Replay MOOS-IvP missions recorded under pHelmIvP against the helm library

.github/workflows/record-missions.yml

@@ -0,0 +1,45 @@
+name: Record missions
+
+# Re-records the replay tests' fixtures (src/test/missions/fixtures) under
+# pHelmIvP. Download the "fixtures" artifact and commit it.
+on:
+  workflow_dispatch:
+    inputs:
+      missions:
+        description: "Missions to record, separated by spaces (default: all of missions.txt)"
+        required: false
+        default: ""
+
+defaults:
+  run:
+    shell: bash
+
+env:
+  DEBIAN_FRONTEND: noninteractive
+
+jobs:
+  record:
+    runs-on: ubuntu-24.04
+    container: ubuntu:24.04
+    steps:
+      - name: Install git
+        run: apt-get update && apt-get install -y --no-install-recommends git ca-certificates
+
+      - uses: actions/checkout@v5
+
+      - name: Init
+        run: |
+          git config --global --add safe.directory '*'
+          ./init.sh
+          # all of MOOS-IvP, not just the helm libraries
+          apt-get install -y --no-install-recommends make patch
+
+      - name: Record
+        env:
+          MISSIONS: ${{ inputs.missions }}
+        run: src/test/missions/record.sh ${MISSIONS}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: fixtures
+          path: src/test/missions/fixtures

init.sh

@@ -30,7 +30,8 @@ apt_install() {
 }
 
 # moos-ivp's helm libraries (IVP_BUILD_HELM_LIBS_ONLY) need only CMake and a compiler
-packages=(cmake ninja-build g++ git ca-certificates protobuf-compiler libprotobuf-dev curl gpg)
+# xz-utils: the replay tests' recorded missions are compressed
+packages=(cmake ninja-build g++ git ca-certificates protobuf-compiler libprotobuf-dev curl gpg xz-utils)
 $SUDO apt-get update
 apt_install "${packages[@]}"
 

src/lib/helm/helm.cpp

@@ -48,6 +48,8 @@ struct Value
     bool is_string{false};
     double d{0};
     std::string s;
+    // posted by the helm's "initialize"
+    bool init{false};
 };
 
 Value make_value(const VarDataPair& pair)
@@ -139,6 +141,7 @@ class Helm::Impl
     void start(double time);
 
     // mail
+    void apply_pending(double time);
     void apply(const Navigation& nav, double time);
     void apply(const Command& command, double time);
     void apply_variable(const std::string& var, const Value& value, double msg_time);
@@ -341,37 +344,30 @@ const Output& Helm::Impl::iterate(double time)
     output_ = Output();
     curr_time_ = time;
 
-    // the previous iteration's posts reach the helm first, as they reached the MOOSDB first
+    info_buffer_.setCurrTime(time);
+    ledger_.setCurrTimeUTC(time);
+    if (!started_)
+    {
+        // pHelmIvP posts its "initialize" variables before it registers for
+        // anything, so they replace whatever was posted before it started
+        if (config_warnings_.empty())
+            apply_pending(time);
+        start(time);
+    }
+
+    // The previous iteration's posts (or the startup's) reach the helm first,
+    // as they reached the MOOSDB first
     auto echo = std::move(posted_);
     posted_.clear();
     const double echo_time = posted_time_ == 0 ? time : posted_time_;
     posted_time_ = time;
 
-    if (!started_)
-        start(time);
-
-    info_buffer_.setCurrTime(time);
-    ledger_.setCurrTimeUTC(time);
     if (status_ != Status::MALCONFIG)
     {
         for (const auto& [var, value] : echo)
             if (registered_.count(var))
                 apply_variable(var, value, echo_time);
-        for (const auto& input : pending_)
-        {
-            if (const auto* nav = std::get_if<Navigation>(&input))
-                apply(*nav, time);
-            else if (const auto* var = std::get_if<Variable>(&input))
-            {
-                Value value;
-                value.is_string = var->value_case() == Variable::kSval;
-                value.d = var->dval();
-                value.s = var->sval();
-                apply_variable(var->key(), value, seconds(var->time(), time));
-            }
-            else
-                apply(std::get<Command>(input), time);
-        }
+        apply_pending(time);
         info_buffer_.setValue("COMMS_POLICY", comms_policy_, time);
     }
     pending_.clear();
@@ -434,6 +430,26 @@ const Output& Helm::Impl::iterate(double time)
     return output_;
 }
 
+void Helm::Impl::apply_pending(double time)
+{
+    for (const auto& input : pending_)
+    {
+        if (const auto* nav = std::get_if<Navigation>(&input))
+            apply(*nav, time);
+        else if (const auto* var = std::get_if<Variable>(&input))
+        {
+            Value value;
+            value.is_string = var->value_case() == Variable::kSval;
+            value.d = var->dval();
+            value.s = var->sval();
+            apply_variable(var->key(), value, seconds(var->time(), time));
+        }
+        else
+            apply(std::get<Command>(input), time);
+    }
+    pending_.clear();
+}
+
 void Helm::Impl::apply(const Navigation& nav, double time)
 {
     const auto& n = nav.nav();
@@ -519,14 +535,26 @@ void Helm::Impl::apply(const Command& command, double time)
 // HelmIvP::OnNewMail for one message
 void Helm::Impl::apply_variable(const std::string& var, const Value& value, double msg_time)
 {
+    // pHelmIvP has set the helm's own "initialize" values already, but still
+    // acts on them (e.g. initialize MOOS_MANUAL_OVERRIDE = false)
+    auto store = [&]()
+    {
+        if (value.init)
+            return;
+        if (value.is_string)
+            info_buffer_.setValue(var, value.s, msg_time);
+        else
+            info_buffer_.setValue(var, value.d, msg_time);
+    };
+
     const std::string sval = value.s;
     if (var == "MOOS_MANUAL_OVERRIDE" || var == "MOOS_MANUAL_OVERIDE")
     {
         if (toupper(sval) == "FALSE")
             set_manual_override(false);
         else if (toupper(sval) == "TRUE")
             set_manual_override(true);
-        info_buffer_.setValue(var, sval, msg_time);
+        store();
     }
     // Status is always complete, so there's nothing to rejournal
     else if (var == "IVPHELM_STATE" || var == "DB_CLIENTS" || var == "RESTART_HELM" ||
@@ -548,14 +576,12 @@ void Helm::Impl::apply_variable(const std::string& var, const Value& value, doub
             info_buffer_.setValue(toupper(vname) + "_NAV_GROUP", ledger_.getGroup(vname));
             info_buffer_.setValue(toupper(vname) + "_NAV_TYPE", ledger_.getType(vname));
         }
-        info_buffer_.setValue(var, sval, msg_time);
+        store();
     }
     else if (var == "HELM_MAP_CLEAR")
         refresh_pending_ = true;
-    else if (value.is_string)
-        info_buffer_.setValue(var, sval, msg_time);
     else
-        info_buffer_.setValue(var, value.d, msg_time);
+        store();
 }
 
 void Helm::Impl::set_manual_override(bool on)
@@ -668,8 +694,9 @@ void Helm::Impl::post_initial_variables(bool deferred)
                 info_buffer_.setValue(var, value.s);
             else
                 info_buffer_.setValue(var, value.d);
-            // the MOOSDB echoes these too, but pHelmIvP ignores that echo (HELM_VAR_INIT)
             add_posting(Posting::INITIALIZE, "", var, value);
+            value.init = true;
+            notify(var, value);
         }
     }
 }

src/test/CMakeLists.txt

@@ -5,3 +5,13 @@ add_test(NAME helm_libs COMMAND check_helm_libs)
 add_executable(test_helm helm/test_helm.cpp)
 target_link_libraries(test_helm PRIVATE ivpico_helm)
 add_test(NAME helm COMMAND test_helm)
+
+add_executable(replay missions/replay.cpp)
+target_link_libraries(replay PRIVATE ivpico_helm)
+file(GLOB fixtures LIST_DIRECTORIES true ${CMAKE_CURRENT_SOURCE_DIR}/missions/fixtures/*)
+foreach(fixture ${fixtures})
+  if(IS_DIRECTORY ${fixture})
+    get_filename_component(mission ${fixture} NAME)
+    add_test(NAME replay_${mission} COMMAND replay ${fixture})
+  endif()
+endforeach()

src/test/missions/README.md

@@ -0,0 +1,19 @@
+# Mission replay tests
+
+*This section was written by Claude.*
+
+These tests check that the IvPico helm (`src/lib/helm`) does what pHelmIvP does, using MOOS-IvP's own missions.
+
+```mermaid
+flowchart LR
+  record["record.sh<br/>(all of MOOS-IvP, headless)"] -- "alog, .moos, .bhv" --> fixtures["fixtures/&lt;mission&gt;"]
+  fixtures --> replay["replay<br/>(ctest: replay_&lt;mission&gt;)"]
+  replay -- "same inputs, same iteration times" --> helm["ivpico::helm::Helm"]
+  replay -- "compare" --> report["pass / fail per stream"]
+```
+
+- `missions.txt` lists the missions and the variables poked to start them.
+- `record.sh [mission...]` builds all of MOOS-IvP from `external/moos-ivp` into `build/missions`, runs each mission under pHelmIvP with time warp, and keeps each vehicle's helm inputs and outputs in `fixtures/<mission>`. The "Record missions" workflow runs it on GitHub and uploads the fixtures as an artifact.
+- `replay <fixture>` feeds the recorded inputs to the IvPico helm at pHelmIvP's iteration times and compares what each helm posted. `replay.cpp` describes what's compared and the tolerances.
+
+Re-record the fixtures whenever `external/moos-ivp` moves.

src/test/missions/fixtures/s10_juliet/juliet.bhv

@@ -0,0 +1,91 @@
+//--------    FILE: juliet.bhv   -------------
+
+initialize   DEPLOY   = false
+initialize   RETURN   = false
+initialize   GOTO_DEPTH = false
+
+//========================================================
+// Hierarchical Mode Declarations
+//  o ROOT                     o ROOT
+//  |--o INACTIVE              |--o GOTO_DEPTH
+//  |--o ACTIVE                |--o NOT GOTO_TDEPTH
+//     |--o RETURNING
+//     |--o LOITERING
+//========================================================
+
+
+Set MODE = ACTIVE {
+  DEPLOY = true
+} INACTIVE
+
+set MODE = RETURNING {
+  MODE = ACTIVE
+  RETURN = true
+} LOITERING
+
+//----------------------------------------------
+Behavior = BHV_Loiter
+{
+  name      = loiter
+  pwt       = 100
+  condition = MODE == LOITERING
+  updates   = UP_LOITER
+
+         speed = 1.3
+     clockwise = best
+        radius = 4.0
+     nm_radius = 15.0
+       polygon = radial:: x=20, y=-80, radius=20, pts=8, snap=1, label=juliet_loiter
+  visual_hints = nextpt_color=red, nextpt_lcolor=khaki, edge_color=khaki
+  visual_hints = edge_size=1, vertex_size=4, vertex_color=white
+}
+
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = MODE == RETURNING
+  updates    = UPDATES_RETURN
+  perpetual  = true
+  endflag    = RETURNING = false
+  endflag    = DEPLOY = false
+
+       speed = 2.0
+      radius = 2.0
+   nm_radius = 8.0
+       point = 0,0
+}
+
+//----------------------------------------------
+Behavior = BHV_GoToDepth
+{
+  name        = bhv_go_to_depth
+  pwt         = 1000
+  condition   = MODE == LOITERING
+  condition   = GOTO_DEPTH = true
+  endflag     = GOTO_DEPTH = false
+
+           depth = 40,60:30,45:20,45
+          repeat = 2
+       perpetual = true
+    capture_flag = DEPTH_ACHIEVED
+   capture_delta = 0.5
+}
+
+//----------------------------------------------
+Behavior = BHV_ConstantDepth
+{
+  name      = bhv_const_depth
+  pwt       = 100
+  duration  = no-time-limit
+  condition = MODE==LOITERING
+  condition = GOTO_DEPTH != true
+  updates   = DEPTH_VALUE
+
+        depth = 50
+    peakwidth = 8
+    basewidth = 12
+  summitdelta = 10
+}
+