Merge pull request #50 from MO-RISE/msg/config-msg

MCAP recorder updated with query to storage

.devcontainer/devcontainer.json

@@ -17,7 +17,14 @@
 	// Use 'forwardPorts' to make a list of ports inside the container available locally.
 	// "forwardPorts": [],
 	// Use 'postCreateCommand' to run commands after the container is created.
-	"postCreateCommand": "pip3 install --user -r requirements_dev.txt -r requirements_connectors.txt"
+	"postCreateCommand": "pip3 install --user -r requirements_dev.txt -r requirements_connectors.txt",
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"zxh404.vscode-proto3"
+			]
+		}
+	}
 	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
 	// "remoteUser": "root"
 }

connectors/mcap/README.md

@@ -18,7 +18,7 @@ docker run ghcr.io/mo-rise/keelson:0.3.4 "mcap-record -h"
 
 # Record
 # Crete an reccording folder before running, for this example "mkdir rec_mcap" 
-docker run --network host --volume /home/user/rec_mcap:/rec_mcap ghcr.io/mo-rise/keelson:0.3.4 "mcap-record --output rec_mcap/2024-05-15.mcap -k rise/v0/masslab/pubsub/**"
+docker run --network host --volume /home/user/rec_mcap:/rec_mcap ghcr.io/mo-rise/keelson:0.3.4 "mcap-record --output rec_mcap/2024-05-15.mcap -k rise/v0/masslab/pubsub/**" -k new/key
 ```
 
 ## mcap-replay

connectors/mcap/bin/mcap-record

@@ -17,7 +17,6 @@ from mcap.writer import Writer
 from mcap.well_known import SchemaEncoding, MessageEncoding
 from google.protobuf.message import DecodeError
 
-
 import keelson
 
 logger = logging.getLogger("mcap-record")
@@ -66,7 +65,6 @@ def run(session: zenoh.Session, args: argparse.Namespace):
     close_down = Event()
 
     def _recorder():
-
         if args.output_path:
             source_path = (
                 pathlib.Path(args.output_path)
@@ -173,6 +171,23 @@ def run(session: zenoh.Session, args: argparse.Namespace):
     t.daemon = True
     t.start()
 
+    for key in args.key:
+        logger.info("Getting data from key-storage: %s", key)
+
+        logger.debug("Query key: %s", key)
+        replies = session.get(
+            key, zenoh.Queue(), consolidation=zenoh.QueryConsolidation.NONE()
+        )
+
+        for reply in replies.receiver:
+            try:
+                logger.info("Query processing key '%s'", reply.ok.key_expr)
+                queue.put(reply.ok)
+            except Exception as e:
+                logger.info("No keys found in GET! {e}")
+
+        lambda: logger.info("Finnished getting data from key-storage!"),
+
     # And start subscribing
     subscribers = [session.declare_subscriber(key, queue.put) for key in args.key]
 

messages/README.md

@@ -1,3 +1,17 @@
 # Messages
 
-TODO...
+In the folder messages are the defections for subjects and messages 
+
+## Add or Edit Message payloads 
+
+Each message is wrapped in an [Envelope](./Envelope.proto) with include the payload message and all the payloads are located in the [payloads folder](./payloads/). Each payload is an protobuf definition as the file type .proto
+
+Messages are divided into the following packages:
+- foxglove ([Foxglove formatdefintion](https://github.com/foxglove/schemas/tree/main/schemas/proto/foxglove)) 
+
+Foxglove messages should be avoided to modify and if really 
+
+### To add
+
+1) Just create a new proto file and name it descriptively in CamelCase.
+2) 

messages/payloads/ConfigurationSensorPerception.proto

@@ -0,0 +1,60 @@
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+import "LocationFix.proto";
+import "Pose.proto";
+
+package keelson.experimental;
+
+// Configuration state descirbtion all is optional 
+message ConfigurationSensorPerception {
+
+  // Type of preseption sensor 
+  enum SensorType {
+    UNKNOWN = 0;
+    CAMERA = 1;
+    LIDAR = 2;
+    RADAR_MARINE = 3;
+    RADAR_VEHICLE = 4;
+  }
+
+  // Timestamp of the message when it was created
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Geografical location that shuch be static
+  foxglove.LocationFix location = 2;
+
+  // Sensor pose relative to the platfrom shuch be static
+  foxglove.Pose pose = 3;
+
+  // View fild of snsor in horizontal 
+  float view_horizontal_angel_deg = 4;
+
+  // View fild starting point azimuth in horizontal
+  float view_horizontal_start_angel_deg = 5;
+
+  // View fild end point azimuth in horizontal
+  float view_horizontal_end_angel_deg = 6;
+
+  // View fild of snsor in vertical
+  float view_vertical_angel_deg = 7;
+
+  // Mode of the sensor 
+  string mode = 8;
+
+  // Operation mode of the sensor (RUNNING, STANDBY, OFF)
+  enum mode_operating {
+    RUNNING = 0;
+    STANDBY = 1;
+    DISABLED = 2;
+    OFF = 3;
+    ERROR = 4;
+  }
+
+  string mode_timestamp = 9;
+
+  string other_json = 99;
+
+}
+
+

messages/payloads/SailControlState.proto

@@ -4,11 +4,11 @@ package keelson.compound;
 
 message SailControlState {
 
-  int32 sheeting_mode = 1; // (1= manual, 2= automatic)
+  int32 sheeting_mode = 1; // (1= manual mode and relative to bow , 2= automatic mode or relative to wind)
 
-  int32 coupled_steering_mode = 2;  // (0=actvivated, 1=deactivated) 
+  int32 coupled_steering_mode = 2;  // (0=deactivated, 1=actvivated)  
 
-  int32 variable_thrust_mode = 3; // (0=actvivated, 1=deactivated) 
+  int32 variable_thrust_mode = 3; // (0=deactivated, 1=actvivated) 
 
   float variable_thrust_set_pct = 4; // (0.0 - 1.0 = 0% - 100%) 
 

messages/payloads/SailState.proto

@@ -2,12 +2,15 @@ syntax = "proto3";
 
 package keelson.compound;
 
+// State of an single sail 
 message SailState {
 
-  int32 is_active_mode = 1; // (0=actvivated, 1=deactivated) 
+  int32 is_active_mode = 1; // (0=deactivated, 1=actvivated) 
 
   float sheeting_angle_actual_deg = 2; // -180 to 180 degrees
 
+  float boom_angle_actual_deg = 9; // -180 to 180 degrees
+
   float sheeting_angle_set_deg = 3; // Relative to bow as zero -180 port to 180 starbord in degrees
 
   float sheeting_angle_add_deg = 8; // Relative to bow as zero -180 port to 180 starbord in degrees

messages/subjects.yaml

@@ -71,4 +71,7 @@ flight_controller_telemetry_ahrs:
 flight_controller_telemetry_vibration:
     schema: keelson.experimental.Vibration
 flight_controller_telemetry_battery:
-    schema: keelson.experimental.BatteryStatus
+    schema: keelson.experimental.BatteryStatus
+
+configuration_perception_sensor:
+    schema: keelson.experimental.ConfigurationSensorPerception

requirements_connectors.txt

@@ -3,5 +3,4 @@
 -r connectors/mediamtx/requirements.txt
 -r connectors/mockups/requirements.txt
 -r connectors/opendlv/requirements.txt
--r connectors/ouster/requirements.txt
 -r connectors/rtsp/requirements.txt

sdks/js/package.json

@@ -1,6 +1,6 @@
 {
   "name": "keelson-js",
-  "version": "0.3.5",
+  "version": "0.3.6",
   "description": "",
   "main": "index.js",
   "files": [

sdks/python/setup.py

@@ -19,7 +19,7 @@ def read(fname):
 
 setup(
     name="keelson",
-    version="0.3.5",
+    version="0.3.6",
     license="Apache License 2.0",
     description="A python Software Development Kit for keelson",
     long_description=read("README.md"),
@@ -32,11 +32,11 @@ def read(fname):
     packages=find_namespace_packages(exclude=["tests", "dist", "build"]),
     python_requires=">=3.7",
     install_requires=[
-        "eclipse-zenoh>=0.10.1-rc",
+        "eclipse-zenoh>=0.11.0rc3",
         "protobuf",
         "pyyaml",
         "parse",
-        "zenoh-cli>=0.5.0",
+        # "zenoh-cli>=0.5.0",
     ],
     include_package_data=True,
     package_data={