- Aug 28, 2023
-
-
Ambroise Vincent authored
Rename "Actuation Service demo" to "Safety Island Actuation Demo", shortened to "Actuation Demo" appart from the headers and the first use in the overview page. Keep the "Actuation Service" naming to refer to the software running on the Safety Island. Add missing trademarks. Add missing license header. Issue-Id: SCM-5892 Signed-off-by:Ambroise Vincent <ambroise.vincent@arm.com> Change-Id: I53a6473424b7c34525d602fa54a472e436ea9146
-
Ambroise Vincent authored
Update the overview to reference external definitions of the Primary Compute and Safety Island. Align with current state of the repository. Modify changelog to reflect the expected upcoming v1.0 release. Issue-Id: SCM-5892 Signed-off-by: -
Ambroise Vincent authored
Issue-Id: SCM-5892 Signed-off-by: -
Ambroise Vincent authored
The first message in chronological order is currently a KinematicState, when it should be a Trajectory. Otherwise the PurePursuit algorithm has a different output on its first Trajectory depending on the state of its internal buffers. Issue-Id: SCM-5776 Signed-off-by: -
Add a code path in the Packet Analyzer and the Actuation Service to issue / handle a clean tear off of the TCP connection. This also facilitates multiple connect / disconnect of the Packet Analyzer towards the Actuation Service running in SI. Issue-Id: SCM-5776 Signed-off-by:Vineeth Raveendran <vineeth.raveendran@arm.com> Change-Id: Id86085b26d7c055cb72221791335979077b332a5
-
Ambroise Vincent authored
Target an arbitrary commit of CycloneDDS since there hasn't been a release since the Zephyr support was added. Update the CycloneDDS cmake build flags. Change the way the CycloneDDS library is built for the Zephyr app. It used to be built as a Zephyr module. It is now changed to a cmake ExternalProject. Update deprecated way of setting the networking interface name in the XML configuration files of CycloneDDS meant to be used with the new version. Issue-Id: SCM-5255 Signed-off-by: -
Ambroise Vincent authored
This is a non-intrusive way of setting the desired DDS configuration without having to modify the CycloneDDS repository to introduce specific configuration variables. Issue-Id: SCM-5255 Signed-off-by: -
Ambroise Vincent authored
Modify configurations to work with the upcoming change of CycloneDDS target commit. Issue-Id: SCM-5255 Signed-off-by: -
Ambroise Vincent authored
Update deprecated configuration names. Update commit hash in relevant files. Issue-Id: SCM-5255 Signed-off-by: -
Ambroise Vincent authored
Otherwise it creates conflicts in the configuration of CycloneDDS for the same topics used by different nodes. Issue-Id: SCM-5255 Signed-off-by: -
Ambroise Vincent authored
New CycloneDDS versions of IDLC write the absolute path to the source .idl file in the generated .c and .h files. Replace it with a relative path in order not to leak build system information. Issue-Id: SCM-5255 Signed-off-by: -
Actuation Service to run a TCP server that host can connect to in order to receive Control Commands. This way the Actuation Service does not need host interface information to send the Control Commands. Issue-Id: SCM-5776 Signed-off-by: -
The Actuation Service uses TCP server to send out Control Commands. This commit modifies the Packet Analyzer tool to connect to the TCP server, reads Control Commands via TCP client socket. This commit also moves ControlCommand.csv to packet_analyzer/data and add a reduced ControlCommand.csv that gets stored in packet_analyzer/data/test_data. Issue-Id: SCM-5776 Signed-off-by: -
Correct ControlCommand.csv entries to match the output of actuation_player. Issue-Id: SCM-5776 Signed-off-by: -
Ambroise Vincent authored
Add configurations to set the address, gateway and netmask for up to 2 network interfaces. Issue-Id: SCM-5776 Signed-off-by: -
Ambroise Vincent authored
Align actuation_format_bag design document location with more recent Autoware guidelines. Issue-Id: SCM-5752 Signed-off-by: -
Ambroise Vincent authored
Add sample Trajectory and Kinematic State meant for testing. They have been extracted from the main files and allow for faster and lighter testing. Test combinations of expected success and failure scenarios for the Player library. This covers its different parameters: path, loop mode and replay divider. Issue-Id: SCM-5752 Signed-off-by: -
Ambroise Vincent authored
Put the core functionality in a library. Create a clear interface for it. Add an executable that only manages parsing the arguments and setting up the environment. Add an optional cancel flag to the Player, used in loop mode. Issue-Id: SCM-5752 Signed-off-by: -
Ambroise Vincent authored
The actuation_player package reads trajectory and kinematic state information from recorded files and sends them as DDS messages. Issue-Id: SCM-5753 Signed-off-by: -
Ambroise Vincent authored
Increase the number of trajectory points to 100 in order for the Pure Pursuit algorithm to have enough data to generate the expected Control Commands. Fix a bug in the generation of the wheel angles. Issue-Id: SCM-5753 Signed-off-by: -
Ambroise Vincent authored
This is needed in order for Yocto builds of this package to correctly install the resulting shared object library. Issue-Id: SCM-5753 Signed-off-by: -
Ambroise Vincent authored
The previous way of propagating the include path exposed build directory information in debug versions of resulting executables. Instead, rely on a common macro to get the include path. Issue-Id: SCM-5753 Signed-off-by: -
Ambroise Vincent authored
Issue-Id: SCM-5753 Signed-off-by: -
This commit captures the use of '-b' flag that can be used along with build.sh. Issue-Id: SCM-5771 Signed-off-by: -
Replace dds channel with BSD sockets while sending control commands from pure pursuit running in Safety Island. Issue-Id: SCM-5768 Signed-off-by: -
Ambroise Vincent authored
Make the Zephyr discovery more robust. Allow setting CycloneDDS as a Zephyr module with ZEPHYR_EXTRA_MODULES outside of the project. Allow setting OVERLAY_CONFIG for the Zephyr app outside of the project. Issue-Id: SCM-5754 Signed-off-by: -
Ambroise Vincent authored
Instead use static dependencies between ExternalProject. The result of the ExternalProject gets discovered by colcon as an independent package, which is worked around by giving to colcon the directories where packages are located. Additionally, group together the ROS packages of the repository in a single directory for clarity. Issue-Id: SCM-5754 Signed-off-by: -
Ambroise Vincent authored
Use idlc from host tool's build. Discover CycloneDDS include directory from the find_package variables instead of relying on the user setting environment variables. Issue-Id: SCM-5754 Signed-off-by: -
Ambroise Vincent authored
Remove the first lines of the recordings, as they arise from a static vehicle, before the user engages the drive. It results in repeating control commands, and the packet analyzer cannot determine which is the first one for synchronization purposes. Issue-Id: SCM-5774 Signed-off-by: -
This commit re-structures packet analyzer, so that the tool can be invoked manually or via python unit test. This change also adds information of jitter that gets logged. Issue-Id: SCM-5774 Signed-off-by: -
Ambroise Vincent authored
Assumption that this commit does not constitute original work worth extending the copyright claim. Issue-Id: SCM-6132 Signed-off-by: -
Ambroise Vincent authored
This follows an OoB test. An extra package is needed for X forwarding to work on AVA. Disabling multicast on the Primary Compute prevents the map from loading correctly when launching the Autoware demo on AVA. Signed-off-by: -
Issue-Id: SCM-5775 Signed-off-by: -
This tool validates Control Commands produced by the Actuation Service. Packet Analyzer performs the following: - Creates an iterator based on a reference pre-calculated control command (+ following occurrences) - Sniffs UDP datagrams (Control Commands) sent by the Actuation service - Discards packets till it finds the start of the packet chain (the first entry in the reference control commands is used for this purpose) - Matches each received control packet to the next ref control commands Report error if fails to match Issue-Id: SCM-5775 Signed-off-by: -
Ambroise Vincent authored
Fix documentation spelling Add yaml file start line Remove empty lines in .gitignore Signed-off-by: -
Ambroise Vincent authored
This can be done following the merge of: - NXP drivers for S32Z - Fix for S32Z instability The fix of the instability removes the need for the TCP workaround, hence also remove the MBedTLS dependency. A more recent version of hal_nxp needs to be targeted in order to align with the NXP drivers. Add precisions to the S32 documentation. Issue-Id: SCM-5873 Signed-off-by: -
Ambroise Vincent authored
A stack overflow in the main actuation thread, fixed by doubling the stack size in order to keep it a power of two. Signed-off-by: -
Ambroise Vincent authored
Make necessary changes to comply with the linting rules. Signed-off-by: -
Ambroise Vincent authored
Files generated with actuation_format_bag. Issue-Id: SCM-5750 Signed-off-by: -
Ambroise Vincent authored
Add an actuation_format_bag ROS2 package. Issue-Id: SCM-5750 Signed-off-by:
-
