Add goby_helm_ivp, the Goby3 app for the helm library

CMakeLists.txt

@@ -11,6 +11,9 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
 
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 
+find_package(Protobuf REQUIRED)
+find_package(openocean_messages 0.1 REQUIRED COMPONENTS cpp)
+
 # MOOS-IvP's helm libraries (IVP_BUILD_HELM_LIBS_ONLY)
 find_package(IVP CONFIG REQUIRED)
 

README.md

@@ -12,9 +12,12 @@ One way to think of this project is as a generator for the equivalent of the MOO
 - src: Source code
   - lib: Library source
     - interface: Interface messages (Protobuf)
+    - helm: The helm, pHelmIvP without MOOS (`ivpico::helm::Helm`)
   - bin: Binary source
-    - goby: Goby middleware app
+    - goby: Goby middleware app (`goby_helm_ivp`)
     - ros: ROS middleware node
+  - test: Tests, including replays of MOOS-IvP missions (`test/missions`)
+- launch: Example missions
 - external: Submodules
   - openocean-messages: [openocean-messages](https://github.com/openocean-software/openocean-messages), for the `Navigation` and `ControlSetpoint` messages
   - moos-ivp: [MOOS-IvP](https://github.com/GobySoft/moos-ivp), for the IvP solver and behaviors
@@ -38,3 +41,22 @@ ctest --test-dir build
 `build.sh` passes any arguments on to IvPico's CMake, and `BUILD_DIR` overrides the build directory.
 
 To update a submodule, check out the commit you want in it and commit the new pointer, e.g. `git -C external/openocean-messages pull origin main && git add external/openocean-messages`.
+
+## Goby app
+
+*This section was written by Claude.*
+
+`goby_helm_ivp` runs the helm in Goby3. It publishes and subscribes the `ivp.interface` messages on the `ivpico::helm::*` groups (`src/bin/goby/groups.h`), and can stand in for the MOOS helm behind `goby_frontseat_interface` (`frontseat { enable: true }`). `goby_helm_ivp -e` prints an example configuration.
+
+To run the alpha mission against Goby's basic frontseat simulator:
+
+```
+export PATH=$PWD/build/src/bin/goby/helm_ivp:$PATH
+export GOBY_TOOL_LOAD_SHARED_LIBRARY=$PWD/build/src/lib/libivpico_interface.so
+cd launch/goby/alpha
+goby_launch alpha.launch
+./deploy.sh
+```
+
+`deploy.sh` publishes DEPLOY=true and lifts the manual override with `goby zeromq publish`, which can publish any other `Variable` or `Command` the same way.
+

init.sh

@@ -45,6 +45,8 @@ fi
 echo "deb [signed-by=${keyring}] http://packages.gobysoft.org/${ID}/release/ ${VERSION_CODENAME}/" |
     $SUDO tee /etc/apt/sources.list.d/gobysoft_release.list > /dev/null
 $SUDO apt-get update
-apt_install libgoby3-dev goby3-apps
+# libgoby3-dev only recommends these, but goby's CMake package links libais.so,
+# and goby_add_app() runs protoc-gen-dccl
+apt_install libgoby3-dev goby3-apps libais-dev dccl5-compiler
 
 external/openocean-messages/init.sh --cxx

launch/goby/alpha/alpha.launch

@@ -0,0 +1,11 @@
+#!/usr/bin/env goby_launch
+
+# start the simulator
+[kill=SIGTERM] goby_basic_frontseat_simulator 54321
+
+# start the Goby processes
+gobyd config/gobyd.pb.cfg
+goby_frontseat_interface_basic_simulator config/frontseat.pb.cfg
+goby_helm_ivp config/helm_ivp.pb.cfg
+# goby_liaison (from the goby3-gui package) shows and publishes messages at http://localhost:50001
+# goby_liaison config/liaison.pb.cfg

launch/goby/alpha/config/alpha.bhv

@@ -0,0 +1,74 @@
+//--------    FILE: alpha.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{ 
+  name      = waypt_survey
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  endflag   = RETURN = true
+
+  updates    = WPT_UPDATE
+  perpetual  = true
+
+                lead = 8
+         lead_damper = 1
+       lead_to_start = true
+               speed = 12   // meters per second
+        capture_line = true
+      capture_radius = 5.0
+         slip_radius = 15.0
+	efficiency_measure = all
+
+             polygon = 60,-40 : 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
+
+               order = normal
+             repeat  = 1
+
+    visual_hints = nextpt_color=yellow
+    visual_hints = nextpt_vertex_size=8
+    visual_hints = nextpt_lcolor=gray70
+    visual_hints = vertex_color=dodger_blue, edge_color=white
+    visual_hints = vertex_size=5, edge_size=1
+}
+
+//----------------------------------------------
+Behavior=BHV_Waypoint
+{
+  name       = waypt_return
+  pwt        = 100
+  condition  = RETURN = true
+  condition  = DEPLOY = true
+  perpetual  = true
+  updates    = RETURN_UPDATE
+  endflag    = RETURN = false
+  endflag    = DEPLOY = false
+  endflag    = MISSION = complete
+
+           speed = 2.0
+  capture_radius = 2.0
+     slip_radius = 8.0
+          points = 0,-20
+ }
+
+//----------------------------------------------
+Behavior=BHV_ConstantSpeed
+{
+  name       = const_speed
+  pwt        = 200
+  condition  = SPD=true
+  condition  = DEPLOY = true
+  perpetual  = true
+  updates    = SPEED_UPDATE
+  endflag    = SPD = false
+
+     speed = 0.5
+		 duration = 10
+		 duration_reset = CONST_SPD_RESET=true
+
+}
+

launch/goby/alpha/config/frontseat.pb.cfg

@@ -0,0 +1,39 @@
+app {
+  geodesy {
+    lat_origin: 43.825300
+    lon_origin: -70.330400
+  }
+  simulation {
+    time {
+      use_sim_time: true
+      warp_factor: 10
+    }
+  }
+}
+
+interprocess {
+    platform: "frontseat_sim_example"
+}
+
+frontseat_cfg {
+  require_helm: true
+  helm_running_timeout: 10
+  frontseat_connected_timeout: 10
+  status_period: 5
+  exit_on_error: false
+  [goby.middleware.frontseat.protobuf.basic_simulator_config] {
+    tcp_address: "127.0.0.1"
+    tcp_port: 54321
+    start {
+      lat: 43.825 # deg
+      lon: -70.330 # deg
+      duration: 0 # 0 == no timeout, otherwise timeout in seconds
+      control_freq: 10 # Hz
+      vehicle {
+          accel: 1.0 # m/s^2
+          hdg_rate:  50 # deg/s
+          z_rate: 2 # m/s
+      }
+    }
+  }
+}

launch/goby/alpha/config/gobyd.pb.cfg

@@ -0,0 +1,12 @@
+app {
+  simulation {
+    time {
+      use_sim_time: true
+      warp_factor: 10
+    }
+  }
+}
+
+interprocess {
+    platform: "frontseat_sim_example"
+}

launch/goby/alpha/config/helm_ivp.pb.cfg

@@ -0,0 +1,26 @@
+app {
+  geodesy {
+    lat_origin: 43.825300
+    lon_origin: -70.330400
+  }
+  simulation {
+    time {
+      use_sim_time: true
+      warp_factor: 10
+    }
+  }
+}
+
+interprocess {
+    platform: "frontseat_sim_example"
+}
+
+helm {
+  behavior_file: "config/alpha.bhv"
+  domain { name: "course" low: 0 high: 359 points: 360 }
+  domain { name: "speed" low: 0 high: 4 points: 41 }
+}
+
+frontseat {
+  enable: true
+}

launch/goby/alpha/config/liaison.pb.cfg

@@ -0,0 +1,20 @@
+app {
+  simulation {
+    time {
+      use_sim_time: true
+      warp_factor: 10
+    }
+  }
+}
+
+interprocess {
+    platform: "frontseat_sim_example"
+}
+
+http_address: "localhost"
+http_port: 50001
+pb_commander_config {
+  sqlite3_database: "/tmp/liaison_commander_autosave.db"
+}
+pb_scope_config {
+}

launch/goby/alpha/deploy.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+# Deploys the vehicle: DEPLOY=true for the behaviors, and lifts the manual override.
+set -euo pipefail
+
+export GOBY_INTERPROCESS='platform: "frontseat_sim_example"'
+export GOBY_TOOL_LOAD_SHARED_LIBRARY=${GOBY_TOOL_LOAD_SHARED_LIBRARY:-libivpico_interface.so}
+
+goby zeromq publish ivpico::helm::variable PROTOBUF/ivp.interface.Variable 'key: "DEPLOY" sval: "true"'
+goby zeromq publish ivpico::helm::command PROTOBUF/ivp.interface.Command 'manual_override: false'

src/bin/goby/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(helm_ivp)

src/bin/goby/groups.h

@@ -0,0 +1,29 @@
+#ifndef IVPICO_GOBY_GROUPS_H
+#define IVPICO_GOBY_GROUPS_H
+
+#include <goby/middleware/group.h>
+
+namespace ivpico
+{
+namespace goby
+{
+namespace groups
+{
+constexpr ::goby::middleware::Group navigation{"ivpico::helm::navigation"};
+constexpr ::goby::middleware::Group variable{"ivpico::helm::variable"};
+constexpr ::goby::middleware::Group command{"ivpico::helm::command"};
+
+constexpr ::goby::middleware::Group solution{"ivpico::helm::solution"};
+constexpr ::goby::middleware::Group posting{"ivpico::helm::posting"};
+constexpr ::goby::middleware::Group status{"ivpico::helm::status"};
+constexpr ::goby::middleware::Group behavior_event{"ivpico::helm::behavior_event"};
+constexpr ::goby::middleware::Group visualization{"ivpico::helm::visualization"};
+constexpr ::goby::middleware::Group offboard_message{"ivpico::helm::offboard_message"};
+constexpr ::goby::middleware::Group life_event{"ivpico::helm::life_event"};
+constexpr ::goby::middleware::Group objective_function{"ivpico::helm::objective_function"};
+constexpr ::goby::middleware::Group configuration{"ivpico::helm::configuration"};
+} // namespace groups
+} // namespace goby
+} // namespace ivpico
+
+#endif

src/bin/goby/helm_ivp/CMakeLists.txt

@@ -0,0 +1,7 @@
+goby_add_app(TARGET goby_helm_ivp
+  SOURCES helm_ivp.cpp
+  PROTOS helm_ivp_config.proto
+  PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/proto
+  PROTO_IMPORT_DIRS ${PROJECT_SOURCE_DIR}/src/lib ${openocean_messages_PROTO_DIR}
+  LINK_LIBRARIES goby_zeromq ivpico_helm)
+target_include_directories(goby_helm_ivp PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)