Closed-loop Goby runs of MOOS-IvP missions, with goby test

.github/workflows/record-missions.yml

@@ -30,7 +30,7 @@ jobs:
       - name: Init
         run: |
           git config --global --add safe.directory '*'
-          ./init.sh
+          ./init.sh --no-goby
           # all of MOOS-IvP, not just the helm libraries
           apt-get install -y --no-install-recommends make patch
 

CLAUDE.md

@@ -17,3 +17,7 @@ Guidance for Claude when working in this repository.
 - When in doubt leave the documentation unwritten, but provide an outline for the human developers to use to fill out the rest of the document.
 - Prefer figures to text when an idea can be better explained graphically.
 
+## Branches
+
+- Name a feature branch with a short description of the change: `add-goby-test-tool`, `fix-udpm-reassembly`. Name a bug fix branch with the issue it closes after the description: `fix-bad-bug/13`
+

CMakeLists.txt

@@ -11,15 +11,22 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
 
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 
+include(GNUInstallDirs)
+# installed programs find the libraries installed beside them, e.g. in build.sh's build/usr
+set(CMAKE_INSTALL_RPATH "$ORIGIN/../${CMAKE_INSTALL_LIBDIR}")
+
 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)
 
-find_package(GOBY 3.0 COMPONENTS zeromq)
+find_package(GOBY 3.0 COMPONENTS zeromq OPTIONAL_COMPONENTS moos)
 if(NOT GOBY_FOUND)
   message(STATUS "Goby3 not found: not building the Goby app")
+elseif(GOBY_moos_FOUND)
+  # goby_moos links MOOS::MOOS
+  find_package(MOOS 10 QUIET)
 endif()
 
 include(CTest)

README.md

@@ -26,10 +26,10 @@ One way to think of this project is as a generator for the equivalent of the MOO
 
 *This section was written by Claude.*
 
-`init.sh` checks out the submodules and installs the Ubuntu packages needed to build them and IvPico. These include Goby3 from [packages.gobysoft.org](http://packages.gobysoft.org), for the Goby app; without Goby3, `build.sh` skips the Goby app. `build.sh` then builds, all in `build/`:
+`init.sh` checks out the submodules and installs the Ubuntu packages needed to build them and IvPico. These include Goby3, for the Goby app, adding [packages.gobysoft.org](http://packages.gobysoft.org)'s continuous builds if apt doesn't already have it; `init.sh --no-goby` leaves Goby3 out, and `build.sh` then skips the Goby app. `build.sh` then builds, all in `build/`, and installs each into `build/usr`:
 
 - openocean-messages, into `build/external/openocean-messages`;
-- MOOS-IvP's helm libraries (`IVP_BUILD_HELM_LIBS_ONLY`, as shared libraries, without MOOS or its apps), into `build/external/moos-ivp`, installed into `build/external/install` for `find_package(IVP)`;
+- MOOS-IvP's helm libraries (`IVP_BUILD_HELM_LIBS_ONLY`, as shared libraries, without MOOS or its apps), into `build/external/moos-ivp`, installed first so that IvPico can `find_package(IVP)`;
 - IvPico, against both.
 
 ```
@@ -38,7 +38,7 @@ One way to think of this project is as a generator for the equivalent of the MOO
 ctest --test-dir build
 ```
 
-`build.sh` passes any arguments on to IvPico's CMake, and `BUILD_DIR` overrides the build directory.
+`build.sh` passes any arguments on to IvPico's CMake, and `BUILD_DIR` overrides the build directory. Add `build/usr/bin` to your `PATH` to run the installed apps.
 
 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`.
 
@@ -48,15 +48,5 @@ To update a submodule, check out the commit you want in it and commit the new po
 
 `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.
+`launch/goby/alpha` runs the alpha mission against Goby's basic frontseat simulator, with OpenCPN as a chart display: see its [README](launch/goby/alpha/README.md).
 

build.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 # Builds the dependencies from their submodules (openocean-messages, and MOOS-IvP's helm libraries),
-# then IvPico against them, all in BUILD_DIR (default build). Arguments are passed on to IvPico's
-# cmake.
+# then IvPico against them, all in BUILD_DIR (default build), and installs them all into
+# BUILD_DIR/usr (e.g. add build/usr/bin to PATH). Arguments are passed on to IvPico's cmake.
 set -euo pipefail
 
 cd "$(dirname "$0")"
@@ -14,21 +14,24 @@ done
 BUILD_DIR=$(realpath -m "${BUILD_DIR:-build}")
 OPENOCEAN_BUILD_DIR=${BUILD_DIR}/external/openocean-messages
 IVP_BUILD_DIR=${BUILD_DIR}/external/moos-ivp
-# find_package(IVP) only works from an installation
-IVP_INSTALL_DIR=${BUILD_DIR}/external/install
+PREFIX=${BUILD_DIR}/usr
 
 BUILD_DIR=${OPENOCEAN_BUILD_DIR} external/openocean-messages/build.sh -DBUILD_TESTING=OFF
+cmake --install "${OPENOCEAN_BUILD_DIR}" --prefix "${PREFIX}" > /dev/null
 
 cmake -S external/moos-ivp/ivp/src -B "${IVP_BUILD_DIR}" -G Ninja \
     -DIVP_BUILD_HELM_LIBS_ONLY=ON -DBUILD_SHARED_LIBS=ON \
     -DIVP_LIB_DIRECTORY="${IVP_BUILD_DIR}/lib" \
     -DIVP_INC_DIRECTORY="${IVP_BUILD_DIR}/include" \
     -DIVP_BIN_DIRECTORY="${IVP_BUILD_DIR}/bin"
 ninja -C "${IVP_BUILD_DIR}"
-cmake --install "${IVP_BUILD_DIR}" --prefix "${IVP_INSTALL_DIR}" > /dev/null
+# find_package(IVP) only works from an installation
+cmake --install "${IVP_BUILD_DIR}" --prefix "${PREFIX}" > /dev/null
 
 cmake -S . -B "${BUILD_DIR}" -G Ninja \
     -Dopenocean_messages_DIR="${OPENOCEAN_BUILD_DIR}" \
-    -DIVP_DIR="${IVP_INSTALL_DIR}/lib/cmake/IVP" \
+    -DIVP_DIR="${PREFIX}/lib/cmake/IVP" \
+    -DCMAKE_INSTALL_PREFIX="${PREFIX}" \
     "$@"
 ninja -C "${BUILD_DIR}"
+cmake --install "${BUILD_DIR}" > /dev/null

init.sh

@@ -1,22 +1,28 @@
 #!/usr/bin/env bash
 # Checks out the submodules and installs the Ubuntu packages needed to build them and IvPico.
 #
-# Usage: init.sh
+# Usage: init.sh [--no-goby]
+#   --no-goby  don't install Goby3 (build.sh then skips the Goby app)
 set -euo pipefail
 
 cd "$(dirname "$0")"
 
-case "${1:-}" in
-    "") ;;
-    -h | --help)
-        sed -n '4p' "$0" | sed 's/^# //'
-        exit 0
-        ;;
-    *)
-        sed -n '4p' "$0" | sed 's/^# //' >&2
-        exit 1
-        ;;
-esac
+usage() { sed -n '4,5p' "$0" | sed 's/^# //'; }
+
+goby=true
+for arg in "$@"; do
+    case "${arg}" in
+        --no-goby) goby=false ;;
+        -h | --help)
+            usage
+            exit 0
+            ;;
+        *)
+            usage >&2
+            exit 1
+            ;;
+    esac
+done
 
 git submodule update --init --recommend-shallow
 
@@ -31,22 +37,32 @@ apt_install() {
 
 # moos-ivp's helm libraries (IVP_BUILD_HELM_LIBS_ONLY) need only CMake and a compiler
 # 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)
+packages=(cmake ninja-build g++ git ca-certificates protobuf-compiler libprotobuf-dev xz-utils)
 $SUDO apt-get update
 apt_install "${packages[@]}"
 
-# Goby3, for src/bin/goby, from packages.gobysoft.org
-keyring=/usr/share/keyrings/gobysoft-archive-keyring.gpg
-if [ ! -f "${keyring}" ]; then
-    curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0x19478082E2F8D3FE" |
-        gpg --dearmor | $SUDO tee "${keyring}" > /dev/null
+if ${goby}; then
+    # Goby3, for src/bin/goby. If apt doesn't have it yet, add packages.gobysoft.org's
+    # continuous builds, which have 'goby test' (newer than 3.6.1)
+    goby_policy=$(apt-cache policy libgoby3-dev)
+    if ! grep -q "Candidate: [^(]" <<< "${goby_policy}"; then
+        apt_install curl gpg
+        keyring=/usr/share/keyrings/gobysoft-archive-keyring.gpg
+        if [ ! -f "${keyring}" ]; then
+            curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0x19478082E2F8D3FE" |
+                gpg --dearmor | $SUDO tee "${keyring}" > /dev/null
+        fi
+        . /etc/os-release
+        echo "deb [signed-by=${keyring}] http://packages.gobysoft.org/${ID}/continuous/ ${VERSION_CODENAME}/" |
+            $SUDO tee /etc/apt/sources.list.d/gobysoft_continuous.list > /dev/null
+        $SUDO apt-get update
+    fi
+    # libgoby3-dev only recommends these, but goby's CMake package links libais.so,
+    # and goby_add_app() runs protoc-gen-dccl
+    apt_install libgoby3-dev goby3-apps libais-dev dccl5-compiler
+    # pMarineViewer for the Goby launches (viewer.launch), through goby_moos_gateway;
+    # MOOS-IvP's apps need libmoos-ivp but don't depend on it
+    apt_install libgoby3-moos-dev goby3-moos moosdb10 moos-ivp-apps moos-ivp-gui libmoos-ivp
 fi
-. /etc/os-release
-echo "deb [signed-by=${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
-# 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/README.md

@@ -0,0 +1,65 @@
+# alpha
+
+*This section was written by Claude.*
+
+MOOS-IvP's alpha mission (a survey, then a return) with `goby_helm_ivp` driving Goby's basic frontseat simulator, at time warp 10.
+
+```mermaid
+flowchart LR
+  helm["goby_helm_ivp"] -- "DesiredCourse" --> fs["goby_frontseat_interface"]
+  fs <--> sim["goby_basic_frontseat_simulator"]
+  fs -- "NodeStatus" --> helm
+  fs -- "NodeStatus" --> ocpn["goby_opencpn_interface"]
+  ocpn -- "AIS, TCP 54000" --> opencpn["OpenCPN"]
+  fs -- "NodeStatus" --> gw["goby_moos_gateway"]
+  helm -- "Posting, Status" --> gw
+  gw -- "buttons (Variable)" --> helm
+  subgraph moos["MOOS (viewer.launch)"]
+    gw <--> db["MOOSDB"] <--> pnr["pNodeReporter"]
+    db <--> pmv["pMarineViewer"]
+  end
+```
+
+## Running
+
+From the top of IvPico, after `./build.sh`:
+
+```
+export PATH=$PWD/build/usr/bin:$PATH
+export GOBY_TOOL_LOAD_SHARED_LIBRARY=$PWD/build/usr/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.
+
+As in MOOS-IvP's alpha, the helm parks when the survey is done (pHelmIvP's `park_on_allstop`); deploy again to return.
+
+## Viewing in pMarineViewer
+
+`viewer.launch` shows the vehicle in pMarineViewer as in MOOS-IvP's alpha mission, with its buttons (DEPLOY, RETURN, ...) working. Start it after `alpha.launch`:
+
+```
+goby_launch viewer.launch
+```
+
+It runs a MOOS community (`alpha.moos`), which `goby_moos_gateway` with IvPico's plugin (`src/bin/goby/moos_gateway`) gives what pHelmIvP and its navigation would post: `NAV_*`, the helm's postings (`VIEW_*`, `WPT_STAT`, ...) and `IVPHELM_*`. The MOOS variables listed in `config/moos_gateway.pb.cfg` go back to the helm as `Variable`s.
+
+## Changing the datum and time warp
+
+```
+./set_datum_warp.sh --datum 42.358456 -71.087589 --warp 5
+```
+
+sets them in every configuration (and `alpha.moos`), starts the vehicle at the datum, and chooses the MOOS-IvP image covering it for pMarineViewer. With no options it prints the current settings.
+
+## Viewing in OpenCPN
+
+`goby_opencpn_interface` serves the vehicle's position as AIS on TCP port 54000 (`config/opencpn.pb.cfg`).
+
+1. Install OpenCPN: `sudo add-apt-repository ppa:opencpn/opencpn && sudo apt install opencpn`.
+2. In Options: Connections, add a Network connection: TCP, address 127.0.0.1, port 54000.
+3. The vehicle appears as an AIS target near 43.825 N, 70.330 W. Charts are optional (Options: Charts: Chart Downloader).
+
+See Goby's [visualization interfaces](https://github.com/GobySoft/goby3/blob/3.0/src/doc/markdown/doc507_goby_viz.md) for more.

launch/goby/alpha/alpha.launch

@@ -7,5 +7,7 @@
 gobyd config/gobyd.pb.cfg
 goby_frontseat_interface_basic_simulator config/frontseat.pb.cfg
 goby_helm_ivp config/helm_ivp.pb.cfg
+# the vehicle as an AIS target for OpenCPN (see README.md)
+goby_opencpn_interface config/opencpn.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/alpha.moos

@@ -0,0 +1,87 @@
+// pMarineViewer for the Goby alpha mission (viewer.launch), as in MOOS-IvP's
+// s1_alpha mission. goby_moos_gateway posts NAV_*, the helm's postings and
+// IVPHELM_* here, and gives pMarineViewer's buttons back to goby_helm_ivp.
+
+ServerHost = localhost
+ServerPort = 9000
+Community  = alpha
+
+MOOSTimeWarp = 10
+
+LatOrigin  = 43.825300
+LongOrigin = -70.330400
+
+ProcessConfig = pNodeReporter
+{
+  AppTick    = 2
+  CommsTick	 = 2
+
+  platform_type   = kayak
+  platform_color  = yellow
+  platform_length = 4
+}
+
+ProcessConfig = pMarineViewer
+{
+  AppTick    = 4
+  CommsTick  = 4
+
+  tiff_file            = forrest19.tif
+	//tiff_file            = MIT_SP.tif
+
+  set_pan_x            = -90
+  set_pan_y            = -280
+  zoom                 = 0.65
+  vehicle_shape_scale  = 1.5
+  hash_delta           = 50
+  hash_shade           = 0.22
+  hash_viewable        = true
+
+  trails_point_size   = 1
+
+	//op_vertex = x=-83, y=-47,    lwidth=1,lcolor=yellow,looped=true,group=moa
+  //op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
+  //op_vertex = x=94.6, y=-62.2,   lwidth=1,lcolor=yellow,looped=true,group=moa
+  //op_vertex = x=58,   y=20,    lwidth=1,lcolor=yellow,looped=true,group=moa
+
+  // Appcast configuration
+  appcast_height       = 75
+  appcast_width        = 30
+  appcast_viewable     = true
+  appcast_color_scheme = indigo
+  nodes_font_size      = xlarge
+  procs_font_size      = xlarge
+  appcast_font_size    = large
+
+  // datum_viewable = true
+  // datum_size     = 18
+  // gui_size = small
+
+  // left_context[survey-point] = DEPLOY=true
+  // left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
+  // left_context[survey-point] = RETURN=false
+
+  right_context[return] = DEPLOY=true
+  right_context[return] = MOOS_MANUAL_OVERRIDE=false
+  right_context[return] = RETURN=false
+
+  scope  = SUMMARY
+  scope  = RETURN
+  scope  = WPT_STAT
+  scope  = VIEW_SEGLIST
+  scope  = VIEW_POINT
+  scope  = VIEW_POLYGON
+  scope  = MVIEWER_LCLICK
+  scope  = MVIEWER_RCLICK
+
+  button_one = DEPLOY # DEPLOY=true
+  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
+  button_two = RETURN # RETURN=true
+  button_three = SLOWER # WPT_UPDATE=speed=1.5
+  button_four = FASTER # WPT_UPDATE=speed=3.5
+
+  action  = MENU_KEY=deploy # DEPLOY = true # RETURN = false
+  action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
+  action  = RETURN=true
+  action  = UPDATES_RETURN=speed=1.4
+}