From 4ef2b072ee716f3cd90ec9714f85e6760008bf8c Mon Sep 17 00:00:00 2001 From: Cameron Brown Date: Sat, 7 Oct 2023 22:46:02 -0400 Subject: [PATCH] Fix small axros bug, move vrx classifier to start first in launch file, fix heisenbug in mission runner --- .../launch/vrx/vrx_master.launch | 2 +- .../navigator_missions/vrx_missions/vrx.py | 144 +++++++++--------- mil_common/axros | 2 +- mil_common/mil_missions/nodes/mission_server | 4 + 4 files changed, 77 insertions(+), 75 deletions(-) diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch index 944df5bfa..377f824de 100644 --- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch +++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch @@ -7,6 +7,7 @@ + @@ -30,5 +31,4 @@ - diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py index d629df644..91514c01d 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py @@ -29,145 +29,143 @@ class Vrx(NaviGatorMission): nh: NodeHandle - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - - @staticmethod - async def init(): - if hasattr(Vrx, "_vrx_init"): + @classmethod + async def setup(cls): + if hasattr(cls, "_cls_init"): return - Vrx.from_lla = Vrx.nh.get_service_client("/fromLL", FromLL) - Vrx.to_lla = Vrx.nh.get_service_client("/toLL", ToLL) - Vrx.task_info_sub = Vrx.nh.subscribe("/vrx/task/info", Task) - await Vrx.task_info_sub.setup() - Vrx.scan_dock_color_sequence = Vrx.nh.get_service_client( + cls.from_lla = cls.nh.get_service_client("/fromLL", FromLL) + cls.to_lla = cls.nh.get_service_client("/toLL", ToLL) + cls.task_info_sub = cls.nh.subscribe("/vrx/task/info", Task) + cls.scan_dock_color_sequence = cls.nh.get_service_client( "/vrx/scan_dock_deliver/color_sequence", ColorSequence, ) - Vrx.fire_ball = Vrx.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty) - Vrx.station_keep_goal = Vrx.nh.subscribe( + cls.fire_ball = cls.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty) + cls.station_keep_goal = cls.nh.subscribe( "/vrx/station_keeping/goal", GeoPoseStamped, ) - Vrx.wayfinding_path_sub = Vrx.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath) - Vrx.station_keeping_pose_error = Vrx.nh.subscribe( + cls.wayfinding_path_sub = cls.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath) + cls.station_keeping_pose_error = cls.nh.subscribe( "/vrx/station_keeping/pose_error", Float64, ) - Vrx.station_keeping_rms_error = Vrx.nh.subscribe( + cls.station_keeping_rms_error = cls.nh.subscribe( "/vrx/station_keeping/rms_error", Float64, ) - Vrx.wayfinding_min_errors = Vrx.nh.subscribe( + cls.wayfinding_min_errors = cls.nh.subscribe( "/vrx/wayfinding/min_errors", Float64MultiArray, ) - Vrx.wayfinding_mean_error = Vrx.nh.subscribe( + cls.wayfinding_mean_error = cls.nh.subscribe( "/vrx/wayfinding/mean_error", Float64, ) - Vrx.perception_landmark = Vrx.nh.advertise( + cls.perception_landmark = cls.nh.advertise( "/vrx/perception/landmark", GeoPoseStamped, ) await asyncio.gather( - Vrx.fire_ball.setup(), - Vrx.station_keep_goal.setup(), - Vrx.wayfinding_path_sub.setup(), - Vrx.station_keeping_pose_error.setup(), - Vrx.station_keeping_rms_error.setup(), - Vrx.wayfinding_min_errors.setup(), - Vrx.wayfinding_mean_error.setup(), - Vrx.perception_landmark.setup(), + cls.task_info_sub.setup(), + cls.fire_ball.setup(), + cls.station_keep_goal.setup(), + cls.wayfinding_path_sub.setup(), + cls.station_keeping_pose_error.setup(), + cls.station_keeping_rms_error.setup(), + cls.wayfinding_min_errors.setup(), + cls.wayfinding_mean_error.setup(), + cls.perception_landmark.setup(), ) - Vrx.animal_landmarks = Vrx.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath) - Vrx.beacon_landmark = Vrx.nh.get_service_client("beaconLocator", AcousticBeacon) - Vrx.circle_animal = Vrx.nh.get_service_client("/choose_animal", ChooseAnimal) - Vrx.set_long_waypoint = Vrx.nh.get_service_client( + cls.animal_landmarks = cls.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath) + cls.beacon_landmark = cls.nh.get_service_client("beaconLocator", AcousticBeacon) + cls.circle_animal = cls.nh.get_service_client("/choose_animal", ChooseAnimal) + cls.set_long_waypoint = cls.nh.get_service_client( "/set_long_waypoint", MoveToWaypoint, ) - Vrx.yolo_objects = Vrx.nh.subscribe("/yolov7/detections", Detection2DArray) - Vrx.tf_listener = axros_tf.TransformListener(Vrx.nh) - await Vrx.tf_listener.setup() - Vrx.database_response = Vrx.nh.get_service_client( + cls.yolo_objects = cls.nh.subscribe("/yolov7/detections", Detection2DArray) + cls.tf_listener = axros_tf.TransformListener(cls.nh) + await cls.tf_listener.setup() + cls.database_response = cls.nh.get_service_client( "/database/requests", ObjectDBQuery, ) - Vrx.get_two_closest_cones = Vrx.nh.get_service_client( + cls.get_two_closest_cones = cls.nh.get_service_client( "/get_two_closest_cones", TwoClosestCones, ) await asyncio.gather( - Vrx.animal_landmarks.setup(), - Vrx.yolo_objects.setup(), + cls.animal_landmarks.setup(), + cls.yolo_objects.setup(), ) - Vrx.pcodar_reset = Vrx.nh.get_service_client("/pcodar/reset", Trigger) + cls.pcodar_reset = cls.nh.get_service_client("/pcodar/reset", Trigger) - Vrx.front_left_camera_info_sub = None - Vrx.front_left_camera_sub = None - Vrx.front_right_camera_info_sub = None - Vrx.front_right_camera_sub = None + cls.front_left_camera_info_sub = None + cls.front_left_camera_sub = None + cls.front_right_camera_info_sub = None + cls.front_right_camera_sub = None - Vrx._vrx_init = True + cls._cls_init = True - @staticmethod - async def shutdown(): + @classmethod + async def shutdown(cls): + return await asyncio.gather( - Vrx.task_info_sub.shutdown(), - Vrx.animal_landmarks.shutdown(), - Vrx.yolo_objects.shutdown(), - Vrx.fire_ball.shutdown(), - Vrx.station_keep_goal.shutdown(), - Vrx.wayfinding_path_sub.shutdown(), - Vrx.station_keeping_pose_error.shutdown(), - Vrx.station_keeping_rms_error.shutdown(), - Vrx.wayfinding_min_errors.shutdown(), - Vrx.wayfinding_mean_error.shutdown(), - Vrx.perception_landmark.shutdown(), + cls.task_info_sub.shutdown(), + cls.animal_landmarks.shutdown(), + cls.yolo_objects.shutdown(), + cls.fire_ball.shutdown(), + cls.station_keep_goal.shutdown(), + cls.wayfinding_path_sub.shutdown(), + cls.station_keeping_pose_error.shutdown(), + cls.station_keeping_rms_error.shutdown(), + cls.wayfinding_min_errors.shutdown(), + cls.wayfinding_mean_error.shutdown(), + cls.perception_landmark.shutdown(), ) def cleanup(self): pass - @staticmethod - async def init_front_left_camera(): - if Vrx.front_left_camera_sub is None: - Vrx.front_left_camera_sub = Vrx.nh.subscribe( + @classmethod + async def init_front_left_camera(cls): + if cls.front_left_camera_sub is None: + cls.front_left_camera_sub = cls.nh.subscribe( "/wamv/sensors/cameras/front_left_camera/image_raw", Image, ) - if Vrx.front_left_camera_info_sub is None: - Vrx.front_left_camera_info_sub = Vrx.nh.subscribe( + if cls.front_left_camera_info_sub is None: + cls.front_left_camera_info_sub = cls.nh.subscribe( "/wamv/sensors/cameras/front_left_camera/camera_info", CameraInfo, ) await asyncio.gather( - Vrx.front_left_camera_sub.setup(), - Vrx.front_left_camera_info_sub.setup(), + cls.front_left_camera_sub.setup(), + cls.front_left_camera_info_sub.setup(), ) - @staticmethod - async def init_front_right_camera(): - if Vrx.front_right_camera_sub is None: - Vrx.front_right_camera_sub = Vrx.nh.subscribe( + @classmethod + async def init_front_right_camera(cls): + if cls.front_right_camera_sub is None: + cls.front_right_camera_sub = cls.nh.subscribe( "/wamv/sensors/cameras/front_right_camera/image_raw", Image, ) - if Vrx.front_right_camera_info_sub is None: - Vrx.front_right_camera_info_sub = Vrx.nh.subscribe( + if cls.front_right_camera_info_sub is None: + cls.front_right_camera_info_sub = cls.nh.subscribe( "/wamv/sensors/cameras/front_right_camera/camera_info", CameraInfo, ) await asyncio.gather( - Vrx.front_right_camera_sub.setup(), - Vrx.front_right_camera_info_sub.setup(), + cls.front_right_camera_sub.setup(), + cls.front_right_camera_info_sub.setup(), ) async def geo_pose_to_enu_pose(self, geo): diff --git a/mil_common/axros b/mil_common/axros index 1b0399935..a4951d333 160000 --- a/mil_common/axros +++ b/mil_common/axros @@ -1 +1 @@ -Subproject commit 1b03999351fb5a61b202ff125f493229c2a1676b +Subproject commit a4951d33356c349856532ddef5c97c6ec6810c28 diff --git a/mil_common/mil_missions/nodes/mission_server b/mil_common/mil_missions/nodes/mission_server index 3548d0b58..0009b8b8e 100755 --- a/mil_common/mil_missions/nodes/mission_server +++ b/mil_common/mil_missions/nodes/mission_server @@ -29,8 +29,10 @@ class MissionRunner: missions_loaded: bool base_mission: type[BaseMission] missions: dict[str, type[BaseMission]] + _running_tasks: set[asyncio.Task] def __init__(self): + self._running_tasks = set() pass async def init(self): @@ -213,6 +215,7 @@ class MissionRunner: self.mission = self.missions[goal.mission]() self.mission_future = asyncio.create_task(self.run_with_callback(parameters)) self.mission_future.add_done_callback(self.mission_finished_cb) + self._running_tasks.add(self.mission_future) async def run_with_callback(self, parameters): try: @@ -242,6 +245,7 @@ class MissionRunner: mission, or raises an exception. Publishes the correct result to the action clients. """ result = DoMissionResult() + self._running_tasks.remove(task) try: task_result = task.result()