Mock AIS

CMakeLists.txt

@@ -43,7 +43,6 @@ endforeach()
 
 # Boost
 find_package(Boost 1.74.0 COMPONENTS REQUIRED
-    # Insert desired libraries below (see /usr/include/boost/ for available options)
     serialization
     system
     thread

config/README.md

@@ -7,25 +7,25 @@ description at the top describing its purpose.
 
 To run with pure default defined in the code, run:
 
-```
+```shell
 ros2 launch network_systems main_launch.py
 ```
 
 To run with config files in this folder:
 
-```
+```shell
 ros2 launch network_systems main_launch.py config:=<comma separated list of config files>
 ```
 
 For example:
 
-```
+```shell
 ros2 launch network_systems main_launch.py config:=default_prod_en.yaml
 ```
 
 launches network_systems with the parameters specified in `default_prod_en.yaml`.
 
-```
+```shell
 ros2 launch network_systems main_launch.py config:=default.yaml,example/example_en.yaml
 ```
 
@@ -34,7 +34,7 @@ launches network_systems with the parameters specified in `default_prod_en.yaml`
 
 **NOTE**: Instead of defining a `mode` parameter for each node, a global ROS launch argument is used.
 
-```
+```shell
 ros2 launch network_systems main_launch.py config:=<...> mode:=production
 ros2 launch network_systems main_launch.py config:=<...> mode:=development
 ```

config/default_prod_en.yaml

@@ -16,6 +16,10 @@ network_systems:
     ros__parameters:
       enabled: true
 
+  mock_ais_node:
+    ros__parameters:
+      enabled: false
+
   remote_transceiver_node:
     ros__parameters:
       enabled: true

config/mock_ais/mock_ais_en_default.yaml

@@ -0,0 +1,5 @@
+# Enable Mock AIS with default settings
+network_systems:
+  mock_ais_node:
+    ros__parameters:
+      enabled: true

config/mock_ais/mock_ais_template.yaml

@@ -0,0 +1,11 @@
+# Template for the Mock AIS module
+network_systems:
+  mock_ais_node:
+    ros__parameters:
+      enabled: true
+      # The following parameters are optional. Defaults are set in mock_ais_ros_intf.cpp
+      publish_rate_ms: # Integer: How frequently the Mock AIS publishes data in milliseconds (ex. 500)
+      seed: # Integer: Random seed used for random data generation
+      num_sim_ships: # Integer: Total number of AIS ships to simulate (does not include Polaris)
+      polaris_start_pos: # Integer Array (size 2): Initial latitude and longitude of Polaris for simulation
+                         # (ex. [49.283, -123.652])

launch/main_launch.py

@@ -72,6 +72,7 @@ def setup_launch(context: LaunchContext) -> List[Node]:
     """
     launch_description_entities = list()
     launch_description_entities.append(get_cached_fib_description(context))
+    launch_description_entities.append(get_mock_ais_description(context))
     launch_description_entities.append(get_remote_transceiver_description(context))
     return launch_description_entities
 
@@ -88,6 +89,7 @@ def get_cached_fib_description(context: LaunchContext) -> Node:
     node_name = "cached_fib_subscriber"
     ros_parameters = [
         global_launch_config,
+        {"mode": LaunchConfiguration("mode")},
         *LaunchConfiguration("config").perform(context).split(","),
     ]
     ros_arguments: List[SomeSubstitutionsType] = [
@@ -107,20 +109,52 @@ def get_cached_fib_description(context: LaunchContext) -> Node:
     return node
 
 
+def get_mock_ais_description(context: LaunchContext) -> Node:
+    """Gets the launch description for the mock_ais node.
+
+    Args:
+        context (LaunchContext): The current launch context.
+
+    Returns:
+        Node: The node object that launches the mock_ais node.
+    """
+    node_name = "mock_ais_node"
+    ros_parameters = [
+        global_launch_config,
+        {"mode": LaunchConfiguration("mode")},
+        *LaunchConfiguration("config").perform(context).split(","),
+    ]
+    ros_arguments: List[SomeSubstitutionsType] = [
+        "--log-level",
+        [f"{node_name}:=", LaunchConfiguration("log_level")],
+    ]
+
+    node = Node(
+        package=PACKAGE_NAME,
+        namespace=NAMESPACE,
+        executable="mock_ais",
+        name=node_name,
+        parameters=ros_parameters,
+        ros_arguments=ros_arguments,
+    )
+
+    return node
+
+
 def get_remote_transceiver_description(context: LaunchContext) -> Node:
     """Gets the launch description for the remote_transceiver node.
 
     Args:
         context (LaunchContext): The current launch context.
 
     Returns:
-        Node: The node object that launches the cached_fib node.
+        Node: The node object that launches the remote_transceiver node.
     """
     node_name = "remote_transceiver_node"
     ros_parameters = [
         global_launch_config,
-        *LaunchConfiguration("config").perform(context).split(","),
         {"mode": LaunchConfiguration("mode")},
+        *LaunchConfiguration("config").perform(context).split(","),
     ]
     ros_arguments: List[SomeSubstitutionsType] = [
         "--log-level",

lib/cmn_hdrs/shared_constants.h

@@ -35,18 +35,20 @@ constexpr float HEADING_LBND = 0.0;
 constexpr float HEADING_UBND = 360.0;
 
 // boat rotation
-constexpr float ROT_LBND = -360.0;
-constexpr float ROT_UBND = 360;
+// See https://documentation.spire.com/ais-fundamentals/rate-of-turn-rot/ for how ROT works
+constexpr int8_t ROT_LBND = -126;
+constexpr int8_t ROT_UBND = 126;
+
 // boat dimension
-constexpr float DIMENSION_LBND = 0;
-constexpr float DIMENSION_UBND = 650.0;
+constexpr float SHIP_DIMENSION_LBND = 1;      // arbitrary number
+constexpr float SHIP_DIMENSION_UBND = 650.0;  // arbitrary number
 
 /***** Bounds for Battery ******/
-constexpr float VOLT_LBND    = 0.5;     // Placeholder number
-constexpr float VOLT_UBND    = 250.0;   // Placeholder number
-constexpr float CURRENT_LBND = -200.0;  // Placeholder number
-constexpr float CURRENT_UBND = 200.0;   // Placeholder number
+constexpr float BATT_VOLT_LBND = 0.5;     // Placeholder number
+constexpr float BATT_VOLT_UBND = 250.0;   // Placeholder number
+constexpr float BATT_CURR_LBND = -200.0;  // Placeholder number
+constexpr float BATT_CURR_UBND = 200.0;   // Placeholder number
 
 /***** Bounds for Wind Sensor ******/
-constexpr int DIRECTION_LBND = -180;
-constexpr int DIRECTION_UBND = 179;
+constexpr int WIND_DIRECTION_LBND = -180;
+constexpr int WIND_DIRECTION_UBND = 179;

projects/CMakeLists.txt

@@ -1,3 +1,4 @@
+add_subdirectory(mock_ais)
 add_subdirectory(can_transceiver)
 add_subdirectory(example)
 add_subdirectory(local_transceiver)

projects/mock_ais/CMakeLists.txt

@@ -0,0 +1,31 @@
+set(module mock_ais)
+
+# define external dependencies with link_libs and inc_dirs variables
+set(link_libs
+)
+
+set(inc_dirs
+)
+
+set(compile_defs
+)
+
+# Create module library
+set(srcs
+    ${CMAKE_CURRENT_LIST_DIR}/src/mock_ais.cpp
+)
+make_lib(${module} "${srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
+
+# Create module ROS executable
+set(bin_srcs
+    ${srcs}
+    ${CMAKE_CURRENT_LIST_DIR}/src/mock_ais_ros_intf.cpp
+)
+make_exe(${module} "${bin_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")
+
+# Create unit test
+set(test_srcs
+    ${srcs}
+    ${CMAKE_CURRENT_LIST_DIR}/test/test_mock_ais.cpp
+)
+make_unit_test(${module} "${test_srcs}" "${link_libs}" "${inc_dirs}" "${compile_defs}")