feat: support Aeva Aeries II #169

mojomex · 2024-06-26T08:17:58Z

PR Type

New Feature

Description

Add support for Aeva Aeries II:

output pointclouds with velocity info
allow for frame sync, scan pattern and FoV setup via the launch config
publish diagnostics (health + telemetry) to /diagnostics

Review Procedure

Code review
Test with sensor
- Pointcloud fields are correct (use rviz2)
- Packets are published when subscribed to when launch_hw:=true, subscribed to when launch_hw:=false
- Diagnostics are correct (use rqt's Plugins->Robot Tools->Runtime Monitor)
Test with PTP configs provided by Aeva

Remarks

This is a fairly minimal implementation for now.

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Commits are properly organized and messages are according to the guideline
(Optional) Unit tests have been written for new behavior
PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

All open points are addressed and tracked via issues or tickets

CI Checks

Build and test for PR: Required to pass before the merge.

mojomex · 2024-07-04T08:27:25Z

🟢 Evaluation

🟢 Pointcloud Output

Pointcloud Field	Image
azimuth
elevation
distance
range rate
intensity
channel
return type*
timestamp**

*: red: strongest, magenta: second strongest. ~~Currently, there is no documented way to get or set the return mode without the proprietary API. Nebula is currently hard-coded for the default configuration.~~ fixed in 7ea9137. Return modes are now correctly handled.
**: clamped to [red, magenta] = [0 ns, 1e8 ns]. Timestamps are loosely proportional to increasing elevation.

🟢 Performance

The pointcloud is published consistently at around 10 Hz:

🟢 Hardware Monitor

Diagnostic	Image
temperature
system info
SPC converter
scanner
health codes***
configuration

***: ⚠️ Currently, the descriptions of health codes are under NDA and cannot be put into Nebula.

🟢 PTP & Synchronization

PTP has been tested with all provided mechanisms (1588v2, gPTP, automotive) and works with all of them using the vendor-provided configurations.

Pointcloud timestamps take around 1-2 min to converge.

Description	Image
PTP started, sensor syncs shortly after
~100s later, timestamp converges to ToS
HW monitor shows converged state
HW monitor shows PTP info

🟢 Error Handling & Recovery

Currently, Nebula does not attempt to recover from communication errors and instead exits, instead of continuing in a possibly corrupted state.
Errors that have been observed:

failing to connect to sensor early after power-on (sensor boots for ~1-2 mins)
~~failing to fetch configuration manifest (timeout)~~ fixed in 7781318 (protocol impl was wrong)
~~receiving unexpected responses after configuration command~~ fixed in 7781318 (protocol impl was wrong)

All of these errors only occur during startup. No crashes / errors were observed during runtime.

🟢 Parameters

All parameters from the sensor's manifest that have more than one possible value have been added to Nebula. No attempt was made to convert them to the common naming scheme used in the other drivers (e.g. return_mode for Aeva is second_peak_type).

Validation:

Parameters are validated by the sensor and rejected by Nebula if the sensor reports them as invalid
Parameters are automatically propagated to the hardware and decoder
Parameter schema allows for auto-complete in config file

mojomex · 2024-07-09T04:38:23Z

@drwnz All issues from yesterday have been addressed and I could not find any bugs or unexpected behavior since. I think this is ready to merge.

nebula_ros/src/aeva/aeva_ros_wrapper.cpp

nebula_ros/src/aeva/hw_monitor_wrapper.cpp

codecov-commenter · 2024-07-23T08:02:57Z

Codecov Report

Attention: Patch coverage is 0.24845% with 803 lines in your changes missing coverage. Please review.

Project coverage is 24.05%. Comparing base (3284357) to head (dfb1a02).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
nebula_ros/src/aeva/aeva_ros_wrapper.cpp	0.00%	167 Missing ⚠️
...nebula_hw_interfaces_aeva/connections/reconfig.hpp	0.00%	101 Missing ⚠️
...ebula_hw_interfaces_aeva/connections/telemetry.hpp	0.00%	78 Missing ⚠️
nebula_ros/src/aeva/hw_monitor_wrapper.cpp	0.00%	77 Missing ⚠️
...nebula_hw_interfaces_aeva/connections/aeva_api.hpp	0.00%	67 Missing ⚠️
...rc/nebula_aeva_hw_interfaces/aeva_hw_interface.cpp	0.00%	49 Missing ⚠️
.../src/nebula_decoders_aeva/aeva_aeries2_decoder.cpp	0.00%	38 Missing ⚠️
...hw_interfaces_common/connections/stream_buffer.hpp	0.00%	23 Missing ⚠️
...common/include/nebula_common/aeva/config_types.hpp	0.00%	17 Missing ⚠️
...bula_hw_interfaces_aeva/connections/pointcloud.hpp	0.00%	17 Missing ⚠️
... and 22 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #169      +/-   ##
==========================================
- Coverage   26.10%   24.05%   -2.05%     
==========================================
  Files         100      125      +25     
  Lines        9218    10012     +794     
  Branches     2215     2309      +94     
==========================================
+ Hits         2406     2408       +2     
- Misses       6423     7215     +792     
  Partials      389      389

Flag	Coverage Δ
differential	`24.05% <0.24%> (?)`
total	`?`

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knzo25 · 2024-09-03T01:15:18Z

nebula_ros/launch/aeva_launch_all_hw.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="sensor_model" description="Aeries2"/>


description or default?

Thanks! Addressed in 3a7898a. Also added support for Aeva in the generic launch file in d7f1c7a.

mojomex · 2024-11-12T08:08:25Z

🟢 Confirmed working with FW 14.0.0 after the latest commits:

drwnz

(quick read through review, will go through in more detail)

docs/point_types.md

nebula_common/CMakeLists.txt

drwnz · 2024-09-09T02:39:44Z

nebula_common/include/nebula_common/aeva/config_types.hpp

+    auto mode_name = util::get_if_exists<std::string>(tree, {"dsp_control", "second_peak_type"});
+
+    if (!mode_name) return {};
+    if (mode_name == "strongest") return ReturnMode::DUAL_STRONGEST_SECONDSTRONGEST;


nit: although no performance benefit in this case, a switch looks nicer (IMO)

C++ doesn't allow switch statements for strings 🥲 I agree though

nebula_common/include/nebula_common/aeva/config_types.hpp

drwnz · 2024-09-09T03:11:25Z

nebula_common/include/nebula_common/aeva/point_types.hpp

+
+POINT_CLOUD_REGISTER_POINT_STRUCT(  // NOLINT
+  nebula::drivers::aeva::PointXYZVIRCAEDT,
+  (float, x,


Yikes is this how pre-commit wanted the line break? :P

Yep, tried to coax it to do it differently but it's stubborn.

nebula_common/include/nebula_common/util/parsing.hpp

nebula_decoders/include/nebula_decoders/nebula_decoders_aeva/aeva_aeries2_decoder.hpp

drwnz · 2024-09-09T03:51:51Z

...a_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_aeva/aeva_hw_interface.hpp

+    const aeva::Aeries2Config & config, const std::shared_ptr<loggers::Logger> & logger)
+  {
+    return std::make_shared<ReconfigParser>(
+      std::make_shared<TcpStream>(config.sensor_ip, 41007),


If it is plausible that the port numbers change with updated sensor models, should these be constexpr in a relevant header file?

Agreed! Addressed in f5bd7fc.

..._hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_aeva/connections/health.hpp

…onents

…, higher timeouts

Co-authored-by: David Wong <[email protected]>

… in FW14 anymore Signed-off-by: Max SCHMELLER <[email protected]>

Signed-off-by: Max SCHMELLER <[email protected]>

… sensor_model in launch file Signed-off-by: Max SCHMELLER <[email protected]>

Signed-off-by: Max SCHMELLER <[email protected]>

mojomex requested a review from drwnz June 26, 2024 08:17

mojomex self-assigned this Jun 26, 2024

mojomex force-pushed the aeva-aries2-support branch 2 times, most recently from a8c9ee5 to 4829c22 Compare June 26, 2024 10:59

mojomex marked this pull request as ready for review June 26, 2024 11:00

mojomex force-pushed the aeva-aries2-support branch from 4829c22 to 282c6aa Compare June 26, 2024 11:15

drwnz reviewed Jul 22, 2024

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nebula_ros/src/aeva/aeva_ros_wrapper.cpp Outdated Show resolved Hide resolved

mojomex commented Jul 22, 2024

View reviewed changes

nebula_ros/src/aeva/hw_monitor_wrapper.cpp Outdated Show resolved Hide resolved

mojomex mentioned this pull request Jul 23, 2024

fix: lower packet loss to near-zero levels #178

Closed

5 tasks

mojomex requested a review from drwnz September 2, 2024 07:42

knzo25 reviewed Sep 3, 2024

View reviewed changes

mojomex force-pushed the aeva-aries2-support branch from b3ffe46 to e2da3f4 Compare September 3, 2024 01:59

mojomex force-pushed the aeva-aries2-support branch from 1a92701 to 9a9bc9f Compare November 12, 2024 07:58

drwnz requested changes Nov 12, 2024

View reviewed changes

mojomex changed the base branch from develop to main November 12, 2024 09:39

mojomex added 11 commits November 18, 2024 17:18

refactor(mt_queue): move to nebula_common

8aad762

refactor(expected): add shorthand value_or_throw function

ea76846

feat(logger): add a generic logger class to be passed to non-ros comp…

e0d253e

…onents

feat(hw_interfaces): light-weight TCP/UDP interfaces with abstractions

a92de96

feat(nebula_common): add nlohmann_json and helper functions

764ee9d

chore(watchdog_timer): clean up watchdog timer

8e03303

chore: make merged changed comply with pre-commit

8dabe35

feat(aeva): add sensor model and type support

a9ff305

feat(aeva): add low-level Aeva TCP protocol support

3dc3cfd

feat(aeva): add parsers for most important data streams

7d89ad2

feat(aeva): add hardware interface

dce426d

mojomex and others added 20 commits November 18, 2024 17:18

fix(aeva): display error codes correctly in monitor

06ad522

chore(aeva): align format with pretty-printing PR

fd0fafc

feat(aeva): support runtime parameter changes

9627a4e

chore(aeva): rename occurrences of aries to aeries

6f501ea

fix(aeva_api): stop thread gracefully

f160714

test(aeva): fix tests

2435994

fix(aeva): allow multiple responses in reconfig stream, thread safety…

1b4cbea

…, higher timeouts

feat(aeva): switch to json config, add many more config options

7091136

chore(aeva): set frame id to nebula

df5d170

feat(aeva): correct handling of the currently active return mode

531f091

chore: accept suggestion to make pointcloud topic namespace local

79041e6

Co-authored-by: David Wong <[email protected]>

chore: remove json_fwd header imports

c31eb7b

chore: move diagnostics topic to local namespace

9d8e419

fix(aeva): increase buffer size for packet replay as drops were observed

47a83f8

fix(aeva): add missing diagnostic_updater dependency in CMakeLists.txt

849f5c0

fix(aeva): delete elevation_auto_adjustment param that is not present…

1a7bef8

… in FW14 anymore Signed-off-by: Max SCHMELLER <[email protected]>

fix(aeva): change referenced function names after merge

9a35729

Signed-off-by: Max SCHMELLER <[email protected]>

docs(aeva): add parameter table akin to tier4#195

a73cf20

Signed-off-by: Max SCHMELLER <[email protected]>

docs(aeva): mention tested firmware version (14.0.0)

fa8a815

Signed-off-by: Max SCHMELLER <[email protected]>

refactor(aeva): implement clang-tidy changes

0cae323

Signed-off-by: Max SCHMELLER <[email protected]>

mojomex force-pushed the aeva-aries2-support branch from 1a6f4bd to 0cae323 Compare November 18, 2024 08:22

mojomex added 8 commits November 18, 2024 17:24

chore(aeva): rename Aeries2 to Aeries II

a382611

Signed-off-by: Max SCHMELLER <[email protected]>

chore(aeva_api): put constants and types to the top of the file

eed7b31

Signed-off-by: Max SCHMELLER <[email protected]>

refactor(aeva): create aeva namespace inside connections namespace

88823d9

Signed-off-by: Max SCHMELLER <[email protected]>

chore(aeva): move hardcoded port numbers to constants

f5bd7fc

Signed-off-by: Max SCHMELLER <[email protected]>

chore(aeva): remove pointer hackery for cleaner code

a132496

Signed-off-by: Max SCHMELLER <[email protected]>

chore(nebula_common): add version requirement for nlohmann_json

d7f1c7a

Signed-off-by: Max SCHMELLER <[email protected]>

chore(aeva): use arg with choices instead of textual descriptions for…

3a7898a

… sensor_model in launch file Signed-off-by: Max SCHMELLER <[email protected]>

feat(nebula_launch): add Aeva sensors to the generic launch file

dfb1a02

Signed-off-by: Max SCHMELLER <[email protected]>

mojomex mentioned this pull request Nov 22, 2024

feat: add a logging interface, dependency injectable loggers #233

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feat: support Aeva Aeries II #169

feat: support Aeva Aeries II #169

mojomex commented Jun 26, 2024

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feat: support Aeva Aeries II #169

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feat: support Aeva Aeries II #169

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mojomex commented Jun 26, 2024

PR Type

Description

Review Procedure

Remarks

Pre-Review Checklist for the PR Author

Checklist for the PR Reviewer

Post-Review Checklist for the PR Author

CI Checks

mojomex commented Jul 4, 2024 • edited Loading

🟢 Evaluation

🟢 Pointcloud Output

🟢 Performance

🟢 Hardware Monitor

🟢 PTP & Synchronization

🟢 Error Handling & Recovery

🟢 Parameters

mojomex commented Jul 9, 2024

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mojomex commented Jul 4, 2024 •

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