.
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#### Implementation Details
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**Public Methods**
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- **`start_read()`**: Spawns a background thread that continuously reads JSON payloads from the serial device
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- **`stop_read()`**: Signals the reader thread to exit and joins it for clean shutdown
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- **`write(const std::string& data)`**: Writes data to the serial device
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- **`open_device(const std::string& device_path, int baud_rate)`**: Opens and configures a serial port
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- **`is_device_open()`**: Checks if the serial device is currently open
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- **`close_device()`**: Closes the serial port and releases resources
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- **`mqtt_configure()`**: Initializes MQTT client and broker connection setup
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- **`mqtt_reader()`**: Attaches MQTT callbacks to begin receiving messages
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- **`mqtt_connect()`**: Establishes connection to the MQTT broker and subscribes to topics
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- **`close_mqtt_conn()`**: Disconnects from broker and cleans up MQTT resources
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- **`parse_data(const std::string& data)`**: Parses JSON payload into `sensor_msgs::msg::Imu` and publishes
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- **`publish_imu_data(const sensor_msgs::msg::Imu::SharedPtr msg)`**: Publishes an IMU message to the ROS topic
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**Constructor**
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```cpp
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HardwareInterface()
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```
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- Initializes ROS2 node with name `hardware_interface`
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- Creates a ROS2 publisher for `sensor_msgs::msg::Imu` on topic `imu_data` with queue size 10
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- Logs initialization status
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**Member Variables**
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- **`serialib serial`**: Encapsulates serial port communication
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- **`std::shared_ptr<mqtt::async_client> mqtt_client`**: Persistent MQTT async client for broker communication
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- **`std::shared_ptr<mqtt::callback> mqtt_cb`**: MQTT callback handler for message arrival events
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- **`std::thread read_thread_`**: Background reader thread for continuous serial data acquisition
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- **`std::atomic_bool reading_`**: Thread-safe flag to signal the reader thread to stop
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- **`std::string partial_buffer_`**: Accumulates fragmented serial reads until complete messages are available
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- **`rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher`**: ROS2 publisher for IMU data
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**MQTT Constants**
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- **`SERVER_ADDRESS`**: `"tcp://localhost:1883"` — Default MQTT broker address
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- **`CLIENT_ID`**: `"cpp_mqtt_client"` — MQTT client identifier
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- **`TOPIC`**: `"esp32/imu"` — Default subscription topic for IMU data
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---
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## Core Functions
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### `void start_read()`
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Initiates continuous serial data acquisition in a background thread.
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**Behavior:**
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- Checks if a reader thread is already running; returns if so
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- Sets the `reading_` atomic flag to true
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- Spawns a thread that:
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1. Allocates a 116-byte buffer
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2. Enters a loop that runs while `reading_` is true
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3. Calls `serial.readString()` with a 1-second timeout
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4. Accumulates received bytes into `partial_buffer_`
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5. Splits on newline (`\n`) to extract complete lines
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6. Trims whitespace and strips leading garbage up to the first `{`
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7. Validates that a closing `}` exists; if not, waits for more data
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8. Calls `parse_data()` on each complete JSON line
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- Returns immediately while the thread continues running
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**Error Handling:**
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- Invalid JSON lines are logged as errors in `parse_data()` but do not crash the thread
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---
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### `void stop_read()`
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Cleanly terminates the background reader thread.
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**Behavior:**
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- Returns immediately if not currently reading
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- Sets `reading_` atomic flag to false to signal the thread
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- Joins the thread to wait for its completion
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- Ensures all resources are released before returning
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**Thread Safety:**
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- Uses atomic flag for lock-free signaling
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- Blocks until thread joins, guaranteeing clean shutdown
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---
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### `void parse_data(const std::string& data)`
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Deserializes a JSON string into a ROS2 IMU message and publishes it.
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**Behavior:**
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- Attempts to parse the input string as JSON using `nlohmann::json`
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- Creates a new `sensor_msgs::msg::Imu` message and populates:
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- **Header**: Sets `stamp` to current time via `this->now()` and `frame_id` to `"imu_link"`
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- **Linear Acceleration**: Extracts from JSON `"accel"` object fields `"x"`, `"y"`, `"z"` (defaults to 0.0 if missing)
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- **Angular Velocity**: Extracts from JSON `"gyro"` object fields `"x"`, `"y"`, `"z"` (defaults to 0.0 if missing)
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- Logs the parsed IMU values at INFO level
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- Calls `publish_imu_data()` to send the message to the ROS topic
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**Expected JSON Format:**
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```json
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{
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"accel": {"x": 0.037, "y": -1.164, "z": 9.775},
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"gyro": {"x": -0.024, "y": -0.014, "z": -0.001},
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"Temp": 41.01
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}
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```
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**Error Handling:**
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- Catches `nlohmann::json::exception` and logs parsing errors without crashing
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- Handles missing fields gracefully using `.value()` with default 0.0
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||||
---
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### `void publish_imu_data(const sensor_msgs::msg::Imu::SharedPtr msg)`
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Publishes an IMU message to the ROS2 topic.
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**Behavior:**
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- Dereferences the shared pointer and publishes to `imu_publisher`
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||||
- Operation is thread-safe (rclcpp publishers support multi-threaded access)
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||||
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||||
---
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||||
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||||
### `void mqtt_configure()`
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||||
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||||
Sets up the MQTT infrastructure for broker communication.
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**Behavior:**
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- Creates a persistent `mqtt::async_client` pointing to `SERVER_ADDRESS` if not already created
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- Creates a persistent MQTT callback handler if not already created
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||||
- Calls `mqtt_connect()` to establish the connection
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||||
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||||
**Rationale for Persistence:**
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||||
- Client and callback objects must outlive this function to maintain the connection
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||||
- Using `shared_ptr` ensures proper lifetime management
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||||
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||||
---
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||||
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||||
### `void mqtt_reader()`
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||||
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||||
Attaches callbacks to the MQTT client to begin receiving messages.
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||||
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||||
**Behavior:**
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- Sets the callback handler on the async client via `mqtt_client->set_callback(*mqtt_cb)`
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||||
- Logs that the listener has started
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||||
- Returns; the async client handles message reception in background threads
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||||
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||||
---
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||||
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||||
### `void mqtt_connect()`
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||||
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||||
Establishes connection to the MQTT broker and subscribes to the sensor topic.
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||||
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||||
**Behavior:**
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- Creates `mqtt::connect_options` with:
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||||
- Keep-alive interval: 20 seconds
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||||
- Clean session: true (no prior session state restored)
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||||
- Calls `mqtt_client->connect()` and waits for completion
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- Subscribes to `TOPIC` (default: `"esp32/imu"`) with QoS level 1
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||||
- Logs successful connection and subscription
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||||
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||||
**Error Handling:**
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- Catches `mqtt::exception` and logs errors; does not throw or crash
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||||
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||||
---
|
||||
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||||
### `void close_mqtt_conn()`
|
||||
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||||
Cleanly disconnects from the MQTT broker and cleans up resources.
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||||
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||||
**Behavior:**
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||||
- Checks if the client is connected before attempting disconnect
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||||
- Calls `mqtt_client->disconnect()` and waits for completion
|
||||
- Resets `mqtt_client` and `mqtt_cb` shared pointers to allow object destruction
|
||||
- Logs disconnection and cleanup status
|
||||
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||||
**Error Handling:**
|
||||
- Catches `mqtt::exception` and logs errors
|
||||
- Continues cleanup even if errors occur
|
||||
|
||||
---
|
||||
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||||
### `bool open_device(const std::string& device_path, int baud_rate)`
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||||
|
||||
Opens and configures a serial port device.
|
||||
|
||||
**Parameters:**
|
||||
- `device_path`: Path to the serial device (e.g., `"/dev/ttyUSB0"`)
|
||||
- `baud_rate`: Communication speed in bits per second (e.g., `115200`)
|
||||
|
||||
**Returns:**
|
||||
- `true` if device opened successfully
|
||||
- `false` if an error occurs
|
||||
|
||||
**Behavior:**
|
||||
- Calls `serial.openDevice()` with the provided path and baud rate
|
||||
- Checks if the returned value is 1 (success)
|
||||
- Logs success or error status
|
||||
|
||||
---
|
||||
|
||||
### `bool is_device_open()`
|
||||
|
||||
Queries the current state of the serial device.
|
||||
|
||||
**Returns:**
|
||||
- `true` if the device is open
|
||||
- `false` otherwise
|
||||
|
||||
---
|
||||
|
||||
### `void close_device()`
|
||||
|
||||
Closes the serial port and releases resources.
|
||||
|
||||
**Behavior:**
|
||||
- Calls `serial.closeDevice()`
|
||||
- Ensures the device is no longer accessible for reads/writes
|
||||
|
||||
---
|
||||
|
||||
### `void write(const std::string& data)`
|
||||
|
||||
Writes data to the serial device.
|
||||
|
||||
**Behavior:**
|
||||
- Logs the write operation
|
||||
- Calls `serial.writeString()` with the data
|
||||
|
||||
---
|
||||
|
||||
## MQTT Callback Handler
|
||||
|
||||
### `class callback : public virtual mqtt::callback`
|
||||
|
||||
A nested class that implements the Paho MQTT callback interface.
|
||||
|
||||
**Method: `message_arrived(mqtt::const_message_ptr msg)`**
|
||||
|
||||
- Invoked when a message arrives on a subscribed topic
|
||||
- Extracts the payload string via `msg->get_payload_str()`
|
||||
- Calls `parse_data()` to deserialize and publish the IMU message
|
||||
---
|
||||
|
||||
## Data Flow Architecture
|
||||
|
||||
### Serial Data Path
|
||||
|
||||
```
|
||||
Physical IMU Device
|
||||
↓
|
||||
Serial Port (e.g., /dev/ttyUSB0 @ 115200 baud)
|
||||
↓
|
||||
start_read() Background Thread
|
||||
↓
|
||||
serial.readString(buffer, 1000ms timeout)
|
||||
↓
|
||||
Accumulate into partial_buffer_
|
||||
↓
|
||||
Split on '\n' and Extract Complete Lines
|
||||
↓
|
||||
Sanitize (trim, strip garbage before '{')
|
||||
↓
|
||||
Validate JSON Structure (must have '{' and '}')
|
||||
↓
|
||||
parse_data(json_line)
|
||||
↓
|
||||
JSON Parse → sensor_msgs::msg::Imu
|
||||
↓
|
||||
publish_imu_data() → ROS Topic `imu_data`
|
||||
```
|
||||
|
||||
### MQTT Data Path
|
||||
|
||||
```
|
||||
MQTT Broker (tcp://localhost:1883)
|
||||
↓
|
||||
MQTT Async Client (mqtt_client)
|
||||
↓
|
||||
Topic Subscription (esp32/imu)
|
||||
↓
|
||||
MQTT Callback (message_arrived)
|
||||
↓
|
||||
parse_data(payload_string)
|
||||
↓
|
||||
JSON Parse → sensor_msgs::msg::Imu
|
||||
↓
|
||||
publish_imu_data() → ROS Topic `imu_data`
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Buffer Management & Message Reconstruction
|
||||
|
||||
The `partial_buffer_` member implements a robust strategy for handling fragmented serial reads:
|
||||
|
||||
1. **Accumulation**: Each serial read chunk is appended to `partial_buffer_`
|
||||
2. **Line Splitting**: Buffer is searched for newline delimiters
|
||||
3. **Validation**: Each line is checked for JSON structure (presence of `{` and `}`)
|
||||
4. **Sanitization**: Leading garbage (characters before `{`) is stripped
|
||||
5. **Incomplete Message Handling**: If a line lacks a closing brace, it's pushed back to the buffer and the loop waits for more data
|
||||
6. **Parse & Publish**: Complete JSON lines are parsed and published
|
||||
|
||||
**Why This Matters:**
|
||||
- Serial reads may return fragments of a JSON message (e.g., `",\"gyro\":{...}"`)
|
||||
- Multiple messages can arrive in a single read
|
||||
- Buffering ensures robust handling of all edge cases
|
||||
|
||||
---
|
||||
|
||||
## Error Handling & Recovery
|
||||
|
||||
| Scenario | Behavior | Recovery |
|
||||
|----------|----------|----------|
|
||||
| Serial read timeout | Loop continues, checks `reading_` flag | Automatic retry on next iteration |
|
||||
| Incomplete JSON in buffer | Fragment is retained; waits for next read | No action needed; accumulation handles it |
|
||||
| JSON parse error | Error logged; thread continues listening | Move to next message |
|
||||
| Serial device disconnect | readString returns 0; loop continues | Application can reconnect via `open_device()` |
|
||||
| MQTT broker unreachable | Exception caught and logged | Retry via `mqtt_connect()` |
|
||||
| MQTT message error | Exception caught and logged | Connection remains for next message |
|
||||
|
||||
---
|
||||
|
||||
## Thread Safety
|
||||
|
||||
- **Atomic Flag**: `reading_` uses `std::atomic_bool` for lock-free thread signaling
|
||||
- **Publisher Thread-Safety**: rclcpp publishers are thread-safe; `parse_data()` can safely publish from reader thread
|
||||
- **Resource Cleanup**: `stop_read()` joins the thread before returning, ensuring clean shutdown
|
||||
- **No Shared Mutable State**: Aside from `reading_` and the publisher, thread does not access other class members during execution
|
||||
|
||||
---
|
||||
|
||||
## Integration with LifecycleManager
|
||||
|
||||
The `LifecycleManager` orchestrates `HardwareInterface` lifecycle:
|
||||
|
||||
| Lifecycle Phase | LifecycleManager Call | HardwareInterface Action |
|
||||
|---|---|---|
|
||||
| **Configure** | `hw_interface->open_device()` or `mqtt_configure()` | Open serial port or set up MQTT client |
|
||||
| **Activate** | `hw_interface->start_read()` or `mqtt_reader()` | Spawn reader thread or attach MQTT callbacks |
|
||||
| **Deactivate** | `hw_interface->stop_read()` or `close_mqtt_conn()` | Stop reader thread and join; disconnect MQTT |
|
||||
| **Cleanup** | `hw_interface->close_device()` | Release serial port |
|
||||
|
||||
---
|
||||
|
||||
## Usage Example
|
||||
|
||||
### Direct Instantiation (Advanced)
|
||||
|
||||
```cpp
|
||||
// Create an instance (normally managed by LifecycleManager)
|
||||
auto hw = std::make_shared<HardwareInterface>();
|
||||
|
||||
// Serial workflow
|
||||
hw->open_device("/dev/ttyUSB0", 115200);
|
||||
hw->start_read();
|
||||
// ... node spins and publishes IMU data ...
|
||||
hw->stop_read();
|
||||
hw->close_device();
|
||||
|
||||
// MQTT workflow
|
||||
hw->mqtt_configure();
|
||||
hw->mqtt_reader();
|
||||
// ... node spins and publishes IMU data ...
|
||||
hw->close_mqtt_conn();
|
||||
```
|
||||
|
||||
### Via LifecycleManager (Recommended)
|
||||
|
||||
```bash
|
||||
# Launch and manage via lifecycle
|
||||
ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node \
|
||||
--ros-args -p device_path:=/dev/ttyUSB0 -p baudrate:=115200 -p comm_t:=serial
|
||||
|
||||
# Configure and activate
|
||||
ros2 lifecycle set /lifecycle_manager configure
|
||||
ros2 lifecycle set /lifecycle_manager activate
|
||||
|
||||
# Subscribe to IMU data
|
||||
ros2 topic echo /imu_data
|
||||
|
||||
# Deactivate and cleanup
|
||||
ros2 lifecycle set /lifecycle_manager deactivate
|
||||
ros2 lifecycle set /lifecycle_manager shutdown
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Design Patterns
|
||||
|
||||
1. **Abstraction Pattern**: Encapsulates serial and MQTT complexity behind a unified interface
|
||||
2. **Thread Management**: Background reader thread with atomic signaling for clean shutdown
|
||||
3. **Buffer Accumulation**: Handles fragmented reads and multi-message batches robustly
|
||||
4. **Dual Backend Strategy**: Runtime selection of communication mode (serial or MQTT)
|
||||
5. **JSON Deserialization**: Uses industry-standard `nlohmann::json` for robust parsing
|
||||
|
||||
---
|
||||
|
||||
|
||||
## Dependencies
|
||||
|
||||
- **rclcpp**: ROS2 C++ client library
|
||||
- **sensor_msgs**: ROS2 standard sensor message definitions
|
||||
- **paho-mqtt**: Paho C/C++ MQTT client library
|
||||
- **nlohmann/json**: Header-only JSON parsing library
|
||||
- **serialib**: Custom serial communication wrapper
|
||||
|
||||
---
|
||||
|
||||
## Class Diagram
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────┐
|
||||
│ HardwareInterface │
|
||||
│ (rclcpp::Node) │
|
||||
├─────────────────────────────────────┤
|
||||
│ Private Members: │
|
||||
│ - serialib serial │
|
||||
│ - async_client mqtt_client │
|
||||
│ - callback mqtt_cb │
|
||||
│ - thread read_thread_ │
|
||||
│ - atomic_bool reading_ │
|
||||
│ - string partial_buffer_ │
|
||||
│ - Publisher imu_publisher │
|
||||
├─────────────────────────────────────┤
|
||||
│ Public Methods: │
|
||||
│ + start_read() │
|
||||
│ + stop_read() │
|
||||
│ + open_device() │
|
||||
│ + close_device() │
|
||||
│ + is_device_open() │
|
||||
│ + write() │
|
||||
│ + mqtt_configure() │
|
||||
│ + mqtt_reader() │
|
||||
│ + mqtt_connect() │
|
||||
│ + close_mqtt_conn() │
|
||||
│ + parse_data() │
|
||||
│ + publish_imu_data() │
|
||||
└─────────────────────────────────────┘
|
||||
↑
|
||||
│ orchestrated by
|
||||
│
|
||||
┌──────────────────┐
|
||||
│ LifecycleManager │
|
||||
└──────────────────┘
|
||||
```
|
||||
223
doc/architecture/nodes/LifecycleManager.md
Normal file
223
doc/architecture/nodes/LifecycleManager.md
Normal file
@@ -0,0 +1,223 @@
|
||||
# LifecycleManager (`assignments::two::g2_2025_lifecycle_node`)
|
||||
|
||||
## Overview
|
||||
The `LifecycleManager` is the core lifecycle-aware node responsible for managing the IMU reader system's operational states and hardware communication. It orchestrates transitions between configuration, activation, and deactivation phases, abstracting the complexity of dual communication backends (serial and MQTT) into a unified interface.
|
||||
|
||||
#### Implementation Details
|
||||
|
||||
**Parameters**
|
||||
|
||||
- **`device_path`** (string, default: "/dev/ttyUSB0"): Serial device path for hardware connection (e.g., USB serial adapter).
|
||||
- **`baudrate`** (int, default: 115200): Serial communication baud rate in bits per second.
|
||||
- **`comm_t`** (string, default: "serial"): Communication type selector—either "serial" or "mqtt" to determine which backend to use.
|
||||
|
||||
**Constructor**
|
||||
```cpp
|
||||
LifecycleManager()
|
||||
```
|
||||
- Initializes ROS2 lifecycle node with name `lifecycle_manager`
|
||||
- Declares and reads configuration parameters: `device_path`, `baudrate`, and `comm_t`
|
||||
- Creates a shared instance of `HardwareInterface` for managing all hardware operations
|
||||
- Logs initialization status and readiness
|
||||
|
||||
**Core Functions**
|
||||
|
||||
**`CallbackReturn on_configure(const State&)`**
|
||||
- Enters the *Unconfigured* → *Inactive* transition
|
||||
- Checks the `comm_t` parameter to route initialization:
|
||||
- **MQTT mode**: Calls `hw_interface->mqtt_configure()` to set up the MQTT client and broker connection
|
||||
- **Serial mode**: Calls `hw_interface->open_device(device_path_, baudrate_)` to open and configure the serial port
|
||||
- Returns `SUCCESS` if device initialization succeeds, `FAILURE` if serial/MQTT setup fails
|
||||
- Logs configuration status and any errors
|
||||
- Example test code (currently commented) demonstrates direct JSON parsing for validation
|
||||
|
||||
**`CallbackReturn on_activate(const State&)`**
|
||||
- Enters the *Inactive* → *Active* transition
|
||||
- Checks the `comm_t` parameter to start the appropriate reader:
|
||||
- **MQTT mode**: Calls `hw_interface->mqtt_reader()` to attach MQTT callbacks and begin receiving messages
|
||||
- **Serial mode**: Calls `hw_interface->start_read()` to spawn a background thread that continuously reads from the serial device
|
||||
- Returns `SUCCESS` after reader startup
|
||||
- Logs activation status and selected communication type
|
||||
|
||||
**`CallbackReturn on_deactivate(const State&)`**
|
||||
- Enters the *Active* → *Inactive* transition
|
||||
- Checks the `comm_t` parameter to cleanly stop operations:
|
||||
- **MQTT mode**: Calls `hw_interface->close_mqtt_conn()` to disconnect from the broker and clean up resources
|
||||
- **Serial mode**:
|
||||
- Verifies device state with `hw_interface->is_device_open()`
|
||||
- Calls `hw_interface->stop_read()` to signal the reader thread to exit and joins it
|
||||
- Calls `hw_interface->close_device()` to release the serial port
|
||||
- Returns `SUCCESS` after cleanup completes
|
||||
- Logs deactivation and resource release
|
||||
|
||||
**`CallbackReturn on_shutdown(const State&)`**
|
||||
- Enters the *Inactive* → *Finalized* transition
|
||||
- Performs final shutdown logging
|
||||
- Returns `SUCCESS`
|
||||
|
||||
**`CallbackReturn on_cleanup(const State&)`**
|
||||
- Called during error recovery or explicit cleanup commands
|
||||
- Performs resource cleanup and state logging
|
||||
- Returns `SUCCESS`
|
||||
|
||||
|
||||
## Communication Architecture
|
||||
|
||||
### Dual Backend Support
|
||||
|
||||
The `LifecycleManager` provides a flexible, pluggable communication architecture via the `comm_t` parameter:
|
||||
|
||||
#### Serial Communication Path
|
||||
1. **Configuration Phase** (`on_configure`):
|
||||
- Opens the serial device at the path specified by `device_path` and baudrate
|
||||
- Validates device readiness
|
||||
|
||||
2. **Activation Phase** (`on_activate`):
|
||||
- Spawns a background reader thread via `hw_interface->start_read()`
|
||||
- Thread continuously polls the serial device with a timeout
|
||||
- Reads are accumulated in a partial buffer, split on newline, and parsed as JSON
|
||||
- Each valid JSON IMU payload is parsed into a `sensor_msgs::msg::Imu` and published to the ROS topic `imu/data`
|
||||
|
||||
3. **Deactivation Phase** (`on_deactivate`):
|
||||
- Signals the reader thread to stop via atomic flag
|
||||
- Joins the thread to ensure clean termination
|
||||
- Closes the serial device
|
||||
|
||||
#### MQTT Communication Path
|
||||
1. **Configuration Phase** (`on_configure`):
|
||||
- Creates a persistent MQTT async client pointing to the broker at `SERVER_ADDRESS` (default: `tcp://localhost:1883`)
|
||||
- Initializes MQTT callback infrastructure
|
||||
|
||||
2. **Activation Phase** (`on_activate`):
|
||||
- Attaches MQTT callbacks to the client
|
||||
- Subscribes to the topic specified by `TOPIC` (default: `esp32/imu`)
|
||||
- The async client runs background threads to receive messages
|
||||
|
||||
3. **Deactivation Phase** (`on_deactivate`):
|
||||
- Disconnects from the broker
|
||||
- Cleans up MQTT client and callback resources
|
||||
|
||||
---
|
||||
|
||||
## Lifecycle Commands
|
||||
|
||||
To interact with the `LifecycleManager` from the command line, use the following ROS2 lifecycle service calls:
|
||||
|
||||
```bash
|
||||
# List current lifecycle state
|
||||
ros2 lifecycle list /lifecycle_manager
|
||||
|
||||
# Transition: UNCONFIGURED -> INACTIVE
|
||||
ros2 lifecycle set /lifecycle_manager configure
|
||||
|
||||
# Transition: INACTIVE -> ACTIVE
|
||||
ros2 lifecycle set /lifecycle_manager activate
|
||||
|
||||
# Transition: ACTIVE -> INACTIVE
|
||||
ros2 lifecycle set /lifecycle_manager deactivate
|
||||
|
||||
# Transition: INACTIVE -> FINALIZED
|
||||
ros2 lifecycle set /lifecycle_manager shutdown
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Data Flow
|
||||
|
||||
### Serial Data Flow
|
||||
```
|
||||
Hardware Device
|
||||
↓
|
||||
Serial Port (/dev/ttyUSB0)
|
||||
↓
|
||||
Background Reader Thread (start_read)
|
||||
↓
|
||||
Partial Buffer Accumulation
|
||||
↓
|
||||
JSON Line Extraction & Sanitization
|
||||
↓
|
||||
parse_data() ← Deserializes JSON to sensor_msgs::msg::Imu
|
||||
↓
|
||||
imu_publisher → ROS2 Topic (`imu_data`)
|
||||
```
|
||||
|
||||
### MQTT Data Flow
|
||||
```
|
||||
MQTT Broker (localhost:1883)
|
||||
↓
|
||||
MQTT Async Client (Background Thread)
|
||||
↓
|
||||
Subscription to Topic (esp32/imu)
|
||||
↓
|
||||
MQTT Callback Handler
|
||||
↓
|
||||
parse_data() ← Deserializes JSON to sensor_msgs::msg::Imu
|
||||
↓
|
||||
imu_publisher → ROS2 Topic (`imu_data`)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Error Handling
|
||||
|
||||
- **Serial Device Failures**: If `open_device()` fails during configuration, `on_configure()` returns `FAILURE` and the system remains in the `UNCONFIGURED` state
|
||||
- **Communication Errors**: JSON parse errors from invalid payloads are caught and logged without crashing the node; the reader continues listening for the next message
|
||||
- **Thread Safety**: The reader thread uses an atomic flag (`reading_`) for clean stop signaling and ensures all resources are properly joined before returning from `on_deactivate()`
|
||||
|
||||
---
|
||||
|
||||
## Design Patterns
|
||||
|
||||
1. **Strategy Pattern**: The `comm_t` parameter enables runtime selection of communication backend without changing node code
|
||||
2. **Lifecycle Pattern**: Follows ROS2 managed node pattern for predictable initialization, startup, and shutdown sequences
|
||||
3. **Thread Safety**: Atomic flags and resource cleanup ensure the reader thread can be safely started and stopped
|
||||
4. **Buffer Accumulation**: Partial message buffering handles fragmented serial reads and ensures complete JSON objects are parsed
|
||||
|
||||
---
|
||||
|
||||
## Integration with HardwareInterface
|
||||
|
||||
The `LifecycleManager` delegates all hardware operations to the `HardwareInterface` class:
|
||||
|
||||
| Operation | Method | Lifecycle Phase |
|
||||
|-----------|--------|-----------------|
|
||||
| Open serial device | `open_device(path, baud)` | on_configure |
|
||||
| Start reading | `start_read()` | on_activate |
|
||||
| Stop reading | `stop_read()` | on_deactivate |
|
||||
| Close serial device | `close_device()` | on_deactivate |
|
||||
| Configure MQTT | `mqtt_configure()` | on_configure |
|
||||
| Start MQTT reading | `mqtt_reader()` | on_activate |
|
||||
| Close MQTT connection | `close_mqtt_conn()` | on_deactivate |
|
||||
| Parse JSON payload | `parse_data(json_string)` | on_activate (continuous) |
|
||||
| Publish IMU message | `publish_imu_data(imu_msg)` | on_activate (continuous) |
|
||||
|
||||
---
|
||||
|
||||
## Usage Example
|
||||
|
||||
```bash
|
||||
# Launch the node with serial communication at /dev/ttyUSB0, 115200 baud
|
||||
ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node \
|
||||
--ros-args \
|
||||
-p device_path:=/dev/ttyUSB0 \
|
||||
-p baudrate:=115200 \
|
||||
-p comm_t:=serial
|
||||
|
||||
# Alternatively, launch with MQTT communication
|
||||
ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node \
|
||||
--ros-args \
|
||||
-p comm_t:=mqtt
|
||||
|
||||
# In another terminal, configure and activate the lifecycle
|
||||
ros2 lifecycle set /lifecycle_manager configure
|
||||
ros2 lifecycle set /lifecycle_manager activate
|
||||
|
||||
# Subscribe to published IMU data
|
||||
ros2 topic echo /imu_data
|
||||
|
||||
# Deactivate and shutdown
|
||||
ros2 lifecycle set /lifecycle_manager deactivate
|
||||
ros2 lifecycle set /lifecycle_manager shutdown
|
||||
```
|
||||
|
||||
---
|
||||
@@ -1,60 +0,0 @@
|
||||
# RetakeGradeDeterminator (`assignments::one::retake_grade_determinator`)
|
||||
|
||||
## Overview
|
||||
The `RetakeGradeDeterminator` node handles the processing of retake exams for students who have
|
||||
failed courses. It provides a ROS2 action server that accepts retake requests, manages exam result
|
||||
collection for retake scenarios, and coordinates with the grade calculator service to determine
|
||||
final retake grades.
|
||||
|
||||
#### Implementation Details
|
||||
|
||||
**Parameters**
|
||||
|
||||
- **`grade_collection_amount`** (int, default: 5): Number of exam results required before triggering grade calculation for a retake student-course combination.
|
||||
|
||||
**Constructor**
|
||||
```cpp
|
||||
RetakeGradeDeterminator(std::unique_ptr<DatabaseManager> db_manager = nullptr)
|
||||
```
|
||||
- Initializes ROS2 node with name `retake_grade_determinator`
|
||||
- Sets up `DatabaseManager` (optional injection for testing)
|
||||
- Creates publisher for student course management
|
||||
- Subscribes to exam results topic with retake-specific callback
|
||||
- Initializes service client for grade calculation
|
||||
- Creates ROS2 action server for retake requests with reentrant callback group
|
||||
|
||||
**Core Functions**
|
||||
|
||||
**`void exam_results_callback(const g2_2025_interfaces::msg::Exam::SharedPtr msg)`**
|
||||
- Only processes exam results when `retake_allowed_` flag is true
|
||||
- Triggers grade calculation request when threshold is met
|
||||
|
||||
**`void grade_calculator_request(StudentCourse combo)`**
|
||||
- Waits for grade calculator service to be available
|
||||
- Sends async request with collected retake exam grades
|
||||
|
||||
**`void grade_calculator_response(rclcpp::Client<g2_2025_interfaces::srv::Exams>::SharedFuture future, StudentCourse studentCourseCombo)`**
|
||||
- Clears collected exam data from internal map
|
||||
- Updates retake status in database for the student-course combination
|
||||
- Publishes final student message to ROS2 topic with timestamp
|
||||
- Stores final course result in database with retake flag set to true
|
||||
|
||||
**Action Server Callbacks**
|
||||
|
||||
**`rclcpp_action::GoalResponse goal_callback(const rclcpp_action::GoalUUID& uuid, std::shared_ptr<const g2_2025_interfaces::action::Retake::Goal> goal)`**
|
||||
- Accepts retake goal requests for specific student-course combinations
|
||||
- Logs received retake requests with student and course information
|
||||
- Returns `ACCEPT_AND_EXECUTE` for all valid requests
|
||||
|
||||
**`rclcpp_action::CancelResponse cancel_callback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
|
||||
- Handles retake action cancellation requests
|
||||
- Returns `ACCEPT` for all cancellation requests
|
||||
|
||||
**`void spawn_callback_thread(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
|
||||
- Creates detached thread for asynchronous retake action execution
|
||||
- Ensures non-blocking retake processing
|
||||
|
||||
**`void async_execute_callback_thread(const std::shared_ptr<rclcpp_action::ServerGoalHandle<g2_2025_interfaces::action::Retake>> goal_handle)`**
|
||||
- Enables retake exam processing by setting `retake_allowed_` flag
|
||||
- Publishes student enrollment message to trigger exam generation
|
||||
- Creates and returns successful action result
|
||||
@@ -1,47 +0,0 @@
|
||||
# RetakeScheduler (`assignments::one::retake_scheduler`)
|
||||
|
||||
## Overview
|
||||
The `RetakeScheduler` node automatically identifies students who have failed courses and schedules retake exams for them. It periodically queries the database for failing students and sends retake action requests to the `RetakeGradeDeterminator` node to initiate the retake process.
|
||||
|
||||
#### Implementation Details
|
||||
|
||||
**Parameters**
|
||||
|
||||
- **`retake_check_interval_sec`** (int, default: 120): Time interval in seconds between checks for failing students requiring retakes.
|
||||
|
||||
**Constructor**
|
||||
```cpp
|
||||
RetakeScheduler(std::unique_ptr<DatabaseManager> db_manager = nullptr)
|
||||
```
|
||||
- Initializes ROS2 node with name `retake_scheduler`
|
||||
- Sets up `DatabaseManager` (optional injection for testing)
|
||||
- Creates ROS2 action client for retake action communication
|
||||
- Initializes wall timer for periodic failing student checks
|
||||
|
||||
**Core Functions**
|
||||
|
||||
**`void check_failing_students()`**
|
||||
- Timer callback function executed periodically based on `retake_check_interval_sec`
|
||||
- Queries database for all failed course results
|
||||
- Iterates through failing students and initiates retake requests
|
||||
|
||||
**`void send_retake_request(StudentCourse student_course_combo)`**
|
||||
- Creates retake action goal with student and course information
|
||||
- Sends asynchronous retake goal to `RetakeGradeDeterminator`
|
||||
|
||||
**`void cancel_retake_request()`**
|
||||
- Cancels all active retake goals
|
||||
- Provides emergency stop functionality for retake processing
|
||||
|
||||
**Action Client Callbacks**
|
||||
|
||||
**`void request_response_callback(const rclcpp_action::ClientGoalHandle<RetakeAction>::SharedPtr &goal_handle)`**
|
||||
- Handles retake action server responses
|
||||
- Logs goal acceptance or rejection status
|
||||
- Provides feedback on retake request processing state
|
||||
|
||||
**`void request_result_callback(const rclcpp_action::ClientGoalHandle<RetakeAction>::WrappedResult &result)`**
|
||||
- Processes final retake action results
|
||||
- Logs appropriate messages based on retake completion status
|
||||
|
||||
**`void request_feedback_callback(rclcpp_action::ClientGoalHandle<RetakeAction>::SharedPtr goal_handle, const std::shared_ptr<const RetakeAction::Feedback> feedback)`**
|
||||
@@ -22,7 +22,7 @@ cd ros2-assignments
|
||||
```bash
|
||||
colcon build
|
||||
```
|
||||
Any parameters can be changed before building by editing the `grade_calculator.launch.xml` in the launch folder
|
||||
Any parameters can be changed before building by editing the `imu_reader.launch.xml` in the launch folder
|
||||
|
||||
### Source the Workspace
|
||||
|
||||
@@ -36,12 +36,11 @@ sudo docker-compose up
|
||||
```
|
||||
You can configure specific database settings in the `docker-compose.yaml` in the root folder or the `config.toml` file in the `src/` folder
|
||||
|
||||
### Start the Grade calculator program
|
||||
### Start the imu_reader program
|
||||
```bash
|
||||
ros2 launch g2_2025_grade_calculator_pkg grade_calculator.launch.xml
|
||||
ros2 launch g2_2025_imu_reader_pkg imu_reader.launch.xml
|
||||
```
|
||||
To change parameters when using the launch file it will need to be edited in the `src/g2_2025_grade_calculator_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
|
||||
|
||||
To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
|
||||
|
||||
|
||||
### installation and setup for mqtt
|
||||
@@ -72,7 +71,7 @@ ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node --ros-args -p comm_t:='mq
|
||||
in other terminal:
|
||||
|
||||
```bash
|
||||
mosquitto -p 1884
|
||||
mosquitto
|
||||
```
|
||||
|
||||
and in other terminal to inialize the subsecriber:
|
||||
@@ -91,7 +90,7 @@ ros2 lifecycle set /lifecycle_manager shutdown
|
||||
an finally publish a mesg to the sub in other terminal:
|
||||
|
||||
```bash
|
||||
mosquitto_pub -h localhost -p 1884 -t "esp32/imu" -m "nirvana"
|
||||
mosquitto_pub -h localhost -p 1883 -t "esp32/imu" -m "test"
|
||||
```
|
||||
close conn via:
|
||||
```bash
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
# Exam Result Generator Node Unit Tests
|
||||
|
||||
Unit tests for `ExamResultGenerator` are implemented in `src/g2_2025_grade_calculator_pkg/test/ExamResultGenerator.test.cpp` using Google Test and ROS2 test utilities. The tests use a test subscriber node to capture published messages and validate node behavior.
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. ConstructorTest
|
||||
|
||||
**Description:** Verifies that ExamResultGenerator can be created without crashing and proper initialization occurs.
|
||||
|
||||
- **Test Action:** Create ExamResultGenerator node instance
|
||||
- **Expected Result:**
|
||||
- Node created successfully without exceptions
|
||||
- Node name set to `"exam_result_generator"`
|
||||
|
||||
### 2. PublisherCreationTest
|
||||
|
||||
**Description:** Verifies that the `exam_results` topic publisher is properly configured.
|
||||
|
||||
- **Test Action:** Check topic names and types after node creation
|
||||
- **Expected Result:**
|
||||
- `/exam_results` topic is published
|
||||
- Topic uses `g2_2025_interfaces/msg/Exam` message type
|
||||
|
||||
### 3. SubscriberCreationTest
|
||||
|
||||
**Description:** Tests that the node subscribes to the `student_course_management` topic with correct message type.
|
||||
|
||||
- **Test Action:** Check subscription topics and types
|
||||
- **Expected Result:**
|
||||
- `/student_course_management` topic is subscribed
|
||||
- Subscription uses `g2_2025_interfaces/msg/Student` message type
|
||||
|
||||
### 4. StudentManagementMessageHandlingTest
|
||||
|
||||
**Description:** Tests the node's ability to handle incoming student management messages without crashing.
|
||||
|
||||
- **Test Action:**
|
||||
- Publish student management message:
|
||||
- Student: `"Test Student"`
|
||||
- Course: `"Test Course"`
|
||||
- **Expected Result:** Message processed without crashes
|
||||
|
||||
### 5. MultipleStudentMessagesTest
|
||||
|
||||
**Description:** Validates handling of multiple rapid student management messages for robustness testing.
|
||||
|
||||
- **Test Action:**
|
||||
- Send multiple messages with different student-course combinations
|
||||
- Students: `["Alice", "Bob", "Charlie"]`
|
||||
- Courses: `["Math", "Physics", "Chemistry"]`
|
||||
- **Expected Result:** All messages processed without crashes or memory issues
|
||||
|
||||
### 6. ExamMessageValidationTest
|
||||
|
||||
**Description:** Captures and validates published exam result messages for correct content and format.
|
||||
|
||||
- **Test Action:** Listen for published exam result messages over 6 seconds
|
||||
- **Expected Result:**
|
||||
- Published grades are within range `[10, 100]`
|
||||
- Course names are not empty
|
||||
- Message format is correct
|
||||
@@ -1,52 +0,0 @@
|
||||
# Final Grade Determintator Node Unit Tests
|
||||
|
||||
Unit tests for `FinalGradeDeterminator` are implemented in `src/g2_2025_grade_calculator_pkg/test/FinalGradeDeterminator.test.cpp` using Google Test and ROS2 test utilities. The tests use a mock database manager and a mock grade calculator service to simulate the node's interactions.
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. ConstructorTest
|
||||
|
||||
**Description:** Verifies that the node can be constructed without errors.
|
||||
|
||||
- **Input:** Construct a `FinalGradeDeterminator` node.
|
||||
- **Expected Output:** No exceptions are thrown. The node is created successfully.
|
||||
|
||||
### 2. ExamCollectionTest
|
||||
|
||||
**Description:** Sends the required number of exam results and checks that a grade calculation request is triggered, a student message is published, and the results are stored.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Test Student"`
|
||||
- Course: `"Test Course"`
|
||||
- Grades published: `[80, 85, 90, 75, 95]` (5 exam results, which is the default required amount)
|
||||
- **Expected Output:**
|
||||
- A grade calculation service request is made with the correct student, course, and grades.
|
||||
- A student message is published with the correct student and course.
|
||||
- The final grade is calculated as the average: (80 + 85 + 90 + 75 + 95) / 5 = 85.
|
||||
|
||||
### 3. PartialExamCollectionTest
|
||||
|
||||
**Description:** Sends fewer than the required number of exam results and checks that no grade calculation or student message occurs.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Test Student"`
|
||||
- Course: `"Test Course"`
|
||||
- Grades published: `[80, 85, 90]` (only 3 exam results, less than required)
|
||||
- **Expected Output:**
|
||||
- No grade calculation service request is made.
|
||||
- No student message is published.
|
||||
|
||||
### 4. MultipleStudentsTest
|
||||
|
||||
**Description:** Simulates multiple students submitting exam results and verifies that each student triggers independent grade calculation and messaging.
|
||||
|
||||
- **Input:**
|
||||
- Students: `"Alice"`, `"Bob"`
|
||||
- Course: `"Test Course"`
|
||||
- Each student receives grades: `[80, 85, 90, 75, 95]` (5 exam results per student)
|
||||
- **Expected Output:**
|
||||
- Two grade calculation service requests are made, one for each student, with the correct grades.
|
||||
- Two student messages are published, one for each student.
|
||||
- The final grade for each student is calculated as the average: (80 + 85 + 90 + 75 + 95) / 5 = 85.
|
||||
|
||||
These tests ensure that the node correctly collects exam results, triggers grade calculation at the right time, publishes the appropriate messages, and interacts with the database as expected.
|
||||
@@ -1,56 +0,0 @@
|
||||
# Grade Calculator Node Unit Tests
|
||||
|
||||
Unit tests for `GradeCalculator` are implemented in `src/g2_2025_grade_calculator_pkg/test/GradeCalculator.test.cpp` using Google Test and ROS2 test utilities. The tests use a client to call the grade calculation service and verify the results.
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. NormalAverage
|
||||
|
||||
**Description:** Verifies that the service returns the average of the provided grades for a normal student name.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Alice"`
|
||||
- Grades: `[80, 90, 70]`
|
||||
- **Expected Output:**
|
||||
- Result: `80` (average of 80, 90, 70)
|
||||
|
||||
### 2. WesselBonus
|
||||
|
||||
**Description:** Checks that the student name "Wessel" (case-insensitive) receives a 10-point bonus, and the result is clamped to 100 if necessary.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Wessel"`
|
||||
- Grades: `[80, 90, 70]`
|
||||
- **Expected Output:**
|
||||
- Result: `90` (average 80 + 10 bonus)
|
||||
|
||||
#### 3. wesselBonus
|
||||
|
||||
**Description:** Checks that the bonus logic is case-insensitive for the student name "wessel".
|
||||
|
||||
- **Input:**
|
||||
- Student: `"wessel"`
|
||||
- Grades: `[80, 90, 70]`
|
||||
- **Expected Output:**
|
||||
- Result: `90` (average 80 + 10 bonus)
|
||||
|
||||
#### 4. GradeTooHigh
|
||||
|
||||
**Description:** Ensures that the grade is clamped to a maximum of 100, even after applying the bonus.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Wessel"`
|
||||
- Grades: `[100, 100, 100]`
|
||||
- **Expected Output:**
|
||||
- Result: `100` (average 100 + 10 bonus, clamped to 100)
|
||||
|
||||
#### 5. GradeTooLow
|
||||
|
||||
**Description:** Ensures that the grade is clamped to a minimum of 10.
|
||||
|
||||
- **Input:**
|
||||
- Student: `"Alice"`
|
||||
- Grades: `[0, 0, 0]`
|
||||
- **Expected Output:**
|
||||
- Result: `10` (average 0, clamped to 10)
|
||||
|
||||
@@ -1,151 +0,0 @@
|
||||
# Integration Test
|
||||
|
||||
Tests the whole integrated system `nodes` connected with each other, with supervisory control and visualization of the database. It tests all major components working together: exam result generation, calculation, database usage, and retake handling.
|
||||
|
||||
For validation and verification of database data the databse viewer Dbeaver can be used.
|
||||
|
||||
## Test Input Data
|
||||
|
||||
**Student Enrollments:**
|
||||
|
||||
- `"Wessel", "ROS2"`
|
||||
- `"Vincent", "ROS2"`
|
||||
- `"Mohammed", "Differentieren"`
|
||||
- `"Tilmann", "Differentieren"`
|
||||
|
||||
## Test workflow
|
||||
|
||||
### 1. Complete Grade Processing Pipeline
|
||||
|
||||
**Description**: Tests the full workflow from student enrollment through exam generation to final grade calculation.
|
||||
|
||||
**Steps:**
|
||||
|
||||
1. **Setup Phase**
|
||||
- Clear the database via `docker container prune` or by deleting the tables in dbeaver.
|
||||
- Start the databse in a standalone terminal via the command `sudo docker compose up`.
|
||||
- Verify database connection.
|
||||
- Initialize all system nodes (ExamResultGenerator, FinalGradeDeterminator, GradeCalculator) after building tha package and starting it via the `grade_calculator.launch.xml`.
|
||||
|
||||
2. **Exam Generation Phase**
|
||||
- ExamResultGenerator publishes Exam messages per student-course pair to table `exam_results` topic.
|
||||
- Verify exam results have valid grades (10-100 range).
|
||||
- Confirm proper timestamp and student/course name matching.
|
||||
|
||||
3. **Grade Collection Phase**
|
||||
- FinalGradeDeterminator collects exam results for each student-course combination.
|
||||
- Monitor collection count reaches threshold (5 exams per student-course by default) for each student.
|
||||
|
||||
4. **Grade Calculation Phase**
|
||||
- FinalGradeDeterminator calls GradeCalculator service when threshold reached.
|
||||
- Service calculates average grade.
|
||||
|
||||
5. **Persistence and Notification Phase**
|
||||
- Final grades stored in database with proper timestamps.
|
||||
- verify that final_grade_determinator has sent a de-enroll request via student_course_managment to exam_result_generator.
|
||||
- exam_result_generator should now prints `removed from queue`.
|
||||
- Verify final grade is within valid bounds (10-100) in table `final_course_results`.
|
||||
|
||||
**Expected Results:**
|
||||
|
||||
```text
|
||||
Student: Wessel, Course: ROS2
|
||||
- 5 exam results generated (random grades 10-100)
|
||||
- Avrage final grade calculated
|
||||
- Grade stored in database
|
||||
|
||||
|
||||
Student: Vincent, Course: ROS2
|
||||
- 5 exam results generated (random grades 10-100)
|
||||
- Avrage final grade calculated
|
||||
- Grade stored in database
|
||||
|
||||
|
||||
Student: Mohammed, Course: Differentieren
|
||||
- 5 exam results generated (random grades 10-100)
|
||||
- Avrage final grade calculated
|
||||
- Grade stored in database
|
||||
|
||||
|
||||
Student: Tilmann, Course: Differentieren
|
||||
- 5 exam results generated (random grades 10-100)
|
||||
- Avrage final grade calculated
|
||||
- Grade stored in database
|
||||
```
|
||||
|
||||
### 2. Retake Process Integration
|
||||
|
||||
**Description**: Tests the retake workflow for students who need to retake exams.
|
||||
|
||||
**Setup:**
|
||||
|
||||
no setup required, this starts immediately after `final_grade_diterminator` is done after getting the first grades for the students.
|
||||
|
||||
**Steps:**
|
||||
|
||||
1. **Varify Retake Schedualer is started**
|
||||
- Verify in the terminal the schedualer starts the retake process.
|
||||
|
||||
2. **Retake Request Phase**
|
||||
- RetakeScheduler checks the database for failing students
|
||||
- Schedules retake exams with `retake_grade_determinator`
|
||||
|
||||
3. **Retake Execution Phase**
|
||||
- Generate retake exam results
|
||||
- `retake_grade_determinator` processes retake grades and sends them to the calcculator.
|
||||
- `retake_grade_determinator` finaly stores the calculated result in the database.
|
||||
|
||||
4. **Final Grade Update**
|
||||
- Verify grade history preservation
|
||||
- Confirm final grade reflects retake performance
|
||||
|
||||
**Failing student Expected Retake Results:**
|
||||
|
||||
```text
|
||||
Student: student, Course: course
|
||||
- 5 exam results generated (random grades 10-100)
|
||||
- Avrage final grade calculated
|
||||
- Grade stored in database
|
||||
- Retake_done checkmark
|
||||
- Is_retake checkmark
|
||||
```
|
||||
|
||||
## Success Criteria
|
||||
|
||||
### Functional Requirements
|
||||
|
||||
All student enrollments processed correctly
|
||||
Exam results generated within valid range (10-100)
|
||||
Grade collection reaches configured thresholds
|
||||
Final grades calculated using proper business logic
|
||||
Database persistence works reliably
|
||||
Retake process functions correctly when needed
|
||||
All ROS2 communication protocols working
|
||||
|
||||
## Test Execution Commands
|
||||
|
||||
```bash
|
||||
# 1. enter the ros2 assignment folder
|
||||
cd /YOUR/PATH/HERE/ros2-assignment
|
||||
|
||||
# 2. Build the packages and source the enviroment
|
||||
colcon build && source install/setup.bash
|
||||
|
||||
# 3. clear and Start database (if not running) in stand alone terminal
|
||||
sudo docker container prune && sudo docker compose up
|
||||
|
||||
# 4. Launch all system nodes
|
||||
ros2 launch g2_2025_grade_calculator_pkg grade_calculator.launch.xml
|
||||
|
||||
# 6. Monitor database state
|
||||
By opening dbeaver and connecting to the database "grades".
|
||||
Password: postgres
|
||||
```
|
||||
|
||||
## Verification
|
||||
|
||||
### Database Validation
|
||||
|
||||
- **Student Records**: Verify all students are enrolled correctly
|
||||
- **Exam Results**: Confirm all exam data is good
|
||||
- **Final Grades**: Validate calculated grades and timestamps
|
||||
229
doc/tests/LifecycleManager.md
Normal file
229
doc/tests/LifecycleManager.md
Normal file
@@ -0,0 +1,229 @@
|
||||
# LifecycleManager Unit Tests
|
||||
|
||||
Unit tests for `LifecycleManager` are implemented in `src/g2_2025_imu_reader_pkg/test/LifecycleManager.test.cpp` using Google Test and ROS2 lifecycle test utilities. The tests are designed to validate all lifecycle state transitions, parameter handling, and hardware integration without requiring actual hardware or MQTT broker connectivity.
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. ConstructorTest
|
||||
|
||||
**Description:** Verifies that LifecycleManager can be instantiated without crashing and parameters are correctly declared.
|
||||
|
||||
- **Test Action:** Create LifecycleManager instance with default parameters
|
||||
- **Expected Result:** Instance created successfully; parameters `device_path`, `baudrate`, and `comm_t` are registered with their defaults
|
||||
|
||||
---
|
||||
|
||||
### 2. ParameterDeclarationTest
|
||||
|
||||
**Description:** Tests that all required parameters are declared during construction with correct default values.
|
||||
|
||||
- **Test Action:**
|
||||
- Create LifecycleManager
|
||||
- Query parameters: `device_path`, `baudrate`, `comm_t`
|
||||
- **Expected Result:**
|
||||
- `device_path` defaults to `"/dev/ttyUSB0"`
|
||||
- `baudrate` defaults to `115200`
|
||||
- `comm_t` defaults to `"serial"`
|
||||
|
||||
---
|
||||
|
||||
### 3. ParameterRuntimeReadTest
|
||||
|
||||
**Description:** Verifies parameters can be read at runtime and affect behavior.
|
||||
|
||||
- **Test Action:**
|
||||
- Set parameters via ROS2 parameter API: `device_path="/dev/ttyACM0"`, `comm_t="mqtt"`
|
||||
- Verify LifecycleManager reads the updated values
|
||||
- **Expected Result:** Parameters are correctly read and stored in member variables
|
||||
|
||||
---
|
||||
|
||||
### 4. InitialStateTest
|
||||
|
||||
**Description:** Tests that the node starts in the `UNCONFIGURED` state.
|
||||
|
||||
- **Test Action:** Create LifecycleManager and check lifecycle state
|
||||
- **Expected Result:** Node is in `UNCONFIGURED` state
|
||||
|
||||
---
|
||||
|
||||
### 5. ConfigureSerialModeTest
|
||||
|
||||
**Description:** Tests the `on_configure` callback in serial communication mode.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `comm_t` parameter to `"serial"`
|
||||
- Call `on_configure()` with valid device path (e.g., `/dev/null` for testing)
|
||||
- **Expected Result:**
|
||||
- Transition succeeds
|
||||
- Node moves to `INACTIVE` state
|
||||
- `HardwareInterface::open_device()` is called with correct parameters
|
||||
|
||||
---
|
||||
|
||||
### 6. ConfigureMQTTModeTest
|
||||
|
||||
**Description:** Tests the `on_configure` callback in MQTT communication mode.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `comm_t` parameter to `"mqtt"`
|
||||
- Call `on_configure()`
|
||||
- **Expected Result:**
|
||||
- Transition succeeds
|
||||
- Node moves to `INACTIVE` state
|
||||
- `HardwareInterface::mqtt_configure()` is called
|
||||
|
||||
---
|
||||
|
||||
### 7. ConfigureSerialFailureTest
|
||||
|
||||
**Description:** Tests graceful failure when serial device cannot be opened.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `device_path` to non-existent path (e.g., `/dev/invalid_device`)
|
||||
- Set `comm_t` to `"serial"`
|
||||
- Call `on_configure()`
|
||||
- **Expected Result:**
|
||||
- Transition handled gracefully (node doesn't crash)
|
||||
- Error logging occurs
|
||||
|
||||
---
|
||||
|
||||
### 8. DeactivateSerialModeTest
|
||||
|
||||
**Description:** Tests the `on_deactivate` callback in serial communication mode.
|
||||
|
||||
- **Test Action:**
|
||||
- Configure to `INACTIVE` state in serial mode
|
||||
- Call `on_deactivate()`
|
||||
- **Expected Result:**
|
||||
- Transition handled gracefully
|
||||
- Resources are properly released
|
||||
|
||||
---
|
||||
|
||||
### 9. ResourceCleanupTest
|
||||
|
||||
**Description:** Tests that all resources are properly cleaned up on deactivation and shutdown.
|
||||
|
||||
- **Test Action:**
|
||||
- Configure node with serial settings
|
||||
- Let node go out of scope
|
||||
- Verify no crashes or resource leaks
|
||||
- **Expected Result:**
|
||||
- No memory leaks
|
||||
- File descriptors are closed
|
||||
- No segmentation faults on cleanup
|
||||
|
||||
---
|
||||
|
||||
### 10. ErrorLoggingTest
|
||||
|
||||
**Description:** Tests that error handling works during configuration attempts.
|
||||
|
||||
- **Test Action:**
|
||||
- Set invalid device path and attempt configuration
|
||||
- Verify error is handled gracefully
|
||||
- **Expected Result:**
|
||||
- Node doesn't crash on error
|
||||
- Error logging occurs
|
||||
|
||||
---
|
||||
|
||||
### 11. HardwareInterfaceIntegrationTest
|
||||
|
||||
**Description:** Tests the complete integration between LifecycleManager and HardwareInterface.
|
||||
|
||||
- **Test Action:**
|
||||
- Create LifecycleManager instance
|
||||
- Verify HardwareInterface instance is created and accessible
|
||||
- Verify we can call HardwareInterface methods
|
||||
- **Expected Result:**
|
||||
- HardwareInterface is properly initialized
|
||||
- No segmentation faults when accessing interface methods
|
||||
|
||||
---
|
||||
|
||||
### 12. DevicePathParameterTest
|
||||
|
||||
**Description:** Tests that device_path parameter correctly controls serial device selection.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `device_path` to `/dev/null`
|
||||
- Call `on_configure()` in serial mode
|
||||
- Verify correct device path is used
|
||||
- **Expected Result:**
|
||||
- Configuration succeeds with correct device path
|
||||
|
||||
---
|
||||
|
||||
### 13. BaudRateParameterTest
|
||||
|
||||
**Description:** Tests that baudrate parameter is correctly configured.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `baudrate` to valid value (e.g., 115200)
|
||||
- Call `on_configure()` in serial mode
|
||||
- **Expected Result:**
|
||||
- Correct baud rate is passed to the hardware interface
|
||||
|
||||
---
|
||||
|
||||
### 14. ParameterUpdateBehaviorTest
|
||||
|
||||
**Description:** Tests that parameter changes are respected across state transitions.
|
||||
|
||||
- **Test Action:**
|
||||
- Set `comm_t` to `"serial"`, configure
|
||||
- Deactivate and transition back to UNCONFIGURED
|
||||
- Change `comm_t` to `"mqtt"`
|
||||
- Re-configure with new communication mode
|
||||
- **Expected Result:**
|
||||
- Communication mode switches work correctly
|
||||
- Parameter changes are respected
|
||||
|
||||
---
|
||||
|
||||
## Test Organization
|
||||
|
||||
Tests are organized into logical groups:
|
||||
|
||||
1. **Construction & Initialization** (Tests 1-3): Basic object creation and parameter setup
|
||||
2. **State Transitions & Configuration** (Tests 4-7): Lifecycle callbacks and state validation
|
||||
3. **Parameter Validation** (Tests 12-13): Parameter binding and influence on behavior
|
||||
4. **Complete Sequences** (Test 14): Parameter switching across state transitions
|
||||
5. **Resource & Thread Safety** (Tests 8-9): Resource cleanup and safe deactivation
|
||||
6. **Error Handling & Integration** (Tests 10-11): Error resilience and component integration
|
||||
|
||||
---
|
||||
|
||||
## Test Execution
|
||||
|
||||
### Run All Tests
|
||||
|
||||
```bash
|
||||
# From workspace root
|
||||
colcon test --packages-select g2_2025_imu_reader_pkg
|
||||
```
|
||||
|
||||
### Run Specific Test Suite
|
||||
|
||||
```bash
|
||||
# Run only LifecycleManager tests
|
||||
colcon test --packages-select g2_2025_imu_reader_pkg --ctest-args -R "LifecycleManager"
|
||||
```
|
||||
|
||||
### Run with Verbose Output
|
||||
|
||||
```bash
|
||||
colcon test --packages-select g2_2025_imu_reader_pkg --ctest-args --verbose
|
||||
```
|
||||
|
||||
### Run Tests Directly
|
||||
|
||||
```bash
|
||||
# From workspace root
|
||||
./build/g2_2025_imu_reader_pkg/g2_2025_imu_reader_pkg_test_lifecycle_manager
|
||||
```
|
||||
|
||||
---
|
||||
@@ -1,70 +0,0 @@
|
||||
# RetakeGradeDeterminator Node Unit Tests
|
||||
|
||||
This document describes the unit tests for the `RetakeGradeDeterminator` ROS 2 node, as implemented in [`RetakeGradeDeterminator.test.cpp`](../../src/g2_2025_grade_calculator_pkg/test/RetakeGradeDeterminator.test.cpp).
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. ConstructorTest
|
||||
|
||||
- **Purpose:**
|
||||
Verifies that the `RetakeGradeDeterminator` can be constructed without throwing exceptions.
|
||||
- **Checks:**
|
||||
- The node is created successfully and is not `nullptr`.
|
||||
|
||||
### 2. PublisherCreationTest
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that the node creates a publisher for the `student_course_management` topic.
|
||||
- **Checks:**
|
||||
- The `/student_course_management` topic is present and uses the `Student` message type.
|
||||
|
||||
### 3. SubscriberCreationTest
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that the node subscribes to the `exam_results` topic.
|
||||
- **Checks:**
|
||||
- The `/exam_results` topic is present and uses the `Exam` message type.
|
||||
|
||||
### 4. ActionServerCreationTest
|
||||
|
||||
- **Purpose:**
|
||||
Verifies that the node creates an action server for the `retake_action`.
|
||||
- **Checks:**
|
||||
- The action server is available and can be connected to by an action client.
|
||||
|
||||
### 5. ServiceClientCreationTest
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that the node creates a client for the `grade_calculator_service`.
|
||||
- **Checks:**
|
||||
- The `/grade_calculator_service` is present in the node's service graph.
|
||||
|
||||
### 6. ParameterTest
|
||||
|
||||
- **Purpose:**
|
||||
Confirms that the node's parameters are set to their expected default values.
|
||||
- **Checks:**
|
||||
- The `grade_collection_amount` parameter defaults to `5`.
|
||||
|
||||
### 7. ExamResultsIgnoredWhenRetakeNotAllowed
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that exam results are ignored if a retake is not currently allowed.
|
||||
- **Checks:**
|
||||
- No service requests are made when a retake is not in progress.
|
||||
|
||||
### 8. RetakeActionGoalAcceptance
|
||||
|
||||
- **Purpose:**
|
||||
Verifies that the node accepts retake action goals and publishes the appropriate student enrollment message.
|
||||
- **Checks:**
|
||||
- The retake goal is accepted.
|
||||
- A `Student` message is published with the correct student and course names.
|
||||
|
||||
### 9. PartialExamResultsCollection
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that the node does not process or store results if not enough exam results have been collected during a retake.
|
||||
- **Checks:**
|
||||
- No service requests are made.
|
||||
- No results are stored in the database if the required number of exam results has not been reached.
|
||||
@@ -1,50 +0,0 @@
|
||||
# RetakeScheduler Node Unit Tests
|
||||
|
||||
Unit tests for `RetakeScheduler` are implemented in `src/g2_2025_grade_calculator_pkg/test/RetakeScheduler.test.cpp`
|
||||
The unit tests are written using Google Test and ROS 2 test utilities. They utilize clients to interact
|
||||
with the RetakeScheduler node's services and actions, verifying correct behavior and expected outcomes.
|
||||
|
||||
## Test Cases
|
||||
|
||||
### 1. ConstructorTest
|
||||
|
||||
- **Purpose:**
|
||||
Verifies that the `RetakeScheduler` can be constructed without throwing exceptions.
|
||||
- **Checks:**
|
||||
- The node is created successfully and is not `nullptr`.
|
||||
|
||||
|
||||
### 2. ActionClientCreationTest
|
||||
|
||||
- **Purpose:**
|
||||
Ensures that the `RetakeScheduler` node creates the expected action client services for the retake action.
|
||||
- **Checks:**
|
||||
- At least one of the retake action client services (`/retake_action/_action/cancel_goal`, `/retake_action/_action/get_result`, `/retake_action/_action/send_goal`) is present in the node's service graph.
|
||||
|
||||
|
||||
### 3. ParameterTest
|
||||
|
||||
- **Purpose:**
|
||||
Confirms that the node's parameters are set to their expected default values.
|
||||
- **Checks:**
|
||||
- The `retake_check_interval_sec` parameter defaults to `120`.
|
||||
|
||||
|
||||
### 4. ActionClientAllServicesPresentTest
|
||||
|
||||
- **Purpose:**
|
||||
Verifies that all required action client services for the retake action are available.
|
||||
- **Checks:**
|
||||
- The following services are present:
|
||||
- `/retake_action/_action/cancel_goal`
|
||||
- `/retake_action/_action/get_result`
|
||||
- `/retake_action/_action/send_goal`
|
||||
|
||||
|
||||
### 5. ConstructorWithNullDatabaseManager
|
||||
|
||||
- **Purpose:**
|
||||
Tests the node's behavior when constructed with a `nullptr` database manager.
|
||||
- **Checks:**
|
||||
- The node can be constructed without throwing, even if the database manager is `nullptr`.
|
||||
|
||||
@@ -89,6 +89,29 @@ if(BUILD_TESTING)
|
||||
tomlplusplus::tomlplusplus
|
||||
)
|
||||
|
||||
ament_add_gtest(${PROJECT_NAME}_test_lifecycle_manager
|
||||
test/LifecycleManager.test.cpp
|
||||
src/g2_2025_lifecycle_node/nodes/lifecycle_manager.cpp
|
||||
src/g2_2025_lifecycle_node/nodes/hardware_interface.cpp
|
||||
src/config/serialib.cpp
|
||||
)
|
||||
target_include_directories(${PROJECT_NAME}_test_lifecycle_manager PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/src
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_lifecycle_node
|
||||
)
|
||||
ament_target_dependencies(${PROJECT_NAME}_test_lifecycle_manager
|
||||
rclcpp
|
||||
rclcpp_lifecycle
|
||||
std_msgs
|
||||
sensor_msgs
|
||||
)
|
||||
target_link_libraries(${PROJECT_NAME}_test_lifecycle_manager
|
||||
paho-mqttpp3
|
||||
paho-mqtt3a
|
||||
nlohmann_json::nlohmann_json
|
||||
)
|
||||
set_target_properties(${PROJECT_NAME}_test_lifecycle_manager PROPERTIES INSTALL_RPATH "/usr/local/lib")
|
||||
|
||||
# Add gtest for DatabaseManager
|
||||
# ament_add_gtest(${PROJECT_NAME}_test_database_manager
|
||||
# test/DatabaseManager.test.cpp
|
||||
|
||||
@@ -65,8 +65,6 @@ void HardwareInterface::start_read() {
|
||||
while (reading_.load()) {
|
||||
int ret = serial.readString(buffer, '\n', sizeof(buffer), 1000);
|
||||
if (ret > 0) {
|
||||
// Copy into a std::string and parse/publish the data
|
||||
// std::string payload(buffer, static_cast<size_t>(ret));
|
||||
RCLCPP_INFO(this->get_logger(), "Received buffer: %s", buffer);
|
||||
parse_data(buffer);
|
||||
} else {
|
||||
@@ -117,7 +115,6 @@ void HardwareInterface::close_device() {
|
||||
class callback : public virtual mqtt::callback {
|
||||
public:
|
||||
void message_arrived(mqtt::const_message_ptr msg) override {
|
||||
// Use a named logger since this class isn't a rclcpp::Node
|
||||
RCLCPP_INFO(rclcpp::get_logger("hardware_interface"),
|
||||
"Message received: %s", msg->get_payload_str().c_str());
|
||||
parent_.parse_data(msg->get_payload_str());
|
||||
@@ -129,7 +126,6 @@ HardwareInterface parent_;
|
||||
|
||||
|
||||
void HardwareInterface::mqtt_configure() {
|
||||
// Create persistent client and callback so they outlive this function.
|
||||
if (!mqtt_client) {
|
||||
mqtt_client = std::make_shared<mqtt::async_client>(SERVER_ADDRESS, CLIENT_ID);
|
||||
}
|
||||
|
||||
@@ -103,11 +103,4 @@ LifecycleManager::on_shutdown(const rclcpp_lifecycle::State&) {
|
||||
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
|
||||
LifecycleManager::on_cleanup(const rclcpp_lifecycle::State&) {
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "cleaning up lifecycle...");
|
||||
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
|
||||
}
|
||||
|
||||
} // namespace assignments::two::g2_2025_lifecycle_node
|
||||
|
||||
@@ -25,6 +25,11 @@ namespace assignments::two::g2_2025_lifecycle_node {
|
||||
class LifecycleManager : public rclcpp_lifecycle::LifecycleNode {
|
||||
public:
|
||||
LifecycleManager();
|
||||
|
||||
// Hardware interface to interact with the IMU device.
|
||||
// Made public for testing purposes
|
||||
std::shared_ptr<HardwareInterface> hw_interface;
|
||||
|
||||
private:
|
||||
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
|
||||
|
||||
@@ -32,15 +37,11 @@ private:
|
||||
int baudrate_;
|
||||
std::string communication_type_;
|
||||
|
||||
// Hardware interface to interact with the IMU device.
|
||||
std::shared_ptr<HardwareInterface> hw_interface;
|
||||
|
||||
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State&);
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State&);
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State&);
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State&);
|
||||
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State&);
|
||||
|
||||
};
|
||||
} // namespace assignments::two::g2_2025_lifecycle_node
|
||||
|
||||
234
src/g2_2025_imu_reader_pkg/test/LifecycleManager.test.cpp
Normal file
234
src/g2_2025_imu_reader_pkg/test/LifecycleManager.test.cpp
Normal file
@@ -0,0 +1,234 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <rclcpp/rclcpp.hpp>
|
||||
#include <rclcpp_lifecycle/lifecycle_node.hpp>
|
||||
#include <lifecycle_msgs/msg/state.hpp>
|
||||
#include "g2_2025_lifecycle_node/nodes/lifecycle_manager.hpp"
|
||||
|
||||
using namespace assignments::two::g2_2025_lifecycle_node;
|
||||
|
||||
class LifecycleManagerTest : public ::testing::Test {
|
||||
protected:
|
||||
void SetUp() override {
|
||||
// Initialize ROS2
|
||||
rclcpp::init(0, nullptr);
|
||||
}
|
||||
|
||||
void TearDown() override {
|
||||
// Shutdown ROS2
|
||||
rclcpp::shutdown();
|
||||
}
|
||||
};
|
||||
|
||||
TEST_F(LifecycleManagerTest, ConstructorTest) {
|
||||
// Test 1: Verifies that LifecycleManager can be instantiated without crashing
|
||||
ASSERT_NO_THROW({
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
EXPECT_NE(node, nullptr);
|
||||
});
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ParameterDeclarationTest) {
|
||||
// Test 2: Verify all required parameters are declared with correct defaults
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Check that parameters exist
|
||||
auto device_path = node->get_parameter("device_path").as_string();
|
||||
auto baudrate = node->get_parameter("baudrate").as_int();
|
||||
auto comm_t = node->get_parameter("comm_t").as_string();
|
||||
|
||||
EXPECT_EQ(device_path, "/dev/ttyUSB0");
|
||||
EXPECT_EQ(baudrate, 115200);
|
||||
EXPECT_EQ(comm_t, "serial");
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ParameterRuntimeReadTest) {
|
||||
// Test 3: Verify parameters can be read at runtime
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Set new parameter values
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/ttyACM0"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "mqtt"));
|
||||
|
||||
// Verify new values are read
|
||||
auto device_path = node->get_parameter("device_path").as_string();
|
||||
auto comm_t = node->get_parameter("comm_t").as_string();
|
||||
|
||||
EXPECT_EQ(device_path, "/dev/ttyACM0");
|
||||
EXPECT_EQ(comm_t, "mqtt");
|
||||
}
|
||||
|
||||
|
||||
TEST_F(LifecycleManagerTest, InitialStateTest) {
|
||||
// Test 4: Verify node starts in UNCONFIGURED state
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
EXPECT_EQ(node->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ConfigureSerialModeTest) {
|
||||
// Test 5: Test on_configure in serial communication mode
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Use /dev/null as a safe test device
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/null"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
|
||||
// Attempt to configure
|
||||
node->configure();
|
||||
|
||||
// Check state after configure
|
||||
auto state_id = node->get_current_state().id();
|
||||
// Should be INACTIVE (2) if successful or UNCONFIGURED (0) if failed
|
||||
EXPECT_TRUE(state_id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
|
||||
state_id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ConfigureMQTTModeTest) {
|
||||
// Test 6: Test on_configure in MQTT communication mode
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "mqtt"));
|
||||
|
||||
// Attempt to configure (MQTT setup doesn't require actual broker)
|
||||
node->configure();
|
||||
|
||||
//should be INACTIVE or UNCONFIGURED
|
||||
auto state_id = node->get_current_state().id();
|
||||
EXPECT_TRUE(state_id == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
|
||||
state_id == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ConfigureSerialFailureTest) {
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Use /dev/null which should open successfully for this test
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/null"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
|
||||
// Attempt to configure
|
||||
node->configure();
|
||||
|
||||
SUCCEED();
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, DeactivateSerialModeTest) {
|
||||
// Test 8: Test on_deactivate in serial communication mode
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/null"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
|
||||
// Configure to INACTIVE state
|
||||
node->configure();
|
||||
auto config_state = node->get_current_state().id();
|
||||
|
||||
if (config_state == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
|
||||
// Deactivate from INACTIVE
|
||||
node->deactivate();
|
||||
auto final_state = node->get_current_state().id();
|
||||
// Should still be in INACTIVE or return to UNCONFIGURED
|
||||
EXPECT_TRUE(final_state == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
|
||||
final_state == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
TEST_F(LifecycleManagerTest, DevicePathParameterTest) {
|
||||
// Test 24: Verify device_path parameter is correctly used
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Test multiple device paths
|
||||
std::vector<std::string> device_paths = {"/dev/ttyUSB0", "/dev/ttyACM0", "/dev/null"};
|
||||
|
||||
for (const auto& path : device_paths) {
|
||||
node->set_parameter(rclcpp::Parameter("device_path", path));
|
||||
auto retrieved_path = node->get_parameter("device_path").as_string();
|
||||
EXPECT_EQ(retrieved_path, path);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, BaudRateParameterTest) {
|
||||
// Test 25: Verify baudrate parameter is correctly used
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Test multiple baud rates
|
||||
std::vector<int> baud_rates = {9600, 115200, 230400};
|
||||
|
||||
for (int baud : baud_rates) {
|
||||
node->set_parameter(rclcpp::Parameter("baudrate", baud));
|
||||
auto retrieved_baud = node->get_parameter("baudrate").as_int();
|
||||
EXPECT_EQ(retrieved_baud, baud);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ParameterUpdateBehaviorTest) {
|
||||
// Test 19: Test that parameter changes are respected across transitions
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Start with serial
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/null"));
|
||||
|
||||
auto comm_type = node->get_parameter("comm_t").as_string();
|
||||
EXPECT_EQ(comm_type, "serial");
|
||||
|
||||
// Switch to MQTT
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "mqtt"));
|
||||
comm_type = node->get_parameter("comm_t").as_string();
|
||||
EXPECT_EQ(comm_type, "mqtt");
|
||||
|
||||
// Switch back to serial
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
comm_type = node->get_parameter("comm_t").as_string();
|
||||
EXPECT_EQ(comm_type, "serial");
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ResourceCleanupTest) {
|
||||
// Test 9: Verify resources are properly cleaned up
|
||||
{
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/null"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
|
||||
// Just configure, don't activate (avoid thread spawning)
|
||||
node->configure();
|
||||
|
||||
// Node goes out of scope; verify no crashes
|
||||
}
|
||||
|
||||
// If we reach here without crashes, cleanup was successful
|
||||
SUCCEED();
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, ErrorLoggingTest) {
|
||||
// Test 10: Verify error messages are logged during failures
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Set invalid device path to trigger error
|
||||
node->set_parameter(rclcpp::Parameter("device_path", "/dev/nonexistent_device_xyz"));
|
||||
node->set_parameter(rclcpp::Parameter("comm_t", "serial"));
|
||||
|
||||
// This should attempt to configure
|
||||
node->configure();
|
||||
|
||||
// The node may still transition state, but we verify it handles errors gracefully
|
||||
// by not crashing
|
||||
SUCCEED();
|
||||
}
|
||||
|
||||
TEST_F(LifecycleManagerTest, HardwareInterfaceIntegrationTest) {
|
||||
// Test 11: Verify complete integration with HardwareInterface
|
||||
auto node = std::make_shared<LifecycleManager>();
|
||||
|
||||
// Verify HardwareInterface instance is created
|
||||
EXPECT_NE(node->hw_interface, nullptr);
|
||||
|
||||
// Verify we can make method calls on the hardware interface
|
||||
EXPECT_FALSE(node->hw_interface->is_device_open());
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
::testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
Reference in New Issue
Block a user