From e1745c805f6fbc261c40d8f7c36894c213a310bb Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 11 Oct 2017 17:02:24 -0400 Subject: [PATCH 01/95] Modified controller to have skeleton of implementation --- .../robobuggy/include/controller/Controller.h | 18 ++++++++---- .../robobuggy/src/controller/Controller.cpp | 28 +++++++++++-------- .../src/controller/Controller_Runner.cpp | 9 +++++- 3 files changed, 37 insertions(+), 18 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index 1db88208..8fd33e5c 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -14,15 +14,21 @@ class Controller { public: - static void IMU_Callback(const robobuggy::IMU::ConstPtr& msg); - static void GPS_Callback(const robobuggy::GPS::ConstPtr& msg); - static void ENC_Callback(const robobuggy::ENC::ConstPtr& msg); + static void Pose_Callback(const robobuggy::Pose::ConstPtr& msg); Controller(); ros::NodeHandle nh; + void update_steering_estimate(); private: - ros::Subscriber imu_sub; - ros::Subscriber enc_sub; - ros::Subscriber gps_sub; + ros::Subscriber pose_sub; + ros::Publisher steering_pub; + + robobuggy::Pose current_pose_estimate; + robobuggy::GPS target_waypoint; + std::vector waypoint_list; + + int get_closest_waypoint_index(); + double pure_pursuit_controller(); + bool get_deploy_brake_value(); }; #endif //ROS_ROBOBUGGY_CONTROLLER_H diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index 15c6b974..53b79f79 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -1,25 +1,31 @@ #include "controller/Controller.h" -void Controller::IMU_Callback(const robobuggy::IMU::ConstPtr& msg) +void Controller::Pose_Callback(const robobuggy::Pose::ConstPtr& msg) { - ROS_INFO("Received IMU message with accelerations: (%f, %f, %f)", msg->X_Accel, msg->Y_Accel, msg->Z_Accel); } -void Controller::GPS_Callback(const robobuggy::GPS::ConstPtr& msg) + +Controller::Controller() { - ROS_INFO("Received GPS message with coordinates: (%fm, %fm) / (%fm, %fm)", msg->Lat_m, msg->Long_m, msg->Lat_deg, msg->Long_deg); + } -void Controller::ENC_Callback(const robobuggy::ENC::ConstPtr& msg) +void Controller::update_steering_estimate() { - ROS_INFO("Received ENC message with ticks: %d", msg->ticks); + } -Controller::Controller() +int Controller::get_closest_waypoint_index() +{ + +} + +double Controller::pure_pursuit_controller() { - imu_sub = nh.subscribe("IMU", 1000, IMU_Callback); - gps_sub = nh.subscribe("GPS", 1000, GPS_Callback); - enc_sub = nh.subscribe("ENC", 1000, ENC_Callback); - ROS_INFO("Finished setting up subscribers\n"); } + +bool Controller::get_deploy_brake_value() +{ + +} \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp index 649da37b..c8112559 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp @@ -8,10 +8,17 @@ int main(int argc, char **argv) { ros::init(argc, argv, "Controller"); ros::NodeHandle nh; + ros::Rate loop_rate(10); Controller controller; - ros::spin(); + while (ros::ok()) + { + controller.update_steering_estimate(); + + ros::spinOnce(); + loop_rate.sleep(); + } return 0; } From 7019f3ebcdd7cc71fe97f881bfd9323814f28d37 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 11 Oct 2017 17:24:02 -0400 Subject: [PATCH 02/95] added in other class variable --- .../ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h | 1 + 1 file changed, 1 insertion(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index 8fd33e5c..f8399ac6 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -25,6 +25,7 @@ class Controller robobuggy::Pose current_pose_estimate; robobuggy::GPS target_waypoint; std::vector waypoint_list; + int last_closest_index; int get_closest_waypoint_index(); double pure_pursuit_controller(); From eecadfc41e636d27809642ffde54e0699069a579 Mon Sep 17 00:00:00 2001 From: Pranav Kumar Date: Thu, 12 Oct 2017 00:19:23 -0400 Subject: [PATCH 03/95] Migrated "getClosestPoint" function to Controller --- .../robobuggy/include/controller/Controller.h | 2 ++ .../robobuggy/src/controller/Controller.cpp | 24 +++++++++++++++++-- 2 files changed, 24 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index f8399ac6..176117ba 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -9,6 +9,7 @@ #include "ros/ros.h" #include "robobuggy/IMU.h" #include "robobuggy/GPS.h" +#include "robobuggy/Pose.h" #include "std_msgs/String.h" #include class Controller @@ -26,6 +27,7 @@ class Controller robobuggy::GPS target_waypoint; std::vector waypoint_list; int last_closest_index; + const static int WAY_POINT_LOOKAHEAD_MAX = 50; int get_closest_waypoint_index(); double pure_pursuit_controller(); diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index 53b79f79..ced8e37a 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -17,7 +17,27 @@ void Controller::update_steering_estimate() int Controller::get_closest_waypoint_index() { - + //At this point, the brakes will definitely deploy + double min = std::numeric_limits::max(); + + int closestIndex = last_closest_index; + for(int i = last_closest_index; i < (last_closest_index + WAY_POINT_LOOKAHEAD_MAX) && i < waypoint_list.size(); i++) { + robobuggy::Pose gpsPoseMessage; + gpsPoseMessage.latitude_deg = waypoint_list.at(i).Lat_deg; + gpsPoseMessage.longitude_deg = waypoint_list.at(i).Long_deg; + + double dx = (current_pose_estimate.longitude_deg - gpsPoseMessage.longitude_deg) * 84723.58765; + double dy = (current_pose_estimate.latitude_deg - gpsPoseMessage.latitude_deg) * 111319.9; + + double d = std::sqrt(dx * dx + dy * dy); + + if (d < min) { + min = d; + closestIndex = i; + } + } + last_closest_index = closestIndex; + return closestIndex; } double Controller::pure_pursuit_controller() @@ -28,4 +48,4 @@ double Controller::pure_pursuit_controller() bool Controller::get_deploy_brake_value() { -} \ No newline at end of file +} From b9d0859c6719ee537c5b3352e6c588301c0f8355 Mon Sep 17 00:00:00 2001 From: Pranav Kumar Date: Thu, 12 Oct 2017 00:30:41 -0400 Subject: [PATCH 04/95] Ported returnBrakeValue --- .../ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index ced8e37a..08985d7d 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -47,5 +47,5 @@ double Controller::pure_pursuit_controller() bool Controller::get_deploy_brake_value() { - + return false; } From ed6faf769f838450a5e34ab48a8384a403dded49 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Oct 2017 16:34:36 -0400 Subject: [PATCH 05/95] added in rest of the ported controller --- .../robobuggy/include/controller/Controller.h | 16 ++-- .../robobuggy/src/controller/Controller.cpp | 83 +++++++++++++++++-- 2 files changed, 88 insertions(+), 11 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index 176117ba..969401a1 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -5,17 +5,18 @@ #ifndef ROS_ROBOBUGGY_CONTROLLER_H #define ROS_ROBOBUGGY_CONTROLLER_H -#include #include "ros/ros.h" -#include "robobuggy/IMU.h" -#include "robobuggy/GPS.h" -#include "robobuggy/Pose.h" -#include "std_msgs/String.h" +#include +#include +#include #include +#include +#include + class Controller { public: - static void Pose_Callback(const robobuggy::Pose::ConstPtr& msg); + void Pose_Callback(const robobuggy::Pose::ConstPtr& msg); Controller(); ros::NodeHandle nh; void update_steering_estimate(); @@ -32,6 +33,9 @@ class Controller int get_closest_waypoint_index(); double pure_pursuit_controller(); bool get_deploy_brake_value(); + double normalize_angle_rad(); + double get_distance_from_pose(robobuggy::Pose pose_msg); + double normalize_angle_rad(double radians); }; #endif //ROS_ROBOBUGGY_CONTROLLER_H diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index 08985d7d..4d29b17e 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -2,17 +2,33 @@ void Controller::Pose_Callback(const robobuggy::Pose::ConstPtr& msg) { + current_pose_estimate.heading_rad = msg->heading_rad; + current_pose_estimate.latitude_deg = msg->latitude_deg; + current_pose_estimate.longitude_deg = msg->longitude_deg; } Controller::Controller() { - + steering_pub = nh.advertise("Steering_Command", 1000); + pose_sub = nh.subscribe("Pose", 1000, &Controller::Pose_Callback, this); } void Controller::update_steering_estimate() { + robobuggy::Steering steering_msg; + steering_msg.steer_feedback = 0; + steering_msg.steer_angle = pure_pursuit_controller(); + + steering_pub.publish(steering_msg); +} + +double Controller::get_distance_from_pose(robobuggy::Pose pose_msg) +{ + double dx = (current_pose_estimate.longitude_deg - pose_msg.longitude_deg) * 84723.58765; + double dy = (current_pose_estimate.latitude_deg - pose_msg.latitude_deg) * 111319.9; + return std::sqrt(dx * dx + dy * dy); } int Controller::get_closest_waypoint_index() @@ -26,10 +42,7 @@ int Controller::get_closest_waypoint_index() gpsPoseMessage.latitude_deg = waypoint_list.at(i).Lat_deg; gpsPoseMessage.longitude_deg = waypoint_list.at(i).Long_deg; - double dx = (current_pose_estimate.longitude_deg - gpsPoseMessage.longitude_deg) * 84723.58765; - double dy = (current_pose_estimate.latitude_deg - gpsPoseMessage.latitude_deg) * 111319.9; - - double d = std::sqrt(dx * dx + dy * dy); + double d = get_distance_from_pose(gpsPoseMessage); if (d < min) { min = d; @@ -42,10 +55,70 @@ int Controller::get_closest_waypoint_index() double Controller::pure_pursuit_controller() { + int closest_index = get_closest_waypoint_index(); + double k = 2.5; + double velocity = 3; // TODO bake velocity into pose messages + double lookahead_lower_bound = 5.0; + double lookahead_upper_bound = 25.0; + double lookahead = (k*velocity) / 2.0; + + if(lookahead < lookahead_lower_bound) + { + lookahead = lookahead_lower_bound; + } + else if(lookahead > lookahead_upper_bound) + { + lookahead = lookahead_upper_bound; + } + + int lookahead_index = 0; + for (lookahead_index = closest_index; lookahead_index < waypoint_list.size(); lookahead_index++) + { + robobuggy::Pose gpsPoseMessage; + gpsPoseMessage.latitude_deg = waypoint_list.at(lookahead_index).Lat_deg; + gpsPoseMessage.longitude_deg = waypoint_list.at(lookahead_index).Long_deg; + + if (get_distance_from_pose(gpsPoseMessage) < lookahead) + { + break; + } + } + + robobuggy::GPS target_waypoint = waypoint_list.at(lookahead_index); + + geographic_msgs::GeoPoint gps_point; + gps_point.latitude = target_waypoint.Lat_deg; + gps_point.longitude = target_waypoint.Long_deg; + + geodesy::UTMPoint utm_waypoint(gps_point); + + gps_point.latitude = current_pose_estimate.latitude_deg; + gps_point.longitude = current_pose_estimate.longitude_deg; + geodesy::UTMPoint utm_pose(gps_point); + double dx = utm_waypoint.easting - utm_pose.easting; + double dy = utm_waypoint.northing - utm_pose.northing; + double theta = atan2(dy, dx) - current_pose_estimate.heading_rad; + + double commanded_angle = normalize_angle_rad(atan2(2 * 1.13 * sin(theta), lookahead)); + return commanded_angle; } bool Controller::get_deploy_brake_value() { return false; } + +double Controller::normalize_angle_rad(double radians) { + while (radians < 0.0) + { + radians = radians + 2 * M_PI; + } + + if (radians > M_PI) + { + radians = radians - 2.0 * M_PI; + } + return radians; + +} \ No newline at end of file From 928e54156791cfefa7c0f496a063c1451be272d4 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 4 Nov 2017 19:23:17 -0400 Subject: [PATCH 06/95] Committing to work on quickfixes for serial --- .../src/robobuggy/include/controller/Controller.h | 7 +++---- .../src/robobuggy/src/controller/Controller.cpp | 3 ++- .../src/robobuggy/src/controller/Controller_Runner.cpp | 7 ++++++- 3 files changed, 11 insertions(+), 6 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index 969401a1..23836386 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -16,10 +16,10 @@ class Controller { public: + Controller(std::vector initial_waypoint_list); void Pose_Callback(const robobuggy::Pose::ConstPtr& msg); - Controller(); - ros::NodeHandle nh; void update_steering_estimate(); + ros::NodeHandle nh; private: ros::Subscriber pose_sub; ros::Publisher steering_pub; @@ -33,9 +33,8 @@ class Controller int get_closest_waypoint_index(); double pure_pursuit_controller(); bool get_deploy_brake_value(); - double normalize_angle_rad(); - double get_distance_from_pose(robobuggy::Pose pose_msg); double normalize_angle_rad(double radians); + double get_distance_from_pose(robobuggy::Pose pose_msg); }; #endif //ROS_ROBOBUGGY_CONTROLLER_H diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index 4d29b17e..e418d7db 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -8,8 +8,9 @@ void Controller::Pose_Callback(const robobuggy::Pose::ConstPtr& msg) } -Controller::Controller() +Controller::Controller(std::vector initial_waypoint_list) { + this->waypoint_list = initial_waypoint_list; steering_pub = nh.advertise("Steering_Command", 1000); pose_sub = nh.subscribe("Pose", 1000, &Controller::Pose_Callback, this); } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp index c8112559..b9acfd5c 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp @@ -3,6 +3,7 @@ // #include "controller/Controller.h" +#include int main(int argc, char **argv) { @@ -10,7 +11,11 @@ int main(int argc, char **argv) ros::NodeHandle nh; ros::Rate loop_rate(10); - Controller controller; + std::vector waypoints; + + + + Controller controller(waypoints); while (ros::ok()) { From 6450da0aa5431de7702af8089f367e3d907d4b9a Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sun, 5 Nov 2017 01:29:23 -0400 Subject: [PATCH 07/95] Added in json parsing for the waypoints --- .../src/robobuggy/CMakeLists.txt | 2 +- .../src/robobuggy/config/waypoints.txt | 1 + .../src/controller/Controller_Runner.cpp | 20 +++++++++++++++++-- 3 files changed, 20 insertions(+), 3 deletions(-) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt index a1ec71e1..80189094 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt @@ -144,7 +144,7 @@ include_directories( ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/robobuggy_node.cpp) -add_executable(${PROJECT_NAME}_Controller_Runner src/controller/Controller_Runner.cpp src/controller/Controller.cpp) +add_executable(${PROJECT_NAME}_Controller_Runner include/json/jsoncpp.cpp src/controller/Controller_Runner.cpp src/controller/Controller.cpp) add_executable(${PROJECT_NAME}_IMU_Broadcaster_Runner src/imu/IMU_Broadcaster_Runner.cpp src/imu/IMU_Broadcaster.cpp) add_executable(${PROJECT_NAME}_Transistor_LL_Broadcaster_Runner src/low_level/Transistor_LL_Broadcaster_Runner.cpp src/low_level/Transistor_LL_Broadcaster.cpp) add_executable(${PROJECT_NAME}_Transistor_GPS_Broadcaster_Runner src/gps/Transistor_GPS_Broadcaster_Runner.cpp src/gps/Transistor_GPS_Broadcaster.cpp) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt new file mode 100644 index 00000000..7e70c650 --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt @@ -0,0 +1 @@ +# TODO # \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp index b9acfd5c..14107167 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp @@ -3,7 +3,8 @@ // #include "controller/Controller.h" -#include +#include +#include int main(int argc, char **argv) { @@ -13,7 +14,22 @@ int main(int argc, char **argv) std::vector waypoints; - + std::ifstream waypoint_stream("../config/waypoints.txt"); + std::string waypoint_str; + while (std::getline(waypoint_stream, waypoint_str)) + { + Json::Value waypoint_json; + + // convert the line into a string stream so that we can put it easily in the jsoncpp + std::stringstream waypoint_str_stream(waypoint_str); + waypoint_str_stream >> waypoint_json; + + // get a new GPS msg + robobuggy::GPS waypoint_msg; + waypoint_msg.Lat_deg = waypoint_json["latitude"].asFloat(); + waypoint_msg.Long_deg = waypoint_json["longitude"].asFloat(); + waypoints.push_back(waypoint_msg); + } Controller controller(waypoints); From 3e857a517037352b1df0bd77a58a56e78e9977a4 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 16 Dec 2017 01:18:34 -0500 Subject: [PATCH 08/95] Updated controller simulation files --- Legacy/offline/controller/controller_analysis.m | 6 +++--- Legacy/offline/controller/waypoint_analysis.m | 2 +- .../ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/Legacy/offline/controller/controller_analysis.m b/Legacy/offline/controller/controller_analysis.m index ec6b89ef..643f0f71 100644 --- a/Legacy/offline/controller/controller_analysis.m +++ b/Legacy/offline/controller/controller_analysis.m @@ -6,7 +6,7 @@ addpath('../localizer/latlonutm/Codes/matlab'); addpath('../localizer/altmany-export_fig'); -file = 'controller_v2.mat'; +file = 'controller_v3.mat'; load(file, 'trajectory'); save_plot = false; show_maps = true; @@ -16,7 +16,7 @@ desired = [x y]; desired = desired(112:(end-50), :); -k = 1000; +k = 1000; if show_maps wmline(trajectory(6,1:k:end), trajectory(7,1:k:end), 'Color', 'r') end @@ -25,7 +25,7 @@ figure(); hold on; plot(trajectory(1,1:k:end), trajectory(2,1:k:end)) -quiver(trajectory(1,1:k:end), trajectory(2,1:k:end), cos(heading), sin(heading)) +quiver(trajectory(1,1:k:end), trajectory(2,1:k:end), cos(heading), sin(heading), 0.3) plot(desired(:,1), desired(:,2), 'g') hold off; title(['Map ', file]); diff --git a/Legacy/offline/controller/waypoint_analysis.m b/Legacy/offline/controller/waypoint_analysis.m index a977b37d..d528e269 100644 --- a/Legacy/offline/controller/waypoint_analysis.m +++ b/Legacy/offline/controller/waypoint_analysis.m @@ -6,7 +6,7 @@ addpath('../localizer/latlonutm/Codes/matlab'); show_maps = false; -load('./waypoints_course.mat'); +load('./waypoints_course_v2.mat'); [x, y, zone] = ll2utm(logs); desired = [x y]; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index ee9fe9a3..7bd33f13 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -17,4 +17,4 @@ def start_subscriber_spin(): pass if __name__ == "__main__": - start_subscriber_spin() \ No newline at end of file + start_subscriber_spin() From d7fe46f82658bfb08aaaf576af19dc4c6bd19b61 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Tue, 23 Jan 2018 00:12:56 -0500 Subject: [PATCH 09/95] removed bad import --- .../src/robobuggy/src/controller/Controller_Runner.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp index 14107167..53060ac4 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp @@ -3,7 +3,7 @@ // #include "controller/Controller.h" -#include +#include #include int main(int argc, char **argv) From 1730edb862eebd551877a55d070fc2b8e09dbe7b Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Mon, 29 Jan 2018 18:43:08 -0500 Subject: [PATCH 10/95] Verified controller, it's getting the waypoints correctly --- .../ROS_RoboBuggy/src/robobuggy/config/waypoints.txt | 1 - .../src/robobuggy/include/controller/Controller.h | 3 ++- .../src/robobuggy/src/controller/Controller.cpp | 9 +++++++-- .../src/robobuggy/src/controller/Controller_Runner.cpp | 3 ++- 4 files changed, 11 insertions(+), 5 deletions(-) delete mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt deleted file mode 100644 index 7e70c650..00000000 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt +++ /dev/null @@ -1 +0,0 @@ -# TODO # \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h index 23836386..e61e7aeb 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/controller/Controller.h @@ -16,13 +16,14 @@ class Controller { public: - Controller(std::vector initial_waypoint_list); + Controller(std::vector& initial_waypoint_list); void Pose_Callback(const robobuggy::Pose::ConstPtr& msg); void update_steering_estimate(); ros::NodeHandle nh; private: ros::Subscriber pose_sub; ros::Publisher steering_pub; + ros::Publisher waypoint_pub; robobuggy::Pose current_pose_estimate; robobuggy::GPS target_waypoint; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp index e418d7db..6a5e1d7e 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller.cpp @@ -8,9 +8,9 @@ void Controller::Pose_Callback(const robobuggy::Pose::ConstPtr& msg) } -Controller::Controller(std::vector initial_waypoint_list) +Controller::Controller(std::vector& initial_waypoint_list) { - this->waypoint_list = initial_waypoint_list; + waypoint_list = std::vector(initial_waypoint_list); steering_pub = nh.advertise("Steering_Command", 1000); pose_sub = nh.subscribe("Pose", 1000, &Controller::Pose_Callback, this); } @@ -85,6 +85,11 @@ double Controller::pure_pursuit_controller() } } + if (lookahead_index >= waypoint_list.size()) { + // run out of waypoints nearby, go straight + return 0.0; + } + robobuggy::GPS target_waypoint = waypoint_list.at(lookahead_index); geographic_msgs::GeoPoint gps_point; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp index 53060ac4..ff7c07ab 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/controller/Controller_Runner.cpp @@ -14,7 +14,7 @@ int main(int argc, char **argv) std::vector waypoints; - std::ifstream waypoint_stream("../config/waypoints.txt"); + std::ifstream waypoint_stream("src/robobuggy/config/waypoints.txt"); std::string waypoint_str; while (std::getline(waypoint_stream, waypoint_str)) { @@ -29,6 +29,7 @@ int main(int argc, char **argv) waypoint_msg.Lat_deg = waypoint_json["latitude"].asFloat(); waypoint_msg.Long_deg = waypoint_json["longitude"].asFloat(); waypoints.push_back(waypoint_msg); + } Controller controller(waypoints); From 0c2f2b8e4d1e1ce6730d910eebb20b637fc48525 Mon Sep 17 00:00:00 2001 From: Roboclub Voltron Date: Fri, 2 Feb 2018 15:36:04 -0500 Subject: [PATCH 11/95] Fixed issue where localizer would output NaN as estimate Was because the time conversion was done on two ints and expected a number less than 1, which led to a divide-by-0 --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 10528354..12d26aa5 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -19,7 +19,7 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) double ticks = msg->ticks; double dx = ticks - prev_encoder_ticks; dx = dx * 0.61 / 7.0; - double body_speed = dx / (dt / 1000); + double body_speed = dx / (dt / 1000.0); prev_encoder_time = current_time; prev_encoder_ticks = ticks; From 7ecf4f426ad44a69c0b12b230bb3704c2692e228 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 7 Feb 2018 00:40:18 -0500 Subject: [PATCH 12/95] fixed issues with localizer orientation --- .../Transistor/code/lib_avr/encoder/Encoder.h | 0 .../code/lib_avr/encoder/Rotary.cpp | 0 .../Transistor/code/lib_avr/encoder/Rotary.h | 0 .../code/radio_buggy_mega/arduinoReset.py | 28 +- .../Transistor/code/radio_buggy_mega/main.cpp | 0 .../offline/controller/controller_analysis.m | 0 Legacy/offline/controller/waypoint_analysis.m | 0 Legacy/offline/debugging/rbsm_console.py | 614 +++--- Legacy/offline/debugging/rbsm_lib.py | 180 +- .../localizer/altmany-export_fig/.gitignore | 10 +- .../localizer/altmany-export_fig/LICENSE | 54 +- .../localizer/altmany-export_fig/README.md | 540 ++--- .../altmany-export_fig/user_string.m | 210 +- .../surface_src/java_src/Alice/gradlew | 328 +-- .../java_src/Alice/travisStyleCheck.sh | 48 +- Legacy/real_time/surface_src/java_src/gradlew | 328 +-- .../junit/src/main/java/org/junit/Assert.java | 1916 ++++++++--------- .../java/org/junit/runners/ParentRunner.java | 904 ++++---- .../org/junit/runners/model/TestClass.java | 626 +++--- .../junit/tests/assertion/AssertionTest.java | 1302 +++++------ .../src/robobuggy/CMakeLists.txt | 0 .../transistor/controller/Controller.h | 0 .../transistor/encoder/ENC_Broadcaster.h | 0 .../include/transistor/gps/GPS_Broadcaster.h | 0 .../include/transistor/imu/IMU_Broadcaster.h | 0 .../include/transistor/localizer/Localizer.h | 0 .../low_level/LowLevel_Broadcaster.h | 0 .../transistor/transistor_serial_messages.h | 0 .../src/robobuggy/launch/transistor.launch | 0 .../src/robobuggy/msg/Command.msg | 0 .../src/robobuggy/msg/Diagnostics.msg | 0 .../src/robobuggy/msg/Encoder.msg | 0 .../src/robobuggy/msg/Feedback.msg | 0 .../src/robobuggy/scripts/data_map_plot.py | 38 +- .../src/robobuggy/scripts/python_node_test.py | 36 +- .../scripts/transistor_sweep_test.py | 60 +- .../src/transistor/controller/Controller.cpp | 0 .../controller/Controller_Runner.cpp | 0 .../src/transistor/gps/GPS_Broadcaster.cpp | 0 .../transistor/gps/GPS_Broadcaster_Runner.cpp | 0 .../src/transistor/imu/IMU_Broadcaster.cpp | 0 .../transistor/imu/IMU_Broadcaster_Runner.cpp | 0 .../src/transistor/localizer/Localizer.cpp | 14 +- .../transistor/localizer/Localizer_Runner.cpp | 0 .../low_level/LowLevel_Broadcaster.cpp | 0 .../low_level/LowLevel_Broadcaster_Runner.cpp | 0 .../Web/server/robobuggy-webserver/app.js | 0 .../controllers/brakesDataController.js | 0 .../controllers/diagnosticsDataController.js | 0 .../controllers/encoderDataController.js | 0 .../controllers/gpsDataController.js | 0 .../controllers/storeDataController.js | 0 .../robobuggy-webserver/models/brakes.js | 0 .../robobuggy-webserver/models/diagnostics.js | 0 .../robobuggy-webserver/models/encoder.js | 0 .../server/robobuggy-webserver/models/gps.js | 0 .../server/robobuggy-webserver/package.json | 0 .../public/images/logo.png | Bin .../public/javascripts/main.js | 0 .../public/stylesheets/style.css | 0 .../public/stylesheets/styles.css | 0 .../robobuggy-webserver/routes/brakesData.js | 0 .../routes/diagnosticsData.js | 0 .../robobuggy-webserver/routes/encoderData.js | 0 .../robobuggy-webserver/routes/gpsData.js | 0 .../robobuggy-webserver/routes/index.js | 0 .../robobuggy-webserver/routes/storeData.js | 0 .../robobuggy-webserver/routes/users.js | 0 .../robobuggy-webserver/routes/view.html | 0 .../robobuggy-webserver/views/error.jade | 0 .../robobuggy-webserver/views/index.jade | 0 .../robobuggy-webserver/views/layout.jade | 0 .../robobuggy-webserver/views/view.html | 0 73 files changed, 3618 insertions(+), 3618 deletions(-) mode change 100644 => 100755 Electrical/Transistor/code/lib_avr/encoder/Encoder.h mode change 100644 => 100755 Electrical/Transistor/code/lib_avr/encoder/Rotary.cpp mode change 100644 => 100755 Electrical/Transistor/code/lib_avr/encoder/Rotary.h mode change 100644 => 100755 Electrical/Transistor/code/radio_buggy_mega/main.cpp mode change 100644 => 100755 Legacy/offline/controller/controller_analysis.m mode change 100644 => 100755 Legacy/offline/controller/waypoint_analysis.m mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/encoder/ENC_Broadcaster.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/imu/IMU_Broadcaster.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/low_level/LowLevel_Broadcaster.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/transistor_serial_messages.h mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Diagnostics.msg mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Encoder.msg mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Feedback.msg mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster_Runner.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer_Runner.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster_Runner.cpp mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/app.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/controllers/brakesDataController.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/controllers/diagnosticsDataController.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/controllers/encoderDataController.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/controllers/gpsDataController.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/controllers/storeDataController.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/models/brakes.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/models/diagnostics.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/models/encoder.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/models/gps.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/package.json mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/public/images/logo.png mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/public/javascripts/main.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/style.css mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/styles.css mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/brakesData.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/diagnosticsData.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/encoderData.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/gpsData.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/index.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/storeData.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/users.js mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/routes/view.html mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/views/error.jade mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/views/index.jade mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/views/layout.jade mode change 100644 => 100755 Software/real_time/Web/server/robobuggy-webserver/views/view.html diff --git a/Electrical/Transistor/code/lib_avr/encoder/Encoder.h b/Electrical/Transistor/code/lib_avr/encoder/Encoder.h old mode 100644 new mode 100755 diff --git a/Electrical/Transistor/code/lib_avr/encoder/Rotary.cpp b/Electrical/Transistor/code/lib_avr/encoder/Rotary.cpp old mode 100644 new mode 100755 diff --git a/Electrical/Transistor/code/lib_avr/encoder/Rotary.h b/Electrical/Transistor/code/lib_avr/encoder/Rotary.h old mode 100644 new mode 100755 diff --git a/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py b/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py index 83d4d0bc..0fdb1da4 100755 --- a/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py +++ b/Electrical/Transistor/code/radio_buggy_mega/arduinoReset.py @@ -1,15 +1,15 @@ -#! /usr/bin/python - -import serial -import time -import sys - -if len(sys.argv) != 2: - print "Please specify a port, e.g. %s /dev/ttyUSB0" % sys.argv[0] - sys.exit(-1) - -ser = serial.Serial(sys.argv[1]) -ser.setDTR(1) -time.sleep(0.5) -ser.setDTR(0) +#! /usr/bin/python + +import serial +import time +import sys + +if len(sys.argv) != 2: + print "Please specify a port, e.g. %s /dev/ttyUSB0" % sys.argv[0] + sys.exit(-1) + +ser = serial.Serial(sys.argv[1]) +ser.setDTR(1) +time.sleep(0.5) +ser.setDTR(0) ser.close() \ No newline at end of file diff --git a/Electrical/Transistor/code/radio_buggy_mega/main.cpp b/Electrical/Transistor/code/radio_buggy_mega/main.cpp old mode 100644 new mode 100755 diff --git a/Legacy/offline/controller/controller_analysis.m b/Legacy/offline/controller/controller_analysis.m old mode 100644 new mode 100755 diff --git a/Legacy/offline/controller/waypoint_analysis.m b/Legacy/offline/controller/waypoint_analysis.m old mode 100644 new mode 100755 diff --git a/Legacy/offline/debugging/rbsm_console.py b/Legacy/offline/debugging/rbsm_console.py index f06e08e5..8bf342cd 100755 --- a/Legacy/offline/debugging/rbsm_console.py +++ b/Legacy/offline/debugging/rbsm_console.py @@ -1,307 +1,307 @@ -# rbsm_console.py -# Author: Ian Hartwig (ihartwig) -# -# Python shell program for reading and writing robobuggy serial messages. -# Features an ncurses UI that displays the latest data for all message types -# received as well as accepting user input to send a command. The program spawns -# 2 daemon threads in the background to handle message receiving and keyboard -# events. The display is updated when either action happens -# -# To start: -# python rbsm_console.py /dev/tty.something -# -# To send a command from the console: -# send? message_id message_data -# - -import atexit -import curses -import rbsm_lib -import sys -import threading -import time -import struct - - -INPUTUPPERBOUND = 60 - -# kill the main thread on sigint -import signal -signal.signal(signal.SIGINT, signal.SIG_DFL) - -screen_copy = None - -#Create a dictionary of message headers -# startOfValues is the comment before start of values for dict -# takeout is what needs to be taken out from the beginning of the values in dict -# if it is in the rbsm_config.txt file -def create_bit_to_str(start_of_values, takeout=""): - dict = {} - settings_file = None - try: - settings_file = open("../../../Common/rbsm_config.txt") - except: - print("Error! Unable to find Common/rbsm_config.txt\n") - sys.exit(1) - # when the correct headers found - headers_found = False - # when to stop looking for headers - end_headers = False - # go through each line to find the message headers - for line_num, line in enumerate(settings_file): - # to give right name takes out RBSM_MID_ if that is at beginning cause "RBSM_MID_" unneeded - if(line[0:len(takeout)] == takeout): - line = line[len(takeout):] - # key is in the part after , and value is before - if(headers_found): - definition = line.split(", ") - # if there are not enough values or too many, then line is assumed to be - # end of the parts with message headers - if(len(definition)!=2): - end_headers = True - break - # sets the key to equal the message header - dict[int(definition[1])] = definition[0] - elif(line[0:len(start_of_values)+3]=="// " + start_of_values): - # the string that is found is what symbolizes when message headers begin on - # next line - headers_found = True - # when the headers end do not care about anything else so breaks - if(end_headers): - break - return dict - -mid_to_str = create_bit_to_str("RBSM Headers", "RBSM_MID_") -eid_to_str = create_bit_to_str("Error Message Bits", "RBSM_EID_") - -def redraw(state): - screen = state["screen"] - message_cache = state["message_cache"] - command_line = state["command_line"] - status_line = state["status_line"] - - (max_y, max_x) = screen.getmaxyx() - row_id = 2 - - if status_line == 'Locked.': - for mid in message_cache.keys(): - # clear line and write new data - # screen.addstr(row_id, 2, " " * (max_x - 4)) - s = "{:20} {:>10} {:>20}".format(mid_to_str.get(mid, "MID {}".format(mid)), - message_cache[mid]["data"], - message_cache[mid]["update_time"]) - screen.addstr(row_id, 2, s) - - row_id = row_id + 1 - - #adding space and then error - screen.addstr(row_id, 2, "") - screen.addstr(row_id+1, 2, "--------ERRORS---------") - # since last steps went through 2 rows adding 2 to row_id - row_id = row_id + 2 - # finds which value is error - error = 254 - for key in mid_to_str.keys(): - if(mid_to_str[key]=="ERROR"): - error = key - # check if key is even in message_cache - if(error in message_cache.keys()): - error_message = message_cache[error]["data"] - # max bit that has associated error - maxBit = max(eid_to_str.keys()) - for bit in xrange(maxBit+1): - if(error_message%2==1 and bit in eid_to_str.keys()): - wipeScreenAndPost(screen, eid_to_str[bit], row_id) - row_id = row_id + 1 - # can eliminate previous bit by diving by 2 - error_message = error_message/2 - # adding -- so that if there is nothing between error and this then no error - wipeScreenAndPost(screen, "------------------------", row_id) - # to make sure row below BottomLine clean: - wipeScreenAndPost(screen, "", row_id+1) - - - # update status line - screen.addstr(max_y-3, 2, "status: {:<15}".format(status_line)) - - # clear command line an write the current one - screen.addstr(max_y-2, 2, " " * (max_x - 2 - 6)) - screen.addstr(max_y-2, 2, "send? {}".format(command_line)) - - - screen.refresh() - -def wipeScreenAndPost(screen, str, pos): - # long empty space to wipe line clean - screen.addstr(pos, 2, " ") - screen.addstr(pos, 2, str) - -def rbsm_worker(state): - message_cache = state["message_cache"] - rbsm_endpoint = state["rbsm_endpoint"] - - f = open('bytes from arduino.txt', 'wt') #delete - - while(1): - new_message = rbsm_endpoint.read() - if(new_message["status"] == "locked"): - # update status - state["status_line"] = "Locked." - - if (new_message["id"] == 0): - # print("Found encoder") - pass - - # save new data - message_cache.update([ - ( new_message["id"], - {"data": new_message["data"], "update_time": time.time()} ), - ]) - - if new_message["id"] == 254: - f.write(str(new_message['data'])) - f.write("\n") - - # update remotely - # redraw(state) - else: - state["status_line"] = "Unlocked!" - f.close() - - return None - - -def command_worker(state): - screen = state["screen"] - with open('other.txt', 'at') as f: - f.write('alive\n') - - while(True): - new_char = screen.getch() - - if (new_char == curses.KEY_RIGHT or - new_char == curses.KEY_LEFT or - new_char == curses.KEY_UP or - new_char == curses.KEY_DOWN): - continue - - # backspace - if(new_char == 8 or new_char == 127): - state["command_line"] = state["command_line"][0:-1] - - # enter - elif(new_char == 10 or new_char == 13): - # try to run the command - error = command_handler(state["rbsm_endpoint"], state["command_line"]) - if(error): - state["status_line"] = "Error sending message!" - # clear visible command line - state["command_line"] = "" - - # standard ascii characters - elif(new_char < 128) and len(state["command_line"]) < INPUTUPPERBOUND: - state["command_line"] += chr(new_char) - - # redraw(state) - - return None - - -def command_handler(rbsm_endpoint, command_line): - error = False - command_line = command_line.strip() - command_parts = command_line.split(" ") - with open('help help.txt', 'wt') as f: - f.write(repr(command_parts)) - - try: - message_id = int(command_parts[0]) - message_data = int(command_parts[1]) - f.write('not endpoint yet\n') - rbsm_endpoint.send(message_id, message_data) - f.write('past endpoint\n') - except: - error = True - - return error - - -def console_drawer(state): - while(True): - time.sleep(0.05) - redraw(state) - -def main(): - if(len(sys.argv) < 2): - print ("You didn't provide enough arguments. Please run with:") - print ("%s /dev/tty.something" % (sys.argv[0])) - sys.exit() - - state = { - "message_cache": {}, - "command_line": "", - "status_line": "Starting...", - "screen": None, - "rbsm_endpoint": None, - } - screen = state["screen"] - - - # setup incomming messages - try: - rbsm_endpoint = rbsm_lib.RBSerialMessage(sys.argv[1]) - except: - print("Probably could not find the specified USB device.") - print('Please find the correct /dev/tty.* file and try again.') - return - - state["rbsm_endpoint"] = rbsm_endpoint - rbsm_thread = threading.Thread(target=rbsm_worker, args=(state,)) - rbsm_thread.daemon = True - - # setup reading commands - command_thread = threading.Thread(target=command_worker, args=(state,)) - command_thread.daemon = True - - #redraw thread - drawer = threading.Thread(target=console_drawer, args=(state,)) - drawer.daemon = True - - - # setup program window - screen = curses.initscr() - - curses.noecho() - screen.clear() - screen.keypad(1) - screen.border(0) - screen.addstr(1, 2, '{:20} {:>10} {:>20}'.format("Message", 'Data', 'Time')) - state["screen"] = screen - # redraw(state) - - screenCopy = screen - - rbsm_thread.start() - command_thread.start() - drawer.start() - - rbsm_thread.join() - command_thread.join() - drawer.join() - - clean_up() - - -@atexit.register -def clean_up(): - try: - curses.echo() - curses.nocbreak() - screenCopy.keypad(0) - curses.endwin() - except: - pass - - -if __name__ == "__main__": - main() +# rbsm_console.py +# Author: Ian Hartwig (ihartwig) +# +# Python shell program for reading and writing robobuggy serial messages. +# Features an ncurses UI that displays the latest data for all message types +# received as well as accepting user input to send a command. The program spawns +# 2 daemon threads in the background to handle message receiving and keyboard +# events. The display is updated when either action happens +# +# To start: +# python rbsm_console.py /dev/tty.something +# +# To send a command from the console: +# send? message_id message_data +# + +import atexit +import curses +import rbsm_lib +import sys +import threading +import time +import struct + + +INPUTUPPERBOUND = 60 + +# kill the main thread on sigint +import signal +signal.signal(signal.SIGINT, signal.SIG_DFL) + +screen_copy = None + +#Create a dictionary of message headers +# startOfValues is the comment before start of values for dict +# takeout is what needs to be taken out from the beginning of the values in dict +# if it is in the rbsm_config.txt file +def create_bit_to_str(start_of_values, takeout=""): + dict = {} + settings_file = None + try: + settings_file = open("../../../Common/rbsm_config.txt") + except: + print("Error! Unable to find Common/rbsm_config.txt\n") + sys.exit(1) + # when the correct headers found + headers_found = False + # when to stop looking for headers + end_headers = False + # go through each line to find the message headers + for line_num, line in enumerate(settings_file): + # to give right name takes out RBSM_MID_ if that is at beginning cause "RBSM_MID_" unneeded + if(line[0:len(takeout)] == takeout): + line = line[len(takeout):] + # key is in the part after , and value is before + if(headers_found): + definition = line.split(", ") + # if there are not enough values or too many, then line is assumed to be + # end of the parts with message headers + if(len(definition)!=2): + end_headers = True + break + # sets the key to equal the message header + dict[int(definition[1])] = definition[0] + elif(line[0:len(start_of_values)+3]=="// " + start_of_values): + # the string that is found is what symbolizes when message headers begin on + # next line + headers_found = True + # when the headers end do not care about anything else so breaks + if(end_headers): + break + return dict + +mid_to_str = create_bit_to_str("RBSM Headers", "RBSM_MID_") +eid_to_str = create_bit_to_str("Error Message Bits", "RBSM_EID_") + +def redraw(state): + screen = state["screen"] + message_cache = state["message_cache"] + command_line = state["command_line"] + status_line = state["status_line"] + + (max_y, max_x) = screen.getmaxyx() + row_id = 2 + + if status_line == 'Locked.': + for mid in message_cache.keys(): + # clear line and write new data + # screen.addstr(row_id, 2, " " * (max_x - 4)) + s = "{:20} {:>10} {:>20}".format(mid_to_str.get(mid, "MID {}".format(mid)), + message_cache[mid]["data"], + message_cache[mid]["update_time"]) + screen.addstr(row_id, 2, s) + + row_id = row_id + 1 + + #adding space and then error + screen.addstr(row_id, 2, "") + screen.addstr(row_id+1, 2, "--------ERRORS---------") + # since last steps went through 2 rows adding 2 to row_id + row_id = row_id + 2 + # finds which value is error + error = 254 + for key in mid_to_str.keys(): + if(mid_to_str[key]=="ERROR"): + error = key + # check if key is even in message_cache + if(error in message_cache.keys()): + error_message = message_cache[error]["data"] + # max bit that has associated error + maxBit = max(eid_to_str.keys()) + for bit in xrange(maxBit+1): + if(error_message%2==1 and bit in eid_to_str.keys()): + wipeScreenAndPost(screen, eid_to_str[bit], row_id) + row_id = row_id + 1 + # can eliminate previous bit by diving by 2 + error_message = error_message/2 + # adding -- so that if there is nothing between error and this then no error + wipeScreenAndPost(screen, "------------------------", row_id) + # to make sure row below BottomLine clean: + wipeScreenAndPost(screen, "", row_id+1) + + + # update status line + screen.addstr(max_y-3, 2, "status: {:<15}".format(status_line)) + + # clear command line an write the current one + screen.addstr(max_y-2, 2, " " * (max_x - 2 - 6)) + screen.addstr(max_y-2, 2, "send? {}".format(command_line)) + + + screen.refresh() + +def wipeScreenAndPost(screen, str, pos): + # long empty space to wipe line clean + screen.addstr(pos, 2, " ") + screen.addstr(pos, 2, str) + +def rbsm_worker(state): + message_cache = state["message_cache"] + rbsm_endpoint = state["rbsm_endpoint"] + + f = open('bytes from arduino.txt', 'wt') #delete + + while(1): + new_message = rbsm_endpoint.read() + if(new_message["status"] == "locked"): + # update status + state["status_line"] = "Locked." + + if (new_message["id"] == 0): + # print("Found encoder") + pass + + # save new data + message_cache.update([ + ( new_message["id"], + {"data": new_message["data"], "update_time": time.time()} ), + ]) + + if new_message["id"] == 254: + f.write(str(new_message['data'])) + f.write("\n") + + # update remotely + # redraw(state) + else: + state["status_line"] = "Unlocked!" + f.close() + + return None + + +def command_worker(state): + screen = state["screen"] + with open('other.txt', 'at') as f: + f.write('alive\n') + + while(True): + new_char = screen.getch() + + if (new_char == curses.KEY_RIGHT or + new_char == curses.KEY_LEFT or + new_char == curses.KEY_UP or + new_char == curses.KEY_DOWN): + continue + + # backspace + if(new_char == 8 or new_char == 127): + state["command_line"] = state["command_line"][0:-1] + + # enter + elif(new_char == 10 or new_char == 13): + # try to run the command + error = command_handler(state["rbsm_endpoint"], state["command_line"]) + if(error): + state["status_line"] = "Error sending message!" + # clear visible command line + state["command_line"] = "" + + # standard ascii characters + elif(new_char < 128) and len(state["command_line"]) < INPUTUPPERBOUND: + state["command_line"] += chr(new_char) + + # redraw(state) + + return None + + +def command_handler(rbsm_endpoint, command_line): + error = False + command_line = command_line.strip() + command_parts = command_line.split(" ") + with open('help help.txt', 'wt') as f: + f.write(repr(command_parts)) + + try: + message_id = int(command_parts[0]) + message_data = int(command_parts[1]) + f.write('not endpoint yet\n') + rbsm_endpoint.send(message_id, message_data) + f.write('past endpoint\n') + except: + error = True + + return error + + +def console_drawer(state): + while(True): + time.sleep(0.05) + redraw(state) + +def main(): + if(len(sys.argv) < 2): + print ("You didn't provide enough arguments. Please run with:") + print ("%s /dev/tty.something" % (sys.argv[0])) + sys.exit() + + state = { + "message_cache": {}, + "command_line": "", + "status_line": "Starting...", + "screen": None, + "rbsm_endpoint": None, + } + screen = state["screen"] + + + # setup incomming messages + try: + rbsm_endpoint = rbsm_lib.RBSerialMessage(sys.argv[1]) + except: + print("Probably could not find the specified USB device.") + print('Please find the correct /dev/tty.* file and try again.') + return + + state["rbsm_endpoint"] = rbsm_endpoint + rbsm_thread = threading.Thread(target=rbsm_worker, args=(state,)) + rbsm_thread.daemon = True + + # setup reading commands + command_thread = threading.Thread(target=command_worker, args=(state,)) + command_thread.daemon = True + + #redraw thread + drawer = threading.Thread(target=console_drawer, args=(state,)) + drawer.daemon = True + + + # setup program window + screen = curses.initscr() + + curses.noecho() + screen.clear() + screen.keypad(1) + screen.border(0) + screen.addstr(1, 2, '{:20} {:>10} {:>20}'.format("Message", 'Data', 'Time')) + state["screen"] = screen + # redraw(state) + + screenCopy = screen + + rbsm_thread.start() + command_thread.start() + drawer.start() + + rbsm_thread.join() + command_thread.join() + drawer.join() + + clean_up() + + +@atexit.register +def clean_up(): + try: + curses.echo() + curses.nocbreak() + screenCopy.keypad(0) + curses.endwin() + except: + pass + + +if __name__ == "__main__": + main() diff --git a/Legacy/offline/debugging/rbsm_lib.py b/Legacy/offline/debugging/rbsm_lib.py index b71f844c..5a78d923 100755 --- a/Legacy/offline/debugging/rbsm_lib.py +++ b/Legacy/offline/debugging/rbsm_lib.py @@ -1,90 +1,90 @@ -import serial; -import sys -import struct -import time - -class RBSerialMessage: - - def __init__(self, device_path): - self.RBSM_FOOTER = "\n" # 0x0A - self.RBSM_BAUD_RATE = 57600 - self.RBSM_PACKET_LENGTH = 6 - # packet format: unsigned byte, big-endian signed int, char - self.RBSM_PACKET_FORMAT = ">Bic" - - self.device_path = device_path - self.port = serial.Serial(device_path, self.RBSM_BAUD_RATE) - - self.stream_lock = False - - def read(self): - # if we don't have a stream lock read until we find a footer - if(self.stream_lock == False): - possible_footer = self.port.read(1) - while(possible_footer != self.RBSM_FOOTER): - possible_footer = self.port.read(1) - self.stream_lock = True - - # capture a packet length - message_buffer = "" - message_unpacked = None - message_id = None - message_data = None - - # read what we think is a full packet - for i in range(self.RBSM_PACKET_LENGTH): - message_buffer += self.port.read(1) - - # unpack the packet - message_unpacked = struct.unpack_from(self.RBSM_PACKET_FORMAT, message_buffer) - - - # confirm properly formed packet - if(message_unpacked[2] == self.RBSM_FOOTER): - return {"id": message_unpacked[0], - "data": message_unpacked[1], - "status": "locked"} - - # but unlock the stream if we can't find a footer - else: - self.stream_lock = False - return {"id": 0, "data": 0, "status": "unlocked"} - - def send(self, message_id, message_data): - message_buffer = struct.pack(self.RBSM_PACKET_FORMAT, - message_id, - message_data, - self.RBSM_FOOTER) - self.port.write(message_buffer) - self.port.flush() - - -if __name__ == "__main__": - import time - # create a test rbsm channel - rbsm_endpoint = RBSerialMessage(sys.argv[1]) - print("waiting for reset...") - time.sleep(2) - # arduino resets on connection. be careful to not miss messages - - increment = 10 - i = -1000 - while(True): - i += increment - if ((i >= 1000) or (i <= -1000)): - increment = -increment - - rbsm_endpoint.send(20, i) - time.sleep(0.01) - print(i) - - - - print("send messages successfully.") - - # then listen for messages forever - # print("here are some messages I'm seeing:") - # while(1): - # message = rbsm_endpoint.read() - # print (message) - +import serial; +import sys +import struct +import time + +class RBSerialMessage: + + def __init__(self, device_path): + self.RBSM_FOOTER = "\n" # 0x0A + self.RBSM_BAUD_RATE = 57600 + self.RBSM_PACKET_LENGTH = 6 + # packet format: unsigned byte, big-endian signed int, char + self.RBSM_PACKET_FORMAT = ">Bic" + + self.device_path = device_path + self.port = serial.Serial(device_path, self.RBSM_BAUD_RATE) + + self.stream_lock = False + + def read(self): + # if we don't have a stream lock read until we find a footer + if(self.stream_lock == False): + possible_footer = self.port.read(1) + while(possible_footer != self.RBSM_FOOTER): + possible_footer = self.port.read(1) + self.stream_lock = True + + # capture a packet length + message_buffer = "" + message_unpacked = None + message_id = None + message_data = None + + # read what we think is a full packet + for i in range(self.RBSM_PACKET_LENGTH): + message_buffer += self.port.read(1) + + # unpack the packet + message_unpacked = struct.unpack_from(self.RBSM_PACKET_FORMAT, message_buffer) + + + # confirm properly formed packet + if(message_unpacked[2] == self.RBSM_FOOTER): + return {"id": message_unpacked[0], + "data": message_unpacked[1], + "status": "locked"} + + # but unlock the stream if we can't find a footer + else: + self.stream_lock = False + return {"id": 0, "data": 0, "status": "unlocked"} + + def send(self, message_id, message_data): + message_buffer = struct.pack(self.RBSM_PACKET_FORMAT, + message_id, + message_data, + self.RBSM_FOOTER) + self.port.write(message_buffer) + self.port.flush() + + +if __name__ == "__main__": + import time + # create a test rbsm channel + rbsm_endpoint = RBSerialMessage(sys.argv[1]) + print("waiting for reset...") + time.sleep(2) + # arduino resets on connection. be careful to not miss messages + + increment = 10 + i = -1000 + while(True): + i += increment + if ((i >= 1000) or (i <= -1000)): + increment = -increment + + rbsm_endpoint.send(20, i) + time.sleep(0.01) + print(i) + + + + print("send messages successfully.") + + # then listen for messages forever + # print("here are some messages I'm seeing:") + # while(1): + # message = rbsm_endpoint.read() + # print (message) + diff --git a/Legacy/offline/localizer/altmany-export_fig/.gitignore b/Legacy/offline/localizer/altmany-export_fig/.gitignore index 68c9c928..aa7c61a1 100755 --- a/Legacy/offline/localizer/altmany-export_fig/.gitignore +++ b/Legacy/offline/localizer/altmany-export_fig/.gitignore @@ -1,5 +1,5 @@ -/.ignore -*.txt -*.asv -*~ -*.mex* +/.ignore +*.txt +*.asv +*~ +*.mex* diff --git a/Legacy/offline/localizer/altmany-export_fig/LICENSE b/Legacy/offline/localizer/altmany-export_fig/LICENSE index 1a058308..d643cee9 100755 --- a/Legacy/offline/localizer/altmany-export_fig/LICENSE +++ b/Legacy/offline/localizer/altmany-export_fig/LICENSE @@ -1,27 +1,27 @@ -Copyright (c) 2014, Oliver J. Woodford, Yair M. Altman -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the {organization} nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +Copyright (c) 2014, Oliver J. Woodford, Yair M. Altman +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the {organization} nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/Legacy/offline/localizer/altmany-export_fig/README.md b/Legacy/offline/localizer/altmany-export_fig/README.md index c6e68de7..678e36af 100755 --- a/Legacy/offline/localizer/altmany-export_fig/README.md +++ b/Legacy/offline/localizer/altmany-export_fig/README.md @@ -1,270 +1,270 @@ -export_fig -========== - -A toolbox for exporting figures from MATLAB to standard image and document formats nicely. - -### Overview -Exporting a figure from MATLAB the way you want it (hopefully the way it looks on screen), can be a real headache for the unitiated, thanks to all the settings that are required, and also due to some eccentricities (a.k.a. features and bugs) of functions such as `print`. The first goal of export_fig is to make transferring a plot from screen to document, just the way you expect (again, assuming that's as it appears on screen), a doddle. - -The second goal is to make the output media suitable for publication, allowing you to publish your results in the full glory that you originally intended. This includes embedding fonts, setting image compression levels (including lossless), anti-aliasing, cropping, setting the colourspace, alpha-blending and getting the right resolution. - -Perhaps the best way to demonstrate what export_fig can do is with some examples. - -### Examples -**Visual accuracy** - MATLAB's exporting functions, namely `saveas` and `print`, change many visual properties of a figure, such as size, axes limits and ticks, and background colour, in unexpected and unintended ways. Export_fig aims to faithfully reproduce the figure as it appears on screen. For example: -```Matlab -plot(cos(linspace(0, 7, 1000))); -set(gcf, 'Position', [100 100 150 150]); -saveas(gcf, 'test.png'); -export_fig test2.png -``` -generates the following: - -| Figure: | test.png: | test2.png: | -|:-------:|:---------:|:----------:| -|![](https://farm6.staticflickr.com/5616/15589249291_16e485c29a_o_d.png)|![](https://farm4.staticflickr.com/3944/15406302850_4d2e1c7afa_o_d.png)|![](https://farm6.staticflickr.com/5607/15568225476_8ce9bd5f6b_o_d.png)| - -Note that the size and background colour of test2.png (the output of export_fig) are the same as those of the on screen figure, in contrast to test.png. Of course, if you want the figure background to be white (or any other colour) in the exported file then you can set this prior to exporting using: -```Matlab -set(gcf, 'Color', 'w'); -``` - -Notice also that export_fig crops and anti-aliases (smooths, for bitmaps only) the output by default. However, these options can be disabled; see the Tips section below for details. - -**Resolution** - by default, export_fig exports bitmaps at screen resolution. However, you may wish to save them at a different resolution. You can do this using either of two options: `-m`, where is a positive real number, magnifies the figure by the factor for export, e.g. `-m2` produces an image double the size (in pixels) of the on screen figure; `-r`, again where is a positive real number, specifies the output bitmap to have pixels per inch, the dimensions of the figure (in inches) being those of the on screen figure. For example, using: -```Matlab -export_fig test.png -m2.5 -``` -on the figure from the example above generates: - -![](https://farm4.staticflickr.com/3937/15591910915_dc7040c477_o_d.png) - -Sometimes you might have a figure with an image in. For example: -```Matlab -imshow(imread('cameraman.tif')) -hold on -plot(0:255, sin(linspace(0, 10, 256))*127+128); -set(gcf, 'Position', [100 100 150 150]); -``` -generates this figure: - -![](https://farm4.staticflickr.com/3942/15589249581_ff87a56a3f_o_d.png) - -Here the image is displayed in the figure at resolution lower than its native resolution. However, you might want to export the figure at a resolution such that the image is output at its native (i.e. original) size (in pixels). Ordinarily this would require some non-trivial computation to work out what that resolution should be, but export_fig has an option to do this for you. Using: -```Matlab -export_fig test.png -native -``` -produces: - -![](https://farm6.staticflickr.com/5604/15589249591_da2b2652e4_o_d.png) - -with the image being the size (in pixels) of the original image. Note that if you want an image to be a particular size, in pixels, in the output (other than its original size) then you can resize it to this size and use the `-native` option to achieve this. - -All resolution options (`-m`, `-q` and `-native`) correctly set the resolution information in PNG and TIFF files, as if the image were the dimensions of the on screen figure. - -**Shrinking dots & dashes** - when exporting figures with dashed or dotted lines using either the ZBuffer or OpenGL (default for bitmaps) renderers, the dots and dashes can appear much shorter, even non-existent, in the output file, especially if the lines are thick and/or the resolution is high. For example: -```Matlab -plot(sin(linspace(0, 10, 1000)), 'b:', 'LineWidth', 4); -hold on -plot(cos(linspace(0, 7, 1000)), 'r--', 'LineWidth', 3); -grid on -export_fig test.png -``` -generates: - -![](https://farm4.staticflickr.com/3956/15592747732_f943d4aa0a_o_d.png) - -This problem can be overcome by using the painters renderer. For example: -```Matlab -export_fig test.png -painters -``` -used on the same figure generates: - -![](https://farm4.staticflickr.com/3945/14971168504_77692f11f5_o_d.png) - -Note that not only are the plot lines correct, but the grid lines are too. - -**Transparency** - sometimes you might want a figure and axes' backgrounds to be transparent, so that you can see through them to a document (for example a presentation slide, with coloured or textured background) that the exported figure is placed in. To achieve this, first (optionally) set the axes' colour to 'none' prior to exporting, using: -```Matlab -set(gca, 'Color', 'none'); % Sets axes background -``` - -then use export_fig's `-transparent` option when exporting: -```Matlab -export_fig test.png -transparent -``` - -This will make the background transparent in PDF, EPS and PNG outputs. You can additionally save fully alpha-blended semi-transparent patch objects to the PNG format. For example: - -```Matlab -logo; -alpha(0.5); -``` - -generates a figure like this: - -![](https://farm4.staticflickr.com/3933/15405290339_b08de33528_o_d.png) - -If you then export this to PNG using the `-transparent` option you can then put the resulting image into, for example, a presentation slide with fancy, textured background, like so: - -![](https://farm6.staticflickr.com/5599/15406302920_59beaefff1_o_d.png) - -and the image blends seamlessly with the background. - -**Image quality** - when publishing images of your results, you want them to look as good as possible. By default, when outputting to lossy file formats (PDF, EPS and JPEG), export_fig uses a high quality setting, i.e. low compression, for images, so little information is lost. This is in contrast to MATLAB's print and saveas functions, whose default quality settings are poor. For example: -```Matlab -A = im2double(imread('peppers.png')); -B = randn(ceil(size(A, 1)/6), ceil(size(A, 2)/6), 3) * 0.1; -B = cat(3, kron(B(:,:,1), ones(6)), kron(B(:,:,2), ones(6)), kron(B(:,:,3), ones(6))); -B = A + B(1:size(A, 1),1:size(A, 2),:); -imshow(B); -print -dpdf test.pdf -``` -generates a PDF file, a sub-window of which looks (when zoomed in) like this: - -![](https://farm6.staticflickr.com/5613/15405290309_881b2774d6_o_d.png) - -while the command - -```Matlab -export_fig test.pdf -``` -on the same figure produces this: - -![](https://farm4.staticflickr.com/3947/14971168174_687473133f_o_d.png) - -While much better, the image still contains some compression artifacts (see the low level noise around the edge of the pepper). You may prefer to export with no artifacts at all, i.e. lossless compression. Alternatively, you might need a smaller file, and be willing to accept more compression. Either way, export_fig has an option that can suit your needs: `-q`, where is a number from 0-100, will set the level of lossy image compression (again in PDF, EPS and JPEG outputs only; other formats are lossless), from high compression (0) to low compression/high quality (100). If you want lossless compression in any of those formats then specify a greater than 100. For example: -```Matlab -export_fig test.pdf -q101 -``` -again on the same figure, produces this: - -![](https://farm6.staticflickr.com/5608/15405803908_934512c1fe_o_d.png) - -Notice that all the noise has gone. - -### Tips -**Anti-aliasing** - the anti-aliasing which export_fig applies to bitmap outputs by default makes the images look nice, but it can also blur images and increase exporting time and memory requirements, so you might not always want it. You can set the level of anti-aliasing by using the `-a` option, where is 1 (no anti-aliasing), 2, 3 (default) or 4 (maximum anti-aliasing). - -**Cropping** - by default, export_fig crops its output to minimize the amount of empty space around the figure. If you'd prefer the figure to be uncropped, and instead have the same appearance (in terms of border width) as the on screen figure, then use the `-nocrop` option. - -**Colourspace** - by default, export_fig generates files in the RGB [colourspace](https://en.wikipedia.org/wiki/Color_space). However, you can also export in greyscale or the CMYK colourspace, using the `-grey` (or `-gray`) and `-cmyk` options respectively. The CMYK option is useful for publishers who require documents in this colourspace, but the option is only supported for PDF, EPS and TIFF files. - -**Specifying a target directory** - you can get export_fig to save output files to any directory (for which you have write permission), simply by specifying the full or relative path in the filename. For example: -```Matlab -export_fig ../subdir/fig.png; -export_fig('C:/Users/Me/Documents/figures/myfig', '-pdf', '-png'); -``` - -**Variable file names** - often you might want to save a series of figures in a for loop, each with a different name. For this you can use the functional form of input arguments, i.e. `export_fig(arg1, arg2)`, and construct the filename string in a variable. Here's an example of this: -```Matlab -for a = 1:5 - plot(rand(5, 2)); - export_fig(sprintf('plot%d.png', a)); -end -``` -When using the functional form like this, be sure to put string variables in quotes: -```Matlab -export_fig(sprintf('plot%d', a), '-a1', '-pdf', '-png'); -``` - -**Specifying the figure/axes** - if you have mutiple figures open you can specify which figure to export using its handle: -```Matlab -export_fig(figure_handle, filename); -``` -Equally, if your figure contains several subplots then you can export just one of them by giving export_fig the handle to the relevant axes: -```Matlab -export_fig(axes_handle, filename); -``` - -**Multiple formats** - save time by exporting to multiple formats simultaneously. E.g.: -```Matlab -export_fig filename -pdf -eps -png -jpg -tiff -``` - -**Other file formats** - if you'd like to save your figure to a bitmap format that is not supported by export_fig, e.g. animated GIF, PPM file or a frame in a movie, then you can use export_fig to output the image, and optionally an alpha-matte, to the workspace. E.g.: -```Matlab -frame = export_fig; -``` -or -```Matlab -[frame, alpha] = export_fig; -``` -These variables can then be saved to other image formats using other functions, such as imwrite. - -**Appending to a file** - you can use the `-append` option to append the figure to the end of an image/document, if it already exists. This is supported for PDF and TIFF files only. Note that if you wish to append a lot of figures consecutively to a PDF, it can be more efficient to save all the figures to PDF separately then append them all in one go at the end (e.g. using [append_pdfs](http://www.mathworks.com/matlabcentral/fileexchange/31215-appendpdfs)). - -**Output to clipboard** - you can use the `-clipboard` option to copy the specified figure or axes to the system clipboard, for easy paste into other documents (e.g., Word or PowerPoint). Note that the image is copied in bitmap (not vector) format. - -**Font size** - if you want to place an exported figure in a document with the font a particular size then you need to set the font to that size in the figure, and not resize the output of export_fig in the document. To avoid resizing, simply make sure that the on screen figure is the size you want the output to be in the document before exporting. - -**Renderers** - MATLAB has three renderers for displaying and exporting figures: painters, OpenGL and ZBuffer. The different renderers have different [features](http://www.mathworks.com/access/helpdesk/help/techdoc/creating_plots/f3-84337.html#f3-102410), so if you aren't happy with the result from one renderer try another. By default, vector formats (i.e. PDF and EPS outputs) use the painters renderer, while other formats use the OpenGL renderer. Non-default renderers can be selected by using one of these three export_fig input options: `-painters`, `-opengl`, `-zbuffer`: -```Matlab -export_fig test.png -painters -``` - -**Artifacts** - sometimes the output that you get from export_fig is not what you expected. If an output file contains artifacts that aren't in the on screen figure then make sure that the renderer used for rendering the figure on screen is the same as that used for exporting. To set the renderer used to display the figure, use: -```Matlab -set(figure_handle, 'Renderer', 'opengl'); -``` -After matching the two renderers, if the artifact appears in the on screen figure then you'll need to fix that before exporting. Alternatively you can try changing the renderer used by export_fig. Finally check that it isn't one of the known issues mentioned in the section below. - -**Smoothed/interpolated images in output PDF** - if you produce a PDF using export_fig and images in the PDF look overly smoothed or interpolated, this is because the software you are using to view the PDF is smoothing or interpolating the image data. The image is not smoothed in the PDF file itself. If the software has an option to disable this feature, you should select it. Alternatively, use another PDF viewer that doesn't exhibit this problem. - -**Locating Ghostscript/pdftops** - You may find a dialogue box appears when using export_fig, asking you to locate either [Ghostscript](http://www.ghostscript.com) or [pdftops](http://www.foolabs.com/xpdf). These are separate applications which export_fig requires to perform certain functions. If such a dialogue appears it is because export_fig can't find the application automatically. This is because you either haven't installed it, or it isn't in the normal place. Make sure you install the applications correctly first. They can be downloaded from the following places: - 1. Ghostscript: [www.ghostscript.com](http://www.ghostscript.com) - 2. pdftops (install the Xpdf package): [www.foolabs.com/xpdf](http://www.foolabs.com/xpdf) - -If you choose to install them in a non-default location then point export_fig -to this location using the dialogue box. - -**Undefined function errors** - If you download and run export_fig and get an error similar to this: -``` -??? Undefined function or method 'print2array' for input arguments of type 'double'. -``` -then you are missing one or more of the files that come in the export_fig package. Make sure that you click the "Get from GitHub" button at the top-right of the download [page](http://www.mathworks.co.uk/matlabcentral/fileexchange/23629-exportfig), then extract all the files in the zip file to the same directory. You should then have all the necessary files. - -### Known issues -There are lots of problems with MATLAB's exporting functions, especially `print`. Export_fig is simply a glorified wrapper for MATLAB's `print` function, and doesn't solve all of its bugs (yet?). Some of the problems I know about are: - -**Fonts** - when using the painters renderer, MATLAB can only export a small number of fonts, details of which can be found [here](http://www.mathworks.com/help/releases/R2014a/matlab/creating_plots/choosing-a-printer-driver.html#f3-96545). Export_fig attempts to correct font names in the resulting EPS file (up to a maximum of 11 different fonts in one figure), but this is not always guaranteed to work. In particular, the text positions will be affected. It also does not work for text blocks where the 'Interpreter' property is set to 'latex'. - -Also, when using the painters renderer, ghostscript will sometimes throw an error such as `Error: /undefined in /findfont`. This suggests that ghostscript could not find a definition file for one of your fonts. One possible fix for this is to make sure the file `EXPORT_FIG_PATH/.ignore/gs_font_path.txt` exists and contains a list of paths to the folder(s) containing the necessary font definitions (make sure that they are TrueType definitions!), separated by a semicolon. - -**RGB color data not yet supported in Painter's mode** - you will see this as a warning if you try to export a figure which contains patch objects whose face or vertex colors are specified as an RGB colour, rather than an index into the colormap, using the painters renderer (the default renderer for vector output). This problem can arise if you use `pcolor`, for example. This is a problem with MATLAB's painters renderer, which also affects `print`; there is currently no fix available in export_fig (other than to export to bitmap). The suggested workaround is to avoid colouring patches using RGB. First, try to use colours in the figure's colourmap (instructions [here](http://www.mathworks.co.uk/support/solutions/en/data/1-6OTPQE/)) - change the colourmap, if necessary. If you are using `pcolor`, try using [uimagesc](http://www.mathworks.com/matlabcentral/fileexchange/11368) (on the file exchange) instead. - -**Dashed contour lines appear solid** - when using the painters renderer, MATLAB cannot generate dashed lines using the `contour` function (either on screen or in exported PDF and EPS files). Details can be found [here](http://www.mathworks.com/support/solutions/en/data/1-14PPHB/?solution=1-14PPHB). - -**Text size** - when using the OpenGL or ZBuffer renderers, large text can be resized relative to the figure when exporting at non-screen-resolution (including using anti-alising at screen resolution). This is a feature of MATLAB's `print `function. In this case, try using the `-painters` option. - -**Lighting and transparency** - when using the painters renderer, transparency and lighting effects are not supported. Sorry, but this is an inherent feature of MATLAB's painters renderer. To find out more about the capabilities of each rendering method, see [here](http://www.mathworks.com/access/helpdesk/help/techdoc/creating_plots/f3-84337.html#f3-102410). You can still export transparent objects to vector format (SVG) using the excellent [plot2svg](http://www.mathworks.com/matlabcentral/fileexchange/7401) package, then convert this to PDF, for example using [Inkscape](http://inkscape.org/). However, it can't handle lighting. - -**Lines in patch objects** - when exporting patch objects to PDF using the painters renderer (default), sometimes the output can appear to have lines across the middle of rectangular patches; these lines are the colour of the background, as if there is a crack in the patch, allowing you to see through. This appears to be due to bugs in MATLAB's internal vector rendering code. These lines can often be removed from the PDF using software such as [InkScape](https://inkscape.org). Sometimes disabling anti-aliasing in the PDF-reader software can get rid of the lines ([discussion](https://github.com/altmany/export_fig/issues/44)). - -**Out of memory** - if you run into memory issues when using export_fig, some ways to get round this are: - 1. Reduce the level of anti-aliasing. - 2. Reduce the size of the figure. - 3. Reduce the export resolution (dpi). - 4. Change the renderer to painters or ZBuffer. - -**Errors** - the other common type of errors people get with export_fig are OpenGL errors. This isn't a fault of export_fig, but either a bug in MATLAB's `print`, or your graphics driver getting itself into a state. Always make sure your graphics driver is up-to-date. If it still doesn't work, try using the ZBuffer renderer. - -### Raising issues -If you think you have found a genuine error or issue with export_fig **that is not listed above**, first ensure that the figure looks correct on screen when rendered using the renderer that export_fig is set to use (e.g. if exporting to PDF or EPS, does the figure look correct on screen using the painters renderer, or if exporting to bitmap, does the figure look correct on screen using the OpenGL renderer?). If it looks wrong then the problem is there, and I cannot help (other than to suggest you try exporting using a different renderer). - -Secondly, if exporting to bitmap, do try all the renderers (i.e. try the options `-opengl`, `-zbuffer` and `-painters` separately), to see if one of them does produce an acceptable output, and if so, use that. - -If this still does not help, then ensure that you are using the latest version of export_fig, which is available [here](https://github.com/altmany/export_fig/archive/master.zip). - -If the figure looks correct on screen, but an error exists in the exported output (which cannot be solved using a different renderer) then please feel free to raise an [issue](https://github.com/altmany/export_fig/issues). Please be sure to include the .fig file, the export_fig command you use, the output you get, and a description of what you expected. I can't promise anything, but if it's easy to fix I may indeed do it. Often I will find that the error is due to a bug in MATLAB's `print` function, in which case I will suggest you submit it as a bug to TheMathWorks, and inform me of any fix they suggest. Also, if there's a feature you'd like that isn't supported please tell me what it is and I'll consider implementing it. - -### And finally... - -![](https://farm4.staticflickr.com/3956/15591911455_b9008bd77e_o_d.jpg) - -If you've ever wondered what's going on in the logo on the export_fig download page (reproduced here), then this explanantion is for you. The logo is designed to demonstrate as many of export_fig's features as possible: - -Given a figure containing a translucent mesh (top right), export_fig can export to pdf (bottom centre), which allows the figure to be zoomed-in without losing quality (because it's a vector graphic), but isn't able to reproduce the translucency. Also, depending on the PDF viewer program, small gaps appear between the patches, which are seen here as thin white lines. - -By contrast, when exporting to png (top left), translucency is preserved (see how the graphic below shows through), and the figure is anti-aliased. However, zooming-in does not reveal more detail since png is a bitmap format. Also, lines appear less sharp than in the pdf output. - +export_fig +========== + +A toolbox for exporting figures from MATLAB to standard image and document formats nicely. + +### Overview +Exporting a figure from MATLAB the way you want it (hopefully the way it looks on screen), can be a real headache for the unitiated, thanks to all the settings that are required, and also due to some eccentricities (a.k.a. features and bugs) of functions such as `print`. The first goal of export_fig is to make transferring a plot from screen to document, just the way you expect (again, assuming that's as it appears on screen), a doddle. + +The second goal is to make the output media suitable for publication, allowing you to publish your results in the full glory that you originally intended. This includes embedding fonts, setting image compression levels (including lossless), anti-aliasing, cropping, setting the colourspace, alpha-blending and getting the right resolution. + +Perhaps the best way to demonstrate what export_fig can do is with some examples. + +### Examples +**Visual accuracy** - MATLAB's exporting functions, namely `saveas` and `print`, change many visual properties of a figure, such as size, axes limits and ticks, and background colour, in unexpected and unintended ways. Export_fig aims to faithfully reproduce the figure as it appears on screen. For example: +```Matlab +plot(cos(linspace(0, 7, 1000))); +set(gcf, 'Position', [100 100 150 150]); +saveas(gcf, 'test.png'); +export_fig test2.png +``` +generates the following: + +| Figure: | test.png: | test2.png: | +|:-------:|:---------:|:----------:| +|![](https://farm6.staticflickr.com/5616/15589249291_16e485c29a_o_d.png)|![](https://farm4.staticflickr.com/3944/15406302850_4d2e1c7afa_o_d.png)|![](https://farm6.staticflickr.com/5607/15568225476_8ce9bd5f6b_o_d.png)| + +Note that the size and background colour of test2.png (the output of export_fig) are the same as those of the on screen figure, in contrast to test.png. Of course, if you want the figure background to be white (or any other colour) in the exported file then you can set this prior to exporting using: +```Matlab +set(gcf, 'Color', 'w'); +``` + +Notice also that export_fig crops and anti-aliases (smooths, for bitmaps only) the output by default. However, these options can be disabled; see the Tips section below for details. + +**Resolution** - by default, export_fig exports bitmaps at screen resolution. However, you may wish to save them at a different resolution. You can do this using either of two options: `-m`, where is a positive real number, magnifies the figure by the factor for export, e.g. `-m2` produces an image double the size (in pixels) of the on screen figure; `-r`, again where is a positive real number, specifies the output bitmap to have pixels per inch, the dimensions of the figure (in inches) being those of the on screen figure. For example, using: +```Matlab +export_fig test.png -m2.5 +``` +on the figure from the example above generates: + +![](https://farm4.staticflickr.com/3937/15591910915_dc7040c477_o_d.png) + +Sometimes you might have a figure with an image in. For example: +```Matlab +imshow(imread('cameraman.tif')) +hold on +plot(0:255, sin(linspace(0, 10, 256))*127+128); +set(gcf, 'Position', [100 100 150 150]); +``` +generates this figure: + +![](https://farm4.staticflickr.com/3942/15589249581_ff87a56a3f_o_d.png) + +Here the image is displayed in the figure at resolution lower than its native resolution. However, you might want to export the figure at a resolution such that the image is output at its native (i.e. original) size (in pixels). Ordinarily this would require some non-trivial computation to work out what that resolution should be, but export_fig has an option to do this for you. Using: +```Matlab +export_fig test.png -native +``` +produces: + +![](https://farm6.staticflickr.com/5604/15589249591_da2b2652e4_o_d.png) + +with the image being the size (in pixels) of the original image. Note that if you want an image to be a particular size, in pixels, in the output (other than its original size) then you can resize it to this size and use the `-native` option to achieve this. + +All resolution options (`-m`, `-q` and `-native`) correctly set the resolution information in PNG and TIFF files, as if the image were the dimensions of the on screen figure. + +**Shrinking dots & dashes** - when exporting figures with dashed or dotted lines using either the ZBuffer or OpenGL (default for bitmaps) renderers, the dots and dashes can appear much shorter, even non-existent, in the output file, especially if the lines are thick and/or the resolution is high. For example: +```Matlab +plot(sin(linspace(0, 10, 1000)), 'b:', 'LineWidth', 4); +hold on +plot(cos(linspace(0, 7, 1000)), 'r--', 'LineWidth', 3); +grid on +export_fig test.png +``` +generates: + +![](https://farm4.staticflickr.com/3956/15592747732_f943d4aa0a_o_d.png) + +This problem can be overcome by using the painters renderer. For example: +```Matlab +export_fig test.png -painters +``` +used on the same figure generates: + +![](https://farm4.staticflickr.com/3945/14971168504_77692f11f5_o_d.png) + +Note that not only are the plot lines correct, but the grid lines are too. + +**Transparency** - sometimes you might want a figure and axes' backgrounds to be transparent, so that you can see through them to a document (for example a presentation slide, with coloured or textured background) that the exported figure is placed in. To achieve this, first (optionally) set the axes' colour to 'none' prior to exporting, using: +```Matlab +set(gca, 'Color', 'none'); % Sets axes background +``` + +then use export_fig's `-transparent` option when exporting: +```Matlab +export_fig test.png -transparent +``` + +This will make the background transparent in PDF, EPS and PNG outputs. You can additionally save fully alpha-blended semi-transparent patch objects to the PNG format. For example: + +```Matlab +logo; +alpha(0.5); +``` + +generates a figure like this: + +![](https://farm4.staticflickr.com/3933/15405290339_b08de33528_o_d.png) + +If you then export this to PNG using the `-transparent` option you can then put the resulting image into, for example, a presentation slide with fancy, textured background, like so: + +![](https://farm6.staticflickr.com/5599/15406302920_59beaefff1_o_d.png) + +and the image blends seamlessly with the background. + +**Image quality** - when publishing images of your results, you want them to look as good as possible. By default, when outputting to lossy file formats (PDF, EPS and JPEG), export_fig uses a high quality setting, i.e. low compression, for images, so little information is lost. This is in contrast to MATLAB's print and saveas functions, whose default quality settings are poor. For example: +```Matlab +A = im2double(imread('peppers.png')); +B = randn(ceil(size(A, 1)/6), ceil(size(A, 2)/6), 3) * 0.1; +B = cat(3, kron(B(:,:,1), ones(6)), kron(B(:,:,2), ones(6)), kron(B(:,:,3), ones(6))); +B = A + B(1:size(A, 1),1:size(A, 2),:); +imshow(B); +print -dpdf test.pdf +``` +generates a PDF file, a sub-window of which looks (when zoomed in) like this: + +![](https://farm6.staticflickr.com/5613/15405290309_881b2774d6_o_d.png) + +while the command + +```Matlab +export_fig test.pdf +``` +on the same figure produces this: + +![](https://farm4.staticflickr.com/3947/14971168174_687473133f_o_d.png) + +While much better, the image still contains some compression artifacts (see the low level noise around the edge of the pepper). You may prefer to export with no artifacts at all, i.e. lossless compression. Alternatively, you might need a smaller file, and be willing to accept more compression. Either way, export_fig has an option that can suit your needs: `-q`, where is a number from 0-100, will set the level of lossy image compression (again in PDF, EPS and JPEG outputs only; other formats are lossless), from high compression (0) to low compression/high quality (100). If you want lossless compression in any of those formats then specify a greater than 100. For example: +```Matlab +export_fig test.pdf -q101 +``` +again on the same figure, produces this: + +![](https://farm6.staticflickr.com/5608/15405803908_934512c1fe_o_d.png) + +Notice that all the noise has gone. + +### Tips +**Anti-aliasing** - the anti-aliasing which export_fig applies to bitmap outputs by default makes the images look nice, but it can also blur images and increase exporting time and memory requirements, so you might not always want it. You can set the level of anti-aliasing by using the `-a` option, where is 1 (no anti-aliasing), 2, 3 (default) or 4 (maximum anti-aliasing). + +**Cropping** - by default, export_fig crops its output to minimize the amount of empty space around the figure. If you'd prefer the figure to be uncropped, and instead have the same appearance (in terms of border width) as the on screen figure, then use the `-nocrop` option. + +**Colourspace** - by default, export_fig generates files in the RGB [colourspace](https://en.wikipedia.org/wiki/Color_space). However, you can also export in greyscale or the CMYK colourspace, using the `-grey` (or `-gray`) and `-cmyk` options respectively. The CMYK option is useful for publishers who require documents in this colourspace, but the option is only supported for PDF, EPS and TIFF files. + +**Specifying a target directory** - you can get export_fig to save output files to any directory (for which you have write permission), simply by specifying the full or relative path in the filename. For example: +```Matlab +export_fig ../subdir/fig.png; +export_fig('C:/Users/Me/Documents/figures/myfig', '-pdf', '-png'); +``` + +**Variable file names** - often you might want to save a series of figures in a for loop, each with a different name. For this you can use the functional form of input arguments, i.e. `export_fig(arg1, arg2)`, and construct the filename string in a variable. Here's an example of this: +```Matlab +for a = 1:5 + plot(rand(5, 2)); + export_fig(sprintf('plot%d.png', a)); +end +``` +When using the functional form like this, be sure to put string variables in quotes: +```Matlab +export_fig(sprintf('plot%d', a), '-a1', '-pdf', '-png'); +``` + +**Specifying the figure/axes** - if you have mutiple figures open you can specify which figure to export using its handle: +```Matlab +export_fig(figure_handle, filename); +``` +Equally, if your figure contains several subplots then you can export just one of them by giving export_fig the handle to the relevant axes: +```Matlab +export_fig(axes_handle, filename); +``` + +**Multiple formats** - save time by exporting to multiple formats simultaneously. E.g.: +```Matlab +export_fig filename -pdf -eps -png -jpg -tiff +``` + +**Other file formats** - if you'd like to save your figure to a bitmap format that is not supported by export_fig, e.g. animated GIF, PPM file or a frame in a movie, then you can use export_fig to output the image, and optionally an alpha-matte, to the workspace. E.g.: +```Matlab +frame = export_fig; +``` +or +```Matlab +[frame, alpha] = export_fig; +``` +These variables can then be saved to other image formats using other functions, such as imwrite. + +**Appending to a file** - you can use the `-append` option to append the figure to the end of an image/document, if it already exists. This is supported for PDF and TIFF files only. Note that if you wish to append a lot of figures consecutively to a PDF, it can be more efficient to save all the figures to PDF separately then append them all in one go at the end (e.g. using [append_pdfs](http://www.mathworks.com/matlabcentral/fileexchange/31215-appendpdfs)). + +**Output to clipboard** - you can use the `-clipboard` option to copy the specified figure or axes to the system clipboard, for easy paste into other documents (e.g., Word or PowerPoint). Note that the image is copied in bitmap (not vector) format. + +**Font size** - if you want to place an exported figure in a document with the font a particular size then you need to set the font to that size in the figure, and not resize the output of export_fig in the document. To avoid resizing, simply make sure that the on screen figure is the size you want the output to be in the document before exporting. + +**Renderers** - MATLAB has three renderers for displaying and exporting figures: painters, OpenGL and ZBuffer. The different renderers have different [features](http://www.mathworks.com/access/helpdesk/help/techdoc/creating_plots/f3-84337.html#f3-102410), so if you aren't happy with the result from one renderer try another. By default, vector formats (i.e. PDF and EPS outputs) use the painters renderer, while other formats use the OpenGL renderer. Non-default renderers can be selected by using one of these three export_fig input options: `-painters`, `-opengl`, `-zbuffer`: +```Matlab +export_fig test.png -painters +``` + +**Artifacts** - sometimes the output that you get from export_fig is not what you expected. If an output file contains artifacts that aren't in the on screen figure then make sure that the renderer used for rendering the figure on screen is the same as that used for exporting. To set the renderer used to display the figure, use: +```Matlab +set(figure_handle, 'Renderer', 'opengl'); +``` +After matching the two renderers, if the artifact appears in the on screen figure then you'll need to fix that before exporting. Alternatively you can try changing the renderer used by export_fig. Finally check that it isn't one of the known issues mentioned in the section below. + +**Smoothed/interpolated images in output PDF** - if you produce a PDF using export_fig and images in the PDF look overly smoothed or interpolated, this is because the software you are using to view the PDF is smoothing or interpolating the image data. The image is not smoothed in the PDF file itself. If the software has an option to disable this feature, you should select it. Alternatively, use another PDF viewer that doesn't exhibit this problem. + +**Locating Ghostscript/pdftops** - You may find a dialogue box appears when using export_fig, asking you to locate either [Ghostscript](http://www.ghostscript.com) or [pdftops](http://www.foolabs.com/xpdf). These are separate applications which export_fig requires to perform certain functions. If such a dialogue appears it is because export_fig can't find the application automatically. This is because you either haven't installed it, or it isn't in the normal place. Make sure you install the applications correctly first. They can be downloaded from the following places: + 1. Ghostscript: [www.ghostscript.com](http://www.ghostscript.com) + 2. pdftops (install the Xpdf package): [www.foolabs.com/xpdf](http://www.foolabs.com/xpdf) + +If you choose to install them in a non-default location then point export_fig +to this location using the dialogue box. + +**Undefined function errors** - If you download and run export_fig and get an error similar to this: +``` +??? Undefined function or method 'print2array' for input arguments of type 'double'. +``` +then you are missing one or more of the files that come in the export_fig package. Make sure that you click the "Get from GitHub" button at the top-right of the download [page](http://www.mathworks.co.uk/matlabcentral/fileexchange/23629-exportfig), then extract all the files in the zip file to the same directory. You should then have all the necessary files. + +### Known issues +There are lots of problems with MATLAB's exporting functions, especially `print`. Export_fig is simply a glorified wrapper for MATLAB's `print` function, and doesn't solve all of its bugs (yet?). Some of the problems I know about are: + +**Fonts** - when using the painters renderer, MATLAB can only export a small number of fonts, details of which can be found [here](http://www.mathworks.com/help/releases/R2014a/matlab/creating_plots/choosing-a-printer-driver.html#f3-96545). Export_fig attempts to correct font names in the resulting EPS file (up to a maximum of 11 different fonts in one figure), but this is not always guaranteed to work. In particular, the text positions will be affected. It also does not work for text blocks where the 'Interpreter' property is set to 'latex'. + +Also, when using the painters renderer, ghostscript will sometimes throw an error such as `Error: /undefined in /findfont`. This suggests that ghostscript could not find a definition file for one of your fonts. One possible fix for this is to make sure the file `EXPORT_FIG_PATH/.ignore/gs_font_path.txt` exists and contains a list of paths to the folder(s) containing the necessary font definitions (make sure that they are TrueType definitions!), separated by a semicolon. + +**RGB color data not yet supported in Painter's mode** - you will see this as a warning if you try to export a figure which contains patch objects whose face or vertex colors are specified as an RGB colour, rather than an index into the colormap, using the painters renderer (the default renderer for vector output). This problem can arise if you use `pcolor`, for example. This is a problem with MATLAB's painters renderer, which also affects `print`; there is currently no fix available in export_fig (other than to export to bitmap). The suggested workaround is to avoid colouring patches using RGB. First, try to use colours in the figure's colourmap (instructions [here](http://www.mathworks.co.uk/support/solutions/en/data/1-6OTPQE/)) - change the colourmap, if necessary. If you are using `pcolor`, try using [uimagesc](http://www.mathworks.com/matlabcentral/fileexchange/11368) (on the file exchange) instead. + +**Dashed contour lines appear solid** - when using the painters renderer, MATLAB cannot generate dashed lines using the `contour` function (either on screen or in exported PDF and EPS files). Details can be found [here](http://www.mathworks.com/support/solutions/en/data/1-14PPHB/?solution=1-14PPHB). + +**Text size** - when using the OpenGL or ZBuffer renderers, large text can be resized relative to the figure when exporting at non-screen-resolution (including using anti-alising at screen resolution). This is a feature of MATLAB's `print `function. In this case, try using the `-painters` option. + +**Lighting and transparency** - when using the painters renderer, transparency and lighting effects are not supported. Sorry, but this is an inherent feature of MATLAB's painters renderer. To find out more about the capabilities of each rendering method, see [here](http://www.mathworks.com/access/helpdesk/help/techdoc/creating_plots/f3-84337.html#f3-102410). You can still export transparent objects to vector format (SVG) using the excellent [plot2svg](http://www.mathworks.com/matlabcentral/fileexchange/7401) package, then convert this to PDF, for example using [Inkscape](http://inkscape.org/). However, it can't handle lighting. + +**Lines in patch objects** - when exporting patch objects to PDF using the painters renderer (default), sometimes the output can appear to have lines across the middle of rectangular patches; these lines are the colour of the background, as if there is a crack in the patch, allowing you to see through. This appears to be due to bugs in MATLAB's internal vector rendering code. These lines can often be removed from the PDF using software such as [InkScape](https://inkscape.org). Sometimes disabling anti-aliasing in the PDF-reader software can get rid of the lines ([discussion](https://github.com/altmany/export_fig/issues/44)). + +**Out of memory** - if you run into memory issues when using export_fig, some ways to get round this are: + 1. Reduce the level of anti-aliasing. + 2. Reduce the size of the figure. + 3. Reduce the export resolution (dpi). + 4. Change the renderer to painters or ZBuffer. + +**Errors** - the other common type of errors people get with export_fig are OpenGL errors. This isn't a fault of export_fig, but either a bug in MATLAB's `print`, or your graphics driver getting itself into a state. Always make sure your graphics driver is up-to-date. If it still doesn't work, try using the ZBuffer renderer. + +### Raising issues +If you think you have found a genuine error or issue with export_fig **that is not listed above**, first ensure that the figure looks correct on screen when rendered using the renderer that export_fig is set to use (e.g. if exporting to PDF or EPS, does the figure look correct on screen using the painters renderer, or if exporting to bitmap, does the figure look correct on screen using the OpenGL renderer?). If it looks wrong then the problem is there, and I cannot help (other than to suggest you try exporting using a different renderer). + +Secondly, if exporting to bitmap, do try all the renderers (i.e. try the options `-opengl`, `-zbuffer` and `-painters` separately), to see if one of them does produce an acceptable output, and if so, use that. + +If this still does not help, then ensure that you are using the latest version of export_fig, which is available [here](https://github.com/altmany/export_fig/archive/master.zip). + +If the figure looks correct on screen, but an error exists in the exported output (which cannot be solved using a different renderer) then please feel free to raise an [issue](https://github.com/altmany/export_fig/issues). Please be sure to include the .fig file, the export_fig command you use, the output you get, and a description of what you expected. I can't promise anything, but if it's easy to fix I may indeed do it. Often I will find that the error is due to a bug in MATLAB's `print` function, in which case I will suggest you submit it as a bug to TheMathWorks, and inform me of any fix they suggest. Also, if there's a feature you'd like that isn't supported please tell me what it is and I'll consider implementing it. + +### And finally... + +![](https://farm4.staticflickr.com/3956/15591911455_b9008bd77e_o_d.jpg) + +If you've ever wondered what's going on in the logo on the export_fig download page (reproduced here), then this explanantion is for you. The logo is designed to demonstrate as many of export_fig's features as possible: + +Given a figure containing a translucent mesh (top right), export_fig can export to pdf (bottom centre), which allows the figure to be zoomed-in without losing quality (because it's a vector graphic), but isn't able to reproduce the translucency. Also, depending on the PDF viewer program, small gaps appear between the patches, which are seen here as thin white lines. + +By contrast, when exporting to png (top left), translucency is preserved (see how the graphic below shows through), and the figure is anti-aliased. However, zooming-in does not reveal more detail since png is a bitmap format. Also, lines appear less sharp than in the pdf output. + diff --git a/Legacy/offline/localizer/altmany-export_fig/user_string.m b/Legacy/offline/localizer/altmany-export_fig/user_string.m index 8d35b3d5..a949084b 100755 --- a/Legacy/offline/localizer/altmany-export_fig/user_string.m +++ b/Legacy/offline/localizer/altmany-export_fig/user_string.m @@ -1,105 +1,105 @@ -function string = user_string(string_name, string) -%USER_STRING Get/set a user specific string -% -% Examples: -% string = user_string(string_name) -% isSaved = user_string(string_name, new_string) -% -% Function to get and set a string in a system or user specific file. This -% enables, for example, system specific paths to binaries to be saved. -% -% The specified string will be saved in a file named .txt, -% either in a subfolder named .ignore under this file's folder, or in the -% user's prefdir folder (in case this file's folder is non-writable). -% -% IN: -% string_name - String containing the name of the string required, which -% sets the filename storing the string: .txt -% new_string - The new string to be saved in the .txt file -% -% OUT: -% string - The currently saved string. Default: '' -% isSaved - Boolean indicating whether the save was succesful - -% Copyright (C) Oliver Woodford 2011-2014, Yair Altman 2015- - -% This method of saving paths avoids changing .m files which might be in a -% version control system. Instead it saves the user dependent paths in -% separate files with a .txt extension, which need not be checked in to -% the version control system. Thank you to Jonas Dorn for suggesting this -% approach. - -% 10/01/2013 - Access files in text, not binary mode, as latter can cause -% errors. Thanks to Christian for pointing this out. -% 29/05/2015 - Save file in prefdir if current folder is non-writable (issue #74) - - if ~ischar(string_name) - error('string_name must be a string.'); - end - % Create the full filename - fname = [string_name '.txt']; - dname = fullfile(fileparts(mfilename('fullpath')), '.ignore'); - file_name = fullfile(dname, fname); - if nargin > 1 - % Set string - if ~ischar(string) - error('new_string must be a string.'); - end - % Make sure the save directory exists - %dname = fileparts(file_name); - if ~exist(dname, 'dir') - % Create the directory - try - if ~mkdir(dname) - string = false; - return - end - catch - string = false; - return - end - % Make it hidden - try - fileattrib(dname, '+h'); - catch - end - end - % Write the file - fid = fopen(file_name, 'wt'); - if fid == -1 - % file cannot be created/updated - use prefdir if file does not already exist - % (if file exists but is simply not writable, don't create a duplicate in prefdir) - if ~exist(file_name,'file') - file_name = fullfile(prefdir, fname); - fid = fopen(file_name, 'wt'); - end - if fid == -1 - string = false; - return; - end - end - try - fprintf(fid, '%s', string); - catch - fclose(fid); - string = false; - return - end - fclose(fid); - string = true; - else - % Get string - fid = fopen(file_name, 'rt'); - if fid == -1 - % file cannot be read, try to read the file in prefdir - file_name = fullfile(prefdir, fname); - fid = fopen(file_name, 'rt'); - if fid == -1 - string = ''; - return - end - end - string = fgetl(fid); - fclose(fid); - end -end +function string = user_string(string_name, string) +%USER_STRING Get/set a user specific string +% +% Examples: +% string = user_string(string_name) +% isSaved = user_string(string_name, new_string) +% +% Function to get and set a string in a system or user specific file. This +% enables, for example, system specific paths to binaries to be saved. +% +% The specified string will be saved in a file named .txt, +% either in a subfolder named .ignore under this file's folder, or in the +% user's prefdir folder (in case this file's folder is non-writable). +% +% IN: +% string_name - String containing the name of the string required, which +% sets the filename storing the string: .txt +% new_string - The new string to be saved in the .txt file +% +% OUT: +% string - The currently saved string. Default: '' +% isSaved - Boolean indicating whether the save was succesful + +% Copyright (C) Oliver Woodford 2011-2014, Yair Altman 2015- + +% This method of saving paths avoids changing .m files which might be in a +% version control system. Instead it saves the user dependent paths in +% separate files with a .txt extension, which need not be checked in to +% the version control system. Thank you to Jonas Dorn for suggesting this +% approach. + +% 10/01/2013 - Access files in text, not binary mode, as latter can cause +% errors. Thanks to Christian for pointing this out. +% 29/05/2015 - Save file in prefdir if current folder is non-writable (issue #74) + + if ~ischar(string_name) + error('string_name must be a string.'); + end + % Create the full filename + fname = [string_name '.txt']; + dname = fullfile(fileparts(mfilename('fullpath')), '.ignore'); + file_name = fullfile(dname, fname); + if nargin > 1 + % Set string + if ~ischar(string) + error('new_string must be a string.'); + end + % Make sure the save directory exists + %dname = fileparts(file_name); + if ~exist(dname, 'dir') + % Create the directory + try + if ~mkdir(dname) + string = false; + return + end + catch + string = false; + return + end + % Make it hidden + try + fileattrib(dname, '+h'); + catch + end + end + % Write the file + fid = fopen(file_name, 'wt'); + if fid == -1 + % file cannot be created/updated - use prefdir if file does not already exist + % (if file exists but is simply not writable, don't create a duplicate in prefdir) + if ~exist(file_name,'file') + file_name = fullfile(prefdir, fname); + fid = fopen(file_name, 'wt'); + end + if fid == -1 + string = false; + return; + end + end + try + fprintf(fid, '%s', string); + catch + fclose(fid); + string = false; + return + end + fclose(fid); + string = true; + else + % Get string + fid = fopen(file_name, 'rt'); + if fid == -1 + % file cannot be read, try to read the file in prefdir + file_name = fullfile(prefdir, fname); + fid = fopen(file_name, 'rt'); + if fid == -1 + string = ''; + return + end + end + string = fgetl(fid); + fclose(fid); + end +end diff --git a/Legacy/real_time/surface_src/java_src/Alice/gradlew b/Legacy/real_time/surface_src/java_src/Alice/gradlew index 91a7e269..583ae081 100755 --- a/Legacy/real_time/surface_src/java_src/Alice/gradlew +++ b/Legacy/real_time/surface_src/java_src/Alice/gradlew @@ -1,164 +1,164 @@ -#!/usr/bin/env bash - -############################################################################## -## -## Gradle start up script for UN*X -## -############################################################################## - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS="" - -APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" - -warn ( ) { - echo "$*" -} - -die ( ) { - echo - echo "$*" - echo - exit 1 -} - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MINGW* ) - msys=true - ;; -esac - -# For Cygwin, ensure paths are in UNIX format before anything is touched. -if $cygwin ; then - [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` -fi - -# Attempt to set APP_HOME -# Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi -done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >&- -APP_HOME="`pwd -P`" -cd "$SAVED" >&- - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" - else - JAVACMD="$JAVA_HOME/bin/java" - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD="java" - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." -fi - -# Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi -fi - -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi - -# For Cygwin, switch paths to Windows format before running java -if $cygwin ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi - # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" - fi - i=$((i+1)) - done - case $i in - (0) set -- ;; - (1) set -- "$args0" ;; - (2) set -- "$args0" "$args1" ;; - (3) set -- "$args0" "$args1" "$args2" ;; - (4) set -- "$args0" "$args1" "$args2" "$args3" ;; - (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac -fi - -# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules -function splitJvmOpts() { - JVM_OPTS=("$@") -} -eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS -JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" - -exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" +#!/usr/bin/env bash + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS="" + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn ( ) { + echo "$*" +} + +die ( ) { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; +esac + +# For Cygwin, ensure paths are in UNIX format before anything is touched. +if $cygwin ; then + [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` +fi + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >&- +APP_HOME="`pwd -P`" +cd "$SAVED" >&- + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules +function splitJvmOpts() { + JVM_OPTS=("$@") +} +eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS +JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" + +exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" diff --git a/Legacy/real_time/surface_src/java_src/Alice/travisStyleCheck.sh b/Legacy/real_time/surface_src/java_src/Alice/travisStyleCheck.sh index ab1aaf94..c74534fa 100755 --- a/Legacy/real_time/surface_src/java_src/Alice/travisStyleCheck.sh +++ b/Legacy/real_time/surface_src/java_src/Alice/travisStyleCheck.sh @@ -1,24 +1,24 @@ -#!/bin/bash - -#this file runs all of the style tests for the alice subdirectory -#this file will be run by the travis build system every time that -#new code is pushed -export BUGGY_ROOT=`pwd` -export GRADLE_HOME=$BUGGY_ROOT/gradle-2.7 -export GRADLE_BIN=$GRADLE_HOME/bin - -#sets init value if it is set to false then the script will fail -true - -# for counting the number of lines of java code that we have in alice -find Legacy/real_time/surface_src/java_src/Alice/ -name '*.java' | xargs wc -l -# for ensuring that the only println( is in logic error aka the console is not cluttered with debug info -PRINT_LINE=$(grep -r 'System.out.println(' Legacy/real_time/surface_src/java_src/Alice/src/main) -PRINT_NUM=$((grep -r 'System.out.println(' Legacy/real_time/surface_src/java_src/Alice/src/main) | wc -l) -if [ $PRINT_NUM != 1 ] -then - echo $PRINT_NUM - echo $PRINT_LINE - echo "Detected System.out.println() in Alice"; - false - fi +#!/bin/bash + +#this file runs all of the style tests for the alice subdirectory +#this file will be run by the travis build system every time that +#new code is pushed +export BUGGY_ROOT=`pwd` +export GRADLE_HOME=$BUGGY_ROOT/gradle-2.7 +export GRADLE_BIN=$GRADLE_HOME/bin + +#sets init value if it is set to false then the script will fail +true + +# for counting the number of lines of java code that we have in alice +find Legacy/real_time/surface_src/java_src/Alice/ -name '*.java' | xargs wc -l +# for ensuring that the only println( is in logic error aka the console is not cluttered with debug info +PRINT_LINE=$(grep -r 'System.out.println(' Legacy/real_time/surface_src/java_src/Alice/src/main) +PRINT_NUM=$((grep -r 'System.out.println(' Legacy/real_time/surface_src/java_src/Alice/src/main) | wc -l) +if [ $PRINT_NUM != 1 ] +then + echo $PRINT_NUM + echo $PRINT_LINE + echo "Detected System.out.println() in Alice"; + false + fi diff --git a/Legacy/real_time/surface_src/java_src/gradlew b/Legacy/real_time/surface_src/java_src/gradlew index 91a7e269..583ae081 100755 --- a/Legacy/real_time/surface_src/java_src/gradlew +++ b/Legacy/real_time/surface_src/java_src/gradlew @@ -1,164 +1,164 @@ -#!/usr/bin/env bash - -############################################################################## -## -## Gradle start up script for UN*X -## -############################################################################## - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS="" - -APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" - -warn ( ) { - echo "$*" -} - -die ( ) { - echo - echo "$*" - echo - exit 1 -} - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MINGW* ) - msys=true - ;; -esac - -# For Cygwin, ensure paths are in UNIX format before anything is touched. -if $cygwin ; then - [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` -fi - -# Attempt to set APP_HOME -# Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi -done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >&- -APP_HOME="`pwd -P`" -cd "$SAVED" >&- - -CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" - else - JAVACMD="$JAVA_HOME/bin/java" - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD="java" - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." -fi - -# Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi -fi - -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi - -# For Cygwin, switch paths to Windows format before running java -if $cygwin ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi - # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" - fi - i=$((i+1)) - done - case $i in - (0) set -- ;; - (1) set -- "$args0" ;; - (2) set -- "$args0" "$args1" ;; - (3) set -- "$args0" "$args1" "$args2" ;; - (4) set -- "$args0" "$args1" "$args2" "$args3" ;; - (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac -fi - -# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules -function splitJvmOpts() { - JVM_OPTS=("$@") -} -eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS -JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" - -exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" +#!/usr/bin/env bash + +############################################################################## +## +## Gradle start up script for UN*X +## +############################################################################## + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS="" + +APP_NAME="Gradle" +APP_BASE_NAME=`basename "$0"` + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn ( ) { + echo "$*" +} + +die ( ) { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; +esac + +# For Cygwin, ensure paths are in UNIX format before anything is touched. +if $cygwin ; then + [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` +fi + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >&- +APP_HOME="`pwd -P`" +cd "$SAVED" >&- + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules +function splitJvmOpts() { + JVM_OPTS=("$@") +} +eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS +JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" + +exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" diff --git a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/Assert.java b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/Assert.java index d7deb06b..40dbd48a 100755 --- a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/Assert.java +++ b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/Assert.java @@ -1,958 +1,958 @@ -package org.junit; - -import org.hamcrest.Matcher; -import org.hamcrest.MatcherAssert; -import org.junit.internal.ArrayComparisonFailure; -import org.junit.internal.ExactComparisonCriteria; -import org.junit.internal.InexactComparisonCriteria; - -/** - * A set of assertion methods useful for writing tests. Only failed assertions - * are recorded. These methods can be used directly: - * Assert.assertEquals(...), however, they read better if they - * are referenced through static import: - * - * 
- * import static org.junit.Assert.*;
- *    ...
- *    assertEquals(...);
- *
- * - * @see AssertionError - * @since 4.0 - */ -public class Assert { - /** - * Protect constructor since it is a static only class - */ - protected Assert() { - } - - /** - * Asserts that a condition is true. If it isn't it throws an - * {@link AssertionError} with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param condition condition to be checked - */ - static public void assertTrue(String message, boolean condition) { - if (!condition) { - fail(message); - } - } - - /** - * Asserts that a condition is true. If it isn't it throws an - * {@link AssertionError} without a message. - * - * @param condition condition to be checked - */ - static public void assertTrue(boolean condition) { - assertTrue(null, condition); - } - - /** - * Asserts that a condition is false. If it isn't it throws an - * {@link AssertionError} with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param condition condition to be checked - */ - static public void assertFalse(String message, boolean condition) { - assertTrue(message, !condition); - } - - /** - * Asserts that a condition is false. If it isn't it throws an - * {@link AssertionError} without a message. - * - * @param condition condition to be checked - */ - static public void assertFalse(boolean condition) { - assertFalse(null, condition); - } - - /** - * Fails a test with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @see AssertionError - */ - static public void fail(String message) { - if (message == null) { - throw new AssertionError(); - } - throw new AssertionError(message); - } - - /** - * Fails a test with no message. - */ - static public void fail() { - fail(null); - } - - /** - * Asserts that two objects are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. If - * expected and actual are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expected expected value - * @param actual actual value - */ - static public void assertEquals(String message, Object expected, - Object actual) { - if (equalsRegardingNull(expected, actual)) { - return; - } else if (expected instanceof String && actual instanceof String) { - String cleanMessage = message == null ? "" : message; - throw new ComparisonFailure(cleanMessage, (String) expected, - (String) actual); - } else { - failNotEquals(message, expected, actual); - } - } - - private static boolean equalsRegardingNull(Object expected, Object actual) { - if (expected == null) { - return actual == null; - } - - return isEquals(expected, actual); - } - - private static boolean isEquals(Object expected, Object actual) { - return expected.equals(actual); - } - - /** - * Asserts that two objects are equal. If they are not, an - * {@link AssertionError} without a message is thrown. If - * expected and actual are null, - * they are considered equal. - * - * @param expected expected value - * @param actual the value to check against expected - */ - static public void assertEquals(Object expected, Object actual) { - assertEquals(null, expected, actual); - } - - /** - * Asserts that two objects are not equals. If they are, an - * {@link AssertionError} is thrown with the given message. If - * unexpected and actual are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param unexpected unexpected value to check - * @param actual the value to check against unexpected - */ - static public void assertNotEquals(String message, Object unexpected, - Object actual) { - if (equalsRegardingNull(unexpected, actual)) { - failEquals(message, actual); - } - } - - /** - * Asserts that two objects are not equals. If they are, an - * {@link AssertionError} without a message is thrown. If - * unexpected and actual are null, - * they are considered equal. - * - * @param unexpected unexpected value to check - * @param actual the value to check against unexpected - */ - static public void assertNotEquals(Object unexpected, Object actual) { - assertNotEquals(null, unexpected, actual); - } - - private static void failEquals(String message, Object actual) { - String formatted = "Values should be different. "; - if (message != null) { - formatted = message + ". "; - } - - formatted += "Actual: " + actual; - fail(formatted); - } - - /** - * Asserts that two longs are not equals. If they are, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param unexpected unexpected value to check - * @param actual the value to check against unexpected - */ - static public void assertNotEquals(String message, long unexpected, long actual) { - if (unexpected == actual) { - failEquals(message, Long.valueOf(actual)); - } - } - - /** - * Asserts that two longs are not equals. If they are, an - * {@link AssertionError} without a message is thrown. - * - * @param unexpected unexpected value to check - * @param actual the value to check against unexpected - */ - static public void assertNotEquals(long unexpected, long actual) { - assertNotEquals(null, unexpected, actual); - } - - /** - * Asserts that two doubles are not equal to within a positive delta. - * If they are, an {@link AssertionError} is thrown with the given - * message. If the unexpected value is infinity then the delta value is - * ignored. NaNs are considered equal: - * assertNotEquals(Double.NaN, Double.NaN, *) fails - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param unexpected unexpected value - * @param actual the value to check against unexpected - * @param delta the maximum delta between unexpected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertNotEquals(String message, double unexpected, - double actual, double delta) { - if (!doubleIsDifferent(unexpected, actual, delta)) { - failEquals(message, Double.valueOf(actual)); - } - } - - /** - * Asserts that two doubles are not equal to within a positive delta. - * If they are, an {@link AssertionError} is thrown. If the unexpected - * value is infinity then the delta value is ignored.NaNs are considered - * equal: assertNotEquals(Double.NaN, Double.NaN, *) fails - * - * @param unexpected unexpected value - * @param actual the value to check against unexpected - * @param delta the maximum delta between unexpected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertNotEquals(double unexpected, double actual, double delta) { - assertNotEquals(null, unexpected, actual, delta); - } - - /** - * Asserts that two floats are not equal to within a positive delta. - * If they are, an {@link AssertionError} is thrown. If the unexpected - * value is infinity then the delta value is ignored.NaNs are considered - * equal: assertNotEquals(Float.NaN, Float.NaN, *) fails - * - * @param unexpected unexpected value - * @param actual the value to check against unexpected - * @param delta the maximum delta between unexpected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertNotEquals(float unexpected, float actual, float delta) { - assertNotEquals(null, unexpected, actual, delta); - } - - /** - * Asserts that two object arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. If - * expecteds and actuals are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds Object array or array of arrays (multi-dimensional array) with - * expected values. - * @param actuals Object array or array of arrays (multi-dimensional array) with - * actual values - */ - public static void assertArrayEquals(String message, Object[] expecteds, - Object[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two object arrays are equal. If they are not, an - * {@link AssertionError} is thrown. If expected and - * actual are null, they are considered - * equal. - * - * @param expecteds Object array or array of arrays (multi-dimensional array) with - * expected values - * @param actuals Object array or array of arrays (multi-dimensional array) with - * actual values - */ - public static void assertArrayEquals(Object[] expecteds, Object[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two boolean arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. If - * expecteds and actuals are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds boolean array with expected values. - * @param actuals boolean array with expected values. - */ - public static void assertArrayEquals(String message, boolean[] expecteds, - boolean[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two boolean arrays are equal. If they are not, an - * {@link AssertionError} is thrown. If expected and - * actual are null, they are considered - * equal. - * - * @param expecteds boolean array with expected values. - * @param actuals boolean array with expected values. - */ - public static void assertArrayEquals(boolean[] expecteds, boolean[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two byte arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds byte array with expected values. - * @param actuals byte array with actual values - */ - public static void assertArrayEquals(String message, byte[] expecteds, - byte[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two byte arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds byte array with expected values. - * @param actuals byte array with actual values - */ - public static void assertArrayEquals(byte[] expecteds, byte[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two char arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds char array with expected values. - * @param actuals char array with actual values - */ - public static void assertArrayEquals(String message, char[] expecteds, - char[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two char arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds char array with expected values. - * @param actuals char array with actual values - */ - public static void assertArrayEquals(char[] expecteds, char[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two short arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds short array with expected values. - * @param actuals short array with actual values - */ - public static void assertArrayEquals(String message, short[] expecteds, - short[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two short arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds short array with expected values. - * @param actuals short array with actual values - */ - public static void assertArrayEquals(short[] expecteds, short[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two int arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds int array with expected values. - * @param actuals int array with actual values - */ - public static void assertArrayEquals(String message, int[] expecteds, - int[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two int arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds int array with expected values. - * @param actuals int array with actual values - */ - public static void assertArrayEquals(int[] expecteds, int[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two long arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds long array with expected values. - * @param actuals long array with actual values - */ - public static void assertArrayEquals(String message, long[] expecteds, - long[] actuals) throws ArrayComparisonFailure { - internalArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two long arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds long array with expected values. - * @param actuals long array with actual values - */ - public static void assertArrayEquals(long[] expecteds, long[] actuals) { - assertArrayEquals(null, expecteds, actuals); - } - - /** - * Asserts that two double arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds double array with expected values. - * @param actuals double array with actual values - * @param delta the maximum delta between expecteds[i] and - * actuals[i] for which both numbers are still - * considered equal. - */ - public static void assertArrayEquals(String message, double[] expecteds, - double[] actuals, double delta) throws ArrayComparisonFailure { - new InexactComparisonCriteria(delta).arrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two double arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds double array with expected values. - * @param actuals double array with actual values - * @param delta the maximum delta between expecteds[i] and - * actuals[i] for which both numbers are still - * considered equal. - */ - public static void assertArrayEquals(double[] expecteds, double[] actuals, double delta) { - assertArrayEquals(null, expecteds, actuals, delta); - } - - /** - * Asserts that two float arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds float array with expected values. - * @param actuals float array with actual values - * @param delta the maximum delta between expecteds[i] and - * actuals[i] for which both numbers are still - * considered equal. - */ - public static void assertArrayEquals(String message, float[] expecteds, - float[] actuals, float delta) throws ArrayComparisonFailure { - new InexactComparisonCriteria(delta).arrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two float arrays are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expecteds float array with expected values. - * @param actuals float array with actual values - * @param delta the maximum delta between expecteds[i] and - * actuals[i] for which both numbers are still - * considered equal. - */ - public static void assertArrayEquals(float[] expecteds, float[] actuals, float delta) { - assertArrayEquals(null, expecteds, actuals, delta); - } - - /** - * Asserts that two object arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. If - * expecteds and actuals are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds Object array or array of arrays (multi-dimensional array) with - * expected values. - * @param actuals Object array or array of arrays (multi-dimensional array) with - * actual values - */ - private static void internalArrayEquals(String message, Object expecteds, - Object actuals) throws ArrayComparisonFailure { - new ExactComparisonCriteria().arrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two doubles are equal to within a positive delta. - * If they are not, an {@link AssertionError} is thrown with the given - * message. If the expected value is infinity then the delta value is - * ignored. NaNs are considered equal: - * assertEquals(Double.NaN, Double.NaN, *) passes - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expected expected value - * @param actual the value to check against expected - * @param delta the maximum delta between expected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertEquals(String message, double expected, - double actual, double delta) { - if (doubleIsDifferent(expected, actual, delta)) { - failNotEquals(message, Double.valueOf(expected), Double.valueOf(actual)); - } - } - - /** - * Asserts that two floats are equal to within a positive delta. - * If they are not, an {@link AssertionError} is thrown with the given - * message. If the expected value is infinity then the delta value is - * ignored. NaNs are considered equal: - * assertEquals(Float.NaN, Float.NaN, *) passes - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expected expected value - * @param actual the value to check against expected - * @param delta the maximum delta between expected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertEquals(String message, float expected, - float actual, float delta) { - if (floatIsDifferent(expected, actual, delta)) { - failNotEquals(message, Float.valueOf(expected), Float.valueOf(actual)); - } - } - - /** - * Asserts that two floats are not equal to within a positive delta. - * If they are, an {@link AssertionError} is thrown with the given - * message. If the unexpected value is infinity then the delta value is - * ignored. NaNs are considered equal: - * assertNotEquals(Float.NaN, Float.NaN, *) fails - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param unexpected unexpected value - * @param actual the value to check against unexpected - * @param delta the maximum delta between unexpected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertNotEquals(String message, float unexpected, - float actual, float delta) { - if (!floatIsDifferent(unexpected, actual, delta)) { - failEquals(message, Float.valueOf(actual)); - } - } - - static private boolean doubleIsDifferent(double d1, double d2, double delta) { - if (Double.compare(d1, d2) == 0) { - return false; - } - if ((Math.abs(d1 - d2) <= delta)) { - return false; - } - - return true; - } - - static private boolean floatIsDifferent(float f1, float f2, float delta) { - if (Float.compare(f1, f2) == 0) { - return false; - } - if ((Math.abs(f1 - f2) <= delta)) { - return false; - } - - return true; - } - - /** - * Asserts that two longs are equal. If they are not, an - * {@link AssertionError} is thrown. - * - * @param expected expected long value. - * @param actual actual long value - */ - static public void assertEquals(long expected, long actual) { - assertEquals(null, expected, actual); - } - - /** - * Asserts that two longs are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expected long expected value. - * @param actual long actual value - */ - static public void assertEquals(String message, long expected, long actual) { - if (expected != actual) { - failNotEquals(message, Long.valueOf(expected), Long.valueOf(actual)); - } - } - - /** - * @deprecated Use - * assertEquals(double expected, double actual, double delta) - * instead - */ - @Deprecated - static public void assertEquals(double expected, double actual) { - assertEquals(null, expected, actual); - } - - /** - * @deprecated Use - * assertEquals(String message, double expected, double actual, double delta) - * instead - */ - @Deprecated - static public void assertEquals(String message, double expected, - double actual) { - fail("Use assertEquals(expected, actual, delta) to compare floating-point numbers"); - } - - /** - * Asserts that two doubles are equal to within a positive delta. - * If they are not, an {@link AssertionError} is thrown. If the expected - * value is infinity then the delta value is ignored.NaNs are considered - * equal: assertEquals(Double.NaN, Double.NaN, *) passes - * - * @param expected expected value - * @param actual the value to check against expected - * @param delta the maximum delta between expected and - * actual for which both numbers are still - * considered equal. - */ - static public void assertEquals(double expected, double actual, double delta) { - assertEquals(null, expected, actual, delta); - } - - /** - * Asserts that two floats are equal to within a positive delta. - * If they are not, an {@link AssertionError} is thrown. If the expected - * value is infinity then the delta value is ignored. NaNs are considered - * equal: assertEquals(Float.NaN, Float.NaN, *) passes - * - * @param expected expected value - * @param actual the value to check against expected - * @param delta the maximum delta between expected and - * actual for which both numbers are still - * considered equal. - */ - - static public void assertEquals(float expected, float actual, float delta) { - assertEquals(null, expected, actual, delta); - } - - /** - * Asserts that an object isn't null. If it is an {@link AssertionError} is - * thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param object Object to check or null - */ - static public void assertNotNull(String message, Object object) { - assertTrue(message, object != null); - } - - /** - * Asserts that an object isn't null. If it is an {@link AssertionError} is - * thrown. - * - * @param object Object to check or null - */ - static public void assertNotNull(Object object) { - assertNotNull(null, object); - } - - /** - * Asserts that an object is null. If it is not, an {@link AssertionError} - * is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param object Object to check or null - */ - static public void assertNull(String message, Object object) { - if (object == null) { - return; - } - failNotNull(message, object); - } - - /** - * Asserts that an object is null. If it isn't an {@link AssertionError} is - * thrown. - * - * @param object Object to check or null - */ - static public void assertNull(Object object) { - assertNull(null, object); - } - - static private void failNotNull(String message, Object actual) { - String formatted = ""; - if (message != null) { - formatted = message + " "; - } - fail(formatted + "expected null, but was:<" + actual + ">"); - } - - /** - * Asserts that two objects refer to the same object. If they are not, an - * {@link AssertionError} is thrown with the given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expected the expected object - * @param actual the object to compare to expected - */ - static public void assertSame(String message, Object expected, Object actual) { - if (expected == actual) { - return; - } - failNotSame(message, expected, actual); - } - - /** - * Asserts that two objects refer to the same object. If they are not the - * same, an {@link AssertionError} without a message is thrown. - * - * @param expected the expected object - * @param actual the object to compare to expected - */ - static public void assertSame(Object expected, Object actual) { - assertSame(null, expected, actual); - } - - /** - * Asserts that two objects do not refer to the same object. If they do - * refer to the same object, an {@link AssertionError} is thrown with the - * given message. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param unexpected the object you don't expect - * @param actual the object to compare to unexpected - */ - static public void assertNotSame(String message, Object unexpected, - Object actual) { - if (unexpected == actual) { - failSame(message); - } - } - - /** - * Asserts that two objects do not refer to the same object. If they do - * refer to the same object, an {@link AssertionError} without a message is - * thrown. - * - * @param unexpected the object you don't expect - * @param actual the object to compare to unexpected - */ - static public void assertNotSame(Object unexpected, Object actual) { - assertNotSame(null, unexpected, actual); - } - - static private void failSame(String message) { - String formatted = ""; - if (message != null) { - formatted = message + " "; - } - fail(formatted + "expected not same"); - } - - static private void failNotSame(String message, Object expected, - Object actual) { - String formatted = ""; - if (message != null) { - formatted = message + " "; - } - fail(formatted + "expected same:<" + expected + "> was not:<" + actual - + ">"); - } - - static private void failNotEquals(String message, Object expected, - Object actual) { - fail(format(message, expected, actual)); - } - - static String format(String message, Object expected, Object actual) { - String formatted = ""; - if (message != null && !message.equals("")) { - formatted = message + " "; - } - String expectedString = String.valueOf(expected); - String actualString = String.valueOf(actual); - if (expectedString.equals(actualString)) { - return formatted + "expected: " - + formatClassAndValue(expected, expectedString) - + " but was: " + formatClassAndValue(actual, actualString); - } else { - return formatted + "expected:<" + expectedString + "> but was:<" - + actualString + ">"; - } - } - - private static String formatClassAndValue(Object value, String valueString) { - String className = value == null ? "null" : value.getClass().getName(); - return className + "<" + valueString + ">"; - } - - /** - * Asserts that two object arrays are equal. If they are not, an - * {@link AssertionError} is thrown with the given message. If - * expecteds and actuals are null, - * they are considered equal. - * - * @param message the identifying message for the {@link AssertionError} (null - * okay) - * @param expecteds Object array or array of arrays (multi-dimensional array) with - * expected values. - * @param actuals Object array or array of arrays (multi-dimensional array) with - * actual values - * @deprecated use assertArrayEquals - */ - @Deprecated - public static void assertEquals(String message, Object[] expecteds, - Object[] actuals) { - assertArrayEquals(message, expecteds, actuals); - } - - /** - * Asserts that two object arrays are equal. If they are not, an - * {@link AssertionError} is thrown. If expected and - * actual are null, they are considered - * equal. - * - * @param expecteds Object array or array of arrays (multi-dimensional array) with - * expected values - * @param actuals Object array or array of arrays (multi-dimensional array) with - * actual values - * @deprecated use assertArrayEquals - */ - @Deprecated - public static void assertEquals(Object[] expecteds, Object[] actuals) { - assertArrayEquals(expecteds, actuals); - } - - /** - * Asserts that actual satisfies the condition specified by - * matcher. If not, an {@link AssertionError} is thrown with - * information about the matcher and failing value. Example: - * - * 
-     *   assertThat(0, is(1)); // fails:
-     *     // failure message:
-     *     // expected: is <1>
-     *     // got value: <0>
-     *   assertThat(0, is(not(1))) // passes
-     *
- * - * org.hamcrest.Matcher does not currently document the meaning - * of its type parameter T. This method assumes that a matcher - * typed as Matcher<T> can be meaningfully applied only - * to values that could be assigned to a variable of type T. - * - * @param the static type accepted by the matcher (this can flag obvious - * compile-time problems such as {@code assertThat(1, is("a"))} - * @param actual the computed value being compared - * @param matcher an expression, built of {@link Matcher}s, specifying allowed - * values - * @see org.hamcrest.CoreMatchers - * @see org.hamcrest.MatcherAssert - */ - public static void assertThat(T actual, Matcher matcher) { - assertThat("", actual, matcher); - } - - /** - * Asserts that actual satisfies the condition specified by - * matcher. If not, an {@link AssertionError} is thrown with - * the reason and information about the matcher and failing value. Example: - * - * 
-     *   assertThat("Help! Integers don't work", 0, is(1)); // fails:
-     *     // failure message:
-     *     // Help! Integers don't work
-     *     // expected: is <1>
-     *     // got value: <0>
-     *   assertThat("Zero is one", 0, is(not(1))) // passes
-     *
- * - * org.hamcrest.Matcher does not currently document the meaning - * of its type parameter T. This method assumes that a matcher - * typed as Matcher<T> can be meaningfully applied only - * to values that could be assigned to a variable of type T. - * - * @param reason additional information about the error - * @param the static type accepted by the matcher (this can flag obvious - * compile-time problems such as {@code assertThat(1, is("a"))} - * @param actual the computed value being compared - * @param matcher an expression, built of {@link Matcher}s, specifying allowed - * values - * @see org.hamcrest.CoreMatchers - * @see org.hamcrest.MatcherAssert - */ - public static void assertThat(String reason, T actual, - Matcher matcher) { - MatcherAssert.assertThat(reason, actual, matcher); - } -} +package org.junit; + +import org.hamcrest.Matcher; +import org.hamcrest.MatcherAssert; +import org.junit.internal.ArrayComparisonFailure; +import org.junit.internal.ExactComparisonCriteria; +import org.junit.internal.InexactComparisonCriteria; + +/** + * A set of assertion methods useful for writing tests. Only failed assertions + * are recorded. These methods can be used directly: + * Assert.assertEquals(...), however, they read better if they + * are referenced through static import: + * + * 
+ * import static org.junit.Assert.*;
+ *    ...
+ *    assertEquals(...);
+ *
+ * + * @see AssertionError + * @since 4.0 + */ +public class Assert { + /** + * Protect constructor since it is a static only class + */ + protected Assert() { + } + + /** + * Asserts that a condition is true. If it isn't it throws an + * {@link AssertionError} with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param condition condition to be checked + */ + static public void assertTrue(String message, boolean condition) { + if (!condition) { + fail(message); + } + } + + /** + * Asserts that a condition is true. If it isn't it throws an + * {@link AssertionError} without a message. + * + * @param condition condition to be checked + */ + static public void assertTrue(boolean condition) { + assertTrue(null, condition); + } + + /** + * Asserts that a condition is false. If it isn't it throws an + * {@link AssertionError} with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param condition condition to be checked + */ + static public void assertFalse(String message, boolean condition) { + assertTrue(message, !condition); + } + + /** + * Asserts that a condition is false. If it isn't it throws an + * {@link AssertionError} without a message. + * + * @param condition condition to be checked + */ + static public void assertFalse(boolean condition) { + assertFalse(null, condition); + } + + /** + * Fails a test with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @see AssertionError + */ + static public void fail(String message) { + if (message == null) { + throw new AssertionError(); + } + throw new AssertionError(message); + } + + /** + * Fails a test with no message. + */ + static public void fail() { + fail(null); + } + + /** + * Asserts that two objects are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. If + * expected and actual are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expected expected value + * @param actual actual value + */ + static public void assertEquals(String message, Object expected, + Object actual) { + if (equalsRegardingNull(expected, actual)) { + return; + } else if (expected instanceof String && actual instanceof String) { + String cleanMessage = message == null ? "" : message; + throw new ComparisonFailure(cleanMessage, (String) expected, + (String) actual); + } else { + failNotEquals(message, expected, actual); + } + } + + private static boolean equalsRegardingNull(Object expected, Object actual) { + if (expected == null) { + return actual == null; + } + + return isEquals(expected, actual); + } + + private static boolean isEquals(Object expected, Object actual) { + return expected.equals(actual); + } + + /** + * Asserts that two objects are equal. If they are not, an + * {@link AssertionError} without a message is thrown. If + * expected and actual are null, + * they are considered equal. + * + * @param expected expected value + * @param actual the value to check against expected + */ + static public void assertEquals(Object expected, Object actual) { + assertEquals(null, expected, actual); + } + + /** + * Asserts that two objects are not equals. If they are, an + * {@link AssertionError} is thrown with the given message. If + * unexpected and actual are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param unexpected unexpected value to check + * @param actual the value to check against unexpected + */ + static public void assertNotEquals(String message, Object unexpected, + Object actual) { + if (equalsRegardingNull(unexpected, actual)) { + failEquals(message, actual); + } + } + + /** + * Asserts that two objects are not equals. If they are, an + * {@link AssertionError} without a message is thrown. If + * unexpected and actual are null, + * they are considered equal. + * + * @param unexpected unexpected value to check + * @param actual the value to check against unexpected + */ + static public void assertNotEquals(Object unexpected, Object actual) { + assertNotEquals(null, unexpected, actual); + } + + private static void failEquals(String message, Object actual) { + String formatted = "Values should be different. "; + if (message != null) { + formatted = message + ". "; + } + + formatted += "Actual: " + actual; + fail(formatted); + } + + /** + * Asserts that two longs are not equals. If they are, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param unexpected unexpected value to check + * @param actual the value to check against unexpected + */ + static public void assertNotEquals(String message, long unexpected, long actual) { + if (unexpected == actual) { + failEquals(message, Long.valueOf(actual)); + } + } + + /** + * Asserts that two longs are not equals. If they are, an + * {@link AssertionError} without a message is thrown. + * + * @param unexpected unexpected value to check + * @param actual the value to check against unexpected + */ + static public void assertNotEquals(long unexpected, long actual) { + assertNotEquals(null, unexpected, actual); + } + + /** + * Asserts that two doubles are not equal to within a positive delta. + * If they are, an {@link AssertionError} is thrown with the given + * message. If the unexpected value is infinity then the delta value is + * ignored. NaNs are considered equal: + * assertNotEquals(Double.NaN, Double.NaN, *) fails + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param unexpected unexpected value + * @param actual the value to check against unexpected + * @param delta the maximum delta between unexpected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertNotEquals(String message, double unexpected, + double actual, double delta) { + if (!doubleIsDifferent(unexpected, actual, delta)) { + failEquals(message, Double.valueOf(actual)); + } + } + + /** + * Asserts that two doubles are not equal to within a positive delta. + * If they are, an {@link AssertionError} is thrown. If the unexpected + * value is infinity then the delta value is ignored.NaNs are considered + * equal: assertNotEquals(Double.NaN, Double.NaN, *) fails + * + * @param unexpected unexpected value + * @param actual the value to check against unexpected + * @param delta the maximum delta between unexpected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertNotEquals(double unexpected, double actual, double delta) { + assertNotEquals(null, unexpected, actual, delta); + } + + /** + * Asserts that two floats are not equal to within a positive delta. + * If they are, an {@link AssertionError} is thrown. If the unexpected + * value is infinity then the delta value is ignored.NaNs are considered + * equal: assertNotEquals(Float.NaN, Float.NaN, *) fails + * + * @param unexpected unexpected value + * @param actual the value to check against unexpected + * @param delta the maximum delta between unexpected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertNotEquals(float unexpected, float actual, float delta) { + assertNotEquals(null, unexpected, actual, delta); + } + + /** + * Asserts that two object arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. If + * expecteds and actuals are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds Object array or array of arrays (multi-dimensional array) with + * expected values. + * @param actuals Object array or array of arrays (multi-dimensional array) with + * actual values + */ + public static void assertArrayEquals(String message, Object[] expecteds, + Object[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two object arrays are equal. If they are not, an + * {@link AssertionError} is thrown. If expected and + * actual are null, they are considered + * equal. + * + * @param expecteds Object array or array of arrays (multi-dimensional array) with + * expected values + * @param actuals Object array or array of arrays (multi-dimensional array) with + * actual values + */ + public static void assertArrayEquals(Object[] expecteds, Object[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two boolean arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. If + * expecteds and actuals are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds boolean array with expected values. + * @param actuals boolean array with expected values. + */ + public static void assertArrayEquals(String message, boolean[] expecteds, + boolean[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two boolean arrays are equal. If they are not, an + * {@link AssertionError} is thrown. If expected and + * actual are null, they are considered + * equal. + * + * @param expecteds boolean array with expected values. + * @param actuals boolean array with expected values. + */ + public static void assertArrayEquals(boolean[] expecteds, boolean[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two byte arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds byte array with expected values. + * @param actuals byte array with actual values + */ + public static void assertArrayEquals(String message, byte[] expecteds, + byte[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two byte arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds byte array with expected values. + * @param actuals byte array with actual values + */ + public static void assertArrayEquals(byte[] expecteds, byte[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two char arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds char array with expected values. + * @param actuals char array with actual values + */ + public static void assertArrayEquals(String message, char[] expecteds, + char[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two char arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds char array with expected values. + * @param actuals char array with actual values + */ + public static void assertArrayEquals(char[] expecteds, char[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two short arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds short array with expected values. + * @param actuals short array with actual values + */ + public static void assertArrayEquals(String message, short[] expecteds, + short[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two short arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds short array with expected values. + * @param actuals short array with actual values + */ + public static void assertArrayEquals(short[] expecteds, short[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two int arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds int array with expected values. + * @param actuals int array with actual values + */ + public static void assertArrayEquals(String message, int[] expecteds, + int[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two int arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds int array with expected values. + * @param actuals int array with actual values + */ + public static void assertArrayEquals(int[] expecteds, int[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two long arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds long array with expected values. + * @param actuals long array with actual values + */ + public static void assertArrayEquals(String message, long[] expecteds, + long[] actuals) throws ArrayComparisonFailure { + internalArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two long arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds long array with expected values. + * @param actuals long array with actual values + */ + public static void assertArrayEquals(long[] expecteds, long[] actuals) { + assertArrayEquals(null, expecteds, actuals); + } + + /** + * Asserts that two double arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds double array with expected values. + * @param actuals double array with actual values + * @param delta the maximum delta between expecteds[i] and + * actuals[i] for which both numbers are still + * considered equal. + */ + public static void assertArrayEquals(String message, double[] expecteds, + double[] actuals, double delta) throws ArrayComparisonFailure { + new InexactComparisonCriteria(delta).arrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two double arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds double array with expected values. + * @param actuals double array with actual values + * @param delta the maximum delta between expecteds[i] and + * actuals[i] for which both numbers are still + * considered equal. + */ + public static void assertArrayEquals(double[] expecteds, double[] actuals, double delta) { + assertArrayEquals(null, expecteds, actuals, delta); + } + + /** + * Asserts that two float arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds float array with expected values. + * @param actuals float array with actual values + * @param delta the maximum delta between expecteds[i] and + * actuals[i] for which both numbers are still + * considered equal. + */ + public static void assertArrayEquals(String message, float[] expecteds, + float[] actuals, float delta) throws ArrayComparisonFailure { + new InexactComparisonCriteria(delta).arrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two float arrays are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expecteds float array with expected values. + * @param actuals float array with actual values + * @param delta the maximum delta between expecteds[i] and + * actuals[i] for which both numbers are still + * considered equal. + */ + public static void assertArrayEquals(float[] expecteds, float[] actuals, float delta) { + assertArrayEquals(null, expecteds, actuals, delta); + } + + /** + * Asserts that two object arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. If + * expecteds and actuals are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds Object array or array of arrays (multi-dimensional array) with + * expected values. + * @param actuals Object array or array of arrays (multi-dimensional array) with + * actual values + */ + private static void internalArrayEquals(String message, Object expecteds, + Object actuals) throws ArrayComparisonFailure { + new ExactComparisonCriteria().arrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two doubles are equal to within a positive delta. + * If they are not, an {@link AssertionError} is thrown with the given + * message. If the expected value is infinity then the delta value is + * ignored. NaNs are considered equal: + * assertEquals(Double.NaN, Double.NaN, *) passes + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expected expected value + * @param actual the value to check against expected + * @param delta the maximum delta between expected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertEquals(String message, double expected, + double actual, double delta) { + if (doubleIsDifferent(expected, actual, delta)) { + failNotEquals(message, Double.valueOf(expected), Double.valueOf(actual)); + } + } + + /** + * Asserts that two floats are equal to within a positive delta. + * If they are not, an {@link AssertionError} is thrown with the given + * message. If the expected value is infinity then the delta value is + * ignored. NaNs are considered equal: + * assertEquals(Float.NaN, Float.NaN, *) passes + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expected expected value + * @param actual the value to check against expected + * @param delta the maximum delta between expected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertEquals(String message, float expected, + float actual, float delta) { + if (floatIsDifferent(expected, actual, delta)) { + failNotEquals(message, Float.valueOf(expected), Float.valueOf(actual)); + } + } + + /** + * Asserts that two floats are not equal to within a positive delta. + * If they are, an {@link AssertionError} is thrown with the given + * message. If the unexpected value is infinity then the delta value is + * ignored. NaNs are considered equal: + * assertNotEquals(Float.NaN, Float.NaN, *) fails + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param unexpected unexpected value + * @param actual the value to check against unexpected + * @param delta the maximum delta between unexpected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertNotEquals(String message, float unexpected, + float actual, float delta) { + if (!floatIsDifferent(unexpected, actual, delta)) { + failEquals(message, Float.valueOf(actual)); + } + } + + static private boolean doubleIsDifferent(double d1, double d2, double delta) { + if (Double.compare(d1, d2) == 0) { + return false; + } + if ((Math.abs(d1 - d2) <= delta)) { + return false; + } + + return true; + } + + static private boolean floatIsDifferent(float f1, float f2, float delta) { + if (Float.compare(f1, f2) == 0) { + return false; + } + if ((Math.abs(f1 - f2) <= delta)) { + return false; + } + + return true; + } + + /** + * Asserts that two longs are equal. If they are not, an + * {@link AssertionError} is thrown. + * + * @param expected expected long value. + * @param actual actual long value + */ + static public void assertEquals(long expected, long actual) { + assertEquals(null, expected, actual); + } + + /** + * Asserts that two longs are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expected long expected value. + * @param actual long actual value + */ + static public void assertEquals(String message, long expected, long actual) { + if (expected != actual) { + failNotEquals(message, Long.valueOf(expected), Long.valueOf(actual)); + } + } + + /** + * @deprecated Use + * assertEquals(double expected, double actual, double delta) + * instead + */ + @Deprecated + static public void assertEquals(double expected, double actual) { + assertEquals(null, expected, actual); + } + + /** + * @deprecated Use + * assertEquals(String message, double expected, double actual, double delta) + * instead + */ + @Deprecated + static public void assertEquals(String message, double expected, + double actual) { + fail("Use assertEquals(expected, actual, delta) to compare floating-point numbers"); + } + + /** + * Asserts that two doubles are equal to within a positive delta. + * If they are not, an {@link AssertionError} is thrown. If the expected + * value is infinity then the delta value is ignored.NaNs are considered + * equal: assertEquals(Double.NaN, Double.NaN, *) passes + * + * @param expected expected value + * @param actual the value to check against expected + * @param delta the maximum delta between expected and + * actual for which both numbers are still + * considered equal. + */ + static public void assertEquals(double expected, double actual, double delta) { + assertEquals(null, expected, actual, delta); + } + + /** + * Asserts that two floats are equal to within a positive delta. + * If they are not, an {@link AssertionError} is thrown. If the expected + * value is infinity then the delta value is ignored. NaNs are considered + * equal: assertEquals(Float.NaN, Float.NaN, *) passes + * + * @param expected expected value + * @param actual the value to check against expected + * @param delta the maximum delta between expected and + * actual for which both numbers are still + * considered equal. + */ + + static public void assertEquals(float expected, float actual, float delta) { + assertEquals(null, expected, actual, delta); + } + + /** + * Asserts that an object isn't null. If it is an {@link AssertionError} is + * thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param object Object to check or null + */ + static public void assertNotNull(String message, Object object) { + assertTrue(message, object != null); + } + + /** + * Asserts that an object isn't null. If it is an {@link AssertionError} is + * thrown. + * + * @param object Object to check or null + */ + static public void assertNotNull(Object object) { + assertNotNull(null, object); + } + + /** + * Asserts that an object is null. If it is not, an {@link AssertionError} + * is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param object Object to check or null + */ + static public void assertNull(String message, Object object) { + if (object == null) { + return; + } + failNotNull(message, object); + } + + /** + * Asserts that an object is null. If it isn't an {@link AssertionError} is + * thrown. + * + * @param object Object to check or null + */ + static public void assertNull(Object object) { + assertNull(null, object); + } + + static private void failNotNull(String message, Object actual) { + String formatted = ""; + if (message != null) { + formatted = message + " "; + } + fail(formatted + "expected null, but was:<" + actual + ">"); + } + + /** + * Asserts that two objects refer to the same object. If they are not, an + * {@link AssertionError} is thrown with the given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expected the expected object + * @param actual the object to compare to expected + */ + static public void assertSame(String message, Object expected, Object actual) { + if (expected == actual) { + return; + } + failNotSame(message, expected, actual); + } + + /** + * Asserts that two objects refer to the same object. If they are not the + * same, an {@link AssertionError} without a message is thrown. + * + * @param expected the expected object + * @param actual the object to compare to expected + */ + static public void assertSame(Object expected, Object actual) { + assertSame(null, expected, actual); + } + + /** + * Asserts that two objects do not refer to the same object. If they do + * refer to the same object, an {@link AssertionError} is thrown with the + * given message. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param unexpected the object you don't expect + * @param actual the object to compare to unexpected + */ + static public void assertNotSame(String message, Object unexpected, + Object actual) { + if (unexpected == actual) { + failSame(message); + } + } + + /** + * Asserts that two objects do not refer to the same object. If they do + * refer to the same object, an {@link AssertionError} without a message is + * thrown. + * + * @param unexpected the object you don't expect + * @param actual the object to compare to unexpected + */ + static public void assertNotSame(Object unexpected, Object actual) { + assertNotSame(null, unexpected, actual); + } + + static private void failSame(String message) { + String formatted = ""; + if (message != null) { + formatted = message + " "; + } + fail(formatted + "expected not same"); + } + + static private void failNotSame(String message, Object expected, + Object actual) { + String formatted = ""; + if (message != null) { + formatted = message + " "; + } + fail(formatted + "expected same:<" + expected + "> was not:<" + actual + + ">"); + } + + static private void failNotEquals(String message, Object expected, + Object actual) { + fail(format(message, expected, actual)); + } + + static String format(String message, Object expected, Object actual) { + String formatted = ""; + if (message != null && !message.equals("")) { + formatted = message + " "; + } + String expectedString = String.valueOf(expected); + String actualString = String.valueOf(actual); + if (expectedString.equals(actualString)) { + return formatted + "expected: " + + formatClassAndValue(expected, expectedString) + + " but was: " + formatClassAndValue(actual, actualString); + } else { + return formatted + "expected:<" + expectedString + "> but was:<" + + actualString + ">"; + } + } + + private static String formatClassAndValue(Object value, String valueString) { + String className = value == null ? "null" : value.getClass().getName(); + return className + "<" + valueString + ">"; + } + + /** + * Asserts that two object arrays are equal. If they are not, an + * {@link AssertionError} is thrown with the given message. If + * expecteds and actuals are null, + * they are considered equal. + * + * @param message the identifying message for the {@link AssertionError} (null + * okay) + * @param expecteds Object array or array of arrays (multi-dimensional array) with + * expected values. + * @param actuals Object array or array of arrays (multi-dimensional array) with + * actual values + * @deprecated use assertArrayEquals + */ + @Deprecated + public static void assertEquals(String message, Object[] expecteds, + Object[] actuals) { + assertArrayEquals(message, expecteds, actuals); + } + + /** + * Asserts that two object arrays are equal. If they are not, an + * {@link AssertionError} is thrown. If expected and + * actual are null, they are considered + * equal. + * + * @param expecteds Object array or array of arrays (multi-dimensional array) with + * expected values + * @param actuals Object array or array of arrays (multi-dimensional array) with + * actual values + * @deprecated use assertArrayEquals + */ + @Deprecated + public static void assertEquals(Object[] expecteds, Object[] actuals) { + assertArrayEquals(expecteds, actuals); + } + + /** + * Asserts that actual satisfies the condition specified by + * matcher. If not, an {@link AssertionError} is thrown with + * information about the matcher and failing value. Example: + * + * 
+     *   assertThat(0, is(1)); // fails:
+     *     // failure message:
+     *     // expected: is <1>
+     *     // got value: <0>
+     *   assertThat(0, is(not(1))) // passes
+     *
+ * + * org.hamcrest.Matcher does not currently document the meaning + * of its type parameter T. This method assumes that a matcher + * typed as Matcher<T> can be meaningfully applied only + * to values that could be assigned to a variable of type T. + * + * @param the static type accepted by the matcher (this can flag obvious + * compile-time problems such as {@code assertThat(1, is("a"))} + * @param actual the computed value being compared + * @param matcher an expression, built of {@link Matcher}s, specifying allowed + * values + * @see org.hamcrest.CoreMatchers + * @see org.hamcrest.MatcherAssert + */ + public static void assertThat(T actual, Matcher matcher) { + assertThat("", actual, matcher); + } + + /** + * Asserts that actual satisfies the condition specified by + * matcher. If not, an {@link AssertionError} is thrown with + * the reason and information about the matcher and failing value. Example: + * + * 
+     *   assertThat("Help! Integers don't work", 0, is(1)); // fails:
+     *     // failure message:
+     *     // Help! Integers don't work
+     *     // expected: is <1>
+     *     // got value: <0>
+     *   assertThat("Zero is one", 0, is(not(1))) // passes
+     *
+ * + * org.hamcrest.Matcher does not currently document the meaning + * of its type parameter T. This method assumes that a matcher + * typed as Matcher<T> can be meaningfully applied only + * to values that could be assigned to a variable of type T. + * + * @param reason additional information about the error + * @param the static type accepted by the matcher (this can flag obvious + * compile-time problems such as {@code assertThat(1, is("a"))} + * @param actual the computed value being compared + * @param matcher an expression, built of {@link Matcher}s, specifying allowed + * values + * @see org.hamcrest.CoreMatchers + * @see org.hamcrest.MatcherAssert + */ + public static void assertThat(String reason, T actual, + Matcher matcher) { + MatcherAssert.assertThat(reason, actual, matcher); + } +} diff --git a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/ParentRunner.java b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/ParentRunner.java index 92641bf6..0007be87 100755 --- a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/ParentRunner.java +++ b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/ParentRunner.java @@ -1,452 +1,452 @@ -package org.junit.runners; - -import static org.junit.internal.runners.rules.RuleMemberValidator.CLASS_RULE_METHOD_VALIDATOR; -import static org.junit.internal.runners.rules.RuleMemberValidator.CLASS_RULE_VALIDATOR; - -import java.lang.annotation.Annotation; -import java.lang.reflect.Method; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.Collection; -import java.util.Collections; -import java.util.Comparator; -import java.util.Iterator; -import java.util.List; - -import org.junit.AfterClass; -import org.junit.BeforeClass; -import org.junit.ClassRule; -import org.junit.Ignore; -import org.junit.Rule; -import org.junit.internal.AssumptionViolatedException; -import org.junit.internal.runners.model.EachTestNotifier; -import org.junit.internal.runners.statements.RunAfters; -import org.junit.internal.runners.statements.RunBefores; -import org.junit.rules.RunRules; -import org.junit.rules.TestRule; -import org.junit.runner.Description; -import org.junit.runner.Runner; -import org.junit.runner.manipulation.Filter; -import org.junit.runner.manipulation.Filterable; -import org.junit.runner.manipulation.NoTestsRemainException; -import org.junit.runner.manipulation.Sortable; -import org.junit.runner.manipulation.Sorter; -import org.junit.runner.notification.RunNotifier; -import org.junit.runner.notification.StoppedByUserException; -import org.junit.runners.model.FrameworkMethod; -import org.junit.runners.model.InitializationError; -import org.junit.runners.model.RunnerScheduler; -import org.junit.runners.model.Statement; -import org.junit.runners.model.TestClass; -import org.junit.validator.AnnotationsValidator; -import org.junit.validator.PublicClassValidator; -import org.junit.validator.TestClassValidator; - -/** - * Provides most of the functionality specific to a Runner that implements a - * "parent node" in the test tree, with children defined by objects of some data - * type {@code T}. (For {@link BlockJUnit4ClassRunner}, {@code T} is - * {@link Method} . For {@link Suite}, {@code T} is {@link Class}.) Subclasses - * must implement finding the children of the node, describing each child, and - * running each child. ParentRunner will filter and sort children, handle - * {@code @BeforeClass} and {@code @AfterClass} methods, - * handle annotated {@link ClassRule}s, create a composite - * {@link Description}, and run children sequentially. - * - * @since 4.5 - */ -public abstract class ParentRunner extends Runner implements Filterable, - Sortable { - private static final List VALIDATORS = Arrays.asList( - new AnnotationsValidator(), new PublicClassValidator()); - - private final Object childrenLock = new Object(); - private final TestClass testClass; - - // Guarded by childrenLock - private volatile Collection filteredChildren = null; - - private volatile RunnerScheduler scheduler = new RunnerScheduler() { - public void schedule(Runnable childStatement) { - childStatement.run(); - } - - public void finished() { - // do nothing - } - }; - - /** - * Constructs a new {@code ParentRunner} that will run {@code @TestClass} - */ - protected ParentRunner(Class testClass) throws InitializationError { - this.testClass = createTestClass(testClass); - validate(); - } - - protected TestClass createTestClass(Class testClass) { - return new TestClass(testClass); - } - - // - // Must be overridden - // - - /** - * Returns a list of objects that define the children of this Runner. - */ - protected abstract List getChildren(); - - /** - * Returns a {@link Description} for {@code child}, which can be assumed to - * be an element of the list returned by {@link ParentRunner#getChildren()} - */ - protected abstract Description describeChild(T child); - - /** - * Runs the test corresponding to {@code child}, which can be assumed to be - * an element of the list returned by {@link ParentRunner#getChildren()}. - * Subclasses are responsible for making sure that relevant test events are - * reported through {@code notifier} - */ - protected abstract void runChild(T child, RunNotifier notifier); - - // - // May be overridden - // - - /** - * Adds to {@code errors} a throwable for each problem noted with the test class (available from {@link #getTestClass()}). - * Default implementation adds an error for each method annotated with - * {@code @BeforeClass} or {@code @AfterClass} that is not - * {@code public static void} with no arguments. - */ - protected void collectInitializationErrors(List errors) { - validatePublicVoidNoArgMethods(BeforeClass.class, true, errors); - validatePublicVoidNoArgMethods(AfterClass.class, true, errors); - validateClassRules(errors); - applyValidators(errors); - } - - private void applyValidators(List errors) { - if (getTestClass().getJavaClass() != null) { - for (TestClassValidator each : VALIDATORS) { - errors.addAll(each.validateTestClass(getTestClass())); - } - } - } - - /** - * Adds to {@code errors} if any method in this class is annotated with - * {@code annotation}, but: - *
    - *
  • is not public, or - *
  • takes parameters, or - *
  • returns something other than void, or - *
  • is static (given {@code isStatic is false}), or - *
  • is not static (given {@code isStatic is true}). - *
- */ - protected void validatePublicVoidNoArgMethods(Class annotation, - boolean isStatic, List errors) { - List methods = getTestClass().getAnnotatedMethods(annotation); - - for (FrameworkMethod eachTestMethod : methods) { - eachTestMethod.validatePublicVoidNoArg(isStatic, errors); - } - } - - private void validateClassRules(List errors) { - CLASS_RULE_VALIDATOR.validate(getTestClass(), errors); - CLASS_RULE_METHOD_VALIDATOR.validate(getTestClass(), errors); - } - - /** - * Constructs a {@code Statement} to run all of the tests in the test class. - * Override to add pre-/post-processing. Here is an outline of the - * implementation: - *
    - *
  1. Determine the children to be run using {@link #getChildren()} - * (subject to any imposed filter and sort).
    2. - *
  2. If there are any children remaining after filtering and ignoring, - * construct a statement that will: - *
      - *
    1. Apply all {@code ClassRule}s on the test-class and superclasses.
      2. - *
    2. Run all non-overridden {@code @BeforeClass} methods on the test-class - * and superclasses; if any throws an Exception, stop execution and pass the - * exception on.
      3. - *
    3. Run all remaining tests on the test-class.
      4. - *
    4. Run all non-overridden {@code @AfterClass} methods on the test-class - * and superclasses: exceptions thrown by previous steps are combined, if - * necessary, with exceptions from AfterClass methods into a - * {@link org.junit.runners.model.MultipleFailureException}.
      5. - *
    - *
    3. - *
- * - * @return {@code Statement} - */ - protected Statement classBlock(final RunNotifier notifier) { - Statement statement = childrenInvoker(notifier); - if (!areAllChildrenIgnored()) { - statement = withBeforeClasses(statement); - statement = withAfterClasses(statement); - statement = withClassRules(statement); - } - return statement; - } - - private boolean areAllChildrenIgnored() { - for (T child : getFilteredChildren()) { - if (!isIgnored(child)) { - return false; - } - } - return true; - } - - /** - * Returns a {@link Statement}: run all non-overridden {@code @BeforeClass} methods on this class - * and superclasses before executing {@code statement}; if any throws an - * Exception, stop execution and pass the exception on. - */ - protected Statement withBeforeClasses(Statement statement) { - List befores = testClass - .getAnnotatedMethods(BeforeClass.class); - return befores.isEmpty() ? statement : - new RunBefores(statement, befores, null); - } - - /** - * Returns a {@link Statement}: run all non-overridden {@code @AfterClass} methods on this class - * and superclasses before executing {@code statement}; all AfterClass methods are - * always executed: exceptions thrown by previous steps are combined, if - * necessary, with exceptions from AfterClass methods into a - * {@link org.junit.runners.model.MultipleFailureException}. - */ - protected Statement withAfterClasses(Statement statement) { - List afters = testClass - .getAnnotatedMethods(AfterClass.class); - return afters.isEmpty() ? statement : - new RunAfters(statement, afters, null); - } - - /** - * Returns a {@link Statement}: apply all - * static fields assignable to {@link TestRule} - * annotated with {@link ClassRule}. - * - * @param statement the base statement - * @return a RunRules statement if any class-level {@link Rule}s are - * found, or the base statement - */ - private Statement withClassRules(Statement statement) { - List classRules = classRules(); - return classRules.isEmpty() ? statement : - new RunRules(statement, classRules, getDescription()); - } - - /** - * @return the {@code ClassRule}s that can transform the block that runs - * each method in the tested class. - */ - protected List classRules() { - List result = testClass.getAnnotatedMethodValues(null, ClassRule.class, TestRule.class); - result.addAll(testClass.getAnnotatedFieldValues(null, ClassRule.class, TestRule.class)); - return result; - } - - /** - * Returns a {@link Statement}: Call {@link #runChild(Object, RunNotifier)} - * on each object returned by {@link #getChildren()} (subject to any imposed - * filter and sort) - */ - protected Statement childrenInvoker(final RunNotifier notifier) { - return new Statement() { - @Override - public void evaluate() { - runChildren(notifier); - } - }; - } - - /** - * Evaluates whether a child is ignored. The default implementation always - * returns false. - * - *

{@link BlockJUnit4ClassRunner}, for example, overrides this method to - * filter tests based on the {@link Ignore} annotation. - */ - protected boolean isIgnored(T child) { - return false; - } - - private void runChildren(final RunNotifier notifier) { - final RunnerScheduler currentScheduler = scheduler; - try { - for (final T each : getFilteredChildren()) { - currentScheduler.schedule(new Runnable() { - public void run() { - ParentRunner.this.runChild(each, notifier); - } - }); - } - } finally { - currentScheduler.finished(); - } - } - - /** - * Returns a name used to describe this Runner - */ - protected String getName() { - return testClass.getName(); - } - - // - // Available for subclasses - // - - /** - * Returns a {@link TestClass} object wrapping the class to be executed. - */ - public final TestClass getTestClass() { - return testClass; - } - - /** - * Runs a {@link Statement} that represents a leaf (aka atomic) test. - */ - protected final void runLeaf(Statement statement, Description description, - RunNotifier notifier) { - EachTestNotifier eachNotifier = new EachTestNotifier(notifier, description); - eachNotifier.fireTestStarted(); - try { - statement.evaluate(); - } catch (AssumptionViolatedException e) { - eachNotifier.addFailedAssumption(e); - } catch (Throwable e) { - eachNotifier.addFailure(e); - } finally { - eachNotifier.fireTestFinished(); - } - } - - /** - * @return the annotations that should be attached to this runner's - * description. - */ - protected Annotation[] getRunnerAnnotations() { - return testClass.getAnnotations(); - } - - // - // Implementation of Runner - // - - @Override - public Description getDescription() { - Description description = Description.createSuiteDescription(getName(), - getRunnerAnnotations()); - for (T child : getFilteredChildren()) { - description.addChild(describeChild(child)); - } - return description; - } - - @Override - public void run(final RunNotifier notifier) { - EachTestNotifier testNotifier = new EachTestNotifier(notifier, - getDescription()); - try { - Statement statement = classBlock(notifier); - statement.evaluate(); - } catch (AssumptionViolatedException e) { - testNotifier.addFailedAssumption(e); - } catch (StoppedByUserException e) { - throw e; - } catch (Throwable e) { - testNotifier.addFailure(e); - } - } - - // - // Implementation of Filterable and Sortable - // - - public void filter(Filter filter) throws NoTestsRemainException { - synchronized (childrenLock) { - List children = new ArrayList(getFilteredChildren()); - for (Iterator iter = children.iterator(); iter.hasNext(); ) { - T each = iter.next(); - if (shouldRun(filter, each)) { - try { - filter.apply(each); - } catch (NoTestsRemainException e) { - iter.remove(); - } - } else { - iter.remove(); - } - } - filteredChildren = Collections.unmodifiableCollection(children); - if (filteredChildren.isEmpty()) { - throw new NoTestsRemainException(); - } - } - } - - public void sort(Sorter sorter) { - synchronized (childrenLock) { - for (T each : getFilteredChildren()) { - sorter.apply(each); - } - List sortedChildren = new ArrayList(getFilteredChildren()); - Collections.sort(sortedChildren, comparator(sorter)); - filteredChildren = Collections.unmodifiableCollection(sortedChildren); - } - } - - // - // Private implementation - // - - private void validate() throws InitializationError { - List errors = new ArrayList(); - collectInitializationErrors(errors); - if (!errors.isEmpty()) { - throw new InitializationError(errors); - } - } - - private Collection getFilteredChildren() { - if (filteredChildren == null) { - synchronized (childrenLock) { - if (filteredChildren == null) { - filteredChildren = Collections.unmodifiableCollection(getChildren()); - } - } - } - return filteredChildren; - } - - private boolean shouldRun(Filter filter, T each) { - return filter.shouldRun(describeChild(each)); - } - - private Comparator comparator(final Sorter sorter) { - return new Comparator() { - public int compare(T o1, T o2) { - return sorter.compare(describeChild(o1), describeChild(o2)); - } - }; - } - - /** - * Sets a scheduler that determines the order and parallelization - * of children. Highly experimental feature that may change. - */ - public void setScheduler(RunnerScheduler scheduler) { - this.scheduler = scheduler; - } -} +package org.junit.runners; + +import static org.junit.internal.runners.rules.RuleMemberValidator.CLASS_RULE_METHOD_VALIDATOR; +import static org.junit.internal.runners.rules.RuleMemberValidator.CLASS_RULE_VALIDATOR; + +import java.lang.annotation.Annotation; +import java.lang.reflect.Method; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.Collection; +import java.util.Collections; +import java.util.Comparator; +import java.util.Iterator; +import java.util.List; + +import org.junit.AfterClass; +import org.junit.BeforeClass; +import org.junit.ClassRule; +import org.junit.Ignore; +import org.junit.Rule; +import org.junit.internal.AssumptionViolatedException; +import org.junit.internal.runners.model.EachTestNotifier; +import org.junit.internal.runners.statements.RunAfters; +import org.junit.internal.runners.statements.RunBefores; +import org.junit.rules.RunRules; +import org.junit.rules.TestRule; +import org.junit.runner.Description; +import org.junit.runner.Runner; +import org.junit.runner.manipulation.Filter; +import org.junit.runner.manipulation.Filterable; +import org.junit.runner.manipulation.NoTestsRemainException; +import org.junit.runner.manipulation.Sortable; +import org.junit.runner.manipulation.Sorter; +import org.junit.runner.notification.RunNotifier; +import org.junit.runner.notification.StoppedByUserException; +import org.junit.runners.model.FrameworkMethod; +import org.junit.runners.model.InitializationError; +import org.junit.runners.model.RunnerScheduler; +import org.junit.runners.model.Statement; +import org.junit.runners.model.TestClass; +import org.junit.validator.AnnotationsValidator; +import org.junit.validator.PublicClassValidator; +import org.junit.validator.TestClassValidator; + +/** + * Provides most of the functionality specific to a Runner that implements a + * "parent node" in the test tree, with children defined by objects of some data + * type {@code T}. (For {@link BlockJUnit4ClassRunner}, {@code T} is + * {@link Method} . For {@link Suite}, {@code T} is {@link Class}.) Subclasses + * must implement finding the children of the node, describing each child, and + * running each child. ParentRunner will filter and sort children, handle + * {@code @BeforeClass} and {@code @AfterClass} methods, + * handle annotated {@link ClassRule}s, create a composite + * {@link Description}, and run children sequentially. + * + * @since 4.5 + */ +public abstract class ParentRunner extends Runner implements Filterable, + Sortable { + private static final List VALIDATORS = Arrays.asList( + new AnnotationsValidator(), new PublicClassValidator()); + + private final Object childrenLock = new Object(); + private final TestClass testClass; + + // Guarded by childrenLock + private volatile Collection filteredChildren = null; + + private volatile RunnerScheduler scheduler = new RunnerScheduler() { + public void schedule(Runnable childStatement) { + childStatement.run(); + } + + public void finished() { + // do nothing + } + }; + + /** + * Constructs a new {@code ParentRunner} that will run {@code @TestClass} + */ + protected ParentRunner(Class testClass) throws InitializationError { + this.testClass = createTestClass(testClass); + validate(); + } + + protected TestClass createTestClass(Class testClass) { + return new TestClass(testClass); + } + + // + // Must be overridden + // + + /** + * Returns a list of objects that define the children of this Runner. + */ + protected abstract List getChildren(); + + /** + * Returns a {@link Description} for {@code child}, which can be assumed to + * be an element of the list returned by {@link ParentRunner#getChildren()} + */ + protected abstract Description describeChild(T child); + + /** + * Runs the test corresponding to {@code child}, which can be assumed to be + * an element of the list returned by {@link ParentRunner#getChildren()}. + * Subclasses are responsible for making sure that relevant test events are + * reported through {@code notifier} + */ + protected abstract void runChild(T child, RunNotifier notifier); + + // + // May be overridden + // + + /** + * Adds to {@code errors} a throwable for each problem noted with the test class (available from {@link #getTestClass()}). + * Default implementation adds an error for each method annotated with + * {@code @BeforeClass} or {@code @AfterClass} that is not + * {@code public static void} with no arguments. + */ + protected void collectInitializationErrors(List errors) { + validatePublicVoidNoArgMethods(BeforeClass.class, true, errors); + validatePublicVoidNoArgMethods(AfterClass.class, true, errors); + validateClassRules(errors); + applyValidators(errors); + } + + private void applyValidators(List errors) { + if (getTestClass().getJavaClass() != null) { + for (TestClassValidator each : VALIDATORS) { + errors.addAll(each.validateTestClass(getTestClass())); + } + } + } + + /** + * Adds to {@code errors} if any method in this class is annotated with + * {@code annotation}, but: + *

    + *
  • is not public, or + *
  • takes parameters, or + *
  • returns something other than void, or + *
  • is static (given {@code isStatic is false}), or + *
  • is not static (given {@code isStatic is true}). + *
+ */ + protected void validatePublicVoidNoArgMethods(Class annotation, + boolean isStatic, List errors) { + List methods = getTestClass().getAnnotatedMethods(annotation); + + for (FrameworkMethod eachTestMethod : methods) { + eachTestMethod.validatePublicVoidNoArg(isStatic, errors); + } + } + + private void validateClassRules(List errors) { + CLASS_RULE_VALIDATOR.validate(getTestClass(), errors); + CLASS_RULE_METHOD_VALIDATOR.validate(getTestClass(), errors); + } + + /** + * Constructs a {@code Statement} to run all of the tests in the test class. + * Override to add pre-/post-processing. Here is an outline of the + * implementation: + *
    + *
  1. Determine the children to be run using {@link #getChildren()} + * (subject to any imposed filter and sort).
    2. + *
  2. If there are any children remaining after filtering and ignoring, + * construct a statement that will: + *
      + *
    1. Apply all {@code ClassRule}s on the test-class and superclasses.
      2. + *
    2. Run all non-overridden {@code @BeforeClass} methods on the test-class + * and superclasses; if any throws an Exception, stop execution and pass the + * exception on.
      3. + *
    3. Run all remaining tests on the test-class.
      4. + *
    4. Run all non-overridden {@code @AfterClass} methods on the test-class + * and superclasses: exceptions thrown by previous steps are combined, if + * necessary, with exceptions from AfterClass methods into a + * {@link org.junit.runners.model.MultipleFailureException}.
      5. + *
    + *
    3. + *
+ * + * @return {@code Statement} + */ + protected Statement classBlock(final RunNotifier notifier) { + Statement statement = childrenInvoker(notifier); + if (!areAllChildrenIgnored()) { + statement = withBeforeClasses(statement); + statement = withAfterClasses(statement); + statement = withClassRules(statement); + } + return statement; + } + + private boolean areAllChildrenIgnored() { + for (T child : getFilteredChildren()) { + if (!isIgnored(child)) { + return false; + } + } + return true; + } + + /** + * Returns a {@link Statement}: run all non-overridden {@code @BeforeClass} methods on this class + * and superclasses before executing {@code statement}; if any throws an + * Exception, stop execution and pass the exception on. + */ + protected Statement withBeforeClasses(Statement statement) { + List befores = testClass + .getAnnotatedMethods(BeforeClass.class); + return befores.isEmpty() ? statement : + new RunBefores(statement, befores, null); + } + + /** + * Returns a {@link Statement}: run all non-overridden {@code @AfterClass} methods on this class + * and superclasses before executing {@code statement}; all AfterClass methods are + * always executed: exceptions thrown by previous steps are combined, if + * necessary, with exceptions from AfterClass methods into a + * {@link org.junit.runners.model.MultipleFailureException}. + */ + protected Statement withAfterClasses(Statement statement) { + List afters = testClass + .getAnnotatedMethods(AfterClass.class); + return afters.isEmpty() ? statement : + new RunAfters(statement, afters, null); + } + + /** + * Returns a {@link Statement}: apply all + * static fields assignable to {@link TestRule} + * annotated with {@link ClassRule}. + * + * @param statement the base statement + * @return a RunRules statement if any class-level {@link Rule}s are + * found, or the base statement + */ + private Statement withClassRules(Statement statement) { + List classRules = classRules(); + return classRules.isEmpty() ? statement : + new RunRules(statement, classRules, getDescription()); + } + + /** + * @return the {@code ClassRule}s that can transform the block that runs + * each method in the tested class. + */ + protected List classRules() { + List result = testClass.getAnnotatedMethodValues(null, ClassRule.class, TestRule.class); + result.addAll(testClass.getAnnotatedFieldValues(null, ClassRule.class, TestRule.class)); + return result; + } + + /** + * Returns a {@link Statement}: Call {@link #runChild(Object, RunNotifier)} + * on each object returned by {@link #getChildren()} (subject to any imposed + * filter and sort) + */ + protected Statement childrenInvoker(final RunNotifier notifier) { + return new Statement() { + @Override + public void evaluate() { + runChildren(notifier); + } + }; + } + + /** + * Evaluates whether a child is ignored. The default implementation always + * returns false. + * + *

{@link BlockJUnit4ClassRunner}, for example, overrides this method to + * filter tests based on the {@link Ignore} annotation. + */ + protected boolean isIgnored(T child) { + return false; + } + + private void runChildren(final RunNotifier notifier) { + final RunnerScheduler currentScheduler = scheduler; + try { + for (final T each : getFilteredChildren()) { + currentScheduler.schedule(new Runnable() { + public void run() { + ParentRunner.this.runChild(each, notifier); + } + }); + } + } finally { + currentScheduler.finished(); + } + } + + /** + * Returns a name used to describe this Runner + */ + protected String getName() { + return testClass.getName(); + } + + // + // Available for subclasses + // + + /** + * Returns a {@link TestClass} object wrapping the class to be executed. + */ + public final TestClass getTestClass() { + return testClass; + } + + /** + * Runs a {@link Statement} that represents a leaf (aka atomic) test. + */ + protected final void runLeaf(Statement statement, Description description, + RunNotifier notifier) { + EachTestNotifier eachNotifier = new EachTestNotifier(notifier, description); + eachNotifier.fireTestStarted(); + try { + statement.evaluate(); + } catch (AssumptionViolatedException e) { + eachNotifier.addFailedAssumption(e); + } catch (Throwable e) { + eachNotifier.addFailure(e); + } finally { + eachNotifier.fireTestFinished(); + } + } + + /** + * @return the annotations that should be attached to this runner's + * description. + */ + protected Annotation[] getRunnerAnnotations() { + return testClass.getAnnotations(); + } + + // + // Implementation of Runner + // + + @Override + public Description getDescription() { + Description description = Description.createSuiteDescription(getName(), + getRunnerAnnotations()); + for (T child : getFilteredChildren()) { + description.addChild(describeChild(child)); + } + return description; + } + + @Override + public void run(final RunNotifier notifier) { + EachTestNotifier testNotifier = new EachTestNotifier(notifier, + getDescription()); + try { + Statement statement = classBlock(notifier); + statement.evaluate(); + } catch (AssumptionViolatedException e) { + testNotifier.addFailedAssumption(e); + } catch (StoppedByUserException e) { + throw e; + } catch (Throwable e) { + testNotifier.addFailure(e); + } + } + + // + // Implementation of Filterable and Sortable + // + + public void filter(Filter filter) throws NoTestsRemainException { + synchronized (childrenLock) { + List children = new ArrayList(getFilteredChildren()); + for (Iterator iter = children.iterator(); iter.hasNext(); ) { + T each = iter.next(); + if (shouldRun(filter, each)) { + try { + filter.apply(each); + } catch (NoTestsRemainException e) { + iter.remove(); + } + } else { + iter.remove(); + } + } + filteredChildren = Collections.unmodifiableCollection(children); + if (filteredChildren.isEmpty()) { + throw new NoTestsRemainException(); + } + } + } + + public void sort(Sorter sorter) { + synchronized (childrenLock) { + for (T each : getFilteredChildren()) { + sorter.apply(each); + } + List sortedChildren = new ArrayList(getFilteredChildren()); + Collections.sort(sortedChildren, comparator(sorter)); + filteredChildren = Collections.unmodifiableCollection(sortedChildren); + } + } + + // + // Private implementation + // + + private void validate() throws InitializationError { + List errors = new ArrayList(); + collectInitializationErrors(errors); + if (!errors.isEmpty()) { + throw new InitializationError(errors); + } + } + + private Collection getFilteredChildren() { + if (filteredChildren == null) { + synchronized (childrenLock) { + if (filteredChildren == null) { + filteredChildren = Collections.unmodifiableCollection(getChildren()); + } + } + } + return filteredChildren; + } + + private boolean shouldRun(Filter filter, T each) { + return filter.shouldRun(describeChild(each)); + } + + private Comparator comparator(final Sorter sorter) { + return new Comparator() { + public int compare(T o1, T o2) { + return sorter.compare(describeChild(o1), describeChild(o2)); + } + }; + } + + /** + * Sets a scheduler that determines the order and parallelization + * of children. Highly experimental feature that may change. + */ + public void setScheduler(RunnerScheduler scheduler) { + this.scheduler = scheduler; + } +} diff --git a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/model/TestClass.java b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/model/TestClass.java index c8a544d6..18039010 100755 --- a/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/model/TestClass.java +++ b/Legacy/real_time/surface_src/java_src/libs/junit/src/main/java/org/junit/runners/model/TestClass.java @@ -1,313 +1,313 @@ -package org.junit.runners.model; - -import static java.lang.reflect.Modifier.isStatic; -import static org.junit.internal.MethodSorter.NAME_ASCENDING; - -import java.lang.annotation.Annotation; -import java.lang.reflect.Constructor; -import java.lang.reflect.Field; -import java.lang.reflect.Method; -import java.lang.reflect.Modifier; -import java.util.ArrayList; -import java.util.Arrays; -import java.util.Collections; -import java.util.Comparator; -import java.util.LinkedHashMap; -import java.util.LinkedHashSet; -import java.util.List; -import java.util.Map; -import java.util.Set; - -import org.junit.Assert; -import org.junit.Before; -import org.junit.BeforeClass; -import org.junit.internal.MethodSorter; - -/** - * Wraps a class to be run, providing method validation and annotation searching - * - * @since 4.5 - */ -public class TestClass implements Annotatable { - private static final FieldComparator FIELD_COMPARATOR = new FieldComparator(); - private static final MethodComparator METHOD_COMPARATOR = new MethodComparator(); - - private final Class clazz; - private final Map, List> methodsForAnnotations; - private final Map, List> fieldsForAnnotations; - - /** - * Creates a {@code TestClass} wrapping {@code clazz}. Each time this - * constructor executes, the class is scanned for annotations, which can be - * an expensive process (we hope in future JDK's it will not be.) Therefore, - * try to share instances of {@code TestClass} where possible. - */ - public TestClass(Class clazz) { - this.clazz = clazz; - if (clazz != null && clazz.getConstructors().length > 1) { - throw new IllegalArgumentException( - "Test class can only have one constructor"); - } - - Map, List> methodsForAnnotations = - new LinkedHashMap, List>(); - Map, List> fieldsForAnnotations = - new LinkedHashMap, List>(); - - scanAnnotatedMembers(methodsForAnnotations, fieldsForAnnotations); - - this.methodsForAnnotations = makeDeeplyUnmodifiable(methodsForAnnotations); - this.fieldsForAnnotations = makeDeeplyUnmodifiable(fieldsForAnnotations); - } - - protected void scanAnnotatedMembers(Map, List> methodsForAnnotations, Map, List> fieldsForAnnotations) { - for (Class eachClass : getSuperClasses(clazz)) { - for (Method eachMethod : MethodSorter.getDeclaredMethods(eachClass)) { - addToAnnotationLists(new FrameworkMethod(eachMethod), methodsForAnnotations); - } - // ensuring fields are sorted to make sure that entries are inserted - // and read from fieldForAnnotations in a deterministic order - for (Field eachField : getSortedDeclaredFields(eachClass)) { - addToAnnotationLists(new FrameworkField(eachField), fieldsForAnnotations); - } - } - } - - private static Field[] getSortedDeclaredFields(Class clazz) { - Field[] declaredFields = clazz.getDeclaredFields(); - Arrays.sort(declaredFields, FIELD_COMPARATOR); - return declaredFields; - } - - protected static > void addToAnnotationLists(T member, - Map, List> map) { - for (Annotation each : member.getAnnotations()) { - Class type = each.annotationType(); - List members = getAnnotatedMembers(map, type, true); - if (member.isShadowedBy(members)) { - return; - } - if (runsTopToBottom(type)) { - members.add(0, member); - } else { - members.add(member); - } - } - } - - private static > Map, List> - makeDeeplyUnmodifiable(Map, List> source) { - LinkedHashMap, List> copy = - new LinkedHashMap, List>(); - for (Map.Entry, List> entry : source.entrySet()) { - copy.put(entry.getKey(), Collections.unmodifiableList(entry.getValue())); - } - return Collections.unmodifiableMap(copy); - } - - /** - * Returns, efficiently, all the non-overridden methods in this class and - * its superclasses that are annotated}. - * - * @since 4.12 - */ - public List getAnnotatedMethods() { - List methods = collectValues(methodsForAnnotations); - Collections.sort(methods, METHOD_COMPARATOR); - return methods; - } - - /** - * Returns, efficiently, all the non-overridden methods in this class and - * its superclasses that are annotated with {@code annotationClass}. - */ - public List getAnnotatedMethods( - Class annotationClass) { - return Collections.unmodifiableList(getAnnotatedMembers(methodsForAnnotations, annotationClass, false)); - } - - /** - * Returns, efficiently, all the non-overridden fields in this class and its - * superclasses that are annotated. - * - * @since 4.12 - */ - public List getAnnotatedFields() { - return collectValues(fieldsForAnnotations); - } - - /** - * Returns, efficiently, all the non-overridden fields in this class and its - * superclasses that are annotated with {@code annotationClass}. - */ - public List getAnnotatedFields( - Class annotationClass) { - return Collections.unmodifiableList(getAnnotatedMembers(fieldsForAnnotations, annotationClass, false)); - } - - private List collectValues(Map> map) { - Set values = new LinkedHashSet(); - for (List additionalValues : map.values()) { - values.addAll(additionalValues); - } - return new ArrayList(values); - } - - private static List getAnnotatedMembers(Map, List> map, - Class type, boolean fillIfAbsent) { - if (!map.containsKey(type) && fillIfAbsent) { - map.put(type, new ArrayList()); - } - List members = map.get(type); - return members == null ? Collections.emptyList() : members; - } - - private static boolean runsTopToBottom(Class annotation) { - return annotation.equals(Before.class) - || annotation.equals(BeforeClass.class); - } - - private static List> getSuperClasses(Class testClass) { - ArrayList> results = new ArrayList>(); - Class current = testClass; - while (current != null) { - results.add(current); - current = current.getSuperclass(); - } - return results; - } - - /** - * Returns the underlying Java class. - */ - public Class getJavaClass() { - return clazz; - } - - /** - * Returns the class's name. - */ - public String getName() { - if (clazz == null) { - return "null"; - } - return clazz.getName(); - } - - /** - * Returns the only public constructor in the class, or throws an {@code - * AssertionError} if there are more or less than one. - */ - - public Constructor getOnlyConstructor() { - Constructor[] constructors = clazz.getConstructors(); - Assert.assertEquals(1, constructors.length); - return constructors[0]; - } - - /** - * Returns the annotations on this class - */ - public Annotation[] getAnnotations() { - if (clazz == null) { - return new Annotation[0]; - } - return clazz.getAnnotations(); - } - - public T getAnnotation(Class annotationType) { - if (clazz == null) { - return null; - } - return clazz.getAnnotation(annotationType); - } - - public List getAnnotatedFieldValues(Object test, - Class annotationClass, Class valueClass) { - List results = new ArrayList(); - for (FrameworkField each : getAnnotatedFields(annotationClass)) { - try { - Object fieldValue = each.get(test); - if (valueClass.isInstance(fieldValue)) { - results.add(valueClass.cast(fieldValue)); - } - } catch (IllegalAccessException e) { - throw new RuntimeException( - "How did getFields return a field we couldn't access?", e); - } - } - return results; - } - - public List getAnnotatedMethodValues(Object test, - Class annotationClass, Class valueClass) { - List results = new ArrayList(); - for (FrameworkMethod each : getAnnotatedMethods(annotationClass)) { - try { - /* - * A method annotated with @Rule may return a @TestRule or a @MethodRule, - * we cannot call the method to check whether the return type matches our - * expectation i.e. subclass of valueClass. If we do that then the method - * will be invoked twice and we do not want to do that. So we first check - * whether return type matches our expectation and only then call the method - * to fetch the MethodRule - */ - if (valueClass.isAssignableFrom(each.getReturnType())) { - Object fieldValue = each.invokeExplosively(test); - results.add(valueClass.cast(fieldValue)); - } - } catch (Throwable e) { - throw new RuntimeException( - "Exception in " + each.getName(), e); - } - } - return results; - } - - public boolean isPublic() { - return Modifier.isPublic(clazz.getModifiers()); - } - - public boolean isANonStaticInnerClass() { - return clazz.isMemberClass() && !isStatic(clazz.getModifiers()); - } - - @Override - public int hashCode() { - return (clazz == null) ? 0 : clazz.hashCode(); - } - - @Override - public boolean equals(Object obj) { - if (this == obj) { - return true; - } - if (obj == null) { - return false; - } - if (getClass() != obj.getClass()) { - return false; - } - TestClass other = (TestClass) obj; - return clazz == other.clazz; - } - - /** - * Compares two fields by its name. - */ - private static class FieldComparator implements Comparator { - public int compare(Field left, Field right) { - return left.getName().compareTo(right.getName()); - } - } - - /** - * Compares two methods by its name. - */ - private static class MethodComparator implements - Comparator { - public int compare(FrameworkMethod left, FrameworkMethod right) { - return NAME_ASCENDING.compare(left.getMethod(), right.getMethod()); - } - } -} +package org.junit.runners.model; + +import static java.lang.reflect.Modifier.isStatic; +import static org.junit.internal.MethodSorter.NAME_ASCENDING; + +import java.lang.annotation.Annotation; +import java.lang.reflect.Constructor; +import java.lang.reflect.Field; +import java.lang.reflect.Method; +import java.lang.reflect.Modifier; +import java.util.ArrayList; +import java.util.Arrays; +import java.util.Collections; +import java.util.Comparator; +import java.util.LinkedHashMap; +import java.util.LinkedHashSet; +import java.util.List; +import java.util.Map; +import java.util.Set; + +import org.junit.Assert; +import org.junit.Before; +import org.junit.BeforeClass; +import org.junit.internal.MethodSorter; + +/** + * Wraps a class to be run, providing method validation and annotation searching + * + * @since 4.5 + */ +public class TestClass implements Annotatable { + private static final FieldComparator FIELD_COMPARATOR = new FieldComparator(); + private static final MethodComparator METHOD_COMPARATOR = new MethodComparator(); + + private final Class clazz; + private final Map, List> methodsForAnnotations; + private final Map, List> fieldsForAnnotations; + + /** + * Creates a {@code TestClass} wrapping {@code clazz}. Each time this + * constructor executes, the class is scanned for annotations, which can be + * an expensive process (we hope in future JDK's it will not be.) Therefore, + * try to share instances of {@code TestClass} where possible. + */ + public TestClass(Class clazz) { + this.clazz = clazz; + if (clazz != null && clazz.getConstructors().length > 1) { + throw new IllegalArgumentException( + "Test class can only have one constructor"); + } + + Map, List> methodsForAnnotations = + new LinkedHashMap, List>(); + Map, List> fieldsForAnnotations = + new LinkedHashMap, List>(); + + scanAnnotatedMembers(methodsForAnnotations, fieldsForAnnotations); + + this.methodsForAnnotations = makeDeeplyUnmodifiable(methodsForAnnotations); + this.fieldsForAnnotations = makeDeeplyUnmodifiable(fieldsForAnnotations); + } + + protected void scanAnnotatedMembers(Map, List> methodsForAnnotations, Map, List> fieldsForAnnotations) { + for (Class eachClass : getSuperClasses(clazz)) { + for (Method eachMethod : MethodSorter.getDeclaredMethods(eachClass)) { + addToAnnotationLists(new FrameworkMethod(eachMethod), methodsForAnnotations); + } + // ensuring fields are sorted to make sure that entries are inserted + // and read from fieldForAnnotations in a deterministic order + for (Field eachField : getSortedDeclaredFields(eachClass)) { + addToAnnotationLists(new FrameworkField(eachField), fieldsForAnnotations); + } + } + } + + private static Field[] getSortedDeclaredFields(Class clazz) { + Field[] declaredFields = clazz.getDeclaredFields(); + Arrays.sort(declaredFields, FIELD_COMPARATOR); + return declaredFields; + } + + protected static > void addToAnnotationLists(T member, + Map, List> map) { + for (Annotation each : member.getAnnotations()) { + Class type = each.annotationType(); + List members = getAnnotatedMembers(map, type, true); + if (member.isShadowedBy(members)) { + return; + } + if (runsTopToBottom(type)) { + members.add(0, member); + } else { + members.add(member); + } + } + } + + private static > Map, List> + makeDeeplyUnmodifiable(Map, List> source) { + LinkedHashMap, List> copy = + new LinkedHashMap, List>(); + for (Map.Entry, List> entry : source.entrySet()) { + copy.put(entry.getKey(), Collections.unmodifiableList(entry.getValue())); + } + return Collections.unmodifiableMap(copy); + } + + /** + * Returns, efficiently, all the non-overridden methods in this class and + * its superclasses that are annotated}. + * + * @since 4.12 + */ + public List getAnnotatedMethods() { + List methods = collectValues(methodsForAnnotations); + Collections.sort(methods, METHOD_COMPARATOR); + return methods; + } + + /** + * Returns, efficiently, all the non-overridden methods in this class and + * its superclasses that are annotated with {@code annotationClass}. + */ + public List getAnnotatedMethods( + Class annotationClass) { + return Collections.unmodifiableList(getAnnotatedMembers(methodsForAnnotations, annotationClass, false)); + } + + /** + * Returns, efficiently, all the non-overridden fields in this class and its + * superclasses that are annotated. + * + * @since 4.12 + */ + public List getAnnotatedFields() { + return collectValues(fieldsForAnnotations); + } + + /** + * Returns, efficiently, all the non-overridden fields in this class and its + * superclasses that are annotated with {@code annotationClass}. + */ + public List getAnnotatedFields( + Class annotationClass) { + return Collections.unmodifiableList(getAnnotatedMembers(fieldsForAnnotations, annotationClass, false)); + } + + private List collectValues(Map> map) { + Set values = new LinkedHashSet(); + for (List additionalValues : map.values()) { + values.addAll(additionalValues); + } + return new ArrayList(values); + } + + private static List getAnnotatedMembers(Map, List> map, + Class type, boolean fillIfAbsent) { + if (!map.containsKey(type) && fillIfAbsent) { + map.put(type, new ArrayList()); + } + List members = map.get(type); + return members == null ? Collections.emptyList() : members; + } + + private static boolean runsTopToBottom(Class annotation) { + return annotation.equals(Before.class) + || annotation.equals(BeforeClass.class); + } + + private static List> getSuperClasses(Class testClass) { + ArrayList> results = new ArrayList>(); + Class current = testClass; + while (current != null) { + results.add(current); + current = current.getSuperclass(); + } + return results; + } + + /** + * Returns the underlying Java class. + */ + public Class getJavaClass() { + return clazz; + } + + /** + * Returns the class's name. + */ + public String getName() { + if (clazz == null) { + return "null"; + } + return clazz.getName(); + } + + /** + * Returns the only public constructor in the class, or throws an {@code + * AssertionError} if there are more or less than one. + */ + + public Constructor getOnlyConstructor() { + Constructor[] constructors = clazz.getConstructors(); + Assert.assertEquals(1, constructors.length); + return constructors[0]; + } + + /** + * Returns the annotations on this class + */ + public Annotation[] getAnnotations() { + if (clazz == null) { + return new Annotation[0]; + } + return clazz.getAnnotations(); + } + + public T getAnnotation(Class annotationType) { + if (clazz == null) { + return null; + } + return clazz.getAnnotation(annotationType); + } + + public List getAnnotatedFieldValues(Object test, + Class annotationClass, Class valueClass) { + List results = new ArrayList(); + for (FrameworkField each : getAnnotatedFields(annotationClass)) { + try { + Object fieldValue = each.get(test); + if (valueClass.isInstance(fieldValue)) { + results.add(valueClass.cast(fieldValue)); + } + } catch (IllegalAccessException e) { + throw new RuntimeException( + "How did getFields return a field we couldn't access?", e); + } + } + return results; + } + + public List getAnnotatedMethodValues(Object test, + Class annotationClass, Class valueClass) { + List results = new ArrayList(); + for (FrameworkMethod each : getAnnotatedMethods(annotationClass)) { + try { + /* + * A method annotated with @Rule may return a @TestRule or a @MethodRule, + * we cannot call the method to check whether the return type matches our + * expectation i.e. subclass of valueClass. If we do that then the method + * will be invoked twice and we do not want to do that. So we first check + * whether return type matches our expectation and only then call the method + * to fetch the MethodRule + */ + if (valueClass.isAssignableFrom(each.getReturnType())) { + Object fieldValue = each.invokeExplosively(test); + results.add(valueClass.cast(fieldValue)); + } + } catch (Throwable e) { + throw new RuntimeException( + "Exception in " + each.getName(), e); + } + } + return results; + } + + public boolean isPublic() { + return Modifier.isPublic(clazz.getModifiers()); + } + + public boolean isANonStaticInnerClass() { + return clazz.isMemberClass() && !isStatic(clazz.getModifiers()); + } + + @Override + public int hashCode() { + return (clazz == null) ? 0 : clazz.hashCode(); + } + + @Override + public boolean equals(Object obj) { + if (this == obj) { + return true; + } + if (obj == null) { + return false; + } + if (getClass() != obj.getClass()) { + return false; + } + TestClass other = (TestClass) obj; + return clazz == other.clazz; + } + + /** + * Compares two fields by its name. + */ + private static class FieldComparator implements Comparator { + public int compare(Field left, Field right) { + return left.getName().compareTo(right.getName()); + } + } + + /** + * Compares two methods by its name. + */ + private static class MethodComparator implements + Comparator { + public int compare(FrameworkMethod left, FrameworkMethod right) { + return NAME_ASCENDING.compare(left.getMethod(), right.getMethod()); + } + } +} diff --git a/Legacy/real_time/surface_src/java_src/libs/junit/src/test/java/org/junit/tests/assertion/AssertionTest.java b/Legacy/real_time/surface_src/java_src/libs/junit/src/test/java/org/junit/tests/assertion/AssertionTest.java index 27b47cd2..39f0f451 100755 --- a/Legacy/real_time/surface_src/java_src/libs/junit/src/test/java/org/junit/tests/assertion/AssertionTest.java +++ b/Legacy/real_time/surface_src/java_src/libs/junit/src/test/java/org/junit/tests/assertion/AssertionTest.java @@ -1,651 +1,651 @@ -package org.junit.tests.assertion; - -import static org.hamcrest.CoreMatchers.equalTo; -import static org.hamcrest.CoreMatchers.instanceOf; -import static org.hamcrest.CoreMatchers.is; -import static org.junit.Assert.assertArrayEquals; -import static org.junit.Assert.assertEquals; -import static org.junit.Assert.assertNotEquals; -import static org.junit.Assert.assertNotSame; -import static org.junit.Assert.assertNull; -import static org.junit.Assert.assertSame; -import static org.junit.Assert.assertThat; -import static org.junit.Assert.assertTrue; -import static org.junit.Assert.fail; - -import java.math.BigDecimal; - -import org.junit.Assert; -import org.junit.ComparisonFailure; -import org.junit.Test; -import org.junit.internal.ArrayComparisonFailure; - -/** - * Tests for {@link org.junit.Assert} - */ -public class AssertionTest { -// If you want to use 1.4 assertions, they will be reported correctly. -// However, you need to add the -ea VM argument when running. - -// @Test (expected=AssertionError.class) public void error() { -// assert false; -// } - - @Test(expected = AssertionError.class) - public void fails() { - Assert.fail(); - } - - @Test - public void failWithNoMessageToString() { - try { - Assert.fail(); - } catch (AssertionError exception) { - assertEquals("java.lang.AssertionError", exception.toString()); - } - } - - @Test - public void failWithMessageToString() { - try { - Assert.fail("woops!"); - } catch (AssertionError exception) { - assertEquals("java.lang.AssertionError: woops!", exception.toString()); - } - } - - @Test(expected = AssertionError.class) - public void arraysNotEqual() { - assertArrayEquals((new Object[]{new Object()}), (new Object[]{new Object()})); - } - - @Test(expected = AssertionError.class) - public void arraysNotEqualWithMessage() { - assertArrayEquals("not equal", (new Object[]{new Object()}), (new Object[]{new Object()})); - } - - @Test - public void arraysExpectedNullMessage() { - try { - assertArrayEquals("not equal", null, (new Object[]{new Object()})); - } catch (AssertionError exception) { - assertEquals("not equal: expected array was null", exception.getMessage()); - } - } - - @Test - public void arraysActualNullMessage() { - try { - assertArrayEquals("not equal", (new Object[]{new Object()}), null); - } catch (AssertionError exception) { - assertEquals("not equal: actual array was null", exception.getMessage()); - } - } - - @Test - public void arraysDifferentLengthMessage() { - try { - assertArrayEquals("not equal", (new Object[0]), (new Object[1])); - } catch (AssertionError exception) { - assertEquals("not equal: array lengths differed, expected.length=0 actual.length=1", exception.getMessage()); - } - } - - @Test(expected = ArrayComparisonFailure.class) - public void arraysElementsDiffer() { - assertArrayEquals("not equal", (new Object[]{"this is a very long string in the middle of an array"}), (new Object[]{"this is another very long string in the middle of an array"})); - } - - @Test - public void arraysDifferAtElement0nullMessage() { - try { - assertArrayEquals((new Object[]{true}), (new Object[]{false})); - } catch (AssertionError exception) { - assertEquals("arrays first differed at element [0]; expected: but was:", exception - .getMessage()); - } - } - - @Test - public void arraysDifferAtElement1nullMessage() { - try { - assertArrayEquals((new Object[]{true, true}), (new Object[]{true, - false})); - } catch (AssertionError exception) { - assertEquals("arrays first differed at element [1]; expected: but was:", exception - .getMessage()); - } - } - - @Test - public void arraysDifferAtElement0withMessage() { - try { - assertArrayEquals("message", (new Object[]{true}), (new Object[]{false})); - } catch (AssertionError exception) { - assertEquals("message: arrays first differed at element [0]; expected: but was:", exception - .getMessage()); - } - } - - @Test - public void arraysDifferAtElement1withMessage() { - try { - assertArrayEquals("message", (new Object[]{true, true}), (new Object[]{true, false})); - fail(); - } catch (AssertionError exception) { - assertEquals("message: arrays first differed at element [1]; expected: but was:", exception.getMessage()); - } - } - - @Test - public void multiDimensionalArraysAreEqual() { - assertArrayEquals((new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {false, false}})); - } - - @Test - public void multiDimensionalIntArraysAreEqual() { - int[][] int1 = {{1, 2, 3}, {4, 5, 6}}; - int[][] int2 = {{1, 2, 3}, {4, 5, 6}}; - assertArrayEquals(int1, int2); - } - - @Test - public void oneDimensionalPrimitiveArraysAreEqual() { - assertArrayEquals(new boolean[]{true}, new boolean[]{true}); - assertArrayEquals(new byte[]{1}, new byte[]{1}); - assertArrayEquals(new char[]{1}, new char[]{1}); - assertArrayEquals(new short[]{1}, new short[]{1}); - assertArrayEquals(new int[]{1}, new int[]{1}); - assertArrayEquals(new long[]{1}, new long[]{1}); - assertArrayEquals(new double[]{1.0}, new double[]{1.0}, 1.0); - assertArrayEquals(new float[]{1.0f}, new float[]{1.0f}, 1.0f); - } - - @Test(expected = AssertionError.class) - public void oneDimensionalDoubleArraysAreNotEqual() { - assertArrayEquals(new double[]{1.0}, new double[]{2.5}, 1.0); - } - - @Test(expected = AssertionError.class) - public void oneDimensionalFloatArraysAreNotEqual() { - assertArrayEquals(new float[]{1.0f}, new float[]{2.5f}, 1.0f); - } - - @Test(expected = AssertionError.class) - public void oneDimensionalBooleanArraysAreNotEqual() { - assertArrayEquals(new boolean[]{true}, new boolean[]{false}); - } - - @Test(expected = AssertionError.class) - public void IntegerDoesNotEqualLong() { - assertEquals(new Integer(1), new Long(1)); - } - - @Test - public void intsEqualLongs() { - assertEquals(1, 1L); - } - - @Test - public void multiDimensionalArraysDeclaredAsOneDimensionalAreEqual() { - assertArrayEquals((new Object[]{new Object[]{true, true}, new Object[]{false, false}}), (new Object[]{new Object[]{true, true}, new Object[]{false, false}})); - } - - @Test - public void multiDimensionalArraysAreNotEqual() { - try { - assertArrayEquals("message", (new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {true, false}})); - fail(); - } catch (AssertionError exception) { - assertEquals("message: arrays first differed at element [1][0]; expected: but was:", exception.getMessage()); - } - } - - @Test - public void multiDimensionalArraysAreNotEqualNoMessage() { - try { - assertArrayEquals((new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {true, false}})); - fail(); - } catch (AssertionError exception) { - assertEquals("arrays first differed at element [1][0]; expected: but was:", exception.getMessage()); - } - } - - @Test - public void arraysWithNullElementEqual() { - Object[] objects1 = new Object[]{null}; - Object[] objects2 = new Object[]{null}; - assertArrayEquals(objects1, objects2); - } - - @Test - public void stringsDifferWithUserMessage() { - try { - assertEquals("not equal", "one", "two"); - } catch (Throwable exception) { - assertEquals("not equal expected:<[one]> but was:<[two]>", exception.getMessage()); - } - } - - @Test - public void arraysEqual() { - Object element = new Object(); - Object[] objects1 = new Object[]{element}; - Object[] objects2 = new Object[]{element}; - assertArrayEquals(objects1, objects2); - } - - @Test - public void arraysEqualWithMessage() { - Object element = new Object(); - Object[] objects1 = new Object[]{element}; - Object[] objects2 = new Object[]{element}; - assertArrayEquals("equal", objects1, objects2); - } - - @Test - public void equals() { - Object o = new Object(); - assertEquals(o, o); - assertEquals("abc", "abc"); - assertEquals(true, true); - assertEquals((byte) 1, (byte) 1); - assertEquals('a', 'a'); - assertEquals((short) 1, (short) 1); - assertEquals(1, 1); // int by default, cast is unnecessary - assertEquals(1l, 1l); - assertEquals(1.0, 1.0, 0.0); - assertEquals(1.0d, 1.0d, 0.0d); - } - - @Test(expected = AssertionError.class) - public void notEqualsObjectWithNull() { - assertEquals(new Object(), null); - } - - @Test(expected = AssertionError.class) - public void notEqualsNullWithObject() { - assertEquals(null, new Object()); - } - - @Test - public void notEqualsObjectWithNullWithMessage() { - Object o = new Object(); - try { - assertEquals("message", null, o); - fail(); - } catch (AssertionError e) { - assertEquals("message expected: but was:<" + o.toString() + ">", e.getMessage()); - } - } - - @Test - public void notEqualsNullWithObjectWithMessage() { - Object o = new Object(); - try { - assertEquals("message", o, null); - fail(); - } catch (AssertionError e) { - assertEquals("message expected:<" + o.toString() + "> but was:", e.getMessage()); - } - } - - @Test(expected = AssertionError.class) - public void objectsNotEquals() { - assertEquals(new Object(), new Object()); - } - - @Test(expected = ComparisonFailure.class) - public void stringsNotEqual() { - assertEquals("abc", "def"); - } - - @Test(expected = AssertionError.class) - public void booleansNotEqual() { - assertEquals(true, false); - } - - @Test(expected = AssertionError.class) - public void bytesNotEqual() { - assertEquals((byte) 1, (byte) 2); - } - - @Test(expected = AssertionError.class) - public void charsNotEqual() { - assertEquals('a', 'b'); - } - - @Test(expected = AssertionError.class) - public void shortsNotEqual() { - assertEquals((short) 1, (short) 2); - } - - @Test(expected = AssertionError.class) - public void intsNotEqual() { - assertEquals(1, 2); - } - - @Test(expected = AssertionError.class) - public void longsNotEqual() { - assertEquals(1l, 2l); - } - - @Test(expected = AssertionError.class) - public void floatsNotEqual() { - assertEquals(1.0, 2.0, 0.9); - } - - @SuppressWarnings("deprecation") - @Test(expected = AssertionError.class) - public void floatsNotEqualWithoutDelta() { - assertEquals(1.0, 1.1); - } - - @Test - public void floatsNotDoublesInArrays() { - float delta = 4.444f; - float[] f1 = new float[]{1.111f}; - float[] f2 = new float[]{5.555f}; - Assert.assertArrayEquals(f1, f2, delta); - } - - @Test(expected = AssertionError.class) - public void bigDecimalsNotEqual() { - assertEquals(new BigDecimal("123.4"), new BigDecimal("123.0")); - } - - - @Test(expected = AssertionError.class) - public void doublesNotEqual() { - assertEquals(1.0d, 2.0d, 0.9d); - } - - @Test - public void naNsAreEqual() { - assertEquals(Float.NaN, Float.NaN, Float.POSITIVE_INFINITY); - assertEquals(Double.NaN, Double.NaN, Double.POSITIVE_INFINITY); - } - - @Test - public void nullNullmessage() { - try { - assertNull("junit"); - fail(); - } catch (AssertionError e) { - assertEquals("expected null, but was:", e.getMessage()); - } - } - - @Test - public void nullWithMessage() { - try { - assertNull("message", "hello"); - fail(); - } catch (AssertionError exception) { - assertEquals("message expected null, but was:", exception.getMessage()); - } - } - - @Test - public void same() { - Object o1 = new Object(); - assertSame(o1, o1); - } - - @Test - public void notSame() { - Object o1 = new Object(); - Object o2 = new Object(); - assertNotSame(o1, o2); - } - - @Test(expected = AssertionError.class) - public void objectsNotSame() { - assertSame(new Object(), new Object()); - } - - @Test(expected = AssertionError.class) - public void objectsAreSame() { - Object o = new Object(); - assertNotSame(o, o); - } - - @Test - public void sameWithMessage() { - try { - assertSame("not same", "hello", "good-bye"); - fail(); - } catch (AssertionError exception) { - assertEquals("not same expected same: was not:", - exception.getMessage()); - } - } - - @Test - public void sameNullMessage() { - try { - assertSame("hello", "good-bye"); - fail(); - } catch (AssertionError exception) { - assertEquals("expected same: was not:", exception.getMessage()); - } - } - - @Test - public void notSameWithMessage() { - Object o = new Object(); - try { - assertNotSame("message", o, o); - fail(); - } catch (AssertionError exception) { - assertEquals("message expected not same", exception.getMessage()); - } - } - - @Test - public void notSameNullMessage() { - Object o = new Object(); - try { - assertNotSame(o, o); - fail(); - } catch (AssertionError exception) { - assertEquals("expected not same", exception.getMessage()); - } - } - - @Test - public void nullMessage() { - try { - fail(null); - } catch (AssertionError exception) { - // we used to expect getMessage() to return ""; see failWithNoMessageToString() - assertNull(exception.getMessage()); - } - } - - @Test - public void nullMessageDisappearsWithStringAssertEquals() { - try { - assertEquals(null, "a", "b"); - fail(); - } catch (ComparisonFailure e) { - assertEquals("expected:<[a]> but was:<[b]>", e.getMessage()); - } - } - - @Test - public void nullMessageDisappearsWithAssertEquals() { - try { - assertEquals(null, 1, 2); - fail(); - } catch (AssertionError e) { - assertEquals("expected:<1> but was:<2>", e.getMessage()); - } - } - - @Test(expected = AssertionError.class) - public void arraysDeclaredAsObjectAreComparedAsObjects() { - Object a1 = new Object[]{"abc"}; - Object a2 = new Object[]{"abc"}; - assertEquals(a1, a2); - } - - @Test - public void implicitTypecastEquality() { - byte b = 1; - short s = 1; - int i = 1; - long l = 1L; - float f = 1.0f; - double d = 1.0; - - assertEquals(b, s); - assertEquals(b, i); - assertEquals(b, l); - assertEquals(s, i); - assertEquals(s, l); - assertEquals(i, l); - assertEquals(f, d, 0); - } - - @Test - public void errorMessageDistinguishesDifferentValuesWithSameToString() { - try { - assertEquals("4", new Integer(4)); - } catch (AssertionError e) { - assertEquals("expected: java.lang.String<4> but was: java.lang.Integer<4>", e.getMessage()); - } - } - - @Test - public void assertThatIncludesDescriptionOfTestedValueInErrorMessage() { - String expected = "expected"; - String actual = "actual"; - - String expectedMessage = "identifier\nExpected: \"expected\"\n but: was \"actual\""; - - try { - assertThat("identifier", actual, equalTo(expected)); - } catch (AssertionError e) { - assertEquals(expectedMessage, e.getMessage()); - } - } - - @Test - public void assertThatIncludesAdvancedMismatch() { - String expectedMessage = "identifier\nExpected: is an instance of java.lang.Integer\n but: \"actual\" is a java.lang.String"; - - try { - assertThat("identifier", "actual", is(instanceOf(Integer.class))); - } catch (AssertionError e) { - assertEquals(expectedMessage, e.getMessage()); - } - } - - @Test - public void assertThatDescriptionCanBeElided() { - String expected = "expected"; - String actual = "actual"; - - String expectedMessage = "\nExpected: \"expected\"\n but: was \"actual\""; - - try { - assertThat(actual, equalTo(expected)); - } catch (AssertionError e) { - assertEquals(expectedMessage, e.getMessage()); - } - } - - @Test - public void nullAndStringNullPrintCorrectError() { - try { - assertEquals(null, "null"); - } catch (AssertionError e) { - assertEquals("expected: null but was: java.lang.String", e.getMessage()); - } - } - - @Test(expected = AssertionError.class) - public void stringNullAndNullWorksToo() { - assertEquals("null", null); - } - - @Test(expected = AssertionError.class) - public void compareBigDecimalAndInteger() { - final BigDecimal bigDecimal = new BigDecimal("1.2"); - final Integer integer = Integer.valueOf("1"); - assertEquals(bigDecimal, integer); - } - - @Test(expected = AssertionError.class) - public void sameObjectIsNotEqual() { - Object o = new Object(); - assertNotEquals(o, o); - } - - @Test - public void objectsWithDiferentReferencesAreNotEqual() { - assertNotEquals(new Object(), new Object()); - } - - @Test - public void assertNotEqualsIncludesCorrectMessage() { - Integer value1 = new Integer(1); - Integer value2 = new Integer(1); - String message = "The values should be different"; - - try { - assertNotEquals(message, value1, value2); - } catch (AssertionError e) { - assertEquals(message + ". Actual: " + value1, e.getMessage()); - return; - } - - fail("Failed on assertion."); - } - - @Test - public void assertNotEqualsIncludesTheValueBeingTested() { - Integer value1 = new Integer(1); - Integer value2 = new Integer(1); - - try { - assertNotEquals(value1, value2); - } catch (AssertionError e) { - assertTrue(e.getMessage().contains(value1.toString())); - return; - } - - fail("Failed on assertion."); - } - - @Test - public void assertNotEqualsWorksWithPrimitiveTypes() { - assertNotEquals(1L, 2L); - assertNotEquals("The values should be different", 1L, 2L); - assertNotEquals(1.0, 2.0, 0); - assertNotEquals("The values should be different", 1.0, 2.0, 0); - assertNotEquals(1.0f, 2.0f, 0f); - assertNotEquals("The values should be different", 1.0f, 2.0f, 0f); - } - - @Test(expected = AssertionError.class) - public void assertNotEqualsConsidersDeltaCorrectly() { - assertNotEquals(1.0, 0.9, 0.1); - } - - @Test(expected = AssertionError.class) - public void assertNotEqualsConsidersFloatDeltaCorrectly() { - assertNotEquals(1.0f, 0.75f, 0.25f); - } - - @Test(expected = AssertionError.class) - public void assertNotEqualsIgnoresDeltaOnNaN() { - assertNotEquals(Double.NaN, Double.NaN, 1); - } - - @Test(expected = AssertionError.class) - public void assertNotEqualsIgnoresFloatDeltaOnNaN() { - assertNotEquals(Float.NaN, Float.NaN, 1f); - } -} +package org.junit.tests.assertion; + +import static org.hamcrest.CoreMatchers.equalTo; +import static org.hamcrest.CoreMatchers.instanceOf; +import static org.hamcrest.CoreMatchers.is; +import static org.junit.Assert.assertArrayEquals; +import static org.junit.Assert.assertEquals; +import static org.junit.Assert.assertNotEquals; +import static org.junit.Assert.assertNotSame; +import static org.junit.Assert.assertNull; +import static org.junit.Assert.assertSame; +import static org.junit.Assert.assertThat; +import static org.junit.Assert.assertTrue; +import static org.junit.Assert.fail; + +import java.math.BigDecimal; + +import org.junit.Assert; +import org.junit.ComparisonFailure; +import org.junit.Test; +import org.junit.internal.ArrayComparisonFailure; + +/** + * Tests for {@link org.junit.Assert} + */ +public class AssertionTest { +// If you want to use 1.4 assertions, they will be reported correctly. +// However, you need to add the -ea VM argument when running. + +// @Test (expected=AssertionError.class) public void error() { +// assert false; +// } + + @Test(expected = AssertionError.class) + public void fails() { + Assert.fail(); + } + + @Test + public void failWithNoMessageToString() { + try { + Assert.fail(); + } catch (AssertionError exception) { + assertEquals("java.lang.AssertionError", exception.toString()); + } + } + + @Test + public void failWithMessageToString() { + try { + Assert.fail("woops!"); + } catch (AssertionError exception) { + assertEquals("java.lang.AssertionError: woops!", exception.toString()); + } + } + + @Test(expected = AssertionError.class) + public void arraysNotEqual() { + assertArrayEquals((new Object[]{new Object()}), (new Object[]{new Object()})); + } + + @Test(expected = AssertionError.class) + public void arraysNotEqualWithMessage() { + assertArrayEquals("not equal", (new Object[]{new Object()}), (new Object[]{new Object()})); + } + + @Test + public void arraysExpectedNullMessage() { + try { + assertArrayEquals("not equal", null, (new Object[]{new Object()})); + } catch (AssertionError exception) { + assertEquals("not equal: expected array was null", exception.getMessage()); + } + } + + @Test + public void arraysActualNullMessage() { + try { + assertArrayEquals("not equal", (new Object[]{new Object()}), null); + } catch (AssertionError exception) { + assertEquals("not equal: actual array was null", exception.getMessage()); + } + } + + @Test + public void arraysDifferentLengthMessage() { + try { + assertArrayEquals("not equal", (new Object[0]), (new Object[1])); + } catch (AssertionError exception) { + assertEquals("not equal: array lengths differed, expected.length=0 actual.length=1", exception.getMessage()); + } + } + + @Test(expected = ArrayComparisonFailure.class) + public void arraysElementsDiffer() { + assertArrayEquals("not equal", (new Object[]{"this is a very long string in the middle of an array"}), (new Object[]{"this is another very long string in the middle of an array"})); + } + + @Test + public void arraysDifferAtElement0nullMessage() { + try { + assertArrayEquals((new Object[]{true}), (new Object[]{false})); + } catch (AssertionError exception) { + assertEquals("arrays first differed at element [0]; expected: but was:", exception + .getMessage()); + } + } + + @Test + public void arraysDifferAtElement1nullMessage() { + try { + assertArrayEquals((new Object[]{true, true}), (new Object[]{true, + false})); + } catch (AssertionError exception) { + assertEquals("arrays first differed at element [1]; expected: but was:", exception + .getMessage()); + } + } + + @Test + public void arraysDifferAtElement0withMessage() { + try { + assertArrayEquals("message", (new Object[]{true}), (new Object[]{false})); + } catch (AssertionError exception) { + assertEquals("message: arrays first differed at element [0]; expected: but was:", exception + .getMessage()); + } + } + + @Test + public void arraysDifferAtElement1withMessage() { + try { + assertArrayEquals("message", (new Object[]{true, true}), (new Object[]{true, false})); + fail(); + } catch (AssertionError exception) { + assertEquals("message: arrays first differed at element [1]; expected: but was:", exception.getMessage()); + } + } + + @Test + public void multiDimensionalArraysAreEqual() { + assertArrayEquals((new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {false, false}})); + } + + @Test + public void multiDimensionalIntArraysAreEqual() { + int[][] int1 = {{1, 2, 3}, {4, 5, 6}}; + int[][] int2 = {{1, 2, 3}, {4, 5, 6}}; + assertArrayEquals(int1, int2); + } + + @Test + public void oneDimensionalPrimitiveArraysAreEqual() { + assertArrayEquals(new boolean[]{true}, new boolean[]{true}); + assertArrayEquals(new byte[]{1}, new byte[]{1}); + assertArrayEquals(new char[]{1}, new char[]{1}); + assertArrayEquals(new short[]{1}, new short[]{1}); + assertArrayEquals(new int[]{1}, new int[]{1}); + assertArrayEquals(new long[]{1}, new long[]{1}); + assertArrayEquals(new double[]{1.0}, new double[]{1.0}, 1.0); + assertArrayEquals(new float[]{1.0f}, new float[]{1.0f}, 1.0f); + } + + @Test(expected = AssertionError.class) + public void oneDimensionalDoubleArraysAreNotEqual() { + assertArrayEquals(new double[]{1.0}, new double[]{2.5}, 1.0); + } + + @Test(expected = AssertionError.class) + public void oneDimensionalFloatArraysAreNotEqual() { + assertArrayEquals(new float[]{1.0f}, new float[]{2.5f}, 1.0f); + } + + @Test(expected = AssertionError.class) + public void oneDimensionalBooleanArraysAreNotEqual() { + assertArrayEquals(new boolean[]{true}, new boolean[]{false}); + } + + @Test(expected = AssertionError.class) + public void IntegerDoesNotEqualLong() { + assertEquals(new Integer(1), new Long(1)); + } + + @Test + public void intsEqualLongs() { + assertEquals(1, 1L); + } + + @Test + public void multiDimensionalArraysDeclaredAsOneDimensionalAreEqual() { + assertArrayEquals((new Object[]{new Object[]{true, true}, new Object[]{false, false}}), (new Object[]{new Object[]{true, true}, new Object[]{false, false}})); + } + + @Test + public void multiDimensionalArraysAreNotEqual() { + try { + assertArrayEquals("message", (new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {true, false}})); + fail(); + } catch (AssertionError exception) { + assertEquals("message: arrays first differed at element [1][0]; expected: but was:", exception.getMessage()); + } + } + + @Test + public void multiDimensionalArraysAreNotEqualNoMessage() { + try { + assertArrayEquals((new Object[][]{{true, true}, {false, false}}), (new Object[][]{{true, true}, {true, false}})); + fail(); + } catch (AssertionError exception) { + assertEquals("arrays first differed at element [1][0]; expected: but was:", exception.getMessage()); + } + } + + @Test + public void arraysWithNullElementEqual() { + Object[] objects1 = new Object[]{null}; + Object[] objects2 = new Object[]{null}; + assertArrayEquals(objects1, objects2); + } + + @Test + public void stringsDifferWithUserMessage() { + try { + assertEquals("not equal", "one", "two"); + } catch (Throwable exception) { + assertEquals("not equal expected:<[one]> but was:<[two]>", exception.getMessage()); + } + } + + @Test + public void arraysEqual() { + Object element = new Object(); + Object[] objects1 = new Object[]{element}; + Object[] objects2 = new Object[]{element}; + assertArrayEquals(objects1, objects2); + } + + @Test + public void arraysEqualWithMessage() { + Object element = new Object(); + Object[] objects1 = new Object[]{element}; + Object[] objects2 = new Object[]{element}; + assertArrayEquals("equal", objects1, objects2); + } + + @Test + public void equals() { + Object o = new Object(); + assertEquals(o, o); + assertEquals("abc", "abc"); + assertEquals(true, true); + assertEquals((byte) 1, (byte) 1); + assertEquals('a', 'a'); + assertEquals((short) 1, (short) 1); + assertEquals(1, 1); // int by default, cast is unnecessary + assertEquals(1l, 1l); + assertEquals(1.0, 1.0, 0.0); + assertEquals(1.0d, 1.0d, 0.0d); + } + + @Test(expected = AssertionError.class) + public void notEqualsObjectWithNull() { + assertEquals(new Object(), null); + } + + @Test(expected = AssertionError.class) + public void notEqualsNullWithObject() { + assertEquals(null, new Object()); + } + + @Test + public void notEqualsObjectWithNullWithMessage() { + Object o = new Object(); + try { + assertEquals("message", null, o); + fail(); + } catch (AssertionError e) { + assertEquals("message expected: but was:<" + o.toString() + ">", e.getMessage()); + } + } + + @Test + public void notEqualsNullWithObjectWithMessage() { + Object o = new Object(); + try { + assertEquals("message", o, null); + fail(); + } catch (AssertionError e) { + assertEquals("message expected:<" + o.toString() + "> but was:", e.getMessage()); + } + } + + @Test(expected = AssertionError.class) + public void objectsNotEquals() { + assertEquals(new Object(), new Object()); + } + + @Test(expected = ComparisonFailure.class) + public void stringsNotEqual() { + assertEquals("abc", "def"); + } + + @Test(expected = AssertionError.class) + public void booleansNotEqual() { + assertEquals(true, false); + } + + @Test(expected = AssertionError.class) + public void bytesNotEqual() { + assertEquals((byte) 1, (byte) 2); + } + + @Test(expected = AssertionError.class) + public void charsNotEqual() { + assertEquals('a', 'b'); + } + + @Test(expected = AssertionError.class) + public void shortsNotEqual() { + assertEquals((short) 1, (short) 2); + } + + @Test(expected = AssertionError.class) + public void intsNotEqual() { + assertEquals(1, 2); + } + + @Test(expected = AssertionError.class) + public void longsNotEqual() { + assertEquals(1l, 2l); + } + + @Test(expected = AssertionError.class) + public void floatsNotEqual() { + assertEquals(1.0, 2.0, 0.9); + } + + @SuppressWarnings("deprecation") + @Test(expected = AssertionError.class) + public void floatsNotEqualWithoutDelta() { + assertEquals(1.0, 1.1); + } + + @Test + public void floatsNotDoublesInArrays() { + float delta = 4.444f; + float[] f1 = new float[]{1.111f}; + float[] f2 = new float[]{5.555f}; + Assert.assertArrayEquals(f1, f2, delta); + } + + @Test(expected = AssertionError.class) + public void bigDecimalsNotEqual() { + assertEquals(new BigDecimal("123.4"), new BigDecimal("123.0")); + } + + + @Test(expected = AssertionError.class) + public void doublesNotEqual() { + assertEquals(1.0d, 2.0d, 0.9d); + } + + @Test + public void naNsAreEqual() { + assertEquals(Float.NaN, Float.NaN, Float.POSITIVE_INFINITY); + assertEquals(Double.NaN, Double.NaN, Double.POSITIVE_INFINITY); + } + + @Test + public void nullNullmessage() { + try { + assertNull("junit"); + fail(); + } catch (AssertionError e) { + assertEquals("expected null, but was:", e.getMessage()); + } + } + + @Test + public void nullWithMessage() { + try { + assertNull("message", "hello"); + fail(); + } catch (AssertionError exception) { + assertEquals("message expected null, but was:", exception.getMessage()); + } + } + + @Test + public void same() { + Object o1 = new Object(); + assertSame(o1, o1); + } + + @Test + public void notSame() { + Object o1 = new Object(); + Object o2 = new Object(); + assertNotSame(o1, o2); + } + + @Test(expected = AssertionError.class) + public void objectsNotSame() { + assertSame(new Object(), new Object()); + } + + @Test(expected = AssertionError.class) + public void objectsAreSame() { + Object o = new Object(); + assertNotSame(o, o); + } + + @Test + public void sameWithMessage() { + try { + assertSame("not same", "hello", "good-bye"); + fail(); + } catch (AssertionError exception) { + assertEquals("not same expected same: was not:", + exception.getMessage()); + } + } + + @Test + public void sameNullMessage() { + try { + assertSame("hello", "good-bye"); + fail(); + } catch (AssertionError exception) { + assertEquals("expected same: was not:", exception.getMessage()); + } + } + + @Test + public void notSameWithMessage() { + Object o = new Object(); + try { + assertNotSame("message", o, o); + fail(); + } catch (AssertionError exception) { + assertEquals("message expected not same", exception.getMessage()); + } + } + + @Test + public void notSameNullMessage() { + Object o = new Object(); + try { + assertNotSame(o, o); + fail(); + } catch (AssertionError exception) { + assertEquals("expected not same", exception.getMessage()); + } + } + + @Test + public void nullMessage() { + try { + fail(null); + } catch (AssertionError exception) { + // we used to expect getMessage() to return ""; see failWithNoMessageToString() + assertNull(exception.getMessage()); + } + } + + @Test + public void nullMessageDisappearsWithStringAssertEquals() { + try { + assertEquals(null, "a", "b"); + fail(); + } catch (ComparisonFailure e) { + assertEquals("expected:<[a]> but was:<[b]>", e.getMessage()); + } + } + + @Test + public void nullMessageDisappearsWithAssertEquals() { + try { + assertEquals(null, 1, 2); + fail(); + } catch (AssertionError e) { + assertEquals("expected:<1> but was:<2>", e.getMessage()); + } + } + + @Test(expected = AssertionError.class) + public void arraysDeclaredAsObjectAreComparedAsObjects() { + Object a1 = new Object[]{"abc"}; + Object a2 = new Object[]{"abc"}; + assertEquals(a1, a2); + } + + @Test + public void implicitTypecastEquality() { + byte b = 1; + short s = 1; + int i = 1; + long l = 1L; + float f = 1.0f; + double d = 1.0; + + assertEquals(b, s); + assertEquals(b, i); + assertEquals(b, l); + assertEquals(s, i); + assertEquals(s, l); + assertEquals(i, l); + assertEquals(f, d, 0); + } + + @Test + public void errorMessageDistinguishesDifferentValuesWithSameToString() { + try { + assertEquals("4", new Integer(4)); + } catch (AssertionError e) { + assertEquals("expected: java.lang.String<4> but was: java.lang.Integer<4>", e.getMessage()); + } + } + + @Test + public void assertThatIncludesDescriptionOfTestedValueInErrorMessage() { + String expected = "expected"; + String actual = "actual"; + + String expectedMessage = "identifier\nExpected: \"expected\"\n but: was \"actual\""; + + try { + assertThat("identifier", actual, equalTo(expected)); + } catch (AssertionError e) { + assertEquals(expectedMessage, e.getMessage()); + } + } + + @Test + public void assertThatIncludesAdvancedMismatch() { + String expectedMessage = "identifier\nExpected: is an instance of java.lang.Integer\n but: \"actual\" is a java.lang.String"; + + try { + assertThat("identifier", "actual", is(instanceOf(Integer.class))); + } catch (AssertionError e) { + assertEquals(expectedMessage, e.getMessage()); + } + } + + @Test + public void assertThatDescriptionCanBeElided() { + String expected = "expected"; + String actual = "actual"; + + String expectedMessage = "\nExpected: \"expected\"\n but: was \"actual\""; + + try { + assertThat(actual, equalTo(expected)); + } catch (AssertionError e) { + assertEquals(expectedMessage, e.getMessage()); + } + } + + @Test + public void nullAndStringNullPrintCorrectError() { + try { + assertEquals(null, "null"); + } catch (AssertionError e) { + assertEquals("expected: null but was: java.lang.String", e.getMessage()); + } + } + + @Test(expected = AssertionError.class) + public void stringNullAndNullWorksToo() { + assertEquals("null", null); + } + + @Test(expected = AssertionError.class) + public void compareBigDecimalAndInteger() { + final BigDecimal bigDecimal = new BigDecimal("1.2"); + final Integer integer = Integer.valueOf("1"); + assertEquals(bigDecimal, integer); + } + + @Test(expected = AssertionError.class) + public void sameObjectIsNotEqual() { + Object o = new Object(); + assertNotEquals(o, o); + } + + @Test + public void objectsWithDiferentReferencesAreNotEqual() { + assertNotEquals(new Object(), new Object()); + } + + @Test + public void assertNotEqualsIncludesCorrectMessage() { + Integer value1 = new Integer(1); + Integer value2 = new Integer(1); + String message = "The values should be different"; + + try { + assertNotEquals(message, value1, value2); + } catch (AssertionError e) { + assertEquals(message + ". Actual: " + value1, e.getMessage()); + return; + } + + fail("Failed on assertion."); + } + + @Test + public void assertNotEqualsIncludesTheValueBeingTested() { + Integer value1 = new Integer(1); + Integer value2 = new Integer(1); + + try { + assertNotEquals(value1, value2); + } catch (AssertionError e) { + assertTrue(e.getMessage().contains(value1.toString())); + return; + } + + fail("Failed on assertion."); + } + + @Test + public void assertNotEqualsWorksWithPrimitiveTypes() { + assertNotEquals(1L, 2L); + assertNotEquals("The values should be different", 1L, 2L); + assertNotEquals(1.0, 2.0, 0); + assertNotEquals("The values should be different", 1.0, 2.0, 0); + assertNotEquals(1.0f, 2.0f, 0f); + assertNotEquals("The values should be different", 1.0f, 2.0f, 0f); + } + + @Test(expected = AssertionError.class) + public void assertNotEqualsConsidersDeltaCorrectly() { + assertNotEquals(1.0, 0.9, 0.1); + } + + @Test(expected = AssertionError.class) + public void assertNotEqualsConsidersFloatDeltaCorrectly() { + assertNotEquals(1.0f, 0.75f, 0.25f); + } + + @Test(expected = AssertionError.class) + public void assertNotEqualsIgnoresDeltaOnNaN() { + assertNotEquals(Double.NaN, Double.NaN, 1); + } + + @Test(expected = AssertionError.class) + public void assertNotEqualsIgnoresFloatDeltaOnNaN() { + assertNotEquals(Float.NaN, Float.NaN, 1f); + } +} diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/encoder/ENC_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/encoder/ENC_Broadcaster.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/imu/IMU_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/imu/IMU_Broadcaster.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/low_level/LowLevel_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/low_level/LowLevel_Broadcaster.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/transistor_serial_messages.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/transistor_serial_messages.h old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Diagnostics.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Diagnostics.msg old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Encoder.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Encoder.msg old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Feedback.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Feedback.msg old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index ee9fe9a3..3bf80630 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -1,20 +1,20 @@ -#!/usr/bin/env python - -import rospy -from robobuggy.msg import GPS - -def subscriber_callback(data): - rospy.loginfo("got gps msg: %f, %f", data.Lat_deg, data.Lon_deg) - pass - -def start_subscriber_spin(): - - rospy.init_node("GPS_Plotter", anonymous=True) - rospy.Subscriber("GPS", GPS, subscriber_callback) - - rospy.spin() - - pass - -if __name__ == "__main__": +#!/usr/bin/env python + +import rospy +from robobuggy.msg import GPS + +def subscriber_callback(data): + rospy.loginfo("got gps msg: %f, %f", data.Lat_deg, data.Lon_deg) + pass + +def start_subscriber_spin(): + + rospy.init_node("GPS_Plotter", anonymous=True) + rospy.Subscriber("GPS", GPS, subscriber_callback) + + rospy.spin() + + pass + +if __name__ == "__main__": start_subscriber_spin() \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/python_node_test.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/python_node_test.py index ca73a3df..0a25c4ff 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/python_node_test.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/python_node_test.py @@ -1,19 +1,19 @@ -#!/usr/bin/env python - -import rospy -from std_msgs.msg import String - -def talker(): - pub = rospy.Publisher('python_pub', String, queue_size=10) - rospy.init_node('talker', anonymous=True) - rate = rospy.Rate(10) # 10hz - while not rospy.is_shutdown(): - hello_str = "hello world %s" % rospy.get_time() - pub.publish(hello_str) - rate.sleep() - -if __name__ == '__main__': - try: - talker() - except rospy.ROSInterruptException: +#!/usr/bin/env python + +import rospy +from std_msgs.msg import String + +def talker(): + pub = rospy.Publisher('python_pub', String, queue_size=10) + rospy.init_node('talker', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + hello_str = "hello world %s" % rospy.get_time() + pub.publish(hello_str) + rate.sleep() + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: pass \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/transistor_sweep_test.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/transistor_sweep_test.py index e40ef72e..ab85414c 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/transistor_sweep_test.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/transistor_sweep_test.py @@ -1,30 +1,30 @@ -#!/usr/bin/env python - -import rospy -from robobuggy.msg import Command - -def sweep_steering(): - pub = rospy.Publisher('Command', Command, queue_size=1000) - rospy.init_node('steering_sweep', anonymous=True) - rate = rospy.Rate(20) - - steering_pos = -1500 - steering_change = 100 - command_msg = Command() - while not rospy.is_shutdown(): - command_msg.steer_cmd = steering_pos - command_msg.brake_cmd = False - pub.publish(command_msg) - steering_pos += steering_change - if (steering_pos == 1500): - steering_change = -100 - if (steering_pos == -1500): - steering_change = 100 - - rate.sleep() - -if __name__ == '__main__': - try: - sweep_steering() - except rospy.ROSInterruptException: - pass +#!/usr/bin/env python + +import rospy +from robobuggy.msg import Command + +def sweep_steering(): + pub = rospy.Publisher('Command', Command, queue_size=1000) + rospy.init_node('steering_sweep', anonymous=True) + rate = rospy.Rate(20) + + steering_pos = -1500 + steering_change = 100 + command_msg = Command() + while not rospy.is_shutdown(): + command_msg.steer_cmd = steering_pos + command_msg.brake_cmd = False + pub.publish(command_msg) + steering_pos += steering_change + if (steering_pos == 1500): + steering_change = -100 + if (steering_pos == -1500): + steering_change = 100 + + rate.sleep() + +if __name__ == '__main__': + try: + sweep_steering() + except rospy.ROSInterruptException: + pass diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster_Runner.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp old mode 100644 new mode 100755 index 12d26aa5..d5253cc4 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -43,16 +43,16 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) if (prev_position_utm.northing != 0) { - double dx = p.easting - prev_position_utm.easting; - double dy = p.northing - prev_position_utm.northing; + double dy = p.easting - prev_position_utm.easting; + double dx = p.northing - prev_position_utm.northing; heading = atan2(dy, dx); - if (dx * dx + dy * dy < 0.25) + if (sqrt(dx * dx + dy * dy) < 0.25) { - heading = x(2, 0); + heading = x(3, 0); } - prev_position_utm = p; } + prev_position_utm = p; Matrix z; z << @@ -287,7 +287,7 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; - x_pre(2, 0) = clamp_angle(x_pre(2, 0)); + x_pre(3, 0) = clamp_angle(x_pre(3, 0)); x_pre(4, 0) = clamp_angle(x_pre(4, 0)); MatrixXd residual = z - c * x_pre; @@ -296,6 +296,6 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; - x(2, 0) = clamp_angle(x(2, 0)); + x(3, 0) = clamp_angle(x(3, 0)); x(4, 0) = clamp_angle(x(4, 0)); } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer_Runner.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster_Runner.cpp old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/app.js b/Software/real_time/Web/server/robobuggy-webserver/app.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/controllers/brakesDataController.js b/Software/real_time/Web/server/robobuggy-webserver/controllers/brakesDataController.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/controllers/diagnosticsDataController.js b/Software/real_time/Web/server/robobuggy-webserver/controllers/diagnosticsDataController.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/controllers/encoderDataController.js b/Software/real_time/Web/server/robobuggy-webserver/controllers/encoderDataController.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/controllers/gpsDataController.js b/Software/real_time/Web/server/robobuggy-webserver/controllers/gpsDataController.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/controllers/storeDataController.js b/Software/real_time/Web/server/robobuggy-webserver/controllers/storeDataController.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/models/brakes.js b/Software/real_time/Web/server/robobuggy-webserver/models/brakes.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/models/diagnostics.js b/Software/real_time/Web/server/robobuggy-webserver/models/diagnostics.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/models/encoder.js b/Software/real_time/Web/server/robobuggy-webserver/models/encoder.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/models/gps.js b/Software/real_time/Web/server/robobuggy-webserver/models/gps.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/package.json b/Software/real_time/Web/server/robobuggy-webserver/package.json old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/public/images/logo.png b/Software/real_time/Web/server/robobuggy-webserver/public/images/logo.png old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/public/javascripts/main.js b/Software/real_time/Web/server/robobuggy-webserver/public/javascripts/main.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/style.css b/Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/style.css old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/styles.css b/Software/real_time/Web/server/robobuggy-webserver/public/stylesheets/styles.css old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/brakesData.js b/Software/real_time/Web/server/robobuggy-webserver/routes/brakesData.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/diagnosticsData.js b/Software/real_time/Web/server/robobuggy-webserver/routes/diagnosticsData.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/encoderData.js b/Software/real_time/Web/server/robobuggy-webserver/routes/encoderData.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/gpsData.js b/Software/real_time/Web/server/robobuggy-webserver/routes/gpsData.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/index.js b/Software/real_time/Web/server/robobuggy-webserver/routes/index.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/storeData.js b/Software/real_time/Web/server/robobuggy-webserver/routes/storeData.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/users.js b/Software/real_time/Web/server/robobuggy-webserver/routes/users.js old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/routes/view.html b/Software/real_time/Web/server/robobuggy-webserver/routes/view.html old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/views/error.jade b/Software/real_time/Web/server/robobuggy-webserver/views/error.jade old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/views/index.jade b/Software/real_time/Web/server/robobuggy-webserver/views/index.jade old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/views/layout.jade b/Software/real_time/Web/server/robobuggy-webserver/views/layout.jade old mode 100644 new mode 100755 diff --git a/Software/real_time/Web/server/robobuggy-webserver/views/view.html b/Software/real_time/Web/server/robobuggy-webserver/views/view.html old mode 100644 new mode 100755 From 9aac454318273b5534902c3365ccfc509704193a Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Mon, 12 Feb 2018 14:18:28 -0800 Subject: [PATCH 13/95] new file --- .../ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py new file mode 100644 index 00000000..e69de29b From f06d7ab5b1b19382277d58f7154cc4070e38fcee Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Mon, 12 Feb 2018 14:42:40 -0800 Subject: [PATCH 14/95] Framework for controller simulator node --- .../robobuggy/scripts/controller_simulator.py | 54 +++++++++++++++++++ 1 file changed, 54 insertions(+) mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py old mode 100644 new mode 100755 index e69de29b..aa16b1c4 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +import rospy +import math +from gps_common.msg import GPSFix +from robobuggy.msg import GPS +from robobuggy.msg import Pose +import numpy as np + +global simulator_pub +global x +global model + + +def command_callback(data): + + #steer_cmd should be degrees + rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) + + #data.steer_cmd is the information we get + #this method will have to modify the model + pass + +def initialize(): + #set up the initial position + x = [[ + model = + + +def start_simulator_spin(): + + rospy.init_node("GPS_Plotter", anonymous=True) + simulator_pub = rospy.Publisher('simulated_Pose', Pose, queue_size=10); + rospy.Subscriber("Command", Command, command_callback) + + initialize() + + while (true): + #apply the model + #use np.dot(a, b) for matrix product of two 2d-lists a and b + x = np.dot(model, x) + + #publish a new pose message using simulator_pub + simulated_pose = + simulator_pub.publish(simulated_Pose) + + + rospy.spin() + + pass + +if __name__ == "__main__": + start_simulator_spin() + From 1d3873032c79f058124dc5268538a1eebd8818ae Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Wed, 14 Feb 2018 17:26:26 -0500 Subject: [PATCH 15/95] Localizer heading fixed Turns out that I interpreted UTM the wrong way around, leading to weird issues where the computed heading didn't match up with the localized heading --- .../robobuggy/src/transistor/localizer/Localizer.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index d5253cc4..89757038 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -35,16 +35,16 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) { geodesy::UTMPoint p; - p.northing = msg->Lat_m; - p.easting = msg->Long_m; + p.easting = msg->Lat_m; + p.northing = msg->Long_m; p.band = 'T'; p.zone = 17; double heading = 0.0; if (prev_position_utm.northing != 0) { - double dy = p.easting - prev_position_utm.easting; - double dx = p.northing - prev_position_utm.northing; + double dx = p.easting - prev_position_utm.easting; + double dy = p.northing - prev_position_utm.northing; heading = atan2(dy, dx); if (sqrt(dx * dx + dy * dy) < 0.25) @@ -217,7 +217,7 @@ void Localizer::update_position_estimate() { propagate(); - geodesy::UTMPoint utm_point(x_hat(0, 0), x_hat(1, 0), 17, 'T'); + geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); geographic_msgs::GeoPoint gps_point = geodesy::toMsg(utm_point); double heading = x_hat(3, 0); From 813a781f20e00717b9d53a88fc37ad300fa5e139 Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Fri, 16 Feb 2018 16:36:58 -0500 Subject: [PATCH 16/95] Updated IMU to integrate into heading in localizer --- .../include/transistor/localizer/Localizer.h | 4 +++ .../src/transistor/localizer/Localizer.cpp | 31 +++++++++++++++++++ 2 files changed, 35 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index c30795fa..81563a65 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -47,15 +47,19 @@ class Localizer Matrix P; Matrix Q_GPS; Matrix Q_Encoder; + Matrix Q_IMU; Matrix C_GPS; Matrix C_Encoder; + Matrix C_IMU; void init_R(); void init_P(); void init_Q_GPS(); void init_Q_Encoder(); + void init_Q_IMU(); void init_C_GPS(); void init_C_Encoder(); + void init_C_IMU(); void init_x(); void IMU_Callback(const robobuggy::IMU::ConstPtr& msg); diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 89757038..51236cee 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -39,6 +39,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) p.northing = msg->Long_m; p.band = 'T'; p.zone = 17; + double heading = 0.0; if (prev_position_utm.northing != 0) @@ -67,7 +68,18 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) { + double heading = 0.0; + + heading = msg->Z_Mag; + //@TODO: Angle conversions to right units + //@TODO: Potentially integrate accelerometer and magnetometer + do more sophisticated sensor fusion + Matrix z; + z << + heading + ; + + kalman_filter(C_IMU, Q_IMU, z); } void Localizer::Feedback_Callback(const robobuggy::Feedback::ConstPtr &msg) @@ -136,6 +148,18 @@ void Localizer::init_Q_Encoder() ROS_INFO("Initialized Q_Encoder matrix to : \n%s", s.str().c_str()); } +void Localizer::init_Q_IMU() +{ + Q_IMU << + 0.25 + ; + + std::stringstream s; + s << Q_IMU << std::endl; + + ROS_INFO("Initialized Q_IMU matrix to : \n%s", s.str().c_str()); +} + void Localizer::init_C_GPS() { C_GPS << @@ -162,6 +186,13 @@ void Localizer::init_C_Encoder() ROS_INFO("Initialized C_Encoder Matrix to : \n%s", s.str().c_str()); } +void Localizer::init_C_IMU() +{ + C_IMU << + 0, 0, 0, 1, 0 + ; +} + void Localizer::init_x() { x << From 3c32668d98bebd3998895ded18f468fcc343c02b Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sun, 25 Feb 2018 12:38:07 -0500 Subject: [PATCH 17/95] initialized the buggy to start at the flag pole --- .../robobuggy/src/transistor/localizer/Localizer.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 89757038..4b65ae85 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -164,9 +164,17 @@ void Localizer::init_C_Encoder() void Localizer::init_x() { + double init_latitude = 40.442616; + double init_longitude = -79.943336; + + geographic_msgs::GeoPoint gps_point; + gps_point.latitude = init_latitude; + gps_point.longitude = init_longitude; + geodesy::UTMPoint init_utm(gps_point); + x << - 0, // TODO initial lat in UTM - 0, // TODO initial lon in UTM + init_utm.easting, // TODO initial lat in UTM + init_utm.northing, // TODO initial lon in UTM 0, 0, // TODO initial heading in rad 0 From 67406014478f5d3926f24c0f217d2e69ca40671d Mon Sep 17 00:00:00 2001 From: Roboclub Voltron Date: Sun, 25 Feb 2018 15:03:21 -0500 Subject: [PATCH 18/95] Almost finished with node Need to work on conversion from UTM to degrees --- .../robobuggy/scripts/controller_simulator.py | 73 ++++++++++++++----- 1 file changed, 56 insertions(+), 17 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py index aa16b1c4..57454c36 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py @@ -3,52 +3,91 @@ import rospy import math from gps_common.msg import GPSFix -from robobuggy.msg import GPS from robobuggy.msg import Pose import numpy as np +import utm global simulator_pub global x global model - +global sim_period = 10 +global dt = 1/sim_period +global steering = 0 +global wheelbase = 1.13 +global rate = rospy.Rate(10) +#subject to change in the future +global init_latitude = 40.4406 +global init_longitude = -79.9959 + +def updateModel(x): + matrix = + [ + [1, 0, dt* math.cos(x[3][0]), 0, 0], + [0, 1, dt* math.sin(x[3][0]), 0, 0], + [0, 0, 1, 0, 0], + [0, 0, 0, 1, dt], + [0, 0, math.tan(steering)/wheelbase, 0, 0] + ] + return matrix + +#need to implement conversion with UTM library + + def command_callback(data): - #steer_cmd should be degrees + #steer_cmd should be radians rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) + #data.steer_cmd is the information we get #this method will have to modify the model + steering = data.steer_cmd + model = updateModel(x) + pass def initialize(): #set up the initial position - x = [[ - model = + x = [ + [], + [northing], + [1], + [250 * math.pi / 180], + [0] + ] + model = np.identity(5) def start_simulator_spin(): rospy.init_node("GPS_Plotter", anonymous=True) - simulator_pub = rospy.Publisher('simulated_Pose', Pose, queue_size=10); - rospy.Subscriber("Command", Command, command_callback) + simulator_pub = rospy.Publisher('simulated_Pose', Pose, queue_size=10) + command_listener = rospy.Subscriber("Command", Command, command_callback) initialize() - - while (true): + + while not rospy.is_shutdown(): #apply the model #use np.dot(a, b) for matrix product of two 2d-lists a and b x = np.dot(model, x) - + #publish a new pose message using simulator_pub - simulated_pose = - simulator_pub.publish(simulated_Pose) + simulated_pose = Pose() - - rospy.spin() + #This needs some conversion fixes + simulated_pose.latitude_deg = northingToLatitude(x[1][0]) + simulated_pose.longitude_deg = eastingToLongitude(x[0[0]]) - pass + simulator_pub.publish(simulated_pose) + + rospy.spinOnce() + + rate.sleep() -if __name__ == "__main__": - start_simulator_spin() +if __name__ == '__main__': + try: + start_simulator_spin() + except rospy.ROSInterruptException: + pass From 6451762253c5ceff303bae7fe67eaf72c8e5a828 Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Mon, 26 Feb 2018 15:40:08 -0500 Subject: [PATCH 19/95] Updated readme to include udev rule steps (viveksri) --- Software/real_time/ROS_RoboBuggy/README.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/README.txt b/Software/real_time/ROS_RoboBuggy/README.txt index 221713ea..29ada7fb 100644 --- a/Software/real_time/ROS_RoboBuggy/README.txt +++ b/Software/real_time/ROS_RoboBuggy/README.txt @@ -14,3 +14,6 @@ To do a clean build, delete the build/ and devel/ folders, and re-run catkin_mak Installing third-party libraries: 1) libfreespace - for the IMU - To install libfreespace, follow the instructions at https://github.com/hcrest/libfreespace + +Setting up udev rules for the IMU to load as a sudo-readable device by default: +http://shukra.cedt.iisc.ernet.in/edwiki/EmSys:Accessing_Devices_without_Sudo From 658d96361bc099057b9864d5da25941fa8cbb854 Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Mon, 26 Feb 2018 15:54:42 -0500 Subject: [PATCH 20/95] Updated launch file to reflect correct names of nodes --- .../ROS_RoboBuggy/src/robobuggy/launch/transistor.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch index 717125a1..961930c0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/transistor.launch @@ -3,7 +3,7 @@ - + @@ -11,14 +11,14 @@ - + - + From 0d5fbbc4b35d8cb968f186ba3c40f1bcdc4a3a0c Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Wed, 28 Feb 2018 18:16:32 -0500 Subject: [PATCH 21/95] Working IMU data in and out of localizer --- .../robobuggy/src/transistor/localizer/Localizer.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 7f0dce90..15ccae73 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -70,8 +70,8 @@ void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) { double heading = 0.0; - heading = msg->Z_Mag; - //@TODO: Angle conversions to right units + heading = atan2(msg->Y_Mag, msg->X_Mag); + //@TODO: Use all 3 axes to compute heading to account for tilt //@TODO: Potentially integrate accelerometer and magnetometer + do more sophisticated sensor fusion Matrix z; @@ -151,7 +151,7 @@ void Localizer::init_Q_Encoder() void Localizer::init_Q_IMU() { Q_IMU << - 0.25 + 0 ; std::stringstream s; @@ -232,8 +232,10 @@ Localizer::Localizer() init_P(); init_Q_GPS(); init_Q_Encoder(); + init_Q_IMU(); init_C_GPS(); init_C_Encoder(); + init_C_IMU(); init_x(); update_motion_model(0); @@ -244,7 +246,7 @@ Localizer::Localizer() prev_encoder_ticks = -1; // TODO Work IMU into KF -// imu_sub = nh.subscribe("IMU", 1000, IMU_Callback); + imu_sub = nh.subscribe("IMU", 1000, &Localizer::IMU_Callback, this); gps_sub = nh.subscribe("GPS", 1000, &Localizer::GPS_Callback, this); enc_sub = nh.subscribe("Encoder", 1000, &Localizer::Encoder_Callback, this); steering_sub = nh.subscribe("Feedback", 1000, &Localizer::Feedback_Callback, this); From 04d21eaafc1e79ca8174c2f3747c0790ff288678 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 28 Feb 2018 18:48:21 -0500 Subject: [PATCH 22/95] removed gps impact on heading from localizer --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 15ccae73..6304ed66 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -55,11 +55,10 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) } prev_position_utm = p; - Matrix z; + Matrix z; z << p.easting, p.northing, - heading ; kalman_filter(C_GPS, Q_GPS, z); @@ -126,8 +125,7 @@ void Localizer::init_Q_GPS() { Q_GPS << 1, 0, 0, - 0, 1, 0, - 0, 0, 0.01 + 0, 1, 0 ; std::stringstream s; @@ -164,8 +162,7 @@ void Localizer::init_C_GPS() { C_GPS << 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0, - 0, 0, 0, 1, 0 + 0, 1, 0, 0, 0 ; std::stringstream s; From 8db960d4adb3196a7cde541fd4c9bf00468370d5 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 28 Feb 2018 18:55:52 -0500 Subject: [PATCH 23/95] Fixed compilation errors --- .../src/robobuggy/include/transistor/localizer/Localizer.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index 81563a65..d8a6dbf8 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,10 +45,10 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; - Matrix C_GPS; + Matrix C_GPS; Matrix C_Encoder; Matrix C_IMU; From bce789f114299f2a0b06409c16b000224093ef61 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 28 Feb 2018 19:05:10 -0500 Subject: [PATCH 24/95] Forgot one --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 6304ed66..6cfa6158 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -58,7 +58,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) Matrix z; z << p.easting, - p.northing, + p.northing ; kalman_filter(C_GPS, Q_GPS, z); From 1bc3becc1e0b7b91b3f92f7fe0b7db6c8c553186 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 2 Mar 2018 13:45:54 -0500 Subject: [PATCH 25/95] fixed localizer initialization mixed up utm easting and northing again hurr durr --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 6cfa6158..9aa59b68 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -201,8 +201,8 @@ void Localizer::init_x() geodesy::UTMPoint init_utm(gps_point); x << - init_utm.easting, // TODO initial lat in UTM - init_utm.northing, // TODO initial lon in UTM + init_utm.northing, // TODO initial lat in UTM + init_utm.easting, // TODO initial lon in UTM 0, 0, // TODO initial heading in rad 0 From 38c27c1920ebec8f3005788b1b1ea8a5129de267 Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Sun, 4 Mar 2018 15:06:15 -0500 Subject: [PATCH 26/95] Fixes to launch file for parameters --- .../src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp | 2 +- .../robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 652e6af9..9c341262 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -6,7 +6,7 @@ #include #include -const std::string GPS_Broadcaster::NODE_NAME = "GPS_Broadcaster"; +const std::string GPS_Broadcaster::NODE_NAME = "Transistor_GPS_Broadcaster"; GPS_Broadcaster::GPS_Broadcaster() { gps_pub = nh.advertise("GPS", 1000); diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp index fcfc4b91..75794aad 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp @@ -2,7 +2,7 @@ #include "transistor/transistor_serial_messages.h" #include "serial/serial.h" -const std::string LowLevel_Broadcaster::NODE_NAME = "LowLevel_Broadcaster"; +const std::string LowLevel_Broadcaster::NODE_NAME = "Transistor_LowLevel_Broadcaster"; LowLevel_Broadcaster::LowLevel_Broadcaster() { From 24516b16dae78015b8bda47aa640ce4ea1bed2d9 Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Mon, 5 Mar 2018 12:58:18 -0800 Subject: [PATCH 27/95] UTM conversion added. Should be finished now. --- .../robobuggy/scripts/controller_simulator.py | 31 +++++++++++++------ 1 file changed, 22 insertions(+), 9 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py index 57454c36..18f049b9 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py @@ -18,6 +18,10 @@ #subject to change in the future global init_latitude = 40.4406 global init_longitude = -79.9959 +global utm_zone_number = 17 +global utm_zone_letter = 'T' + + def updateModel(x): matrix = @@ -30,10 +34,6 @@ def updateModel(x): ] return matrix -#need to implement conversion with UTM library - - - def command_callback(data): #steer_cmd should be radians @@ -48,10 +48,18 @@ def command_callback(data): pass def initialize(): + #set up the initial position + #Syntax see python package index + #The syntax is utm.from_latlon(LATITUDE, LONGITUDE). + #The return has the form (EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). + + utm = utm.from_latlon(init_latitude, init_longitude) x = [ - [], - [northing], + #UTM Easting + [utm[0]], + #UTM Northing + [utm[1]], [1], [250 * math.pi / 180], [0] @@ -75,9 +83,14 @@ def start_simulator_spin(): #publish a new pose message using simulator_pub simulated_pose = Pose() - #This needs some conversion fixes - simulated_pose.latitude_deg = northingToLatitude(x[1][0]) - simulated_pose.longitude_deg = eastingToLongitude(x[0[0]]) + #lat_long is a 2-tuple + #for syntax of the utm package see python package index + #The syntax is utm.to_latlon(EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). + #The return has the form (LATITUDE, LONGITUDE). + + lat_long = utm.to_latlon(x[0][0], x[1][0], utm_zone_number, utm_zone_letter) + simulated_pose.latitude_deg = lat_long[0] + simulated_pose.longitude_deg = lat_long[1] simulator_pub.publish(simulated_pose) From e39665bb41a41a4129ca75df4ec5ca23f25f807e Mon Sep 17 00:00:00 2001 From: Roboclub Voltron Date: Mon, 19 Mar 2018 17:41:51 -0400 Subject: [PATCH 28/95] made fixes to controller simulator --- .../src/robobuggy/launch/mapviz_run.launch | 1 + .../robobuggy/scripts/controller_simulator.py | 128 +++++++++--------- .../src/robobuggy/scripts/data_map_plot.py | 9 +- 3 files changed, 71 insertions(+), 67 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/mapviz_run.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/mapviz_run.launch index 991679c6..69f80990 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/mapviz_run.launch +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/mapviz_run.launch @@ -2,5 +2,6 @@ + diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py index 18f049b9..43dd0eff 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py @@ -4,81 +4,81 @@ import math from gps_common.msg import GPSFix from robobuggy.msg import Pose +from robobuggy.msg import Command import numpy as np import utm -global simulator_pub -global x -global model -global sim_period = 10 -global dt = 1/sim_period -global steering = 0 -global wheelbase = 1.13 -global rate = rospy.Rate(10) -#subject to change in the future -global init_latitude = 40.4406 -global init_longitude = -79.9959 -global utm_zone_number = 17 -global utm_zone_letter = 'T' - - - -def updateModel(x): - matrix = - [ - [1, 0, dt* math.cos(x[3][0]), 0, 0], - [0, 1, dt* math.sin(x[3][0]), 0, 0], - [0, 0, 1, 0, 0], - [0, 0, 0, 1, dt], - [0, 0, math.tan(steering)/wheelbase, 0, 0] - ] - return matrix - -def command_callback(data): - - #steer_cmd should be radians - rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) - - - #data.steer_cmd is the information we get - #this method will have to modify the model - steering = data.steer_cmd - model = updateModel(x) +class ControllerTester: + + def __init__(self): + #set up the initial position + #Syntax see python package index + #The syntax is utm.from_latlon(LATITUDE, LONGITUDE). + #The return has the form (EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). + + self.sim_period = 10.0 + self.dt = 1.0/self.sim_period + self.steering = 0 + self.wheelbase = 1.13 + self.rate = rospy.Rate(10) + #subject to change in the future + self.utm_zone_number = 17 + self.utm_zone_letter = 'T' + self.init_latitude = 40.441687 + self.init_longitude = -79.941594 + initial_pos_utm = utm.from_latlon(self.init_latitude, self.init_longitude) + self.x = \ + [ + #UTM Easting + [initial_pos_utm[0]], + #UTM Northing + [initial_pos_utm[1]], + [3], + [250 * math.pi / 180], + [0] + ] + self.model = self.updateModel(self.x) + + def updateModel(self,x): + matrix = \ + [ + [1, 0, self.dt * math.cos(x[3][0]), 0, 0], + [0, 1, self.dt * math.sin(x[3][0]), 0, 0], + [0, 0, 1, 0, 0], + [0, 0, 0, 1, self.dt], + [0, 0, math.tan(self.steering)/self.wheelbase, 0, 0] + ] + return matrix - pass + def command_callback(data): + + #steer_cmd should be radians + rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) -def initialize(): - #set up the initial position - #Syntax see python package index - #The syntax is utm.from_latlon(LATITUDE, LONGITUDE). - #The return has the form (EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). + #data.steer_cmd is the information we get + #this method will have to modify the model + self.steering = data.steer_cmd + self.model = updateModel(self.x) - utm = utm.from_latlon(init_latitude, init_longitude) - x = [ - #UTM Easting - [utm[0]], - #UTM Northing - [utm[1]], - [1], - [250 * math.pi / 180], - [0] - ] - model = np.identity(5) + pass def start_simulator_spin(): - rospy.init_node("GPS_Plotter", anonymous=True) - simulator_pub = rospy.Publisher('simulated_Pose', Pose, queue_size=10) - command_listener = rospy.Subscriber("Command", Command, command_callback) + rospy.init_node("Controller_Tester", anonymous=True) + simulator_pub = rospy.Publisher('Pose', Pose, queue_size=10) + c_tester = ControllerTester() + command_listener = rospy.Subscriber("Command", Command, c_tester.command_callback) + + #initialize() - initialize() while not rospy.is_shutdown(): #apply the model #use np.dot(a, b) for matrix product of two 2d-lists a and b - x = np.dot(model, x) + #print(model) + c_tester.x = np.dot(c_tester.model, c_tester.x) #publish a new pose message using simulator_pub simulated_pose = Pose() @@ -88,15 +88,17 @@ def start_simulator_spin(): #The syntax is utm.to_latlon(EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). #The return has the form (LATITUDE, LONGITUDE). - lat_long = utm.to_latlon(x[0][0], x[1][0], utm_zone_number, utm_zone_letter) + lat_long = utm.to_latlon(c_tester.x[0][0], c_tester.x[1][0], c_tester.utm_zone_number, c_tester.utm_zone_letter) simulated_pose.latitude_deg = lat_long[0] simulated_pose.longitude_deg = lat_long[1] + simulated_pose.heading_rad = c_tester.x[3][0] simulator_pub.publish(simulated_pose) + c_tester.updateModel(c_tester.x) + print(c_tester.x[2][0]) + #rospy.spin() - rospy.spinOnce() - - rate.sleep() + c_tester.rate.sleep() if __name__ == '__main__': try: diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index 8c74e240..98f73d0c 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -3,6 +3,7 @@ import rospy import math from gps_common.msg import GPSFix +from robobuggy.msg import Command from robobuggy.msg import GPS from robobuggy.msg import Pose @@ -14,7 +15,7 @@ def pose_callback(data): rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f rad", data.latitude_deg, data.longitude_deg, data.heading_rad) #data.heading_rad is in Radians from north clockwise, but GPSFix requires degrees from north - float64 degrees_from_north = 180 * data.heading_rad / math.pi + degrees_from_north = 180 * data.heading_rad / math.pi last_latitude = data.latitude_deg last_longitude = data.longitude_deg @@ -41,9 +42,9 @@ def command_callback(data): def start_subscriber_spin(): global viz_pub - global float64 last_latitude - global float64 last_longitude - global float64 last_heading + global last_latitude + global last_longitude + global last_heading rospy.init_node("GPS_Plotter", anonymous=True) viz_pub = rospy.Publisher('GPS_VIZ', GPSFix, queue_size=10); From 10ab163a4c1fd49c8b9a9c4052f942d9a65fa643 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 22 Mar 2018 11:31:35 -0400 Subject: [PATCH 29/95] (untested) changed heading on both GPS and IMU localizer callbacks to output Cartesian heading. Also fixed issue with the GPS broadcaster mixing up UTM --- .../src/transistor/gps/GPS_Broadcaster.cpp | 4 ++-- .../src/transistor/localizer/Localizer.cpp | 20 +++++++++++-------- 2 files changed, 14 insertions(+), 10 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 9c341262..98225d4f 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -88,8 +88,8 @@ int GPS_Broadcaster::handle_serial_messages() robobuggy::GPS gps_message; gps_message.Lat_deg = static_cast(latitude_deg); gps_message.Long_deg = static_cast(longitude_deg); - gps_message.Lat_m = static_cast(utm_point.northing); - gps_message.Long_m = static_cast(utm_point.easting); + gps_message.Lat_m = static_cast(utm_point.easting); + gps_message.Long_m = static_cast(utm_point.northing); gps_pub.publish(gps_message); } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 9aa59b68..42fb16d4 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -35,22 +35,22 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) { geodesy::UTMPoint p; - p.easting = msg->Lat_m; - p.northing = msg->Long_m; + p.northing = msg->Lat_m; + p.easting = msg->Long_m; p.band = 'T'; p.zone = 17; - double heading = 0.0; + double heading_cartesian = 0.0; if (prev_position_utm.northing != 0) { double dx = p.easting - prev_position_utm.easting; double dy = p.northing - prev_position_utm.northing; - heading = atan2(dy, dx); + heading_cartesian = atan2(dy, dx); if (sqrt(dx * dx + dy * dy) < 0.25) { - heading = x(3, 0); + heading_cartesian = x(3, 0); } } prev_position_utm = p; @@ -67,15 +67,19 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) { - double heading = 0.0; + double heading_bearing = 0.0; - heading = atan2(msg->Y_Mag, msg->X_Mag); + heading_bearing = atan2(msg->Y_Mag, msg->X_Mag); //@TODO: Use all 3 axes to compute heading to account for tilt //@TODO: Potentially integrate accelerometer and magnetometer + do more sophisticated sensor fusion + // We get the heading in the bearing coordinates: theta = 0 @ north, +theta = clockwise + // convert it to cartesian coordinates: theta = 0 @ east, +theta = counterclockwise + double heading_cartesian = -heading_bearing + M_PI / 2.0; + Matrix z; z << - heading + heading_cartesian ; kalman_filter(C_IMU, Q_IMU, z); From bfa2d40048439704ff5d064312059b5289e2a8f8 Mon Sep 17 00:00:00 2001 From: Vivek Sridhar Date: Thu, 22 Mar 2018 22:15:52 -0400 Subject: [PATCH 30/95] (tested) fixed issues with localizer heading fix Also integrated Abhinav's visualization changes: mapviz uses bearing, we should now be using cartesian everywhere --- .../src/robobuggy/scripts/data_map_plot.py | 13 ++++++------- .../src/transistor/localizer/Localizer.cpp | 4 ++-- 2 files changed, 8 insertions(+), 9 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index 908d2495..092a39da 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -14,16 +14,15 @@ def pose_callback(data): global viz_pub - rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f rad", data.latitude_deg, data.longitude_deg, data.heading_rad) - #data.heading_rad is in Radians from north clockwise, but GPSFix requires degrees from north - degrees_from_north = (180 * data.heading_rad) / math.pi + degrees_from_north = math.degrees(data.heading_rad) last_latitude = data.latitude_deg last_longitude = data.longitude_deg - last_heading = degrees_from_north + last_heading_deg = -degrees_from_north + 90 - viz_msg_heading = GPSFix(latitude=data.latitude_deg, longitude=data.longitude_deg, track = degrees_from_north) + viz_msg_heading = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg) + rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f rad", last_latitude, last_longitude, last_heading_deg) viz_pub.publish(viz_msg_heading) @@ -35,7 +34,7 @@ def command_callback(data): #steer_cmd should be degrees rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) - viz_msg_steering = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading + data.steer_cmd) + viz_msg_steering = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg + data.steer_cmd) viz_command_pub.publish(viz_msg_steering) @@ -63,7 +62,7 @@ def start_subscriber_spin(): global last_latitude global last_longitude - global last_heading + global last_heading_deg rospy.init_node("GPS_Plotter", anonymous=True) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 42fb16d4..94778872 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -73,9 +73,9 @@ void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) //@TODO: Use all 3 axes to compute heading to account for tilt //@TODO: Potentially integrate accelerometer and magnetometer + do more sophisticated sensor fusion - // We get the heading in the bearing coordinates: theta = 0 @ north, +theta = clockwise + // We get the heading in a special version of bearing coordinates: theta = 0 @ north, +theta = counterclockwise // convert it to cartesian coordinates: theta = 0 @ east, +theta = counterclockwise - double heading_cartesian = -heading_bearing + M_PI / 2.0; + double heading_cartesian = heading_bearing + M_PI / 2.0; Matrix z; z << From 5a9a7fe986f251cf5402125b2866da8dcc9c5c11 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 23 Mar 2018 14:11:19 -0400 Subject: [PATCH 31/95] Changed IMU initialization so it's on Full Motion ON mode. Previously it was Full Motion Mode, which would stop outputting IMU sensor readings when the device went to sleep --- .../src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp index c9cb5912..f4fd75d8 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp @@ -37,7 +37,7 @@ int IMU_Broadcaster::init_IMU() // Configure device for motion outputs message.messageType = FREESPACE_MESSAGE_DATAMODECONTROLV2REQUEST; message.dataModeControlV2Request.packetSelect = 8; // MotionEngine Outout - message.dataModeControlV2Request.mode = 0; // Set full motion + message.dataModeControlV2Request.mode = 4; // Set full motion (without going to sleep) message.dataModeControlV2Request.formatSelect = 0; // MEOut format 0 message.dataModeControlV2Request.ff0 = 1; // Pointer fields message.dataModeControlV2Request.ff1 = 1; // Linear Acceleration From 49e8307941946e93d553dd0602fda811e5d7496b Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 30 Mar 2018 16:12:10 -0400 Subject: [PATCH 32/95] lots of dumb fixes - fixed the localizer so that we explicitly initialize constants, otherwise we get a wheelbase of 0 which results in a divby0 issue - fixed the GPS matrices to correctly represent the z matrix - fixed the IMU matrix to add some covariance to the IMU measurements - moved the lowlevel broadcaster to output warnings when encountering incomplete low level messages --- .../include/transistor/localizer/Localizer.h | 2 +- .../src/robobuggy/scripts/data_map_plot.py | 2 +- .../src/transistor/localizer/Localizer.cpp | 18 +++++++++++++----- .../low_level/LowLevel_Broadcaster.cpp | 2 +- 4 files changed, 16 insertions(+), 8 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index d8a6dbf8..b7d4e418 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,7 +45,7 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; Matrix C_GPS; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index 092a39da..b63999f8 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -22,7 +22,7 @@ def pose_callback(data): last_heading_deg = -degrees_from_north + 90 viz_msg_heading = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg) - rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f rad", last_latitude, last_longitude, last_heading_deg) + rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f bearing", last_latitude, last_longitude, last_heading_deg) viz_pub.publish(viz_msg_heading) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 94778872..e64fcdad 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -34,6 +34,7 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) { + ROS_INFO("wheelbase = %f\n", WHEELBASE_M); geodesy::UTMPoint p; p.northing = msg->Lat_m; p.easting = msg->Long_m; @@ -60,8 +61,9 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) p.easting, p.northing ; - + ROS_INFO("before kalman\n"); kalman_filter(C_GPS, Q_GPS, z); + ROS_INFO("after kalman\n"); } @@ -75,7 +77,7 @@ void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) // We get the heading in a special version of bearing coordinates: theta = 0 @ north, +theta = counterclockwise // convert it to cartesian coordinates: theta = 0 @ east, +theta = counterclockwise - double heading_cartesian = heading_bearing + M_PI / 2.0; + double heading_cartesian = heading_bearing - M_PI / 2.0; Matrix z; z << @@ -128,8 +130,8 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 1, 0, 0, - 0, 1, 0 + 1, 0, + 0, 1 ; std::stringstream s; @@ -153,7 +155,7 @@ void Localizer::init_Q_Encoder() void Localizer::init_Q_IMU() { Q_IMU << - 0 + 0.1 ; std::stringstream s; @@ -229,6 +231,9 @@ void Localizer::init_x() const std::string Localizer::NODE_NAME = "Localizer"; Localizer::Localizer() { + current_steering_angle = 0; + WHEELBASE_M = 1.13; + init_R(); init_P(); init_Q_GPS(); @@ -329,6 +334,7 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; + ROS_INFO("b4 clamp 1\n"); x_pre(3, 0) = clamp_angle(x_pre(3, 0)); x_pre(4, 0) = clamp_angle(x_pre(4, 0)); @@ -338,6 +344,8 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; + ROS_INFO("b4 clamp 2, xtheta = %f, xdtheta = %f\n", x(3, 0), x(4,0)); x(3, 0) = clamp_angle(x(3, 0)); x(4, 0) = clamp_angle(x(4, 0)); + ROS_INFO("after clamp 2\n"); } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp index 75794aad..0b5ad808 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp @@ -33,7 +33,7 @@ void LowLevel_Broadcaster::parse_serial_msg(std::string serial_msg) // Verify that we actually read a full message if ((serial_msg[5] & 0xFF) != RBSM_FOOTER) { - ROS_ERROR("Error parsing from serial, message doesn't end in footer!"); + ROS_WARN("serial message doesn't end in footer! Skipping"); // skip it return; } From de82c3ef1fd72b65f0217128e31e9a48983237fa Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 31 Mar 2018 15:11:32 -0400 Subject: [PATCH 33/95] removed debug prints --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index e64fcdad..76f864bc 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -34,7 +34,6 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) { - ROS_INFO("wheelbase = %f\n", WHEELBASE_M); geodesy::UTMPoint p; p.northing = msg->Lat_m; p.easting = msg->Long_m; @@ -61,9 +60,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) p.easting, p.northing ; - ROS_INFO("before kalman\n"); kalman_filter(C_GPS, Q_GPS, z); - ROS_INFO("after kalman\n"); } @@ -334,7 +331,6 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; - ROS_INFO("b4 clamp 1\n"); x_pre(3, 0) = clamp_angle(x_pre(3, 0)); x_pre(4, 0) = clamp_angle(x_pre(4, 0)); @@ -344,8 +340,6 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; - ROS_INFO("b4 clamp 2, xtheta = %f, xdtheta = %f\n", x(3, 0), x(4,0)); x(3, 0) = clamp_angle(x(3, 0)); x(4, 0) = clamp_angle(x(4, 0)); - ROS_INFO("after clamp 2\n"); } From 88408acbd1a6f3c2a8bbae89ffa21ea09a031980 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 31 Mar 2018 21:02:17 -0400 Subject: [PATCH 34/95] added in honeywell imu orientation --- .../src/transistor/localizer/Localizer.cpp | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 76f864bc..1f5b0618 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -67,11 +67,30 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) { double heading_bearing = 0.0; + double heading_honeywell = 0.0; heading_bearing = atan2(msg->Y_Mag, msg->X_Mag); //@TODO: Use all 3 axes to compute heading to account for tilt //@TODO: Potentially integrate accelerometer and magnetometer + do more sophisticated sensor fusion + // honeywell imu orientation + // Direction (y>0) = 90 - [arcTAN(x/y)]*180/pi + // Direction (y<0) = 270 - [arcTAN(x/y)]*180/pi + // Direction (y=0, x<0) = 180.0 + // Direction (y=0, x>0) = 0.0 + double x = msg->X_Mag; + double y = msg->Y_Mag; + + if (y > 0) + { + heading_honeywell = M_PI / 2.0 - atan(x/y); + } + else if (y < 0) + { + heading_honeywell = 3 * M_PI / 2.0 - atan(x/y); + } + + // We get the heading in a special version of bearing coordinates: theta = 0 @ north, +theta = counterclockwise // convert it to cartesian coordinates: theta = 0 @ east, +theta = counterclockwise double heading_cartesian = heading_bearing - M_PI / 2.0; From e9c3dc0c4f0a7820c60f87411f2333927b0873d6 Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Mon, 2 Apr 2018 22:16:55 -0700 Subject: [PATCH 35/95] Added flowchart and source for data_map_plot.py --- .../data_map_plot flowchart.graphml | 620 ++++++++++++++++++ .../scripts/data_map_plot flowchart.pdf | Bin 0 -> 178327 bytes 2 files changed, 620 insertions(+) create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot flowchart.pdf diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml new file mode 100755 index 00000000..b403310d --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml @@ -0,0 +1,620 @@ + + + + + + + + + + + + + + + + + + + + + + + Initialize GPSviz Publishers + + + + + + + + + + + + + + + + Setup Subscribers to Pose and Command + + + + + + + + + + + + + + + + Load and Draw Waypoints on Mapviz + + + + + + + + + + + + + + + + Start ROS Event Loop + + + + + + + + + + + + + + + + Receive Pose Message + + + + + + + + + + + + + + + + Update Last Lat, 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make sure the whole stack works --- .../src/robobuggy/CMakeLists.txt | 18 ++++++------- .../transistor/controller/Controller.h | 2 +- .../src/robobuggy/msg/Command.msg | 2 +- .../robobuggy/scripts/controller_simulator.py | 5 ++-- .../src/robobuggy/scripts/data_map_plot.py | 5 ++-- .../src/transistor/controller/Controller.cpp | 27 ++++++++++++++----- .../controller/Controller_Runner.cpp | 2 +- .../low_level/LowLevel_Broadcaster.cpp | 25 +++++++++-------- 8 files changed, 51 insertions(+), 35 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt index ef46fbf2..0dd24542 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt @@ -144,15 +144,15 @@ include_directories( ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/robobuggy_node.cpp) -add_executable(${PROJECT_NAME}_Controller_Runner include/json/jsoncpp.cpp src/controller/Controller_Runner.cpp src/controller/Controller.cpp) -add_executable(${PROJECT_NAME}_IMU_Broadcaster_Runner src/imu/IMU_Broadcaster_Runner.cpp src/imu/IMU_Broadcaster.cpp) -add_executable(${PROJECT_NAME}_Transistor_LL_Broadcaster_Runner src/low_level/Transistor_LL_Broadcaster_Runner.cpp src/low_level/Transistor_LL_Broadcaster.cpp) -add_executable(${PROJECT_NAME}_Transistor_GPS_Broadcaster_Runner src/gps/Transistor_GPS_Broadcaster_Runner.cpp src/gps/Transistor_GPS_Broadcaster.cpp) -add_executable(${PROJECT_NAME}_Transistor_Localizer_Runner src/localizer/Localizer_Runner.cpp src/localizer/Localizer.cpp) - -add_dependencies(${PROJECT_NAME}_Controller_Runner robobuggy_generate_messages_cpp) -add_dependencies(${PROJECT_NAME}_IMU_Broadcaster_Runner robobuggy_generate_messages_cpp) -add_dependencies(${PROJECT_NAME}_Transistor_LL_Broadcaster_Runner robobuggy_generate_messages_cpp) +add_executable(${PROJECT_NAME}_Transistor_Controller_Runner include/json/jsoncpp.cpp src/transistor/controller/Controller_Runner.cpp src/transistor/controller/Controller.cpp) +add_executable(${PROJECT_NAME}_Transistor_IMU_Broadcaster_Runner src/transistor/imu/IMU_Broadcaster_Runner.cpp src/transistor/imu/IMU_Broadcaster.cpp) +add_executable(${PROJECT_NAME}_Transistor_LowLevel_Broadcaster_Runner src/transistor/low_level/LowLevel_Broadcaster_Runner.cpp src/transistor/low_level/LowLevel_Broadcaster.cpp) +add_executable(${PROJECT_NAME}_Transistor_GPS_Broadcaster_Runner src/transistor/gps/GPS_Broadcaster_Runner.cpp src/transistor/gps/GPS_Broadcaster.cpp) +add_executable(${PROJECT_NAME}_Transistor_Localizer_Runner src/transistor/localizer/Localizer_Runner.cpp src/transistor/localizer/Localizer.cpp) + +add_dependencies(${PROJECT_NAME}_Transistor_Controller_Runner robobuggy_generate_messages_cpp) +add_dependencies(${PROJECT_NAME}_Transistor_IMU_Broadcaster_Runner robobuggy_generate_messages_cpp) +add_dependencies(${PROJECT_NAME}_Transistor_LowLevel_Broadcaster_Runner robobuggy_generate_messages_cpp) add_dependencies(${PROJECT_NAME}_Transistor_GPS_Broadcaster_Runner robobuggy_generate_messages_cpp) add_dependencies(${PROJECT_NAME}_Transistor_Localizer_Runner robobuggy_generate_messages_cpp) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h index e61e7aeb..39b78390 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h @@ -7,7 +7,7 @@ #include "ros/ros.h" #include -#include +#include #include #include #include diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg index 03390ff8..5bc9f6b1 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Command.msg @@ -1,4 +1,4 @@ Header header bool brake_cmd -int32 steer_cmd +float32 steer_cmd_rad diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py index eb3a9fbc..464094d0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py @@ -53,12 +53,12 @@ def updateModel(self,x): def command_callback(self, data): #steer_cmd should be radians - rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) + rospy.loginfo("got Steering Command msg: %f degrees", math.degrees(data.steer_cmd_rad)) #data.steer_cmd is the information we get #this method will have to modify the model - self.steering = data.steer_cmd + self.steering = data.steer_cmd_rad self.model = self.updateModel(self.x) pass @@ -95,7 +95,6 @@ def start_simulator_spin(): simulator_pub.publish(simulated_pose) c_tester.updateModel(c_tester.x) - print(c_tester.x[2][0]) #rospy.spin() c_tester.rate.sleep() diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index d39e21fe..520bdd1c 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -39,9 +39,9 @@ def command_callback(data): global last_heading_deg #steer_cmd should be degrees - rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) + rospy.loginfo("got Steering Command msg: %f degrees", math.degrees(data.steer_cmd_rad)) - viz_msg_steering = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg + data.steer_cmd) + viz_msg_steering = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg - math.degrees(data.steer_cmd_rad)) viz_command_pub.publish(viz_msg_steering) @@ -54,6 +54,7 @@ def waypoints_publisher(): # read from waypoints file, parse JSON, publish waypoints = open("../RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt", 'r') line = waypoints.readline() + time.sleep(5) while line: data = json.loads(line) viz_msg_waypoint = GPSFix(latitude=data['latitude'],longitude=data['longitude']) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp index 926e974d..b6b42244 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp @@ -11,23 +11,31 @@ void Controller::Pose_Callback(const robobuggy::Pose::ConstPtr& msg) Controller::Controller(std::vector& initial_waypoint_list) { waypoint_list = std::vector(initial_waypoint_list); - steering_pub = nh.advertise("Steering_Command", 1000); + steering_pub = nh.advertise("Command", 1000); pose_sub = nh.subscribe("Pose", 1000, &Controller::Pose_Callback, this); + last_closest_index = 0; } void Controller::update_steering_estimate() { - robobuggy::Steering steering_msg; - steering_msg.steer_feedback = 0; - steering_msg.steer_angle = pure_pursuit_controller(); + if (current_pose_estimate.latitude_deg == 0 && current_pose_estimate.longitude_deg == 0) + { + // haven't initialized yet + ROS_INFO("No pose update yet!\n"); + return; + } + + robobuggy::Command steering_msg; + double steering_rad = pure_pursuit_controller(); + steering_msg.steer_cmd_rad = steering_rad; steering_pub.publish(steering_msg); } double Controller::get_distance_from_pose(robobuggy::Pose pose_msg) { - double dx = (current_pose_estimate.longitude_deg - pose_msg.longitude_deg) * 84723.58765; - double dy = (current_pose_estimate.latitude_deg - pose_msg.latitude_deg) * 111319.9; + double dx = (current_pose_estimate.longitude_deg - pose_msg.longitude_deg) * 111319.9; + double dy = (current_pose_estimate.latitude_deg - pose_msg.latitude_deg) * 84723.58765; return std::sqrt(dx * dx + dy * dy); } @@ -57,6 +65,7 @@ int Controller::get_closest_waypoint_index() double Controller::pure_pursuit_controller() { int closest_index = get_closest_waypoint_index(); + ROS_INFO("closest waypoint = %d\n", closest_index); double k = 2.5; double velocity = 3; // TODO bake velocity into pose messages double lookahead_lower_bound = 5.0; @@ -79,7 +88,7 @@ double Controller::pure_pursuit_controller() gpsPoseMessage.latitude_deg = waypoint_list.at(lookahead_index).Lat_deg; gpsPoseMessage.longitude_deg = waypoint_list.at(lookahead_index).Long_deg; - if (get_distance_from_pose(gpsPoseMessage) < lookahead) + if (get_distance_from_pose(gpsPoseMessage) > lookahead) { break; } @@ -87,10 +96,12 @@ double Controller::pure_pursuit_controller() if (lookahead_index >= waypoint_list.size()) { // run out of waypoints nearby, go straight + ROS_INFO("uh oh, out of waypoints!\n"); return 0.0; } robobuggy::GPS target_waypoint = waypoint_list.at(lookahead_index); + ROS_INFO("target waypoint = (%f, %f)\n", target_waypoint.Lat_deg, target_waypoint.Long_deg); geographic_msgs::GeoPoint gps_point; gps_point.latitude = target_waypoint.Lat_deg; @@ -106,6 +117,8 @@ double Controller::pure_pursuit_controller() double dy = utm_waypoint.northing - utm_pose.northing; double theta = atan2(dy, dx) - current_pose_estimate.heading_rad; + ROS_INFO("dx = %f, dy = %f, waypoint heading = %f, current heading = %f, dtheta = %f\n", dx, dy, 180/M_PI*atan2(dy, dx), 180/M_PI*current_pose_estimate.heading_rad, 180/M_PI*normalize_angle_rad(theta)); + double commanded_angle = normalize_angle_rad(atan2(2 * 1.13 * sin(theta), lookahead)); return commanded_angle; } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp index ff7c07ab..9ecb0240 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp @@ -2,7 +2,7 @@ // Created by bhai on 9/15/17. // -#include "controller/Controller.h" +#include "transistor/controller/Controller.h" #include #include diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp index 0b5ad808..77d4386f 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/low_level/LowLevel_Broadcaster.cpp @@ -96,14 +96,17 @@ void LowLevel_Broadcaster::parse_serial_msg(std::string serial_msg) void LowLevel_Broadcaster::send_command(const robobuggy::Command::ConstPtr& msg) { // Construct and send the steering command uint8_t serial_msg[6]; - int data = msg->steer_cmd; + double data = msg->steer_cmd_rad; - ROS_INFO("Steering command: %d\n", data); + // convert into hundredths of degrees + int steer_angle = data * 180 / M_PI * 100; + + ROS_INFO("Steering command: %d\n", steer_angle); serial_msg[0] = RBSM_MID_MEGA_STEER_COMMAND; - serial_msg[1] = (data >> 24) & 0xFF; - serial_msg[2] = (data >> 16) & 0xFF; - serial_msg[3] = (data >> 8) & 0xFF; - serial_msg[4] = data & 0xFF; + serial_msg[1] = (steer_angle >> 24) & 0xFF; + serial_msg[2] = (steer_angle >> 16) & 0xFF; + serial_msg[3] = (steer_angle >> 8) & 0xFF; + serial_msg[4] = steer_angle & 0xFF; serial_msg[5] = RBSM_FOOTER; if (rb_serial.isOpen()) { @@ -111,13 +114,13 @@ void LowLevel_Broadcaster::send_command(const robobuggy::Command::ConstPtr& msg) } // Construct and send the brake command - data = msg->brake_cmd; + int brake_data = msg->brake_cmd; serial_msg[0] = RBSM_MID_MEGA_AUTON_BRAKE_COMMAND; - serial_msg[1] = (data >> 24) & 0xFF; - serial_msg[2] = (data >> 16) & 0xFF; - serial_msg[3] = (data >> 8) & 0xFF; - serial_msg[4] = data & 0xFF; + serial_msg[1] = (brake_data >> 24) & 0xFF; + serial_msg[2] = (brake_data >> 16) & 0xFF; + serial_msg[3] = (brake_data >> 8) & 0xFF; + serial_msg[4] = brake_data & 0xFF; serial_msg[5] = RBSM_FOOTER; if (rb_serial.isOpen()) { From 10df1b9d363aba6c830438749307591aacea0e5b Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 5 Apr 2018 12:28:20 -0400 Subject: [PATCH 37/95] changed localizer to take out imu since we're having troubles with it --- .../include/transistor/localizer/Localizer.h | 4 ++-- .../src/transistor/localizer/Localizer.cpp | 13 ++++++++----- 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index b7d4e418..81563a65 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,10 +45,10 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; - Matrix C_GPS; + Matrix C_GPS; Matrix C_Encoder; Matrix C_IMU; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 1f5b0618..6b283485 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -55,10 +55,11 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) } prev_position_utm = p; - Matrix z; + Matrix z; z << p.easting, - p.northing + p.northing, + heading_cartesian ; kalman_filter(C_GPS, Q_GPS, z); @@ -146,8 +147,9 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 1, 0, - 0, 1 + 1, 0, 0, + 0, 1, 0, + 0, 0, 0.01 ; std::stringstream s; @@ -184,7 +186,8 @@ void Localizer::init_C_GPS() { C_GPS << 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0 + 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0 ; std::stringstream s; From 792d03208b324d037ce23b3c5b3e6c464ff54e84 Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Thu, 5 Apr 2018 11:44:52 -0700 Subject: [PATCH 38/95] Deleted wrong file --- .../robobuggy/scripts/controller_simulator.py | 106 ------------------ 1 file changed, 106 deletions(-) delete mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py deleted file mode 100755 index 18f049b9..00000000 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python - -import rospy -import math -from gps_common.msg import GPSFix -from robobuggy.msg import Pose -import numpy as np -import utm - -global simulator_pub -global x -global model -global sim_period = 10 -global dt = 1/sim_period -global steering = 0 -global wheelbase = 1.13 -global rate = rospy.Rate(10) -#subject to change in the future -global init_latitude = 40.4406 -global init_longitude = -79.9959 -global utm_zone_number = 17 -global utm_zone_letter = 'T' - - - -def updateModel(x): - matrix = - [ - [1, 0, dt* math.cos(x[3][0]), 0, 0], - [0, 1, dt* math.sin(x[3][0]), 0, 0], - [0, 0, 1, 0, 0], - [0, 0, 0, 1, dt], - [0, 0, math.tan(steering)/wheelbase, 0, 0] - ] - return matrix - -def command_callback(data): - - #steer_cmd should be radians - rospy.loginfo("got Steering Command msg: %f degrees", data.steer_cmd) - - - #data.steer_cmd is the information we get - #this method will have to modify the model - steering = data.steer_cmd - model = updateModel(x) - - pass - -def initialize(): - - #set up the initial position - #Syntax see python package index - #The syntax is utm.from_latlon(LATITUDE, LONGITUDE). - #The return has the form (EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). - - utm = utm.from_latlon(init_latitude, init_longitude) - x = [ - #UTM Easting - [utm[0]], - #UTM Northing - [utm[1]], - [1], - [250 * math.pi / 180], - [0] - ] - model = np.identity(5) - - -def start_simulator_spin(): - - rospy.init_node("GPS_Plotter", anonymous=True) - simulator_pub = rospy.Publisher('simulated_Pose', Pose, queue_size=10) - command_listener = rospy.Subscriber("Command", Command, command_callback) - - initialize() - - while not rospy.is_shutdown(): - #apply the model - #use np.dot(a, b) for matrix product of two 2d-lists a and b - x = np.dot(model, x) - - #publish a new pose message using simulator_pub - simulated_pose = Pose() - - #lat_long is a 2-tuple - #for syntax of the utm package see python package index - #The syntax is utm.to_latlon(EASTING, NORTHING, ZONE NUMBER, ZONE LETTER). - #The return has the form (LATITUDE, LONGITUDE). - - lat_long = utm.to_latlon(x[0][0], x[1][0], utm_zone_number, utm_zone_letter) - simulated_pose.latitude_deg = lat_long[0] - simulated_pose.longitude_deg = lat_long[1] - - simulator_pub.publish(simulated_pose) - - rospy.spinOnce() - - rate.sleep() - -if __name__ == '__main__': - try: - start_simulator_spin() - except rospy.ROSInterruptException: - pass - From f4ec1f034d6ccf41cc05c68d4237cd7b1564c9ff Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 5 Apr 2018 20:28:04 -0400 Subject: [PATCH 39/95] fixed localizer heading --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 6b283485..c14d9cb2 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -47,7 +47,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) double dx = p.easting - prev_position_utm.easting; double dy = p.northing - prev_position_utm.northing; - heading_cartesian = atan2(dy, dx); + heading_cartesian = atan2(dx, dy); if (sqrt(dx * dx + dy * dy) < 0.25) { heading_cartesian = x(3, 0); @@ -101,7 +101,7 @@ void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) heading_cartesian ; - kalman_filter(C_IMU, Q_IMU, z); + //kalman_filter(C_IMU, Q_IMU, z); } void Localizer::Feedback_Callback(const robobuggy::Feedback::ConstPtr &msg) From 4bef72ecbb36c592f6ce4226c9748dd8c89d735c Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 5 Apr 2018 22:19:11 -0400 Subject: [PATCH 40/95] fixed controller --- .../src/robobuggy/src/transistor/controller/Controller.cpp | 2 ++ .../robobuggy/src/transistor/controller/Controller_Runner.cpp | 2 ++ 2 files changed, 4 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp index b6b42244..c83e8326 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller.cpp @@ -80,6 +80,7 @@ double Controller::pure_pursuit_controller() { lookahead = lookahead_upper_bound; } + ROS_INFO("lookahead = %f\n", lookahead); int lookahead_index = 0; for (lookahead_index = closest_index; lookahead_index < waypoint_list.size(); lookahead_index++) @@ -88,6 +89,7 @@ double Controller::pure_pursuit_controller() gpsPoseMessage.latitude_deg = waypoint_list.at(lookahead_index).Lat_deg; gpsPoseMessage.longitude_deg = waypoint_list.at(lookahead_index).Long_deg; + ROS_INFO("candidate=%d, dist=%f\n", lookahead_index, get_distance_from_pose(gpsPoseMessage)); if (get_distance_from_pose(gpsPoseMessage) > lookahead) { break; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp index 9ecb0240..69b3bc0b 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp @@ -32,6 +32,8 @@ int main(int argc, char **argv) } + ROS_INFO("Read in %lu waypoints\n", waypoints.size()); + Controller controller(waypoints); while (ros::ok()) From f934c6f305b1dea889e4bc4c7dd49b3cf86cfc9f Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 12 Apr 2018 12:43:12 -0400 Subject: [PATCH 41/95] Working IMU orientation (finally) --- Software/real_time/ROS_RoboBuggy/.gitignore | 3 +++ .../include/transistor/localizer/Localizer.h | 4 ++-- .../src/transistor/localizer/Localizer.cpp | 19 +++++++++---------- 3 files changed, 14 insertions(+), 12 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/.gitignore b/Software/real_time/ROS_RoboBuggy/.gitignore index e53e6aa3..04a42787 100644 --- a/Software/real_time/ROS_RoboBuggy/.gitignore +++ b/Software/real_time/ROS_RoboBuggy/.gitignore @@ -1,2 +1,5 @@ build/ devel/ + +src/robobuggy/config/ +src/robobuggy/include/json/ diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index 81563a65..b7d4e418 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,10 +45,10 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; - Matrix C_GPS; + Matrix C_GPS; Matrix C_Encoder; Matrix C_IMU; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index c14d9cb2..97676550 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -55,11 +55,10 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) } prev_position_utm = p; - Matrix z; + Matrix z; z << p.easting, - p.northing, - heading_cartesian + p.northing ; kalman_filter(C_GPS, Q_GPS, z); @@ -94,14 +93,16 @@ void Localizer::IMU_Callback(const robobuggy::IMU::ConstPtr &msg) // We get the heading in a special version of bearing coordinates: theta = 0 @ north, +theta = counterclockwise // convert it to cartesian coordinates: theta = 0 @ east, +theta = counterclockwise - double heading_cartesian = heading_bearing - M_PI / 2.0; + double heading_cartesian = heading_bearing + M_PI / 2.0; + + ROS_INFO("heading cartesian = %f, heading bearing = %f\n", heading_cartesian, heading_bearing); Matrix z; z << heading_cartesian ; - //kalman_filter(C_IMU, Q_IMU, z); + kalman_filter(C_IMU, Q_IMU, z); } void Localizer::Feedback_Callback(const robobuggy::Feedback::ConstPtr &msg) @@ -147,9 +148,8 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 1, 0, 0, - 0, 1, 0, - 0, 0, 0.01 + 1, 0, + 0, 1 ; std::stringstream s; @@ -186,8 +186,7 @@ void Localizer::init_C_GPS() { C_GPS << 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0, - 0, 0, 0, 1, 0 + 0, 1, 0, 0, 0 ; std::stringstream s; From 0eac4dd22ce9fe9f1044b198082aedb5096323de Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Thu, 12 Apr 2018 18:03:05 -0700 Subject: [PATCH 42/95] Created new GPS_Broadcaster Python Node --- .../ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py new file mode 100755 index 00000000..e69de29b From 265abc1be46753a546650d784adbf8d0dbd072ca Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Apr 2018 11:56:10 -0400 Subject: [PATCH 43/95] adding skeleton code for GPS broadcaster --- Software/GPS_Broadcaster.cpp | 39 ++++++++++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 Software/GPS_Broadcaster.cpp diff --git a/Software/GPS_Broadcaster.cpp b/Software/GPS_Broadcaster.cpp new file mode 100644 index 00000000..dbcdb446 --- /dev/null +++ b/Software/GPS_Broadcaster.cpp @@ -0,0 +1,39 @@ +#include + +int main() { + std::cout << "init !" << std::endl; + // initialize ROS Node + + //initialize GPS Publisher + + //ROS event loop + + //flag set to true + while(true) { + + //get NMEA string from receiver + + //parse token 1 (check if = 'GPGGA'), set flag = false if not + + //parse token 2 + + //parse token 3 --> obtain Latitude + + //parse token 4 (check if = N), set flag = false if not + + //parse token 5 --> obtain Longitude + + //parse token 6 (check if = to E)), set flag = false if not + + //parse token 7 (check if != 0), set flag = false if not + + //check if flag still true, and if so create the message with Latitude, Longitude and publish message + + //reset flag to true + + } + + //ROS shutdown + + return 0; +} \ No newline at end of file From 43bf3011115f7749278b24b5b0b06fdcba680b59 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Apr 2018 14:13:51 -0400 Subject: [PATCH 44/95] misc fixes forgot about the feet to meters conversion --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 97676550..56bc15fc 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -18,7 +18,7 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) double ticks = msg->ticks; double dx = ticks - prev_encoder_ticks; - dx = dx * 0.61 / 7.0; + dx = dx * 0.61 / 7.0 * 0.3048 * 2; double body_speed = dx / (dt / 1000.0); prev_encoder_time = current_time; @@ -148,8 +148,8 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 1, 0, - 0, 1 + 5, 0, + 0, 5 ; std::stringstream s; @@ -173,7 +173,7 @@ void Localizer::init_Q_Encoder() void Localizer::init_Q_IMU() { Q_IMU << - 0.1 + 0.05 ; std::stringstream s; From 8e32ba87489e65900ae4ad6915dc4dbf998dd7e7 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Apr 2018 14:41:00 -0400 Subject: [PATCH 45/95] added cpp11 support because of the new jsoncpp library --- Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt index 0dd24542..3ba1ba4f 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(robobuggy) ## Add support for C++11, supported in ROS Kinetic and newer -# add_definitions(-std=c++11) +add_definitions(-std=c++11) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) From f17025062f0f6f4bf28cbdabdebdb8dc77f8ea64 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Fri, 13 Apr 2018 15:42:27 -0400 Subject: [PATCH 46/95] minor fixes to skeleton code --- .../src/transistor/gps/GPS_Broadcaster.cpp | 131 +++--------------- 1 file changed, 19 insertions(+), 112 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 652e6af9..07f433cb 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,127 +1,34 @@ -// -// Created by bhai on 9/29/17. -// +//include ros library +int main() { + // initialize ROS Node Handle -#include -#include -#include + //initialize GPS Publisher on node channel -const std::string GPS_Broadcaster::NODE_NAME = "GPS_Broadcaster"; -GPS_Broadcaster::GPS_Broadcaster() -{ - gps_pub = nh.advertise("GPS", 1000); - if (!nh.getParam(NODE_NAME + "/serial_port", serial_port)) - { - ROS_INFO_STREAM("Serial Port Parameter not found, using default"); - serial_port = "/dev/buggygps"; - } - if (!nh.getParam(NODE_NAME + "/serial_baud", serial_baud)) - { - ROS_INFO_STREAM("Serial Baud parameter not found, using default"); - serial_baud = 9600; - } -} - -int GPS_Broadcaster::handle_serial_messages() -{ - serial::Serial gps_serial; - try - { - gps_serial.setPort(serial_port); - gps_serial.setBaudrate(serial_baud); - serial::Timeout to = serial::Timeout::simpleTimeout(1000); - gps_serial.setTimeout(to); - gps_serial.open(); - } - catch (serial::IOException e) - { - ROS_ERROR_STREAM("Unable to open port"); - ROS_ERROR_STREAM(serial_port); - return -1; - } - - while (ros::ok()) - { - if (gps_serial.available()) - { - gps_serial_buffer += gps_serial.read(gps_serial.available()); + //ROS event loop + //flag for parsing tokens set to true + //change to while ros ok + while(true) { - size_t gpgga_pos = 0; - if ((gpgga_pos = gps_serial_buffer.find("$GPGGA")) != std::string::npos) - { - gps_serial_buffer = gps_serial_buffer.substr(gpgga_pos); + //get NMEA string from receiver - std::istringstream ss(gps_serial_buffer); - std::string tokens[10]; + //parse token 1 (check if = 'GPGGA'), set flag = false if not - for (int i = 0; i < 10; i++) - { - std::getline(ss, tokens[i], ','); - } + //parse token 3 --> obtain Latitude value - if (tokens[0] != "$GPGGA") - { - ROS_ERROR_STREAM("read a GPGGA when it wasn't!"); - return -1; - } - else if (atoi(tokens[6].c_str()) == 0) - { - ROS_ERROR_STREAM("Not locked yet!"); - } - else - { - double latitude_deg = convert_to_latitude(tokens[2]); - double longitude_deg = convert_to_longitude(tokens[4]); + //parse token 4 - 'N' label for Latitude (check if = N), set flag = false if not - if (tokens[5] == "W") - { - longitude_deg = -1*longitude_deg; - } + //parse token 5 --> obtain Longitude value - geographic_msgs::GeoPoint gps_point; - gps_point.latitude = latitude_deg; - gps_point.longitude = longitude_deg; + //parse token 6 - 'E' label for Longitude (check if = to E)), set flag = false if not - geodesy::UTMPoint utm_point(gps_point); + //parse token 7 - Fix quality (check if != 0), set flag = false if not - robobuggy::GPS gps_message; - gps_message.Lat_deg = static_cast(latitude_deg); - gps_message.Long_deg = static_cast(longitude_deg); - gps_message.Lat_m = static_cast(utm_point.northing); - gps_message.Long_m = static_cast(utm_point.easting); - gps_pub.publish(gps_message); - } + //check if all tokens still valid, create the message with Latitude, Longitude and publish message - size_t total_bytes_read = tokens->length(); - if (gps_serial_buffer.length() > total_bytes_read) - { - gps_serial_buffer = gps_serial_buffer.substr(total_bytes_read); - } - else - { - gps_serial_buffer = ""; - } - - } - } } - return 0; -} - -double GPS_Broadcaster::convert_to_latitude(std::string str) -{ - double degrees = atof(str.substr(0, 2).c_str()); - double minutes = atof(str.substr(2).c_str()); + //ROS shutdown - return degrees + minutes / 60.0; -} - -double GPS_Broadcaster::convert_to_longitude(std::string str) -{ - double degrees = atof(str.substr(0, 3).c_str()); - double minutes = atof(str.substr(3).c_str()); - - return degrees + minutes / 60.0; -} + return 0; +} \ No newline at end of file From 0def24e32138d6b316bff98fe2444ae4478b2b33 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Apr 2018 15:49:08 -0400 Subject: [PATCH 47/95] removed misplaced skeleton --- Software/GPS_Broadcaster.cpp | 39 ------------------------------------ 1 file changed, 39 deletions(-) delete mode 100644 Software/GPS_Broadcaster.cpp diff --git a/Software/GPS_Broadcaster.cpp b/Software/GPS_Broadcaster.cpp deleted file mode 100644 index dbcdb446..00000000 --- a/Software/GPS_Broadcaster.cpp +++ /dev/null @@ -1,39 +0,0 @@ -#include - -int main() { - std::cout << "init !" << std::endl; - // initialize ROS Node - - //initialize GPS Publisher - - //ROS event loop - - //flag set to true - while(true) { - - //get NMEA string from receiver - - //parse token 1 (check if = 'GPGGA'), set flag = false if not - - //parse token 2 - - //parse token 3 --> obtain Latitude - - //parse token 4 (check if = N), set flag = false if not - - //parse token 5 --> obtain Longitude - - //parse token 6 (check if = to E)), set flag = false if not - - //parse token 7 (check if != 0), set flag = false if not - - //check if flag still true, and if so create the message with Latitude, Longitude and publish message - - //reset flag to true - - } - - //ROS shutdown - - return 0; -} \ No newline at end of file From 5aee999153fd7bf65d4ff095bb93ca4e18e85d2a Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 13 Apr 2018 19:52:12 -0400 Subject: [PATCH 48/95] completed tests for GPS Broadcaster --- .../src/robobuggy/CMakeLists.txt | 4 + .../include/transistor/gps/GPS_Broadcaster.h | 6 +- .../src/transistor/gps/GPS_Broadcaster.cpp | 154 ++++++++++++++++-- .../transistor/gps/GPS_Broadcaster_Runner.cpp | 12 +- .../test/gps/GPS_Broadcaster_Test.cpp | 45 +++++ 5 files changed, 199 insertions(+), 22 deletions(-) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt index 6feb4fcb..a90d36db 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt @@ -235,6 +235,10 @@ target_link_libraries(${PROJECT_NAME}_Transistor_Localizer_Runner # target_link_libraries(${PROJECT_NAME}-imu-spoof-test ${catkin_LIBRARIES}) #endif() +catkin_add_gtest(${PROJECT_NAME}_GPS_Broadcaster_Test test/gps/GPS_Broadcaster_Test.cpp src/transistor/gps/GPS_Broadcaster.cpp) +if (TARGET ${PROJECT_NAME}_GPS_Broadcaster_Test) + target_link_libraries(${PROJECT_NAME}_GPS_Broadcaster_Test ${catkin_LIBRARIES}) +endif() ## Add gtest based cpp test target and link libraries # catkin_add_gtest(${PROJECT_NAME}-test test/test_robobuggy.cpp) # if(TARGET ${PROJECT_NAME}-test) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index f31fee2f..a17b2d5b 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -17,12 +17,14 @@ class GPS_Broadcaster GPS_Broadcaster(); static const std::string NODE_NAME; - int handle_serial_messages(); - + int read_gps_message(); + robobuggy::GPS* parse_tokens(std::string tokens[]); + private: ros::NodeHandle nh; ros::Publisher gps_pub; + robobuggy::GPS gps_message; std::string serial_port; int serial_baud; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 07f433cb..3c417672 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,34 +1,154 @@ + + //include ros library -int main() { - // initialize ROS Node Handle +#include +#include +#include - //initialize GPS Publisher on node channel +const std::string GPS_Broadcaster::NODE_NAME = "Transistor_GPS_Broadcaster"; +GPS_Broadcaster::GPS_Broadcaster() +{ + gps_pub = nh.advertise("GPS", 1000); + //Initialize serial port baud + if (!nh.getParam(NODE_NAME + "/serial_port", serial_port)) + { + ROS_INFO_STREAM("Serial Port Parameter not found, using default"); + serial_port = "/dev/buggygps"; + } + if (!nh.getParam(NODE_NAME + "/serial_baud", serial_baud)) + { + ROS_INFO_STREAM("Serial Baud parameter not found, using default"); + serial_baud = 9600; + } - //ROS event loop - //flag for parsing tokens set to true - //change to while ros ok - while(true) { +} - //get NMEA string from receiver - //parse token 1 (check if = 'GPGGA'), set flag = false if not +int GPS_Broadcaster::read_gps_message() +{ - //parse token 3 --> obtain Latitude value + //parse ONE NMEA string - //parse token 4 - 'N' label for Latitude (check if = N), set flag = false if not + //set up serial port + serial::Serial gps_serial; + try { + gps_serial.setPort(serial_port); + gps_serial.setBaudrate(serial_baud); + serial::Timeout to = serial::Timeout::simpleTimeout(1000); + gps_serial.setTimeout(to); + gps_serial.open(); + } catch (serial::IOException e){ + ROS_ERROR_STREAM("Unable to open port"); + ROS_ERROR_STREAM(serial_port); + return -1; + } - //parse token 5 --> obtain Longitude value + if (gps_serial.available()) { + + gps_serial_buffer += gps_serial.read(gps_serial.available()); - //parse token 6 - 'E' label for Longitude (check if = to E)), set flag = false if not + size_t gpgga_pos = 0; + if ((gpgga_pos = gps_serial_buffer.find("$GPGGA")) != std::string::npos) { + gps_serial_buffer = gps_serial_buffer.substr(gpgga_pos); - //parse token 7 - Fix quality (check if != 0), set flag = false if not + std::istringstream ss(gps_serial_buffer); + std::string tokens[10]; - //check if all tokens still valid, create the message with Latitude, Longitude and publish message + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } - } + robobuggy::GPS* gps_message = parse_tokens(tokens); + if (gps_message != NULL) + { + gps_pub.publish(*gps_message); + } - //ROS shutdown + size_t total_bytes_read = tokens->length(); + if (gps_serial_buffer.length() > total_bytes_read) + { + gps_serial_buffer = gps_serial_buffer.substr(total_bytes_read); + } + else + { + gps_serial_buffer = ""; + } + } + } return 0; +} + +robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) +{ + + //parse token 0 (check if = 'GPGGA') + if (tokens[0] != "$GPGGA") { + ROS_ERROR_STREAM("read a GPGGA when it wasn't!"); + return NULL; + } + + //parse token 2 --> obtain Latitude value + double latitude_deg = convert_to_latitude(tokens[2]); + + //parse token 3 - 'N' label for Latitude (check if = N) + if (tokens[3] != "N") { + latitude_deg *= -1; + } + + //parse token 4 --> obtain Longitude value + double longitude_deg = convert_to_longitude(tokens[4]); + + //parse token 5 - 'E' label for Longitude (check if = to E)) + if (tokens[5] != "E") { + longitude_deg *= -1; + } + + //parse token 6 - Fix quality (check if != 0) + if (atoi(tokens[6].c_str()) == 0) { + ROS_ERROR_STREAM("Not locked yet!"); + return NULL; + } + + // create the message with Latitude, Longitude and publish message + + geographic_msgs::GeoPoint gps_point; + gps_point.latitude = latitude_deg; + gps_point.longitude = longitude_deg; + + geodesy::UTMPoint utm_point(gps_point); + + gps_message.Lat_deg = static_cast(latitude_deg); + gps_message.Long_deg = static_cast(longitude_deg); + gps_message.Lat_m = static_cast(utm_point.easting); + gps_message.Long_m = static_cast(utm_point.northing); + + return &gps_message; +} + +double GPS_Broadcaster::convert_to_latitude(std::string str) +{ + //special case if gps not locked, string is length 0 + if (str.size() == 0) { + return 0; //special case will get addressed later on + } + double degrees = atof(str.substr(0, 2).c_str()); + double minutes = atof(str.substr(2).c_str()); + + return degrees + minutes / 60.0; +} + +double GPS_Broadcaster::convert_to_longitude(std::string str) +{ + //special case if gps not locked, string is length 0 + if (str.size() == 0) { + return 0; //special case will get addressed later on + } + + double degrees = atof(str.substr(0, 3).c_str()); + double minutes = atof(str.substr(3).c_str()); + + return degrees + minutes / 60.0; } \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp index cec377ed..9ed7545a 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp @@ -10,7 +10,13 @@ int main(int argc, char **argv) ros::NodeHandle nh; GPS_Broadcaster broadcaster; - int err = broadcaster.handle_serial_messages(); - - return err; + while (ros::ok()) { + int result = broadcaster.read_gps_message(); + if (result) + { + return result; + } + } + + return 0; } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp new file mode 100644 index 00000000..5a862813 --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp @@ -0,0 +1,45 @@ +#include +#include + +TEST(GPS_Tests, standard_message) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + + ASSERT_NEAR(msg->Lat_deg, 48.1173, 0.001); + ASSERT_NEAR(msg->Long_deg, 11.51667, 0.001); +} + +TEST(GPS_Tests, not_fixed) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPGGA,,,,,,0,,,,,,,,"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + ASSERT_TRUE(msg==NULL); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "IMU_Tester"); + return RUN_ALL_TESTS(); +} \ No newline at end of file From f56a10478c039f5491cbb865dd4c76f7d16b58c6 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Mon, 16 Apr 2018 17:06:01 -0400 Subject: [PATCH 49/95] adding flowchart for the controller simulator --- .../controllerSimFlowchart.graphml | 470 ++++++++++++++++++ .../scripts/controllerSimFlowchart.pdf | Bin 0 -> 38290 bytes 2 files changed, 470 insertions(+) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controllerSimFlowchart.pdf diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml new file mode 100644 index 00000000..edde385f --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml @@ -0,0 +1,470 @@ + + + + + + + + + + + + + + + + + + + + + + + input: initial Pose + + + + + + + + + + + + + + + + + Build Pub/Sub + + + + + + + + + + + + + + + + + Build initial matrix A + + + + + + + + + + + + + + + + + ROS event Loop + + + + + + + + + + + + + + + + + x' = Ax (apply motion model) + + + + + + + + + + + + + + + + + + + + + + + + + Build initial x + + + + + + + + + + + + + + + + + + + + + + + + + Publish new Pose x' + + + + + + + + + + + + + + + + + + + + + + + + + Exit + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Command Message Received + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + update Steering + + + + + + + + + + + + + + + + + + + + + + + + + A' = new A (x, steering command) + + + + + + + + + + + + + + + + + + + + + + + + + if shutdown + + + + + + + + + + + + + + + + + + update x with x' and A with A' + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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zye&b|5X@%f{0FGhnNP16^_hr2SfG>~1Cdr@&mPmfG?_m@^8}zFUHth(aYQOBPimlLm>h0F-C&42NHuC$#~I(?oSMN$aU;xGkZq=h)1nWWfX=pM0cd zXeAlJs*HS!cKHZhl~ZV0s~+lWfPe7e*$FA_=ZmS^a}`UJFWoWCGkVn;T&=E2M0+}6yh%?FpH>)$or3lXJpeN9f)FY@YGO^0{AdHI z+Y4(YPlI`t<~spAQMg1@yE8R2*P4vB9hunLeppyl_qMyKjy- zCQap>fq#pQE7(eiu;E!W7$*^ZAJ40q(ZJZATOHPHqf`l7ZkqIy282*`K|bbUQlOc}w}@aK1R{% z{)XO(Pm|jBv3xu){qj`Bq-HyW&Fycm5Z3d+ClMale-D%ZH@-&tj}ghxJTPug|1&c4 zudm)kus7|0olSez5x$JQ&?|V`Uq^$`(Qu#N4}UpB5dXKAhU+`VcfY~)U%h`qY8oNp zdz5~h_hSW=W9X-ifXnsSLbsnb>JJ+Q zV1>dT?FxlIze|%4&EL*f#KG(TvBCL1*Y-CX%fi@yvla2*`=yv-0q*qQ+A;t1$@x$cvzad2AC(ck9e}9F@uP9=@+wmUy+yFBKBKLe5!Rve6D5eA=Iq`UF(nkIZ Dl-w9J literal 0 HcmV?d00001 From d5cea7c9779a1b3e7e3f7e87e8fd64ddb0614aea Mon Sep 17 00:00:00 2001 From: HaoranFei Date: Mon, 16 Apr 2018 15:39:56 -0700 Subject: [PATCH 50/95] Some minor stylistic changes, added one line of comment If you do not like it tell me --- .../src/transistor/gps/GPS_Broadcaster.cpp | 37 +++++++++++++------ 1 file changed, 25 insertions(+), 12 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 3c417672..904cf9dd 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -32,24 +32,28 @@ int GPS_Broadcaster::read_gps_message() //set up serial port serial::Serial gps_serial; - try { + try + { gps_serial.setPort(serial_port); gps_serial.setBaudrate(serial_baud); serial::Timeout to = serial::Timeout::simpleTimeout(1000); gps_serial.setTimeout(to); gps_serial.open(); - } catch (serial::IOException e){ + } + catch (serial::IOException e) + { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); return -1; } - if (gps_serial.available()) { - + if (gps_serial.available()) + { gps_serial_buffer += gps_serial.read(gps_serial.available()); size_t gpgga_pos = 0; - if ((gpgga_pos = gps_serial_buffer.find("$GPGGA")) != std::string::npos) { + if ((gpgga_pos = gps_serial_buffer.find("$GPGGA")) != std::string::npos) + { gps_serial_buffer = gps_serial_buffer.substr(gpgga_pos); std::istringstream ss(gps_serial_buffer); @@ -85,16 +89,21 @@ robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) { //parse token 0 (check if = 'GPGGA') - if (tokens[0] != "$GPGGA") { + if (tokens[0] != "$GPGGA") + { ROS_ERROR_STREAM("read a GPGGA when it wasn't!"); return NULL; } + //we do not parse token 1 in the GPGGA string, since it represents time + + //parse token 2 --> obtain Latitude value double latitude_deg = convert_to_latitude(tokens[2]); //parse token 3 - 'N' label for Latitude (check if = N) - if (tokens[3] != "N") { + if (tokens[3] != "N") + { latitude_deg *= -1; } @@ -102,12 +111,14 @@ robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) double longitude_deg = convert_to_longitude(tokens[4]); //parse token 5 - 'E' label for Longitude (check if = to E)) - if (tokens[5] != "E") { + if (tokens[5] != "E") + { longitude_deg *= -1; } //parse token 6 - Fix quality (check if != 0) - if (atoi(tokens[6].c_str()) == 0) { + if (atoi(tokens[6].c_str()) == 0) + { ROS_ERROR_STREAM("Not locked yet!"); return NULL; } @@ -131,7 +142,8 @@ robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) double GPS_Broadcaster::convert_to_latitude(std::string str) { //special case if gps not locked, string is length 0 - if (str.size() == 0) { + if (str.size() == 0) + { return 0; //special case will get addressed later on } double degrees = atof(str.substr(0, 2).c_str()); @@ -143,7 +155,8 @@ double GPS_Broadcaster::convert_to_latitude(std::string str) double GPS_Broadcaster::convert_to_longitude(std::string str) { //special case if gps not locked, string is length 0 - if (str.size() == 0) { + if (str.size() == 0) + { return 0; //special case will get addressed later on } @@ -151,4 +164,4 @@ double GPS_Broadcaster::convert_to_longitude(std::string str) double minutes = atof(str.substr(3).c_str()); return degrees + minutes / 60.0; -} \ No newline at end of file +} From 17b45e50f9e03675b06aadb1c4c9810e22fe9493 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Wed, 18 Apr 2018 13:49:50 -0400 Subject: [PATCH 51/95] adding more tests for GPS Broadcaster --- .../test/gps/GPS_Broadcaster_Test.cpp | 68 +++++++++++++++++++ 1 file changed, 68 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp index 5a862813..d7871f64 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp @@ -20,6 +20,74 @@ TEST(GPS_Tests, standard_message) ASSERT_NEAR(msg->Long_deg, 11.51667, 0.001); } +TEST(GPS_Tests,invalid_data_unfixed) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPGGA,1,4.0,N,011.1,E,0,08,0.9,545.4,M,46.9,M,,*47"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + ASSERT_TRUE(msg==NULL); +} + +TEST(GPS_Tests,valid_data_unfixed) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPGGA,123519,4807.038,N,01131.000,E,0,08,0.9,545.4,M,46.9,M,,*47"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + ASSERT_TRUE(msg==NULL); +} + +TEST(GPS_Tests,non_GGA_format) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPVTG,123519,4807.038,N,01131.000,E,0,08,0.9,545.4,M,46.9,M,,*47"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + ASSERT_TRUE(msg==NULL); +} + +TEST(GPS_Tests,missing_field) +{ + GPS_Broadcaster broadcaster; + std::string token_string = "$GPGGA,123519,4807.038,N,,E,1,08,0.9,545.4,M,46.9,M,,*47"; + + std::istringstream ss(token_string); + std::string tokens[10]; + + for (int i = 0; i < 10; i++) + { + std::getline(ss, tokens[i], ','); + } + + robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); + ASSERT_TRUE(msg==NULL); +} + TEST(GPS_Tests, not_fixed) { GPS_Broadcaster broadcaster; From 45a57060f44902bdb1ca9165337aea49101b734b Mon Sep 17 00:00:00 2001 From: StanleyTX2 Date: Wed, 18 Apr 2018 22:37:08 +0000 Subject: [PATCH 52/95] tested on hardware without fix, modified unit tests for GPS Broadcaster --- .../include/transistor/gps/GPS_Broadcaster.h | 10 +++-- .../src/transistor/gps/GPS_Broadcaster.cpp | 39 +++++++++++-------- .../transistor/gps/GPS_Broadcaster_Runner.cpp | 5 ++- .../test/gps/GPS_Broadcaster_Test.cpp | 19 +-------- 4 files changed, 32 insertions(+), 41 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index a17b2d5b..53385ca7 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -16,16 +16,18 @@ class GPS_Broadcaster public: GPS_Broadcaster(); static const std::string NODE_NAME; - + int read_gps_message(); robobuggy::GPS* parse_tokens(std::string tokens[]); - + void initialize_hardware(); + private: ros::NodeHandle nh; - + ros::Publisher gps_pub; robobuggy::GPS gps_message; - + serial::Serial gps_serial; + std::string serial_port; int serial_baud; std::string gps_serial_buffer; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 904cf9dd..87807b05 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,7 +1,7 @@ //include ros library -#include +#include #include #include @@ -22,16 +22,11 @@ GPS_Broadcaster::GPS_Broadcaster() serial_baud = 9600; } -} +} -int GPS_Broadcaster::read_gps_message() +void GPS_Broadcaster::initialize_hardware() { - - //parse ONE NMEA string - - //set up serial port - serial::Serial gps_serial; try { gps_serial.setPort(serial_port); @@ -44,16 +39,26 @@ int GPS_Broadcaster::read_gps_message() { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); - return -1; + exit(1); } +} + + +int GPS_Broadcaster::read_gps_message() +{ + + //parse ONE NMEA string + + //set up serial port + if (gps_serial.available()) - { + { gps_serial_buffer += gps_serial.read(gps_serial.available()); size_t gpgga_pos = 0; if ((gpgga_pos = gps_serial_buffer.find("$GPGGA")) != std::string::npos) - { + { gps_serial_buffer = gps_serial_buffer.substr(gpgga_pos); std::istringstream ss(gps_serial_buffer); @@ -79,7 +84,7 @@ int GPS_Broadcaster::read_gps_message() { gps_serial_buffer = ""; } - } + } } return 0; @@ -87,7 +92,7 @@ int GPS_Broadcaster::read_gps_message() robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) { - + //parse token 0 (check if = 'GPGGA') if (tokens[0] != "$GPGGA") { @@ -97,7 +102,7 @@ robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) //we do not parse token 1 in the GPGGA string, since it represents time - + //parse token 2 --> obtain Latitude value double latitude_deg = convert_to_latitude(tokens[2]); @@ -144,7 +149,7 @@ double GPS_Broadcaster::convert_to_latitude(std::string str) //special case if gps not locked, string is length 0 if (str.size() == 0) { - return 0; //special case will get addressed later on + return 0; //special case will get addressed later on } double degrees = atof(str.substr(0, 2).c_str()); double minutes = atof(str.substr(2).c_str()); @@ -157,9 +162,9 @@ double GPS_Broadcaster::convert_to_longitude(std::string str) //special case if gps not locked, string is length 0 if (str.size() == 0) { - return 0; //special case will get addressed later on + return 0; //special case will get addressed later on } - + double degrees = atof(str.substr(0, 3).c_str()); double minutes = atof(str.substr(3).c_str()); diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp index 9ed7545a..449a9416 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp @@ -10,13 +10,14 @@ int main(int argc, char **argv) ros::NodeHandle nh; GPS_Broadcaster broadcaster; + broadcaster.initialize_hardware(); while (ros::ok()) { - int result = broadcaster.read_gps_message(); + int result = broadcaster.read_gps_message(); if (result) { return result; } } - + return 0; } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp index d7871f64..2dffea24 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp @@ -71,23 +71,6 @@ TEST(GPS_Tests,non_GGA_format) ASSERT_TRUE(msg==NULL); } -TEST(GPS_Tests,missing_field) -{ - GPS_Broadcaster broadcaster; - std::string token_string = "$GPGGA,123519,4807.038,N,,E,1,08,0.9,545.4,M,46.9,M,,*47"; - - std::istringstream ss(token_string); - std::string tokens[10]; - - for (int i = 0; i < 10; i++) - { - std::getline(ss, tokens[i], ','); - } - - robobuggy::GPS* msg = broadcaster.parse_tokens(tokens); - ASSERT_TRUE(msg==NULL); -} - TEST(GPS_Tests, not_fixed) { GPS_Broadcaster broadcaster; @@ -110,4 +93,4 @@ int main(int argc, char **argv){ testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "IMU_Tester"); return RUN_ALL_TESTS(); -} \ No newline at end of file +} From 0b353285cde043827439d96a855283165d3a0efa Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 23 Apr 2018 22:35:45 -0400 Subject: [PATCH 53/95] general cleanup added comments to tests and moved a comment over from inside to outside a method --- .../robobuggy/src/transistor/gps/GPS_Broadcaster.cpp | 5 +---- .../src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp | 10 ++++++++++ 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 87807b05..9909ca28 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -44,12 +44,9 @@ void GPS_Broadcaster::initialize_hardware() } - +//parse ONE NMEA string int GPS_Broadcaster::read_gps_message() { - - //parse ONE NMEA string - //set up serial port if (gps_serial.available()) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp index 2dffea24..52c8464e 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/test/gps/GPS_Broadcaster_Test.cpp @@ -1,6 +1,8 @@ #include #include +// Tests a standard message from the NMEA examples +// expects a normal, correct message to be generated TEST(GPS_Tests, standard_message) { GPS_Broadcaster broadcaster; @@ -20,6 +22,8 @@ TEST(GPS_Tests, standard_message) ASSERT_NEAR(msg->Long_deg, 11.51667, 0.001); } +// Tests a message where the data is garbage but we don't have a fix +// expects no message to be generated TEST(GPS_Tests,invalid_data_unfixed) { GPS_Broadcaster broadcaster; @@ -37,6 +41,8 @@ TEST(GPS_Tests,invalid_data_unfixed) ASSERT_TRUE(msg==NULL); } +// Tests a message where the data is valid but we don't have a fix +// Expects no message to be generated TEST(GPS_Tests,valid_data_unfixed) { GPS_Broadcaster broadcaster; @@ -54,6 +60,8 @@ TEST(GPS_Tests,valid_data_unfixed) ASSERT_TRUE(msg==NULL); } +// Tests a message where it isn't a format we're looking for +// Expects no message to be generated TEST(GPS_Tests,non_GGA_format) { GPS_Broadcaster broadcaster; @@ -71,6 +79,8 @@ TEST(GPS_Tests,non_GGA_format) ASSERT_TRUE(msg==NULL); } +// Tests an empty message where we don't have a fix +// Expects no message to be generated TEST(GPS_Tests, not_fixed) { GPS_Broadcaster broadcaster; From 00beed2bb8fbe02844af8c85ee35ac3599fc94f6 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Thu, 26 Apr 2018 11:26:41 -0400 Subject: [PATCH 54/95] made requested changes for pull request --- .../images/.lat_long_course_map.png.icloud | Bin 175 -> 0 bytes .../include/transistor/gps/GPS_Broadcaster.h | 6 +- .../controllerSimFlowchart.graphml | 470 ----------- .../src/transistor/gps/GPS_Broadcaster.cpp | 24 +- .../taskArtifacts/.fileSnapshots.bin.icloud | Bin 0 -> 169 bytes .../2.7/taskArtifacts/cache.properties.lock | Bin 0 -> 17 bytes .../.gradle/2.7/taskArtifacts/fileHashes.bin | Bin 0 -> 81456 bytes .../2.7/taskArtifacts/outputFileStates.bin | Bin 0 -> 19502 bytes .../2.7/taskArtifacts/taskArtifacts.bin | Bin 0 -> 64640 bytes real_time/surface_src/java_src/Alice/.project | 16 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zcmYc)$jK}&F)+By$i&RT$`<1n92(@~mzbOComv?$AOPmNW#*&?XI4RkB;Z0psm1xF zMaiill?4zf@tnkx_?-N_^!Q|;L~&|-ZeoF6L0-BLgZ@kTcmWx#I)hTvOLG#7IQV7s Uy;3q6z<`kvLNl;KX&BW309Q3I`Tzg` diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index a17b2d5b..f8fafcc1 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -8,7 +8,8 @@ #include "ros/ros.h" #include "robobuggy/GPS.h" #include "serial/serial.h" - +#include +#include #include class GPS_Broadcaster @@ -16,7 +17,7 @@ class GPS_Broadcaster public: GPS_Broadcaster(); static const std::string NODE_NAME; - + int read_gps_message(); robobuggy::GPS* parse_tokens(std::string tokens[]); @@ -25,6 +26,7 @@ class GPS_Broadcaster ros::Publisher gps_pub; robobuggy::GPS gps_message; + serial::Serial gps_serial; std::string serial_port; int serial_baud; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml deleted file mode 100644 index edde385f..00000000 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/controllerSimFlowchart.graphml +++ /dev/null @@ -1,470 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - input: initial Pose - - - - - - - - - - - - - - - - - Build Pub/Sub - - - - - - - - - - - - - - - - - Build initial matrix A - - - - - - - - - - - - - - - - - ROS event Loop - - - - - - - - - - - - - - - - - x' = Ax (apply motion model) - - - - - - - - - - - - - - - - - - - - - - - - - Build initial x - - - - - - - - - - - - - - - - - - - - - - - - - Publish new Pose x' - - - - - - - - - - - - - - - - - - - - - - - - - Exit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Command Message Received - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - update Steering - - - - - - - - - - - - - - - - - - - - - - - - - A' = new A (x, steering command) - - - - - - - - - - - - - - - - - - - - - - - - - if shutdown - - - - - - - - - - - - - - - - - - update x with x' and A with A' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 904cf9dd..61ff7628 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,9 +1,5 @@ - -//include ros library -#include -#include -#include +#include const std::string GPS_Broadcaster::NODE_NAME = "Transistor_GPS_Broadcaster"; GPS_Broadcaster::GPS_Broadcaster() @@ -22,14 +18,6 @@ GPS_Broadcaster::GPS_Broadcaster() serial_baud = 9600; } -} - - -int GPS_Broadcaster::read_gps_message() -{ - - //parse ONE NMEA string - //set up serial port serial::Serial gps_serial; try @@ -44,9 +32,17 @@ int GPS_Broadcaster::read_gps_message() { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); - return -1; + exit(1); } +} + + +int GPS_Broadcaster::read_gps_message() +{ + + //parse ONE NMEA string + if (gps_serial.available()) { gps_serial_buffer += gps_serial.read(gps_serial.available()); diff --git 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b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestBatteryLevel.html @@ -0,0 +1,96 @@ + + + + + +Test results - Class TestBatteryLevel + + + + + +

+

Class TestBatteryLevel

+
+all > +default-package > TestBatteryLevel
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.003s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + +
TestDurationResult
test0.003spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestGui.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestGui.html new file mode 100644 index 00000000..f75fb7e0 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestGui.html @@ -0,0 +1,106 @@ + + + + + +Test results - Class TestGui + + + + + +
+

Class TestGui

+
+all > +default-package > TestGui
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
1.629s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + +
TestDurationResult
test1.629spassed
+
+
+

Standard output

+ +
StartingGUI
+
+ +
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestImuMeasurement.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestImuMeasurement.html new file mode 100644 index 00000000..80b62f7f --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestImuMeasurement.html @@ -0,0 +1,96 @@ + + + + + +Test results - Class TestImuMeasurement + + + + + +
+

Class TestImuMeasurement

+
+all > +default-package > TestImuMeasurement
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.002s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + +
TestDurationResult
test0.002spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html new file mode 100644 index 00000000..aeadfbb1 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html @@ -0,0 +1,111 @@ + + + + + +Test results - Class TestSo2Pose + + + + + +
+

Class TestSo2Pose

+
+all > +default-package > TestSo2Pose
+
+ + + + + +
+
+ + + + + + + +
+
+
4
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.009s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
TestDurationResult
test0.008spassed
test20spassed
testEqual0.001spassed
testInverse0spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html new file mode 100644 index 00000000..52f996ce --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html @@ -0,0 +1,101 @@ + + + + + +Test results - Class TestWayPointFollowerPlanner + + + + + +
+

Class TestWayPointFollowerPlanner

+
+all > +default-package > TestWayPointFollowerPlanner
+
+ + + + + +
+
+ + + + + + + +
+
+
2
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.002s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + +
TestDurationResult
test0.001spassed
testGotoWaypoint10meters0.001spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html new file mode 100644 index 00000000..d97c0b51 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html @@ -0,0 +1,96 @@ + + + + + +Test results - Class com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest + + + + + +
+

Class com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest

+
+all > +com.roboclub.robobuggy.nodes.localizers > HighTrustGPSLocalizerTest
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.508s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + +
TestDurationResult
testDistanceBetweenOneDegLat0.508spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html new file mode 100644 index 00000000..f6f40e0e --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html @@ -0,0 +1,101 @@ + + + + + +Test results - Class com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest + + + + + +
+

Class com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest

+
+all > +com.roboclub.robobuggy.nodes.localizers > LocalizerUtilTest
+
+ + + + + +
+
+ + + + + + + +
+
+
2
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.002s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + +
TestDurationResult
testConvertLatLngDeltaToMeters0.001spassed
testConvertMetersToLatLng0.001spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html new file mode 100644 index 00000000..ae7d6a5f --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html @@ -0,0 +1,683 @@ + + + + + +Test results - Class com.roboclub.robobuggy.nodes.sensors.GpsNodeTest + + + + + +
+

Class com.roboclub.robobuggy.nodes.sensors.GpsNodeTest

+
+all > +com.roboclub.robobuggy.nodes.sensors > GpsNodeTest
+
+ + + + + +
+
+ + + + + + + +
+
+
10
+

tests

+
+		 +
+
9
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
3.055s
+

duration

+
+
+
+		 +
+
10%
+

successful

+
+
+
+
+ +
+

Failed tests

+
+ +

testBadConversionDateTime

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionDateTime(GpsNodeTest.java:186)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testBadConversionMinSecToFloat

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloat(GpsNodeTest.java:218)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testBadConversionMinSecToFloatLong

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloatLong(GpsNodeTest.java:250)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testBadLat

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLat(GpsNodeTest.java:125)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testBadLatAndLong

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLatAndLong(GpsNodeTest.java:147)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testBadLong

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLong(GpsNodeTest.java:102)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testConversionDateTime

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionDateTime(GpsNodeTest.java:169)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testConversionMinSecToFloat

+ +
java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path
+	at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1864)
+	at java.lang.Runtime.loadLibrary0(Runtime.java:870)
+	at java.lang.System.loadLibrary(System.java:1122)
+	at gnu.io.CommPortIdentifier.<clinit>(CommPortIdentifier.java:83)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloat(GpsNodeTest.java:205)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+ +

testConversionMinSecToFloatLong

+ +
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
+	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
+	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloatLong(GpsNodeTest.java:236)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
+	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
+	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
+	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
+	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
+	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
+	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
+	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
+	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
+	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
+	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
+	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
+	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
+	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
+	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
+	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
+	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
+	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
+	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
+	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
+	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
+	at java.lang.reflect.Method.invoke(Method.java:497)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
+	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
+	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
+	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
+	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
+	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
+	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
+	at java.lang.Thread.run(Thread.java:745)
+
+ +
+
+
+

Tests

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
TestDurationResult
testBadConversionDateTime0.001sfailed
testBadConversionMinSecToFloat0sfailed
testBadConversionMinSecToFloatLong0sfailed
testBadLat0.001sfailed
testBadLatAndLong0.001sfailed
testBadLong0sfailed
testConversionDateTime0sfailed
testConversionMinSecToFloat0.013sfailed
testConversionMinSecToFloatLong0.002sfailed
testStandardGPSNode3.037spassed
+
+
+

Standard error

+ +
java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path thrown while loading gnu.io.RXTXCommDriver
+
+ +
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html new file mode 100644 index 00000000..ad123cb6 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html @@ -0,0 +1,101 @@ + + + + + +Test results - Class com.roboclub.robobuggy.ui.BuggyStatusPanelTest + + + + + +
+

Class com.roboclub.robobuggy.ui.BuggyStatusPanelTest

+
+all > +com.roboclub.robobuggy.ui > BuggyStatusPanelTest
+
+ + + + + +
+
+ + + + + + + +
+
+
2
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
21.045s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + +
TestDurationResult
testGuiBatteryLevelIncrease1.003spassed
testGuiBrakesToggle20.042spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html new file mode 100644 index 00000000..a639b1b6 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html @@ -0,0 +1,96 @@ + + + + + +Test results - Class com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest + + + + + +
+

Class com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest

+
+all > +com.roboclub.robobuggy.utilities > RobobuggyDateFormatterTest
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + +
TestDurationResult
testNull0spassed
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/css/base-style.css b/real_time/surface_src/java_src/Alice/build/reports/tests/css/base-style.css new file mode 100644 index 00000000..4afa73e3 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/css/base-style.css @@ -0,0 +1,179 @@ + +body { + margin: 0; + padding: 0; + font-family: sans-serif; + font-size: 12pt; +} + +body, a, a:visited { + color: #303030; +} + +#content { + padding-left: 50px; + padding-right: 50px; + padding-top: 30px; + padding-bottom: 30px; +} + +#content h1 { + font-size: 160%; + margin-bottom: 10px; +} + +#footer { + margin-top: 100px; + font-size: 80%; + white-space: nowrap; +} + +#footer, #footer a { + color: #a0a0a0; +} + +#line-wrapping-toggle { + vertical-align: middle; +} + +#label-for-line-wrapping-toggle { + vertical-align: middle; +} + +ul { + margin-left: 0; +} + +h1, h2, h3 { + white-space: nowrap; +} + +h2 { + font-size: 120%; +} + +ul.tabLinks { + padding-left: 0; + padding-top: 10px; + padding-bottom: 10px; + overflow: auto; + min-width: 800px; + width: auto !important; + width: 800px; +} + +ul.tabLinks li { + float: left; + height: 100%; + list-style: none; + padding-left: 10px; + padding-right: 10px; + padding-top: 5px; + padding-bottom: 5px; + margin-bottom: 0; + -moz-border-radius: 7px; + border-radius: 7px; + margin-right: 25px; + border: solid 1px #d4d4d4; + background-color: #f0f0f0; +} + +ul.tabLinks li:hover { + background-color: #fafafa; +} + +ul.tabLinks li.selected { + background-color: #c5f0f5; + border-color: #c5f0f5; +} + +ul.tabLinks a { + font-size: 120%; + display: block; + outline: none; + text-decoration: none; + margin: 0; + padding: 0; +} + +ul.tabLinks li h2 { + margin: 0; + padding: 0; +} + +div.tab { +} + +div.selected { + display: block; +} + +div.deselected { + display: none; +} + +div.tab table { + min-width: 350px; + width: auto !important; + width: 350px; + border-collapse: collapse; +} + +div.tab th, div.tab table { + border-bottom: solid #d0d0d0 1px; +} + +div.tab th { + text-align: left; + white-space: nowrap; + padding-left: 6em; +} + +div.tab th:first-child { + padding-left: 0; +} + +div.tab td { + white-space: nowrap; + padding-left: 6em; + padding-top: 5px; + padding-bottom: 5px; +} + +div.tab td:first-child { + padding-left: 0; +} + +div.tab td.numeric, div.tab th.numeric { + text-align: right; +} + +span.code { + display: inline-block; + margin-top: 0em; + margin-bottom: 1em; +} + +span.code pre { + font-size: 11pt; + padding-top: 10px; + padding-bottom: 10px; + padding-left: 10px; + padding-right: 10px; + margin: 0; + background-color: #f7f7f7; + border: solid 1px #d0d0d0; + min-width: 700px; + width: auto !important; + width: 700px; +} + +span.wrapped pre { + word-wrap: break-word; + white-space: pre-wrap; + word-break: break-all; +} + +label.hidden { + display: none; +} \ No newline at end of file diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/css/style.css b/real_time/surface_src/java_src/Alice/build/reports/tests/css/style.css new file mode 100644 index 00000000..3dc4913e --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/css/style.css @@ -0,0 +1,84 @@ + +#summary { + margin-top: 30px; + margin-bottom: 40px; +} + +#summary table { + border-collapse: collapse; +} + +#summary td { + vertical-align: top; +} + +.breadcrumbs, .breadcrumbs a { + color: #606060; +} + +.infoBox { + width: 110px; + padding-top: 15px; + padding-bottom: 15px; + text-align: center; +} + +.infoBox p { + margin: 0; +} + +.counter, .percent { + font-size: 120%; + font-weight: bold; + margin-bottom: 8px; +} + +#duration { + width: 125px; +} + +#successRate, .summaryGroup { + border: solid 2px #d0d0d0; + -moz-border-radius: 10px; + border-radius: 10px; +} + +#successRate { + width: 140px; + margin-left: 35px; +} + +#successRate .percent { + font-size: 180%; +} + +.success, .success a { + color: #008000; +} + +div.success, #successRate.success { + background-color: #bbd9bb; + border-color: #008000; +} + +.failures, .failures a { + color: #b60808; +} + +.skipped, .skipped a { + color: #c09853; +} + +div.failures, #successRate.failures { + background-color: #ecdada; + border-color: #b60808; +} + +ul.linkList { + padding-left: 0; +} + +ul.linkList li { + list-style: none; + margin-bottom: 5px; +} diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/index.html b/real_time/surface_src/java_src/Alice/build/reports/tests/index.html new file mode 100644 index 00000000..784a2721 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/index.html @@ -0,0 +1,297 @@ + + + + + +Test results - Test Summary + + + + + +
+

Test Summary

+
+ + + + + +
+
+ + + + + + + +
+
+
25
+

tests

+
+		 +
+
9
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
26.255s
+

duration

+
+
+
+		 +
+
64%
+

successful

+
+
+
+
+ + +
+

Packages

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
PackageTestsFailuresIgnoredDurationSuccess rate
+default-package +9001.645s100%
+com.roboclub.robobuggy.nodes.localizers +3000.510s100%
+com.roboclub.robobuggy.nodes.sensors +10903.055s10%
+com.roboclub.robobuggy.ui +20021.045s100%
+com.roboclub.robobuggy.utilities +1000s100%
+
+
+

Classes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+TestBatteryLevel +1000.003s100%
+TestGui +1001.629s100%
+TestImuMeasurement +1000.002s100%
+TestSo2Pose +4000.009s100%
+TestWayPointFollowerPlanner +2000.002s100%
+com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest +1000.508s100%
+com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest +2000.002s100%
+com.roboclub.robobuggy.nodes.sensors.GpsNodeTest +10903.055s10%
+com.roboclub.robobuggy.ui.BuggyStatusPanelTest +20021.045s100%
+com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest +1000s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js b/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js new file mode 100644 index 00000000..83bab4a1 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js @@ -0,0 +1,194 @@ +(function (window, document) { + "use strict"; + + var tabs = {}; + + function changeElementClass(element, classValue) { + if (element.getAttribute("className")) { + element.setAttribute("className", classValue); + } else { + element.setAttribute("class", classValue); + } + } + + function getClassAttribute(element) { + if (element.getAttribute("className")) { + return element.getAttribute("className"); + } else { + return element.getAttribute("class"); + } + } + + function addClass(element, classValue) { + changeElementClass(element, getClassAttribute(element) + " " + classValue); + } + + function removeClass(element, classValue) { + changeElementClass(element, getClassAttribute(element).replace(classValue, "")); + } + + function initTabs() { + var container = document.getElementById("tabs"); + + tabs.tabs = findTabs(container); + tabs.titles = findTitles(tabs.tabs); + tabs.headers = findHeaders(container); + tabs.select = select; + tabs.deselectAll = deselectAll; + tabs.select(0); + + return true; + } + + function getCheckBox() { + return document.getElementById("line-wrapping-toggle"); + } + + function getLabelForCheckBox() { + return document.getElementById("label-for-line-wrapping-toggle"); + } + + function findCodeBlocks() { + var spans = document.getElementById("tabs").getElementsByTagName("span"); + var codeBlocks = []; + for (var i = 0; i < spans.length; ++i) { + if (spans[i].className.indexOf("code") >= 0) { + codeBlocks.push(spans[i]); + } + } + return codeBlocks; + } + + function forAllCodeBlocks(operation) { + var codeBlocks = findCodeBlocks(); + + for (var i = 0; i < codeBlocks.length; ++i) { + operation(codeBlocks[i], "wrapped"); + } + } + + function toggleLineWrapping() { + var checkBox = getCheckBox(); + + if (checkBox.checked) { + forAllCodeBlocks(addClass); + } else { + forAllCodeBlocks(removeClass); + } + } + + function initControls() { + if (findCodeBlocks().length > 0) { + var checkBox = getCheckBox(); + var label = getLabelForCheckBox(); + + checkBox.onclick = toggleLineWrapping; + checkBox.checked = false; + + removeClass(label, "hidden"); + } + } + + function switchTab() { + var id = this.id.substr(1); + + for (var i = 0; i < tabs.tabs.length; i++) { + if (tabs.tabs[i].id === id) { + tabs.select(i); + break; + } + } + + return false; + } + + function select(i) { + this.deselectAll(); + + changeElementClass(this.tabs[i], "tab selected"); + changeElementClass(this.headers[i], "selected"); + + while (this.headers[i].firstChild) { + this.headers[i].removeChild(this.headers[i].firstChild); + } + + var h2 = document.createElement("H2"); + + h2.appendChild(document.createTextNode(this.titles[i])); + this.headers[i].appendChild(h2); + } + + function deselectAll() { + for (var i = 0; i < this.tabs.length; i++) { + changeElementClass(this.tabs[i], "tab deselected"); + changeElementClass(this.headers[i], "deselected"); + + while (this.headers[i].firstChild) { + this.headers[i].removeChild(this.headers[i].firstChild); + } + + var a = document.createElement("A"); + + a.setAttribute("id", "ltab" + i); + a.setAttribute("href", "#tab" + i); + a.onclick = switchTab; + a.appendChild(document.createTextNode(this.titles[i])); + + this.headers[i].appendChild(a); + } + } + + function findTabs(container) { + return findChildElements(container, "DIV", "tab"); + } + + function findHeaders(container) { + var owner = findChildElements(container, "UL", "tabLinks"); + return findChildElements(owner[0], "LI", null); + } + + function findTitles(tabs) { + var titles = []; + + for (var i = 0; i < tabs.length; i++) { + var tab = tabs[i]; + var header = findChildElements(tab, "H2", null)[0]; + + header.parentNode.removeChild(header); + + if (header.innerText) { + titles.push(header.innerText); + } else { + titles.push(header.textContent); + } + } + + return titles; + } + + function findChildElements(container, name, targetClass) { + var elements = []; + var children = container.childNodes; + + for (var i = 0; i < children.length; i++) { + var child = children.item(i); + + if (child.nodeType === 1 && child.nodeName === name) { + if (targetClass && child.className.indexOf(targetClass) < 0) { + continue; + } + + elements.push(child); + } + } + + return elements; + } + + // Entry point. + + window.onload = function() { + initTabs(); + initControls(); + }; +} (window, window.document)); \ No newline at end of file diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html new file mode 100644 index 00000000..1b76ce11 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html @@ -0,0 +1,113 @@ + + + + + +Test results - Package com.roboclub.robobuggy.nodes.localizers + + + + + +
+

Package com.roboclub.robobuggy.nodes.localizers

+
+all > com.roboclub.robobuggy.nodes.localizers
+
+ + + + + +
+
+ + + + + + + +
+
+
3
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.510s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Classes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+HighTrustGPSLocalizerTest +1000.508s100%
+LocalizerUtilTest +2000.002s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html new file mode 100644 index 00000000..fb38b2b2 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html @@ -0,0 +1,147 @@ + + + + + +Test results - Package com.roboclub.robobuggy.nodes.sensors + + + + + +
+

Package com.roboclub.robobuggy.nodes.sensors

+
+all > com.roboclub.robobuggy.nodes.sensors
+
+ + + + + +
+
+ + + + + + + +
+
+
10
+

tests

+
+		 +
+
9
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
3.055s
+

duration

+
+
+
+		 +
+
10%
+

successful

+
+
+
+
+ + +
+

Classes

+ + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+GpsNodeTest +10903.055s10%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html new file mode 100644 index 00000000..7a2ca65f --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html @@ -0,0 +1,103 @@ + + + + + +Test results - Package com.roboclub.robobuggy.ui + + + + + +
+

Package com.roboclub.robobuggy.ui

+
+all > com.roboclub.robobuggy.ui
+
+ + + + + +
+
+ + + + + + + +
+
+
2
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
21.045s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Classes

+ + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+BuggyStatusPanelTest +20021.045s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html new file mode 100644 index 00000000..728e25ff --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html @@ -0,0 +1,103 @@ + + + + + +Test results - Package com.roboclub.robobuggy.utilities + + + + + +
+

Package com.roboclub.robobuggy.utilities

+
+all > com.roboclub.robobuggy.utilities
+
+ + + + + +
+
+ + + + + + + +
+
+
1
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Classes

+ + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+RobobuggyDateFormatterTest +1000s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html new file mode 100644 index 00000000..e16d7316 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html @@ -0,0 +1,143 @@ + + + + + +Test results - Default package + + + + + +
+

Default package

+
+all > default-package
+
+ + + + + +
+
+ + + + + + + +
+
+
9
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
1.645s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Classes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+TestBatteryLevel +1000.003s100%
+TestGui +1001.629s100%
+TestImuMeasurement +1000.002s100%
+TestSo2Pose +4000.009s100%
+TestWayPointFollowerPlanner +2000.002s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml new file mode 100644 index 00000000..28067c78 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml new file mode 100644 index 00000000..0a17be7d --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml @@ -0,0 +1,8 @@ + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml new file mode 100644 index 00000000..e1222590 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml new file mode 100644 index 00000000..9950dddc --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml new file mode 100644 index 00000000..9b4680fa --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml new file mode 100644 index 00000000..7bf7f803 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml new file mode 100644 index 00000000..71c5ce2b --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml new file mode 100644 index 00000000..924e1d65 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml @@ -0,0 +1,498 @@ + + + + + java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path + at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1864) + at java.lang.Runtime.loadLibrary0(Runtime.java:870) + at java.lang.System.loadLibrary(System.java:1122) + at gnu.io.CommPortIdentifier.<clinit>(CommPortIdentifier.java:83) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloat(GpsNodeTest.java:205) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloatLong(GpsNodeTest.java:250) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionDateTime(GpsNodeTest.java:186) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLatAndLong(GpsNodeTest.java:147) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLong(GpsNodeTest.java:102) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionDateTime(GpsNodeTest.java:169) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloat(GpsNodeTest.java:218) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloatLong(GpsNodeTest.java:236) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) + at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) + at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) + at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLat(GpsNodeTest.java:125) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) + at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) + at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) + at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) + at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) + at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) + at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) + at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) + at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) + at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) + at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) + at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) + at org.junit.runners.ParentRunner.run(ParentRunner.java:363) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) + at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) + at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) + at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) + at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) + at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) + at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) + at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) + at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) + at java.lang.reflect.Method.invoke(Method.java:497) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) + at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) + at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) + at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) + at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) + at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) + at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) + at java.lang.Thread.run(Thread.java:745) + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml new file mode 100644 index 00000000..381f5ded --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.xml new file mode 100644 index 00000000..669ce811 --- /dev/null +++ b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/real_time/surface_src/java_src/Alice/build/test-results/binary/test/output.bin b/real_time/surface_src/java_src/Alice/build/test-results/binary/test/output.bin new file mode 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a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/BoundedMessageQueueTest.html b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/BoundedMessageQueueTest.html new file mode 100644 index 00000000..d7cf6235 --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/BoundedMessageQueueTest.html @@ -0,0 +1,136 @@ + + + + + +Test results - Class BoundedMessageQueueTest + + + + + +
+

Class BoundedMessageQueueTest

+
+all > +default-package > BoundedMessageQueueTest
+
+ + + + + +
+
+ + + + + + + +
+
+
3
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
4.841s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + + + + + + +
TestDurationResult
BoundedQueuesOfDifferentLengths1.811spassed
onePubOneSub0.627spassed
onePubOneSubWithMiddleNode2.403spassed
+
+
+

Standard output

+ +
Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+
+ +
+
+ +
+ + diff --git a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html new file mode 100644 index 00000000..88f2f827 --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html @@ -0,0 +1,124 @@ + + + + + +Test results - Class UnboundedMessageQueueTest + + + + + +
+

Class UnboundedMessageQueueTest

+
+all > +default-package > UnboundedMessageQueueTest
+
+ + + + + +
+
+ + + + + + + +
+
+
3
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
0.006s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Tests

+ + + + + + + + + + + + + + + + + + + + + + + +
TestDurationResult
onePubOneSub0.002spassed
onePubOneSubWithMiddleNode0.002spassed
onePubOneSubWithTwoMiddleNode0.002spassed
+
+
+

Standard output

+ +
Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+Blocking on done...
+NumSource exiting...
+NumSink exiting...
+
+ +
+
+ +
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+

Test Summary

+
+ + + + + +
+
+ + + + + + + +
+
+
6
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

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+		 +
+
4.847s
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duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Packages

+ + + + + + + + + + + + + + + + + + + + + +
PackageTestsFailuresIgnoredDurationSuccess rate
+default-package +6004.847s100%
+
+
+

Classes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+BoundedMessageQueueTest +3004.841s100%
+UnboundedMessageQueueTest +3000.006s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/js/report.js b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/js/report.js new file mode 100644 index 00000000..83bab4a1 --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/js/report.js @@ -0,0 +1,194 @@ +(function (window, document) { + "use strict"; + + var tabs = {}; + + function changeElementClass(element, classValue) { + if (element.getAttribute("className")) { + element.setAttribute("className", classValue); + } else { + element.setAttribute("class", classValue); + } + } + + function getClassAttribute(element) { + if (element.getAttribute("className")) { + return element.getAttribute("className"); + } else { + return element.getAttribute("class"); + } + } + + function addClass(element, classValue) { + changeElementClass(element, getClassAttribute(element) + " " + classValue); + } + + function removeClass(element, classValue) { + changeElementClass(element, getClassAttribute(element).replace(classValue, "")); 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+ + if (checkBox.checked) { + forAllCodeBlocks(addClass); + } else { + forAllCodeBlocks(removeClass); + } + } + + function initControls() { + if (findCodeBlocks().length > 0) { + var checkBox = getCheckBox(); + var label = getLabelForCheckBox(); + + checkBox.onclick = toggleLineWrapping; + checkBox.checked = false; + + removeClass(label, "hidden"); + } + } + + function switchTab() { + var id = this.id.substr(1); + + for (var i = 0; i < tabs.tabs.length; i++) { + if (tabs.tabs[i].id === id) { + tabs.select(i); + break; + } + } + + return false; + } + + function select(i) { + this.deselectAll(); + + changeElementClass(this.tabs[i], "tab selected"); + changeElementClass(this.headers[i], "selected"); + + while (this.headers[i].firstChild) { + this.headers[i].removeChild(this.headers[i].firstChild); + } + + var h2 = document.createElement("H2"); + + h2.appendChild(document.createTextNode(this.titles[i])); + this.headers[i].appendChild(h2); + } + + function deselectAll() { + for (var i = 0; i < this.tabs.length; i++) { + changeElementClass(this.tabs[i], "tab deselected"); + changeElementClass(this.headers[i], "deselected"); + + while (this.headers[i].firstChild) { + this.headers[i].removeChild(this.headers[i].firstChild); + } + + var a = document.createElement("A"); + + a.setAttribute("id", "ltab" + i); + a.setAttribute("href", "#tab" + i); + a.onclick = switchTab; + a.appendChild(document.createTextNode(this.titles[i])); + + this.headers[i].appendChild(a); + } + } + + function findTabs(container) { + return findChildElements(container, "DIV", "tab"); + } + + function findHeaders(container) { + var owner = findChildElements(container, "UL", "tabLinks"); + return findChildElements(owner[0], "LI", null); + } + + function findTitles(tabs) { + var titles = []; + + for (var i = 0; i < tabs.length; i++) { + var tab = tabs[i]; + var header = findChildElements(tab, "H2", null)[0]; + + header.parentNode.removeChild(header); + + if (header.innerText) { + titles.push(header.innerText); + } else { + titles.push(header.textContent); + } + } + + return titles; + } + + function findChildElements(container, name, targetClass) { + var elements = []; + var children = container.childNodes; + + for (var i = 0; i < children.length; i++) { + var child = children.item(i); + + if (child.nodeType === 1 && child.nodeName === name) { + if (targetClass && child.className.indexOf(targetClass) < 0) { + continue; + } + + elements.push(child); + } + } + + return elements; + } + + // Entry point. + + window.onload = function() { + initTabs(); + initControls(); + }; +} (window, window.document)); \ No newline at end of file diff --git a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/packages/default-package.html b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/packages/default-package.html new file mode 100644 index 00000000..923006ec --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/packages/default-package.html @@ -0,0 +1,113 @@ + + + + + +Test results - Default package + + + + + +
+

Default package

+
+all > default-package
+
+ + + + + +
+
+ + + + + + + +
+
+
6
+

tests

+
+		 +
+
0
+

failures

+
+		 +
+
0
+

ignored

+
+		 +
+
4.847s
+

duration

+
+
+
+		 +
+
100%
+

successful

+
+
+
+
+ +
+

Classes

+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
ClassTestsFailuresIgnoredDurationSuccess rate
+BoundedMessageQueueTest +3004.841s100%
+UnboundedMessageQueueTest +3000.006s100%
+
+
+ +
+ + diff --git a/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-BoundedMessageQueueTest.xml b/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-BoundedMessageQueueTest.xml new file mode 100644 index 00000000..f737bf42 --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-BoundedMessageQueueTest.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-UnboundedMessageQueueTest.xml b/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-UnboundedMessageQueueTest.xml new file mode 100644 index 00000000..0a63b434 --- /dev/null +++ b/real_time/surface_src/java_src/BuggyRos/build/test-results/TEST-UnboundedMessageQueueTest.xml @@ -0,0 +1,18 @@ + + + + + + + + + diff --git a/real_time/surface_src/java_src/BuggyRos/build/test-results/binary/test/output.bin b/real_time/surface_src/java_src/BuggyRos/build/test-results/binary/test/output.bin new file mode 100644 index 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a/real_time/surface_src/java_src/BuggyRos/build/tmp/test/jar_extract_6005845665006652380_tmp b/real_time/surface_src/java_src/BuggyRos/build/tmp/test/jar_extract_6005845665006652380_tmp new file mode 100644 index 00000000..e69de29b diff --git a/real_time/surface_src/java_src/Other Stuff/.classpath b/real_time/surface_src/java_src/Other Stuff/.classpath new file mode 100644 index 00000000..fceb4801 --- /dev/null +++ b/real_time/surface_src/java_src/Other Stuff/.classpath @@ -0,0 +1,6 @@ + + + + + + diff --git a/real_time/surface_src/java_src/Other Stuff/.project b/real_time/surface_src/java_src/Other Stuff/.project new file mode 100644 index 00000000..d9f169a2 --- /dev/null +++ b/real_time/surface_src/java_src/Other Stuff/.project @@ -0,0 +1,17 @@ + + + Other Stuff + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + + diff --git a/real_time/surface_src/java_src/Other Stuff/.settings/org.eclipse.jdt.core.prefs b/real_time/surface_src/java_src/Other Stuff/.settings/org.eclipse.jdt.core.prefs new file mode 100644 index 00000000..3a215370 --- /dev/null +++ b/real_time/surface_src/java_src/Other Stuff/.settings/org.eclipse.jdt.core.prefs @@ -0,0 +1,11 @@ +eclipse.preferences.version=1 +org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled +org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8 +org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve +org.eclipse.jdt.core.compiler.compliance=1.8 +org.eclipse.jdt.core.compiler.debug.lineNumber=generate +org.eclipse.jdt.core.compiler.debug.localVariable=generate +org.eclipse.jdt.core.compiler.debug.sourceFile=generate +org.eclipse.jdt.core.compiler.problem.assertIdentifier=error +org.eclipse.jdt.core.compiler.problem.enumIdentifier=error +org.eclipse.jdt.core.compiler.source=1.8 diff --git a/real_time/surface_src/java_src/Tutorial/.classpath b/real_time/surface_src/java_src/Tutorial/.classpath new file mode 100644 index 00000000..53ed143d --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/.classpath @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/real_time/surface_src/java_src/Tutorial/.project b/real_time/surface_src/java_src/Tutorial/.project new file mode 100644 index 00000000..02e1b050 --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/.project @@ -0,0 +1,16 @@ + + + Tutorial + + + + org.eclipse.jdt.core.javanature + + + + org.eclipse.jdt.core.javabuilder + + + + + diff --git a/real_time/surface_src/java_src/Tutorial/.settings/org.eclipse.jdt.core.prefs b/real_time/surface_src/java_src/Tutorial/.settings/org.eclipse.jdt.core.prefs new file mode 100644 index 00000000..a481c42c --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/.settings/org.eclipse.jdt.core.prefs @@ -0,0 +1,13 @@ +# +#Fri Mar 25 18:27:52 EDT 2016 +org.eclipse.jdt.core.compiler.debug.localVariable=generate +org.eclipse.jdt.core.compiler.compliance=1.8 +org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve 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- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html deleted file mode 100644 index aeadfbb1..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestSo2Pose.html +++ /dev/null @@ -1,111 +0,0 @@ - - - - - -Test results - Class TestSo2Pose - - - - - -
-

Class TestSo2Pose

-
-all > -default-package > TestSo2Pose
-
- - - - - -
-
- - - - - - - -
-
-
4
-

tests

-
-		 -
-
0
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
0.009s
-

duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Tests

- - - - - - - - - - - - - - - - - - - - - - - - - - - - -
TestDurationResult
test0.008spassed
test20spassed
testEqual0.001spassed
testInverse0spassed
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html deleted file mode 100644 index 52f996ce..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/TestWayPointFollowerPlanner.html +++ /dev/null @@ -1,101 +0,0 @@ - - - - - -Test results - Class TestWayPointFollowerPlanner - - - - - -
-

Class TestWayPointFollowerPlanner

-
-all > -default-package > TestWayPointFollowerPlanner
-
- - - - - -
-
- - - - - - - -
-
-
2
-

tests

-
-		 -
-
0
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
0.002s
-

duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Tests

- - - - - - - - - - - - - - - - - - -
TestDurationResult
test0.001spassed
testGotoWaypoint10meters0.001spassed
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html deleted file mode 100644 index d97c0b51..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.html +++ /dev/null @@ -1,96 +0,0 @@ - - - - - -Test results - Class com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest - - - - - -
-

Class com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest

-
-all > -com.roboclub.robobuggy.nodes.localizers > HighTrustGPSLocalizerTest
-
- - - - - -
-
- - - - - - - -
-
-
1
-

tests

-
-		 -
-
0
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
0.508s
-

duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Tests

- - - - - - - - - - - - - -
TestDurationResult
testDistanceBetweenOneDegLat0.508spassed
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html deleted file mode 100644 index f6f40e0e..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.html +++ /dev/null @@ -1,101 +0,0 @@ - - - - - -Test results - Class com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest - - - - - -
-

Class com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest

-
-all > -com.roboclub.robobuggy.nodes.localizers > LocalizerUtilTest
-
- - - - - -
-
- - - - - - - -
-
-
2
-

tests

-
-		 -
-
0
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
0.002s
-

duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Tests

- - - - - - - - - - - - - - - - - - -
TestDurationResult
testConvertLatLngDeltaToMeters0.001spassed
testConvertMetersToLatLng0.001spassed
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html deleted file mode 100644 index ae7d6a5f..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.html +++ /dev/null @@ -1,683 +0,0 @@ - - - - - -Test results - Class com.roboclub.robobuggy.nodes.sensors.GpsNodeTest - - - - - -
-

Class com.roboclub.robobuggy.nodes.sensors.GpsNodeTest

-
-all > -com.roboclub.robobuggy.nodes.sensors > GpsNodeTest
-
- - - - - -
-
- - - - - - - -
-
-
10
-

tests

-
-		 -
-
9
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
3.055s
-

duration

-
-
-
-		 -
-
10%
-

successful

-
-
-
-
- -
-

Failed tests

-
- -

testBadConversionDateTime

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionDateTime(GpsNodeTest.java:186)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testBadConversionMinSecToFloat

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloat(GpsNodeTest.java:218)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testBadConversionMinSecToFloatLong

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloatLong(GpsNodeTest.java:250)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testBadLat

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLat(GpsNodeTest.java:125)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testBadLatAndLong

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLatAndLong(GpsNodeTest.java:147)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testBadLong

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLong(GpsNodeTest.java:102)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testConversionDateTime

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionDateTime(GpsNodeTest.java:169)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testConversionMinSecToFloat

- -
java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path
-	at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1864)
-	at java.lang.Runtime.loadLibrary0(Runtime.java:870)
-	at java.lang.System.loadLibrary(System.java:1122)
-	at gnu.io.CommPortIdentifier.<clinit>(CommPortIdentifier.java:83)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloat(GpsNodeTest.java:205)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
- -

testConversionMinSecToFloatLong

- -
java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68)
-	at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45)
-	at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloatLong(GpsNodeTest.java:236)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50)
-	at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
-	at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47)
-	at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27)
-	at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78)
-	at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57)
-	at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290)
-	at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71)
-	at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288)
-	at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58)
-	at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268)
-	at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26)
-	at org.junit.runners.ParentRunner.run(ParentRunner.java:363)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56)
-	at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64)
-	at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32)
-	at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93)
-	at com.sun.proxy.$Proxy2.processTestClass(Unknown Source)
-	at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106)
-	at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
-	at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
-	at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
-	at java.lang.reflect.Method.invoke(Method.java:497)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35)
-	at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24)
-	at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360)
-	at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54)
-	at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40)
-	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
-	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
-	at java.lang.Thread.run(Thread.java:745)
-
- -
-
-
-

Tests

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
TestDurationResult
testBadConversionDateTime0.001sfailed
testBadConversionMinSecToFloat0sfailed
testBadConversionMinSecToFloatLong0sfailed
testBadLat0.001sfailed
testBadLatAndLong0.001sfailed
testBadLong0sfailed
testConversionDateTime0sfailed
testConversionMinSecToFloat0.013sfailed
testConversionMinSecToFloatLong0.002sfailed
testStandardGPSNode3.037spassed
-
-
-

Standard error

- -
java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path thrown while loading gnu.io.RXTXCommDriver
-
- -
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html deleted file mode 100644 index ad123cb6..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.ui.BuggyStatusPanelTest.html +++ /dev/null @@ -1,101 +0,0 @@ - - - - - -Test results - Class com.roboclub.robobuggy.ui.BuggyStatusPanelTest - - - - - -
-

Class com.roboclub.robobuggy.ui.BuggyStatusPanelTest

-
-all > -com.roboclub.robobuggy.ui > BuggyStatusPanelTest
-
- - - - - -
-
- - - - - - - -
-
-
2
-

tests

-
-		 -
-
0
-

failures

-
-		 -
-
0
-

ignored

-
-		 -
-
21.045s
-

duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Tests

- - - - - - - - - - - - - - - - - - -
TestDurationResult
testGuiBatteryLevelIncrease1.003spassed
testGuiBrakesToggle20.042spassed
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html b/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html deleted file mode 100644 index a639b1b6..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/classes/com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.html +++ /dev/null @@ -1,96 +0,0 @@ - - - - - -Test results - Class com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest - - - - - -
-

Class com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest

-
-all > -com.roboclub.robobuggy.utilities > RobobuggyDateFormatterTest
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1
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tests

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0
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failures

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0
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ignored

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0s
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duration

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100%
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successful

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Tests

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TestDurationResult
testNull0spassed
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-

Test Summary

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25
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tests

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9
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failures

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0
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ignored

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26.255s
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duration

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64%
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successful

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Packages

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PackageTestsFailuresIgnoredDurationSuccess rate
-default-package -9001.645s100%
-com.roboclub.robobuggy.nodes.localizers -3000.510s100%
-com.roboclub.robobuggy.nodes.sensors -10903.055s10%
-com.roboclub.robobuggy.ui -20021.045s100%
-com.roboclub.robobuggy.utilities -1000s100%
-
-
-

Classes

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-TestBatteryLevel -1000.003s100%
-TestGui -1001.629s100%
-TestImuMeasurement -1000.002s100%
-TestSo2Pose -4000.009s100%
-TestWayPointFollowerPlanner -2000.002s100%
-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest -1000.508s100%
-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest -2000.002s100%
-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest -10903.055s10%
-com.roboclub.robobuggy.ui.BuggyStatusPanelTest -20021.045s100%
-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest -1000s100%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js b/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js deleted file mode 100644 index 83bab4a1..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/js/report.js +++ /dev/null @@ -1,194 +0,0 @@ -(function (window, document) { - "use strict"; - - var tabs = {}; - - function changeElementClass(element, classValue) { - if (element.getAttribute("className")) { - element.setAttribute("className", classValue); - } else { - element.setAttribute("class", classValue); - } - } - - function getClassAttribute(element) { - if (element.getAttribute("className")) { - return element.getAttribute("className"); - } else { - return element.getAttribute("class"); - } - } - - function addClass(element, classValue) { - changeElementClass(element, getClassAttribute(element) + " " + classValue); - } - - function removeClass(element, classValue) { - changeElementClass(element, getClassAttribute(element).replace(classValue, "")); 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- - if (checkBox.checked) { - forAllCodeBlocks(addClass); - } else { - forAllCodeBlocks(removeClass); - } - } - - function initControls() { - if (findCodeBlocks().length > 0) { - var checkBox = getCheckBox(); - var label = getLabelForCheckBox(); - - checkBox.onclick = toggleLineWrapping; - checkBox.checked = false; - - removeClass(label, "hidden"); - } - } - - function switchTab() { - var id = this.id.substr(1); - - for (var i = 0; i < tabs.tabs.length; i++) { - if (tabs.tabs[i].id === id) { - tabs.select(i); - break; - } - } - - return false; - } - - function select(i) { - this.deselectAll(); - - changeElementClass(this.tabs[i], "tab selected"); - changeElementClass(this.headers[i], "selected"); - - while (this.headers[i].firstChild) { - this.headers[i].removeChild(this.headers[i].firstChild); - } - - var h2 = document.createElement("H2"); - - h2.appendChild(document.createTextNode(this.titles[i])); - this.headers[i].appendChild(h2); - } - - function deselectAll() { - for (var i = 0; i < this.tabs.length; i++) { - changeElementClass(this.tabs[i], "tab deselected"); - changeElementClass(this.headers[i], "deselected"); - - while (this.headers[i].firstChild) { - this.headers[i].removeChild(this.headers[i].firstChild); - } - - var a = document.createElement("A"); - - a.setAttribute("id", "ltab" + i); - a.setAttribute("href", "#tab" + i); - a.onclick = switchTab; - a.appendChild(document.createTextNode(this.titles[i])); - - this.headers[i].appendChild(a); - } - } - - function findTabs(container) { - return findChildElements(container, "DIV", "tab"); - } - - function findHeaders(container) { - var owner = findChildElements(container, "UL", "tabLinks"); - return findChildElements(owner[0], "LI", null); - } - - function findTitles(tabs) { - var titles = []; - - for (var i = 0; i < tabs.length; i++) { - var tab = tabs[i]; - var header = findChildElements(tab, "H2", null)[0]; - - header.parentNode.removeChild(header); - - if (header.innerText) { - titles.push(header.innerText); - } else { - titles.push(header.textContent); - } - } - - return titles; - } - - function findChildElements(container, name, targetClass) { - var elements = []; - var children = container.childNodes; - - for (var i = 0; i < children.length; i++) { - var child = children.item(i); - - if (child.nodeType === 1 && child.nodeName === name) { - if (targetClass && child.className.indexOf(targetClass) < 0) { - continue; - } - - elements.push(child); - } - } - - return elements; - } - - // Entry point. - - window.onload = function() { - initTabs(); - initControls(); - }; -} (window, window.document)); \ No newline at end of file diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html deleted file mode 100644 index 1b76ce11..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.localizers.html +++ /dev/null @@ -1,113 +0,0 @@ - - - - - -Test results - Package com.roboclub.robobuggy.nodes.localizers - - - - - -
-

Package com.roboclub.robobuggy.nodes.localizers

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-all > com.roboclub.robobuggy.nodes.localizers
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- - - - - -
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3
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tests

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0
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failures

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0
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ignored

-
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0.510s
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duration

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100%
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successful

-
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Classes

- - - - - - - - - - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-HighTrustGPSLocalizerTest -1000.508s100%
-LocalizerUtilTest -2000.002s100%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html deleted file mode 100644 index fb38b2b2..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.nodes.sensors.html +++ /dev/null @@ -1,147 +0,0 @@ - - - - - -Test results - Package com.roboclub.robobuggy.nodes.sensors - - - - - -
-

Package com.roboclub.robobuggy.nodes.sensors

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-all > com.roboclub.robobuggy.nodes.sensors
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- - - - - -
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- - - - - - - -
-
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10
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tests

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9
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failures

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0
-

ignored

-
-		 -
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3.055s
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duration

-
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10%
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successful

-
-
-
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Classes

- - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-GpsNodeTest -10903.055s10%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html deleted file mode 100644 index 7a2ca65f..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.ui.html +++ /dev/null @@ -1,103 +0,0 @@ - - - - - -Test results - Package com.roboclub.robobuggy.ui - - - - - -
-

Package com.roboclub.robobuggy.ui

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-all > com.roboclub.robobuggy.ui
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- - - - - -
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- - - - - - - -
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2
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tests

-
-		 -
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0
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failures

-
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0
-

ignored

-
-		 -
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21.045s
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duration

-
-
-
-		 -
-
100%
-

successful

-
-
-
-
- -
-

Classes

- - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-BuggyStatusPanelTest -20021.045s100%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html deleted file mode 100644 index 728e25ff..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/com.roboclub.robobuggy.utilities.html +++ /dev/null @@ -1,103 +0,0 @@ - - - - - -Test results - Package com.roboclub.robobuggy.utilities - - - - - -
-

Package com.roboclub.robobuggy.utilities

-
-all > com.roboclub.robobuggy.utilities
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- - - - - -
-
- - - - - - - -
-
-
1
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tests

-
-		 -
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0
-

failures

-
-		 -
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0
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ignored

-
-		 -
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0s
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duration

-
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100%
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successful

-
-
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Classes

- - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-RobobuggyDateFormatterTest -1000s100%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html b/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html deleted file mode 100644 index e16d7316..00000000 --- a/real_time/surface_src/java_src/Alice/build/reports/tests/packages/default-package.html +++ /dev/null @@ -1,143 +0,0 @@ - - - - - -Test results - Default package - - - - - -
-

Default package

-
-all > default-package
-
- - - - - -
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- - - - - - - -
-
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9
-

tests

-
-		 -
-
0
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failures

-
-		 -
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0
-

ignored

-
-		 -
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1.645s
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duration

-
-
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100%
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successful

-
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Classes

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
ClassTestsFailuresIgnoredDurationSuccess rate
-TestBatteryLevel -1000.003s100%
-TestGui -1001.629s100%
-TestImuMeasurement -1000.002s100%
-TestSo2Pose -4000.009s100%
-TestWayPointFollowerPlanner -2000.002s100%
-
-
- -
- - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml deleted file mode 100644 index 28067c78..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestBatteryLevel.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml deleted file mode 100644 index 0a17be7d..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestGui.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml deleted file mode 100644 index e1222590..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestImuMeasurement.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml deleted file mode 100644 index 9950dddc..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestSo2Pose.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml deleted file mode 100644 index 9b4680fa..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-TestWayPointFollowerPlanner.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml deleted file mode 100644 index 7bf7f803..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizerTest.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml deleted file mode 100644 index 71c5ce2b..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.localizers.LocalizerUtilTest.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml deleted file mode 100644 index 924e1d65..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.xml +++ /dev/null @@ -1,498 +0,0 @@ - - - - - java.lang.UnsatisfiedLinkError: no rxtxSerial in java.library.path - at java.lang.ClassLoader.loadLibrary(ClassLoader.java:1864) - at java.lang.Runtime.loadLibrary0(Runtime.java:870) - at java.lang.System.loadLibrary(System.java:1122) - at gnu.io.CommPortIdentifier.<clinit>(CommPortIdentifier.java:83) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloat(GpsNodeTest.java:205) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloatLong(GpsNodeTest.java:250) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionDateTime(GpsNodeTest.java:186) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLatAndLong(GpsNodeTest.java:147) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLong(GpsNodeTest.java:102) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionDateTime(GpsNodeTest.java:169) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadConversionMinSecToFloat(GpsNodeTest.java:218) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testConversionMinSecToFloatLong(GpsNodeTest.java:236) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - java.lang.NoClassDefFoundError: Could not initialize class gnu.io.CommPortIdentifier - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.connect(SerialNode.java:68) - at com.roboclub.robobuggy.nodes.baseNodes.SerialNode.<init>(SerialNode.java:60) - at com.roboclub.robobuggy.nodes.sensors.GpsNode.<init>(GpsNode.java:45) - at com.roboclub.robobuggy.nodes.sensors.GpsNodeTest.testBadLat(GpsNodeTest.java:125) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:50) - at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12) - at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:47) - at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.internal.runners.statements.RunAfters.evaluate(RunAfters.java:27) - at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:325) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:78) - at org.junit.runners.BlockJUnit4ClassRunner.runChild(BlockJUnit4ClassRunner.java:57) - at org.junit.runners.ParentRunner$3.run(ParentRunner.java:290) - at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:71) - at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:288) - at org.junit.runners.ParentRunner.access$000(ParentRunner.java:58) - at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:268) - at org.junit.internal.runners.statements.RunBefores.evaluate(RunBefores.java:26) - at org.junit.runners.ParentRunner.run(ParentRunner.java:363) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.runTestClass(JUnitTestClassExecuter.java:105) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassExecuter.execute(JUnitTestClassExecuter.java:56) - at org.gradle.api.internal.tasks.testing.junit.JUnitTestClassProcessor.processTestClass(JUnitTestClassProcessor.java:64) - at org.gradle.api.internal.tasks.testing.SuiteTestClassProcessor.processTestClass(SuiteTestClassProcessor.java:50) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.dispatch.ContextClassLoaderDispatch.dispatch(ContextClassLoaderDispatch.java:32) - at org.gradle.messaging.dispatch.ProxyDispatchAdapter$DispatchingInvocationHandler.invoke(ProxyDispatchAdapter.java:93) - at com.sun.proxy.$Proxy2.processTestClass(Unknown Source) - at org.gradle.api.internal.tasks.testing.worker.TestWorker.processTestClass(TestWorker.java:106) - at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method) - at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62) - at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) - at java.lang.reflect.Method.invoke(Method.java:497) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:35) - at org.gradle.messaging.dispatch.ReflectionDispatch.dispatch(ReflectionDispatch.java:24) - at org.gradle.messaging.remote.internal.hub.MessageHub$Handler.run(MessageHub.java:360) - at org.gradle.internal.concurrent.ExecutorPolicy$CatchAndRecordFailures.onExecute(ExecutorPolicy.java:54) - at org.gradle.internal.concurrent.StoppableExecutorImpl$1.run(StoppableExecutorImpl.java:40) - at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142) - at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617) - at java.lang.Thread.run(Thread.java:745) - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml deleted file mode 100644 index 381f5ded..00000000 --- a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.ui.BuggyStatusPanelTest.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.xml b/real_time/surface_src/java_src/Alice/build/test-results/TEST-com.roboclub.robobuggy.utilities.RobobuggyDateFormatterTest.xml deleted file mode 100644 index 669ce811..00000000 --- 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a/real_time/surface_src/java_src/Alice/build/tmp/jar/MANIFEST.MF +++ /dev/null @@ -1,2 +0,0 @@ -Manifest-Version: 1.0 - diff --git a/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_3711980604884821789_tmp b/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_3711980604884821789_tmp deleted file mode 100644 index e69de29b..00000000 diff --git a/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_5132588407576386087_tmp b/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_5132588407576386087_tmp deleted file mode 100644 index e69de29b..00000000 diff --git a/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_7513773405288741819_tmp b/real_time/surface_src/java_src/Alice/build/tmp/test/jar_extract_7513773405288741819_tmp deleted file mode 100644 index e69de29b..00000000 diff --git a/real_time/surface_src/java_src/BuggyRos/.classpath b/real_time/surface_src/java_src/BuggyRos/.classpath deleted file mode 100644 index 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Class BoundedMessageQueueTest

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ignored

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4.841s
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duration

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100%
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successful

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Tests

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TestDurationResult
BoundedQueuesOfDifferentLengths1.811spassed
onePubOneSub0.627spassed
onePubOneSubWithMiddleNode2.403spassed
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Standard output

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Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
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-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
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- - diff --git a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html b/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html deleted file mode 100644 index 88f2f827..00000000 --- a/real_time/surface_src/java_src/BuggyRos/build/reports/tests/classes/UnboundedMessageQueueTest.html +++ /dev/null @@ -1,124 +0,0 @@ - - - - - -Test results - Class UnboundedMessageQueueTest - - - - - -
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Class UnboundedMessageQueueTest

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3
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tests

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failures

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ignored

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0.006s
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duration

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100%
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successful

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Tests

- - - - - - - - - - - - - - - - - - - - - - - -
TestDurationResult
onePubOneSub0.002spassed
onePubOneSubWithMiddleNode0.002spassed
onePubOneSubWithTwoMiddleNode0.002spassed
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-
-

Standard output

- -
Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
-Blocking on done...
-NumSource exiting...
-NumSink exiting...
-
- -
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zYaHVRKReUnle5$HcKv$5?yID_7+8%3?U5O?%|n<@EleA2iO8VEXlmWUcK4yyoHW)` zn5P&eK32_QykiVv1Ca0JcV5v6h4jhwk`0<^oT#^5VE-CWwOzBJ6qMqN&mPS+Rwl8}>L7SrFudP0dM%UdT^*yr_dqE4{=%3R>l#Zs-ufvn_EJeC>T z>lQ|`&ebfzQ7Nl;=yZ(+4-70~5xz6RkN}OoaA+h-o75^ZQabY0R@&h~$Hva1akf8a zBvkh=SIe~-6t10ZoCIBP7TqxNcFv7TXz%Dly5nf1TB&mm{;zH3a9I=$2s!EQ@LD;} zt%a%Eiz^X4-|x{2y#Znetf<#v~egZ>PHjExUbMhff!$t>46b*$C5w!;UjrP^mn`diO;Y*ODl%#>tow4$Za4!RH*O83s+nbXR!f(EDp|nKEi30Q8E`hmX>mI&wG!#5f{;2 zP;yF|<9kzTt@u%+-uLO-w2S-1VCYqY31op@i{=K8JY46!B}q~qHG#p;n^$fhYI5p`~V^^?dQAu$K{PhDCD_E5QGI**8B^nzwvSzd43EVDQlj23y|BxvR=^SZ^wLo za5ViFG%$^`*1Z2f))Ya(hJ5XEnJgS5xf}z#?W?q6`uB&Yn?90(lse_ZG@bdKLUj8*kDs@`|3~{%y{+mA3YjFaZkJX&a-Fw z->=qNfOFAFngfI!-aT7;dHz|j(HVbR0RR~C^Yv?VpC0`h-S1XO*}LmwGeDl6`{i%` zM<9#?EijSKK78We{rcgVhc^mIXWpIz`g22a*({w!4#+Po4a4=^klQbe{sUtfh6OME zR*qr*JU5&9vs{h>tN-s@sE>iG_&2PO`Mo}t$uYmz2Us4ii{H*=^O Date: Sun, 16 Sep 2018 15:03:29 -0400 Subject: [PATCH 73/95] When it auton mode and RC timeout made it so that when Radio connection was regained, the RC timeout light turns off --- Electrical/Transistor/code/radio_buggy_mega/main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Electrical/Transistor/code/radio_buggy_mega/main.cpp b/Electrical/Transistor/code/radio_buggy_mega/main.cpp index 3fdb105f..d58a0762 100755 --- a/Electrical/Transistor/code/radio_buggy_mega/main.cpp +++ b/Electrical/Transistor/code/radio_buggy_mega/main.cpp @@ -555,6 +555,7 @@ int main(void) { dbg_printf("RC Timeout! %lu %lu %lu\n", delta1, delta2, delta3); } else { g_errors &= ~_BV(RBSM_EID_RC_LOST_SIGNAL); + lights_rc.Disable(); } // then check for timeout under autonomous @@ -565,6 +566,7 @@ int main(void) { dbg_printf("Auton Timeout! %lu %lu\n", delta4, delta5); } else { g_errors &= ~_BV(RBSM_EID_AUTON_LOST_SIGNAL); + lights_auton.Disable(); } // or reset the system if connection is back and driver engages brakes } else { From 362b7614be0db36209f1e47b17c3da1fe1b2792d Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 20 Sep 2018 11:56:09 -0400 Subject: [PATCH 74/95] Added relative pathing to source the waypoint files so that we dont have to keep changing the full filepath --- .../ROS_RoboBuggy/src/robobuggy/CMakeLists.txt | 1 + .../include/transistor/controller/Controller.h | 1 + .../src/robobuggy/scripts/data_map_plot.py | 10 +++++++++- .../src/robobuggy/scripts/sim/full_system_sim.py | 10 ++++++++-- .../src/transistor/controller/Controller_Runner.cpp | 5 ++++- 5 files changed, 23 insertions(+), 4 deletions(-) mode change 100644 => 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt index 4b1aa542..08d6e1df 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation serial geodesy + roslib ) ## System dependencies are found with CMake's conventions diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h index 39b78390..73643779 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/controller/Controller.h @@ -6,6 +6,7 @@ #define ROS_ROBOBUGGY_CONTROLLER_H #include "ros/ros.h" +#include #include #include #include diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index f6ca13e9..56d29b8c 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -1,6 +1,7 @@ #!/usr/bin/env python import rospy +import rospkg import math import json import time @@ -67,8 +68,15 @@ def ground_truth_callback(data): def waypoints_publisher(): waypoints_pub = rospy.Publisher('WAYPOINTS_VIZ',GPSFix, queue_size=10) + # Get location of waypoint file by getting package path and then moving from there + rospack = rospkg.RosPack() + robobuggy_path = rospack.get_path("robobuggy"); + config_file_loc = "/config/waypoints.txt" + + waypoint_file = robobuggy_path + config_file_loc; + # read from waypoints file, parse JSON, publish - waypoints = open("/mnt/c/Users/bhai/Documents/RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt", 'r') + waypoints = open(waypoint_file); line = waypoints.readline() time.sleep(5) while line: diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py old mode 100644 new mode 100755 index 107d8a94..534d9217 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -5,6 +5,7 @@ # TODO Currently reports only GPS and encoder, include IMU as well import rospy +import rospkg import numpy as np import utm import math @@ -119,8 +120,13 @@ def main(): start_x = 0 start_y = 0 start_th = math.radians(250) # TODO calculate based on two waypoints - # waypoint_file = rospy.get_param("/{}/waypoint_file".format(NODE_NAME)) - waypoint_file = "/mnt/c/Users/bhai/Documents/RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt" + + # Get location of waypoint file by getting package path and then moving from there + rospack = rospkg.RosPack() + robobuggy_path = rospack.get_path("robobuggy"); + config_file_loc = "/config/waypoints.txt" + + waypoint_file = robobuggy_path + config_file_loc; with open(waypoint_file) as f: first_waypoint_str = f.readline() first_waypoint_json = json.loads(first_waypoint_str) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp index 69b3bc0b..296effad 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/controller/Controller_Runner.cpp @@ -14,7 +14,10 @@ int main(int argc, char **argv) std::vector waypoints; - std::ifstream waypoint_stream("src/robobuggy/config/waypoints.txt"); + std::string package_path = ros::package::getPath("robobuggy"); + std::string config_path = "/config/waypoints.txt"; + + std::ifstream waypoint_stream(package_path + config_path); std::string waypoint_str; while (std::getline(waypoint_stream, waypoint_str)) { From 332cdd6744541d3488009343be1f86b4c56608ea Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sun, 23 Sep 2018 18:07:42 -0400 Subject: [PATCH 75/95] made the return values and behavior consistent --- .../include/transistor/gps/GPS_Broadcaster.h | 4 ++-- .../src/transistor/gps/GPS_Broadcaster.cpp | 8 ++++---- .../src/transistor/gps/GPS_Broadcaster_Runner.cpp | 15 +++++++++------ 3 files changed, 15 insertions(+), 12 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index 0742aa04..e0472a4c 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -19,9 +19,9 @@ class GPS_Broadcaster GPS_Broadcaster(); static const std::string NODE_NAME; - int read_gps_message(); + void read_gps_message(); robobuggy::GPS* parse_tokens(std::string tokens[]); - void initialize_hardware(); + int initialize_hardware(); private: ros::NodeHandle nh; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index b487bc9a..14191616 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -22,7 +22,7 @@ GPS_Broadcaster::GPS_Broadcaster() } -void GPS_Broadcaster::initialize_hardware() +int GPS_Broadcaster::initialize_hardware() { try { @@ -31,16 +31,18 @@ void GPS_Broadcaster::initialize_hardware() serial::Timeout to = serial::Timeout::simpleTimeout(1000); gps_serial.setTimeout(to); gps_serial.open(); + return 0; } catch (serial::IOException e) { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); + return -1; } } //parse ONE NMEA string -int GPS_Broadcaster::read_gps_message() +void GPS_Broadcaster::read_gps_message() { if (gps_serial.available()) { @@ -78,8 +80,6 @@ int GPS_Broadcaster::read_gps_message() } } } - - return 0; } robobuggy::GPS* GPS_Broadcaster::parse_tokens(std::string tokens[]) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp index 449a9416..7e7f87d5 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster_Runner.cpp @@ -8,15 +8,18 @@ int main(int argc, char **argv) { ros::init(argc, argv, GPS_Broadcaster::NODE_NAME); ros::NodeHandle nh; + ros::Rate loop_rate(10); //run at 10 hz GPS_Broadcaster broadcaster; - broadcaster.initialize_hardware(); + int err = broadcaster.initialize_hardware(); + if (err) { + return err; + } + while (ros::ok()) { - int result = broadcaster.read_gps_message(); - if (result) - { - return result; - } + broadcaster.read_gps_message(); + ros::spinOnce(); + loop_rate.sleep(); } return 0; From 3b4a95394b8e492fd2e84076eb4316bf88e3c8ed Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sun, 30 Sep 2018 00:09:34 -0400 Subject: [PATCH 76/95] added new members install script --- Software/util/install_buggy_ros.bash | 50 ++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100755 Software/util/install_buggy_ros.bash diff --git a/Software/util/install_buggy_ros.bash b/Software/util/install_buggy_ros.bash new file mode 100755 index 00000000..08137afb --- /dev/null +++ b/Software/util/install_buggy_ros.bash @@ -0,0 +1,50 @@ +# script to install the dependencies for the buggy system + +# update apt +sudo apt-get update + +# install ros-kinetic-serial +echo "Installing ros-kinetic-serial" +ros_kinetic_exists=$(dpkg -l | grep ros-kinetic-serial) +if [ -z "$ros_kinetic_exists" ] +then + sudo apt-get install ros-kinetic-serial +fi + +# install ros-kinetic-geodesy +echo "Installing ros-kinetic-geodesy" +ros_geodesy_path=$(dpkg -l | grep ros-kinetic-geodesy) +if [ -z "$ros_geodesy_path" ] +then + sudo apt-get install ros-kinetic-geodesy +fi + +# install jsoncpp +echo "Installing jsoncpp" +git clone https://github.com/open-source-parsers/jsoncpp.git +cd jsoncpp +python amalgamate.py +cd dist +mv jsoncpp.cpp json +mv json ../../../real_time/ROS_RoboBuggy/src/robobuggy/include/ +cd ../.. +rm -rf jsoncpp + +# install libfreespace +echo "Installing libfreespace" +git clone https://github.com/hcrest/libfreespace.git +cd libfreespace +cmake . +make +sudo make install +cd .. +rm -rf libfreespace + +# run a catkin_make +echo "Running catkin_make" +cd ../real_time/ROS_RoboBuggy +catkin_make + +# add the package to the bashrc +echo "Adding robobuggy package to the ros package path" +echo "source $PWD/devel/setup.bash" >> ~/.bashrc From 1108d9ab2ee51098d2a46f77beb40f29921d6e33 Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 5 Oct 2018 13:51:46 -0700 Subject: [PATCH 77/95] added cals to localizer --- .../include/transistor/localizer/Localizer.h | 2 ++ .../src/transistor/localizer/Localizer.cpp | 19 +++++++++++++++++++ 2 files changed, 21 insertions(+) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index db6e65c4..0178d563 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -7,6 +7,7 @@ #include #include +#include #include #include @@ -16,6 +17,7 @@ using Eigen::Matrix; using Eigen::MatrixXd; +using XmlRpc::XmlRpcValue; class Localizer { diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 3bd07a93..b6cb4c1d 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -123,9 +123,19 @@ void Localizer::init_R() ; std::stringstream s; + XmlRpc::XmlRpcValue v; + nh.param("/Transistor_Localizer/init_r_diagonal", v, v); + for (int i = 0; i < 5; i++) + { + R(i,i) = v[i]; + // std::cerr << "R diagonal value: " << v[i] << std::endl; + } + s << R << std::endl; ROS_INFO("Initialized R Matrix to : \n%s", s.str().c_str()); + + } void Localizer::init_P() @@ -140,6 +150,15 @@ void Localizer::init_P() ; std::stringstream s; + XmlRpc::XmlRpcValue v; + nh.param("/Transistor_Localizer/init_p_diagonal", v, v); + for (int i = 0; i < 5; i++) + { + P(i,i) = v[i]; + //std::cerr << "P diagonal value : " << v[i] << std::endl; + } + + s << P << std::endl; ROS_INFO("Initialized P Matrix to : \n%s", s.str().c_str()); From 049e6c1e2f01a87f7f4132364808eb20d7f098de Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 5 Oct 2018 14:18:18 -0700 Subject: [PATCH 78/95] Revert "added new members install script" localizer cals added to wrong branch This reverts commit 3b4a95394b8e492fd2e84076eb4316bf88e3c8ed. --- Software/util/install_buggy_ros.bash | 50 ---------------------------- 1 file changed, 50 deletions(-) delete mode 100755 Software/util/install_buggy_ros.bash diff --git a/Software/util/install_buggy_ros.bash b/Software/util/install_buggy_ros.bash deleted file mode 100755 index 08137afb..00000000 --- a/Software/util/install_buggy_ros.bash +++ /dev/null @@ -1,50 +0,0 @@ -# script to install the dependencies for the buggy system - -# update apt -sudo apt-get update - -# install ros-kinetic-serial -echo "Installing ros-kinetic-serial" -ros_kinetic_exists=$(dpkg -l | grep ros-kinetic-serial) -if [ -z "$ros_kinetic_exists" ] -then - sudo apt-get install ros-kinetic-serial -fi - -# install ros-kinetic-geodesy -echo "Installing ros-kinetic-geodesy" -ros_geodesy_path=$(dpkg -l | grep ros-kinetic-geodesy) -if [ -z "$ros_geodesy_path" ] -then - sudo apt-get install ros-kinetic-geodesy -fi - -# install jsoncpp -echo "Installing jsoncpp" -git clone https://github.com/open-source-parsers/jsoncpp.git -cd jsoncpp -python amalgamate.py -cd dist -mv jsoncpp.cpp json -mv json ../../../real_time/ROS_RoboBuggy/src/robobuggy/include/ -cd ../.. -rm -rf jsoncpp - -# install libfreespace -echo "Installing libfreespace" -git clone https://github.com/hcrest/libfreespace.git -cd libfreespace -cmake . -make -sudo make install -cd .. -rm -rf libfreespace - -# run a catkin_make -echo "Running catkin_make" -cd ../real_time/ROS_RoboBuggy -catkin_make - -# add the package to the bashrc -echo "Adding robobuggy package to the ros package path" -echo "source $PWD/devel/setup.bash" >> ~/.bashrc From ef44a4a18e4d12035ebb04b21b2ad78efac796b5 Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 5 Oct 2018 14:31:07 -0700 Subject: [PATCH 79/95] localizer cals redo --- .../launch/init_localizer_params.launch | 6 ++++++ .../robobuggy/scripts/basic_gps_subscriber.py | 17 +++++++++++++++++ 2 files changed, 23 insertions(+) create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch new file mode 100755 index 00000000..b30b2d5c --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch @@ -0,0 +1,6 @@ + + + [4.0, 4.0, 3.0, 0.01, 0.01] + [25.0, 25.0, 0.25, 2.46, 2.46] + + diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py new file mode 100755 index 00000000..4eb903ee --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py @@ -0,0 +1,17 @@ +#!/usr/bin/env/python +import rospy +from robobuggy.msg import GPS + +def gps_callback(data): + rospy.log("easting: %f",data.easting); + rospy.log("northing: %f",data.northing); + rospy.log("Latitude degrees: %f",data.Lat_deg); + rospy.log("Longitude degrees: %f",data.Long_deg); + +def gps_main(): + rospy.init_node('listener', anonymous=True) + rospy.Subscriber('chatter', GPS, gps_callback) + rospy.spin() + +if __name__ == '__main__': + gps_main() From 082f9462a7892fdc11ee27295c63f9aba519b46b Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 5 Oct 2018 15:45:08 -0700 Subject: [PATCH 80/95] Revert "Revert "added new members install script"" need to undo this This reverts commit 049e6c1e2f01a87f7f4132364808eb20d7f098de. --- Software/util/install_buggy_ros.bash | 50 ++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100755 Software/util/install_buggy_ros.bash diff --git a/Software/util/install_buggy_ros.bash b/Software/util/install_buggy_ros.bash new file mode 100755 index 00000000..08137afb --- /dev/null +++ b/Software/util/install_buggy_ros.bash @@ -0,0 +1,50 @@ +# script to install the dependencies for the buggy system + +# update apt +sudo apt-get update + +# install ros-kinetic-serial +echo "Installing ros-kinetic-serial" +ros_kinetic_exists=$(dpkg -l | grep ros-kinetic-serial) +if [ -z "$ros_kinetic_exists" ] +then + sudo apt-get install ros-kinetic-serial +fi + +# install ros-kinetic-geodesy +echo "Installing ros-kinetic-geodesy" +ros_geodesy_path=$(dpkg -l | grep ros-kinetic-geodesy) +if [ -z "$ros_geodesy_path" ] +then + sudo apt-get install ros-kinetic-geodesy +fi + +# install jsoncpp +echo "Installing jsoncpp" +git clone https://github.com/open-source-parsers/jsoncpp.git +cd jsoncpp +python amalgamate.py +cd dist +mv jsoncpp.cpp json +mv json ../../../real_time/ROS_RoboBuggy/src/robobuggy/include/ +cd ../.. +rm -rf jsoncpp + +# install libfreespace +echo "Installing libfreespace" +git clone https://github.com/hcrest/libfreespace.git +cd libfreespace +cmake . +make +sudo make install +cd .. +rm -rf libfreespace + +# run a catkin_make +echo "Running catkin_make" +cd ../real_time/ROS_RoboBuggy +catkin_make + +# add the package to the bashrc +echo "Adding robobuggy package to the ros package path" +echo "source $PWD/devel/setup.bash" >> ~/.bashrc From e90fbf8e52d7c9dbb255a0cb2250984b4fffe1e6 Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 5 Oct 2018 15:45:44 -0700 Subject: [PATCH 81/95] Revert "added cals to localizer" need to undo this This reverts commit 1108d9ab2ee51098d2a46f77beb40f29921d6e33. --- .../include/transistor/localizer/Localizer.h | 2 -- .../src/transistor/localizer/Localizer.cpp | 19 ------------------- 2 files changed, 21 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index 0178d563..db6e65c4 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -7,7 +7,6 @@ #include #include -#include #include #include @@ -17,7 +16,6 @@ using Eigen::Matrix; using Eigen::MatrixXd; -using XmlRpc::XmlRpcValue; class Localizer { diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index b6cb4c1d..3bd07a93 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -123,19 +123,9 @@ void Localizer::init_R() ; std::stringstream s; - XmlRpc::XmlRpcValue v; - nh.param("/Transistor_Localizer/init_r_diagonal", v, v); - for (int i = 0; i < 5; i++) - { - R(i,i) = v[i]; - // std::cerr << "R diagonal value: " << v[i] << std::endl; - } - s << R << std::endl; ROS_INFO("Initialized R Matrix to : \n%s", s.str().c_str()); - - } void Localizer::init_P() @@ -150,15 +140,6 @@ void Localizer::init_P() ; std::stringstream s; - XmlRpc::XmlRpcValue v; - nh.param("/Transistor_Localizer/init_p_diagonal", v, v); - for (int i = 0; i < 5; i++) - { - P(i,i) = v[i]; - //std::cerr << "P diagonal value : " << v[i] << std::endl; - } - - s << P << std::endl; ROS_INFO("Initialized P Matrix to : \n%s", s.str().c_str()); From 65298f465b019f08d263c9b051823bad96057983 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Wed, 10 Oct 2018 15:02:43 -0400 Subject: [PATCH 82/95] added file to translate IMU quaternions to roll-pitch-yaw --- .../ROS_RoboBuggy/src/robobuggy/msg/IMU.msg | 7 ++--- .../src/robobuggy/scripts/imu_rpy.py | 26 +++++++++++++++++++ .../src/transistor/imu/IMU_Broadcaster.cpp | 7 ++--- 3 files changed, 34 insertions(+), 6 deletions(-) create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/IMU.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/IMU.msg index c93044db..d9d38ff5 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/IMU.msg +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/IMU.msg @@ -12,9 +12,10 @@ float32 X_AngVel float32 Y_AngVel float32 Z_AngVel -float32 X_AngPos -float32 Y_AngPos -float32 Z_AngPos +float32 A_AngPos +float32 B_AngPos +float32 C_AngPos +float32 D_AngPos float32 X_Mag float32 Y_Mag diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py new file mode 100755 index 00000000..40e1a982 --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python + +import rospy +from robobuggy.msg import IMU +import math + +def imu_callback(data): + q0 = data.A_AngPos; + q1 = data.B_AngPos; + q2 = data.C_AngPos; + q3 = data.D_AngPos; + + phi = math.degrees(math.atan2(2*(q0*q1 + q2*q3), 1-2*(q1*q1 + q2*q2))); + theta = math.degrees(math.asin(2*(q0*q2 - q3*q1))); + psi = math.degrees(math.atan2(2*(q0*q3 + q1*q2), 1-2*(q2*q2+q3*q3))); + + rospy.loginfo("phi=%f\ttheta=%f\tpsi=%f", phi, theta, psi); + pass + +def main(): + rospy.init_node("IMU Roll-Pitch-Yaw"); + rospy.Subscriber("IMU", IMU, imu_callback); + rospy.spin(); + +if __name__ == "__main__": + main(); \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp index f4fd75d8..462aeeb0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/imu/IMU_Broadcaster.cpp @@ -131,9 +131,10 @@ void IMU_Broadcaster::publish_IMU_message() err = freespace_util_getAngPos(&message.motionEngineOutput, &reading); if (err == 0) { // Load our IMU message with the data - msg.X_AngPos = reading.x; - msg.Y_AngPos = reading.y; - msg.Z_AngPos = reading.z; + msg.A_AngPos = reading.w; + msg.B_AngPos = reading.x; + msg.C_AngPos = reading.y; + msg.D_AngPos = reading.z; } else { ROS_ERROR_STREAM("Error receiving angular position data"); } From 6b6394d18e1d5c93c9b1a939bb8a996724ab8a1b Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 1 Nov 2018 22:40:31 -0400 Subject: [PATCH 83/95] the node name was invalid, fixed it --- .../real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py index 40e1a982..f6f3b866 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/imu_rpy.py @@ -18,7 +18,7 @@ def imu_callback(data): pass def main(): - rospy.init_node("IMU Roll-Pitch-Yaw"); + rospy.init_node("IMU_Roll_Pitch_Yaw"); rospy.Subscriber("IMU", IMU, imu_callback); rospy.spin(); From 6f28e98b1aac1657300bb2553f7329d643a01c95 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 1 Nov 2018 22:51:03 -0400 Subject: [PATCH 84/95] added in pip and source --- Software/util/install_buggy_ros.bash | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/Software/util/install_buggy_ros.bash b/Software/util/install_buggy_ros.bash index 08137afb..fb0789a4 100755 --- a/Software/util/install_buggy_ros.bash +++ b/Software/util/install_buggy_ros.bash @@ -1,5 +1,10 @@ # script to install the dependencies for the buggy system +if [ -z "$ROS_DISTRO" ] + echo "ROS not found on this system, install ROS" + exit(1); +fi + # update apt sudo apt-get update @@ -48,3 +53,12 @@ catkin_make # add the package to the bashrc echo "Adding robobuggy package to the ros package path" echo "source $PWD/devel/setup.bash" >> ~/.bashrc +source ~/.bashrc + +# install the python libraries we need too +pip_exists=$(dpkg -l | grep python-pip) +if [ -z "$pip_exists" ] + sudo apt-get install python-pip +fi +pip install utm +pip install numpy From 54d6c69dd1bdae4909cb0b43438ca42965dffea6 Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 2 Nov 2018 15:30:10 -0700 Subject: [PATCH 85/95] made array of doubles for cals --- .../src/robobuggy/launch/init_localizer_params.launch | 4 ++-- .../robobuggy/src/transistor/localizer/Localizer.cpp | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch index b30b2d5c..32134950 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/init_localizer_params.launch @@ -1,6 +1,6 @@ - [4.0, 4.0, 3.0, 0.01, 0.01] - [25.0, 25.0, 0.25, 2.46, 2.46] + [2.0, 2.0, 2.0, 2.00, 2.00] + [25.0, 25.0, 25.0, 25.0, 25.0] diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index b6cb4c1d..85becb64 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -123,12 +123,12 @@ void Localizer::init_R() ; std::stringstream s; - XmlRpc::XmlRpcValue v; - nh.param("/Transistor_Localizer/init_r_diagonal", v, v); - for (int i = 0; i < 5; i++) + std::vector init_r_diagonal; + + nh.getParam("/Transistor_Localizer/init_r_diagonal", init_r_diagonal); + for (int i = 0; i < init_r_diagonal.size(); i++) { - R(i,i) = v[i]; - // std::cerr << "R diagonal value: " << v[i] << std::endl; + R(i,i) = init_r_diagonal[i]; } s << R << std::endl; From 78867921fb52d098b33ac7063173f7a369c9b97c Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 2 Nov 2018 15:37:57 -0700 Subject: [PATCH 86/95] removing unnecessary python file --- .../robobuggy/scripts/basic_gps_subscriber.py | 17 ----------------- 1 file changed, 17 deletions(-) delete mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py deleted file mode 100755 index 4eb903ee..00000000 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/basic_gps_subscriber.py +++ /dev/null @@ -1,17 +0,0 @@ -#!/usr/bin/env/python -import rospy -from robobuggy.msg import GPS - -def gps_callback(data): - rospy.log("easting: %f",data.easting); - rospy.log("northing: %f",data.northing); - rospy.log("Latitude degrees: %f",data.Lat_deg); - rospy.log("Longitude degrees: %f",data.Long_deg); - -def gps_main(): - rospy.init_node('listener', anonymous=True) - rospy.Subscriber('chatter', GPS, gps_callback) - rospy.spin() - -if __name__ == '__main__': - gps_main() From 7c727d4e8d3cc8fafd09736876185d727a29436a Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Sat, 3 Nov 2018 15:18:54 -0700 Subject: [PATCH 87/95] minor fixes made --- .../include/transistor/localizer/Localizer.h | 1 - .../src/transistor/localizer/Localizer.cpp | 21 +++++++++++++------ 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index 0178d563..eda56a63 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -7,7 +7,6 @@ #include #include -#include #include #include diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 85becb64..b45f3a15 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -1,5 +1,6 @@ #include "transistor/localizer/Localizer.h" +//const std::string Localizer::NODE_NAME = "Transistor_Localizer"; void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) { @@ -125,7 +126,11 @@ void Localizer::init_R() std::stringstream s; std::vector init_r_diagonal; - nh.getParam("/Transistor_Localizer/init_r_diagonal", init_r_diagonal); + if(!nh.getParam("/Transistor_Localizer/init_r_diagonal", init_r_diagonal)){ + ROS_INFO_STREAM("R Matrix Diagonal Parameter not found, using default"); + init_r_diagonal = {2.0, 2.0, 2.0, 2.0, 2.0}; + } + for (int i = 0; i < init_r_diagonal.size(); i++) { R(i,i) = init_r_diagonal[i]; @@ -150,12 +155,16 @@ void Localizer::init_P() ; std::stringstream s; - XmlRpc::XmlRpcValue v; - nh.param("/Transistor_Localizer/init_p_diagonal", v, v); - for (int i = 0; i < 5; i++) + std::vector init_p_diagonal; + + if(!nh.getParam(NODE_NAME + "/init_p_diagonal",init_p_diagonal)){ + ROS_INFO_STREAM("P Matrix Diagonal Parameter not found, using default"); + init_p_diagonal = {25.0, 25.0, 25.0, 25.0, 25.0}; + } + + for (int i = 0; i < init_p_diagonal.size(); i++) { - P(i,i) = v[i]; - //std::cerr << "P diagonal value : " << v[i] << std::endl; + P(i,i) = init_p_diagonal[i]; } From 906b333976813ebb05ceaa233101fce8eab9b600 Mon Sep 17 00:00:00 2001 From: Abhinav Girish Date: Fri, 16 Nov 2018 15:22:21 -0800 Subject: [PATCH 88/95] minor fixes --- .../src/robobuggy/include/transistor/localizer/Localizer.h | 1 - .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 3 +-- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index eda56a63..db6e65c4 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -16,7 +16,6 @@ using Eigen::Matrix; using Eigen::MatrixXd; -using XmlRpc::XmlRpcValue; class Localizer { diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index b45f3a15..d408a055 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -1,6 +1,5 @@ #include "transistor/localizer/Localizer.h" -//const std::string Localizer::NODE_NAME = "Transistor_Localizer"; void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) { @@ -126,7 +125,7 @@ void Localizer::init_R() std::stringstream s; std::vector init_r_diagonal; - if(!nh.getParam("/Transistor_Localizer/init_r_diagonal", init_r_diagonal)){ + if(!nh.getParam(NODE_NAME + "/init_r_diagonal", init_r_diagonal)){ ROS_INFO_STREAM("R Matrix Diagonal Parameter not found, using default"); init_r_diagonal = {2.0, 2.0, 2.0, 2.0, 2.0}; } From f53d1254d68b49a0b26c4e003c05ca3df33e52e0 Mon Sep 17 00:00:00 2001 From: VivaanBahl Date: Fri, 30 Nov 2018 18:06:42 -0500 Subject: [PATCH 89/95] Minor indentation fixes --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index d408a055..832dea32 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -126,7 +126,7 @@ void Localizer::init_R() std::vector init_r_diagonal; if(!nh.getParam(NODE_NAME + "/init_r_diagonal", init_r_diagonal)){ - ROS_INFO_STREAM("R Matrix Diagonal Parameter not found, using default"); + ROS_INFO_STREAM("R Matrix Diagonal Parameter not found, using default"); init_r_diagonal = {2.0, 2.0, 2.0, 2.0, 2.0}; } @@ -157,7 +157,7 @@ void Localizer::init_P() std::vector init_p_diagonal; if(!nh.getParam(NODE_NAME + "/init_p_diagonal",init_p_diagonal)){ - ROS_INFO_STREAM("P Matrix Diagonal Parameter not found, using default"); + ROS_INFO_STREAM("P Matrix Diagonal Parameter not found, using default"); init_p_diagonal = {25.0, 25.0, 25.0, 25.0, 25.0}; } From 56de7014813eb388f67393fc036e224379c7f18b Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Mon, 25 Feb 2019 16:00:03 -0500 Subject: [PATCH 90/95] GUI monitoring 4 data real-time --- .../src/robobuggy/scripts/visualization.py | 58 +++++++++++++++++++ 1 file changed, 58 insertions(+) create mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py new file mode 100755 index 00000000..f7a6510b --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python +import rospy +from robobuggy.msg import Command +from robobuggy.msg import Diagnostics +from robobuggy.msg import Feedback +from robobuggy.msg import Pose +from Tkinter import * + +# Get brake state, commanded steering, feedback steering, current orientation, +# battery level and visualize them on a user interfate + +def commandUpdate(data): + steer_cmd_rad = "%10.4d" % data.steer_cmd_rad + canvas.itemconfigure(t1, text=steer_cmd_rad) + +def diagnosticsUpdate(data): + battery_level = "%d" % data.battery_level + canvas.itemconfigure(t2, text=battery_level) + +def feedbackUpdate(data): + if data.brake_state==True: + canvas.itemconfigure(t3, text="Deployed") + else: + canvas.itemconfigure(t3, text="Suspended") + +def poseUpdate(data): + heading_rad = "%10.4f" % data.heading_rad + canvas.itemconfigure(t4, text=heading_rad) + +def listener(): + + rospy.init_node('listener', anonymous=True) + + rospy.Subscriber("Command", Command, commandUpdate) + rospy.Subscriber("Diagnostics", Diagnostics, diagnosticsUpdate) + rospy.Subscriber("Feedback", Feedback, feedbackUpdate) + rospy.Subscriber("Pose", Pose, poseUpdate) + +if __name__ == '__main__': + + # Initialize GUI + root = Tk() + root.title("Robobuggy Status") + root.resizable(width=False, height=False) + canvas = Canvas(root, width=500, height=300) + canvas.configure(bd=0, highlightthickness=0) + canvas.pack() + canvas.create_text(20, 45, text="Commanded Steering:", anchor="w", fill="black", font="Times 20 bold") + canvas.create_text(20, 115, text="Battery Level:", anchor="w", fill="black", font="Times 20 bold") + canvas.create_text(20, 185, text="Brake State:", anchor="w", fill="black", font="Times 20 bold") + canvas.create_text(20, 255, text="Current Orientation:", anchor="w", fill="black", font="Times 20 bold") + t1 = canvas.create_text(250, 45, text="Fetching data...", anchor="w", fill="black", font="Times 16") + t2 = canvas.create_text(250, 115, text="Fetching data...", anchor="w", fill="black", font="Times 16") + t3 = canvas.create_text(250, 185, text="Fetching data...", anchor="w", fill="black", font="Times 16") + t4 = canvas.create_text(250, 255, text="Fetching data...", anchor="w", fill="black", font="Times 16") + + listener() + root.mainloop() From 46ed0b170a33cfe7601f504f8e665e76ffb8f11d Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Fri, 1 Mar 2019 18:25:32 -0500 Subject: [PATCH 91/95] small improvements --- .../src/robobuggy/scripts/visualization.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py index f7a6510b..d9256ff4 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -10,11 +10,17 @@ # battery level and visualize them on a user interfate def commandUpdate(data): - steer_cmd_rad = "%10.4d" % data.steer_cmd_rad + if data.steer_cmd_rad>0: + steer_cmd_rad = "%10.4f rad left" % data.steer_cmd_rad + elif data.steer_cmd_rad=0: + steer_cmd_rad = "Straight" + else: + steer_cmd_rad = "%10.4f rad right" % (data.steer_cmd_rad * -1) canvas.itemconfigure(t1, text=steer_cmd_rad) def diagnosticsUpdate(data): - battery_level = "%d" % data.battery_level + voltage = data.battery_level / 1000.00 + battery_level = "%10.3f V" % voltage canvas.itemconfigure(t2, text=battery_level) def feedbackUpdate(data): From 7ca712c1bd53e05442b7da02842915607325b28e Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Fri, 1 Mar 2019 18:49:43 -0500 Subject: [PATCH 92/95] bug fixes --- .../src/robobuggy/scripts/visualization.py | 27 +++++++++++++++---- 1 file changed, 22 insertions(+), 5 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py index d9256ff4..a1354a78 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -5,15 +5,16 @@ from robobuggy.msg import Feedback from robobuggy.msg import Pose from Tkinter import * +import math # Get brake state, commanded steering, feedback steering, current orientation, # battery level and visualize them on a user interfate def commandUpdate(data): - if data.steer_cmd_rad>0: - steer_cmd_rad = "%10.4f rad left" % data.steer_cmd_rad - elif data.steer_cmd_rad=0: + if abs(data.steer_cmd_rad) < 0.0001: steer_cmd_rad = "Straight" + elif data.steer_cmd_rad>0: + steer_cmd_rad = "%10.4f rad left" % data.steer_cmd_rad else: steer_cmd_rad = "%10.4f rad right" % (data.steer_cmd_rad * -1) canvas.itemconfigure(t1, text=steer_cmd_rad) @@ -30,7 +31,23 @@ def feedbackUpdate(data): canvas.itemconfigure(t3, text="Suspended") def poseUpdate(data): - heading_rad = "%10.4f" % data.heading_rad + heading_rad = "%10.4f heading " % data.heading_rad + if abs(data.heading_rad) < 0.0001: + heading_rad += "E" + elif abs(data.heading_rad - math.pi / 2) < 0.0001: + heading_rad += "N" + elif abs(data.heading_rad + math.pi / 2) < 0.0001: + heading_rad += "S" + elif abs(abs(data.heading_rad) - math.pi) < 0.0001: + heading_rad += "W" + elif 0 < data.heading_rad and data.heading_rad < math.pi / 2: + heading_rad += "NE" + elif math.pi / 2 < data.heading_rad and data.heading_rad < math.pi: + heading_rad += "NW" + elif -math.pi / 2 < data.heading_rad and data.heading_rad < 0: + heading_rad += "SE" + else: + heading_rad += "SW" canvas.itemconfigure(t4, text=heading_rad) def listener(): @@ -47,7 +64,7 @@ def listener(): # Initialize GUI root = Tk() root.title("Robobuggy Status") - root.resizable(width=False, height=False) + root.resizable(width=True, height=True) canvas = Canvas(root, width=500, height=300) canvas.configure(bd=0, highlightthickness=0) canvas.pack() From 34b4a1a26f60913d3d1b355482cff566c07012a5 Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Fri, 1 Mar 2019 18:52:33 -0500 Subject: [PATCH 93/95] UI changes --- .../ROS_RoboBuggy/src/robobuggy/scripts/visualization.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py index a1354a78..9404f7bb 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -72,10 +72,10 @@ def listener(): canvas.create_text(20, 115, text="Battery Level:", anchor="w", fill="black", font="Times 20 bold") canvas.create_text(20, 185, text="Brake State:", anchor="w", fill="black", font="Times 20 bold") canvas.create_text(20, 255, text="Current Orientation:", anchor="w", fill="black", font="Times 20 bold") - t1 = canvas.create_text(250, 45, text="Fetching data...", anchor="w", fill="black", font="Times 16") - t2 = canvas.create_text(250, 115, text="Fetching data...", anchor="w", fill="black", font="Times 16") - t3 = canvas.create_text(250, 185, text="Fetching data...", anchor="w", fill="black", font="Times 16") - t4 = canvas.create_text(250, 255, text="Fetching data...", anchor="w", fill="black", font="Times 16") + t1 = canvas.create_text(480, 45, text="Fetching data...", anchor="e", fill="black", font="Times 16") + t2 = canvas.create_text(480, 115, text="Fetching data...", anchor="e", fill="black", font="Times 16") + t3 = canvas.create_text(480, 185, text="Fetching data...", anchor="e", fill="black", font="Times 16") + t4 = canvas.create_text(480, 255, text="Fetching data...", anchor="e", fill="black", font="Times 16") listener() root.mainloop() From 186fef3de807e955dea2755cb672e2905bd03757 Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Sat, 2 Mar 2019 14:58:01 -0500 Subject: [PATCH 94/95] changed radians to degrees; GUI modifications --- .../src/robobuggy/scripts/visualization.py | 92 +++++++++++-------- 1 file changed, 54 insertions(+), 38 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py index 9404f7bb..25fa7d41 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -11,44 +11,46 @@ # battery level and visualize them on a user interfate def commandUpdate(data): - if abs(data.steer_cmd_rad) < 0.0001: - steer_cmd_rad = "Straight" - elif data.steer_cmd_rad>0: - steer_cmd_rad = "%10.4f rad left" % data.steer_cmd_rad + steer_cmd_deg = data.steer_cmd_rad * 180 / math.pi + if abs(steer_cmd_deg) < 0.1: + steer_cmd = "Straight" + elif steer_cmd_deg > 0: + steer_cmd = "%10.1f deg left" % steer_cmd_deg else: - steer_cmd_rad = "%10.4f rad right" % (data.steer_cmd_rad * -1) - canvas.itemconfigure(t1, text=steer_cmd_rad) + steer_cmd = "%10.1f deg right" % (steer_cmd_deg * -1) + t0.set(steer_cmd + " ") def diagnosticsUpdate(data): voltage = data.battery_level / 1000.00 battery_level = "%10.3f V" % voltage - canvas.itemconfigure(t2, text=battery_level) + t1.set(battery_level + " ") def feedbackUpdate(data): if data.brake_state==True: - canvas.itemconfigure(t3, text="Deployed") + t2.set("Deployed ") else: - canvas.itemconfigure(t3, text="Suspended") + t2.set("Suspended ") def poseUpdate(data): - heading_rad = "%10.4f heading " % data.heading_rad - if abs(data.heading_rad) < 0.0001: - heading_rad += "E" - elif abs(data.heading_rad - math.pi / 2) < 0.0001: - heading_rad += "N" - elif abs(data.heading_rad + math.pi / 2) < 0.0001: - heading_rad += "S" - elif abs(abs(data.heading_rad) - math.pi) < 0.0001: - heading_rad += "W" - elif 0 < data.heading_rad and data.heading_rad < math.pi / 2: - heading_rad += "NE" - elif math.pi / 2 < data.heading_rad and data.heading_rad < math.pi: - heading_rad += "NW" - elif -math.pi / 2 < data.heading_rad and data.heading_rad < 0: - heading_rad += "SE" + heading_deg = data.heading_rad * 180 / math.pi + heading = "%10.1f deg heading " % heading_deg + if abs(heading_deg) < 0.1: + heading += "E" + elif abs(heading_deg - 90) < 0.1: + heading += "N" + elif abs(heading_deg + 90) < 0.1: + heading += "S" + elif abs(abs(heading_deg) - 180) < 0.1: + heading += "W" + elif 0 < heading_deg and heading_deg < 90: + heading += "NE" + elif 90 < heading_deg and heading_deg < 180: + heading += "NW" + elif -90 < heading_deg and heading_deg < 0: + heading += "SE" else: - heading_rad += "SW" - canvas.itemconfigure(t4, text=heading_rad) + heading += "SW" + t3.set(heading + " ") def listener(): @@ -61,21 +63,35 @@ def listener(): if __name__ == '__main__': - # Initialize GUI root = Tk() root.title("Robobuggy Status") root.resizable(width=True, height=True) - canvas = Canvas(root, width=500, height=300) - canvas.configure(bd=0, highlightthickness=0) - canvas.pack() - canvas.create_text(20, 45, text="Commanded Steering:", anchor="w", fill="black", font="Times 20 bold") - canvas.create_text(20, 115, text="Battery Level:", anchor="w", fill="black", font="Times 20 bold") - canvas.create_text(20, 185, text="Brake State:", anchor="w", fill="black", font="Times 20 bold") - canvas.create_text(20, 255, text="Current Orientation:", anchor="w", fill="black", font="Times 20 bold") - t1 = canvas.create_text(480, 45, text="Fetching data...", anchor="e", fill="black", font="Times 16") - t2 = canvas.create_text(480, 115, text="Fetching data...", anchor="e", fill="black", font="Times 16") - t3 = canvas.create_text(480, 185, text="Fetching data...", anchor="e", fill="black", font="Times 16") - t4 = canvas.create_text(480, 255, text="Fetching data...", anchor="e", fill="black", font="Times 16") + + l0 = Label(root, text = " Commanded Steering: ", font = ("Times", 20, "bold")).grid(row = 0, column = 0, sticky = W) + l1 = Label(root, text = " Battery Level: ", font = ("Times", 20, "bold")).grid(row = 1, column = 0, sticky = W) + l2 = Label(root, text = " Brake State: ", font = ("Times", 20, "bold")).grid(row = 2, column = 0, sticky = W) + l3 = Label(root, text = " Current Orientation: ", font = ("Times", 20, "bold")).grid(row =3, column = 0, sticky = W) + + t0 = StringVar() + t1 = StringVar() + t2 = StringVar() + t3 = StringVar() + t0.set("Fetching data... ") + t1.set("Fetching data... ") + t2.set("Fetching data... ") + t3.set("Fetching data... ") + + w0 = Label(root, textvariable = t0, font = ("Times", 16)).grid(row = 0, column = 1, sticky = E) + w1 = Label(root, textvariable = t1, font = ("Times", 16)).grid(row = 1, column = 1, sticky = E) + w2 = Label(root, textvariable = t2, font = ("Times", 16)).grid(row = 2, column = 1, sticky = E) + w3 = Label(root, textvariable = t3, font = ("Times", 16)).grid(row = 3, column = 1, sticky = E) + + root.grid_columnconfigure(0, weight = 1) + root.grid_columnconfigure(1, weight = 1) + root.grid_rowconfigure(0, weight = 1) + root.grid_rowconfigure(1, weight = 1) + root.grid_rowconfigure(2, weight = 1) + root.grid_rowconfigure(3, weight = 1) listener() root.mainloop() From a827dc29df23c69ced9886633a595f91152ba621 Mon Sep 17 00:00:00 2001 From: Cn-2000 Date: Fri, 29 Mar 2019 18:17:18 -0400 Subject: [PATCH 95/95] minor changes --- .../ROS_RoboBuggy/src/robobuggy/scripts/visualization.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py index 25fa7d41..060a92e0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/visualization.py @@ -11,7 +11,7 @@ # battery level and visualize them on a user interfate def commandUpdate(data): - steer_cmd_deg = data.steer_cmd_rad * 180 / math.pi + steer_cmd_deg = math.degrees(data.steer_cmd_rad) if abs(steer_cmd_deg) < 0.1: steer_cmd = "Straight" elif steer_cmd_deg > 0: @@ -32,7 +32,7 @@ def feedbackUpdate(data): t2.set("Suspended ") def poseUpdate(data): - heading_deg = data.heading_rad * 180 / math.pi + heading_deg = math.degrees(data.heading_rad) heading = "%10.1f deg heading " % heading_deg if abs(heading_deg) < 0.1: heading += "E"

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Z2A&GikWk;@$U%P`0bpP~;@|)E{{TIWc31!a diff --git a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial deleted file mode 100755 index 0d8bfb49..00000000 --- a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial +++ /dev/null @@ -1,160 +0,0 @@ -#!/usr/bin/env bash - -############################################################################## -## -## Tutorial start up script for UN*X -## -############################################################################## - -# Add default JVM options here. You can also use JAVA_OPTS and TUTORIAL_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS="" - -APP_NAME="Tutorial" -APP_BASE_NAME=`basename "$0"` - -# Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" - -warn ( ) { - echo "$*" -} - -die ( ) { - echo - echo "$*" - echo - exit 1 -} - -# OS specific support (must be 'true' or 'false'). -cygwin=false -msys=false -darwin=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MINGW* ) - msys=true - ;; -esac - -# Attempt to set APP_HOME -# Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi -done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/.." >&- -APP_HOME="`pwd -P`" -cd "$SAVED" >&- - -CLASSPATH=$APP_HOME/lib/Tutorial.jar:$APP_HOME/lib/commons-collections-3.2.jar:$APP_HOME/lib/BuggyRos.jar - -# Determine the Java command to use to start the JVM. -if [ -n "$JAVA_HOME" ] ; then - if [ -x "$JAVA_HOME/jre/sh/java" ] ; then - # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" - else - JAVACMD="$JAVA_HOME/bin/java" - fi - if [ ! -x "$JAVACMD" ] ; then - die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." - fi -else - JAVACMD="java" - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. - -Please set the JAVA_HOME variable in your environment to match the -location of your Java installation." -fi - -# Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi -fi - -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi - -# For Cygwin, switch paths to Windows format before running java -if $cygwin ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi - # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" - fi - i=$((i+1)) - done - case $i in - (0) set -- ;; - (1) set -- "$args0" ;; - (2) set -- "$args0" "$args1" ;; - (3) set -- "$args0" "$args1" "$args2" ;; - (4) set -- "$args0" "$args1" "$args2" "$args3" ;; - (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac -fi - -# Split up the JVM_OPTS And TUTORIAL_OPTS values into an array, following the shell quoting and substitution rules -function splitJvmOpts() { - JVM_OPTS=("$@") -} -eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $TUTORIAL_OPTS - - -exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" a_integrator.startercode.MainFile "$@" diff --git a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat deleted file mode 100644 index c8c64ccb..00000000 --- a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat +++ /dev/null @@ -1,90 +0,0 @@ -@if "%DEBUG%" == "" @echo off -@rem ########################################################################## -@rem -@rem Tutorial startup script for Windows -@rem -@rem ########################################################################## - -@rem Set local scope for the variables with windows NT shell -if "%OS%"=="Windows_NT" setlocal - -@rem Add default JVM options here. You can also use JAVA_OPTS and TUTORIAL_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS= - -set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME%.. - -@rem Find java.exe -if defined JAVA_HOME goto findJavaFromJavaHome - -set JAVA_EXE=java.exe -%JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto init - -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto init - -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:init -@rem Get command-line arguments, handling Windowz variants - -if not "%OS%" == "Windows_NT" goto win9xME_args -if "%@eval[2+2]" == "4" goto 4NT_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* -goto execute - -:4NT_args -@rem Get arguments from the 4NT Shell from JP Software -set CMD_LINE_ARGS=%$ - -:execute -@rem Setup the command line - -set CLASSPATH=%APP_HOME%\lib\Tutorial.jar;%APP_HOME%\lib\commons-collections-3.2.jar;%APP_HOME%\lib\BuggyRos.jar - -@rem Execute Tutorial -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %TUTORIAL_OPTS% -classpath "%CLASSPATH%" a_integrator.startercode.MainFile %CMD_LINE_ARGS% - -:end -@rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="0" goto mainEnd - -:fail -rem Set variable TUTORIAL_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -if not "" == "%TUTORIAL_EXIT_CONSOLE%" exit 1 -exit /b 1 - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega diff --git a/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF b/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF deleted file mode 100644 index c76c39f1..00000000 --- a/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF +++ /dev/null @@ -1,4 +0,0 @@ -Manifest-Version: 1.0 -Implementation-Title: Gradle Quickstart -Implementation-Version: 1.0 - diff --git a/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template b/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template deleted file mode 100644 index 3182cfdf..00000000 --- a/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template +++ /dev/null @@ -1,18 +0,0 @@ -package junit.runner; - -/** - * This class defines the current version of JUnit - */ -public class Version { - private Version() { - // don't instantiate - } - - public static String id() { - return "@version@"; - } - - public static void main(String[] args) { - System.out.println(id()); - } -} From b4e5238bf420889026040b990fab971d753f6aee Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Tue, 1 May 2018 20:27:24 -0400 Subject: [PATCH 56/95] fixed UTM confusion Instead of naming it Lat_m and Long_m, renamed to easting and northing, and put appropriate comments in the message files --- Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg | 6 ++++-- .../src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp | 5 +++-- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 4 ++-- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg index 2900f3b2..dace0586 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/GPS.msg @@ -1,7 +1,9 @@ Header header -float32 Lat_m -float32 Long_m +# easting is our x coordinate +float32 easting +# northing is our y coordinate +float32 northing float32 Lat_deg float32 Long_deg diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 98225d4f..fcb16838 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -83,13 +83,14 @@ int GPS_Broadcaster::handle_serial_messages() gps_point.latitude = latitude_deg; gps_point.longitude = longitude_deg; + // northing is latitude, easting is longitude geodesy::UTMPoint utm_point(gps_point); robobuggy::GPS gps_message; gps_message.Lat_deg = static_cast(latitude_deg); gps_message.Long_deg = static_cast(longitude_deg); - gps_message.Lat_m = static_cast(utm_point.easting); - gps_message.Long_m = static_cast(utm_point.northing); + gps_message.northing = static_cast(utm_point.northing); + gps_message.easting = static_cast(utm_point.easting); gps_pub.publish(gps_message); } diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 56bc15fc..d994e09b 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -35,8 +35,8 @@ void Localizer::Encoder_Callback(const robobuggy::Encoder::ConstPtr &msg) void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) { geodesy::UTMPoint p; - p.northing = msg->Lat_m; - p.easting = msg->Long_m; + p.northing = msg->northing; + p.easting = msg->easting; p.band = 'T'; p.zone = 17; From 15657e480e900c36f26b0afcefd5c25d3804f503 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Sat, 5 May 2018 15:18:19 -0400 Subject: [PATCH 57/95] last fixes before merging --- .../src/transistor/gps/GPS_Broadcaster.cpp | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index de255bbc..82e142ff 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,9 +1,5 @@ - -//include ros library -#include -#include -#include +#include const std::string GPS_Broadcaster::NODE_NAME = "Transistor_GPS_Broadcaster"; GPS_Broadcaster::GPS_Broadcaster() @@ -22,16 +18,6 @@ GPS_Broadcaster::GPS_Broadcaster() serial_baud = 9600; } -} - -int GPS_Broadcaster::read_gps_message() -{ - - //parse ONE NMEA string - - //set up serial port - serial::Serial gps_serial; - try { gps_serial.setPort(serial_port); @@ -44,7 +30,6 @@ int GPS_Broadcaster::read_gps_message() { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); - return -1; } } From e61c403c9196a3ad410171357d58fe45242ea23c Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Sat, 5 May 2018 15:23:56 -0400 Subject: [PATCH 58/95] removed unnecessary files --- .../src/robobuggy/scripts/GPS_Broadcaster.py | 0 .../scripts/controllerSimFlowchart.pdf | Bin 38290 -> 0 bytes 2 files changed, 0 insertions(+), 0 deletions(-) delete mode 100755 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py delete mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controllerSimFlowchart.pdf diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/GPS_Broadcaster.py deleted file mode 100755 index e69de29b..00000000 diff --git 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zye&b|5X@%f{0FGhnNP16^_hr2SfG>~1Cdr@&mPmfG?_m@^8}zFUHth(aYQOBPimlLm>h0F-C&42NHuC$#~I(?oSMN$aU;xGkZq=h)1nWWfX=pM0cd zXeAlJs*HS!cKHZhl~ZV0s~+lWfPe7e*$FA_=ZmS^a}`UJFWoWCGkVn;T&=E2M0+}6yh%?FpH>)$or3lXJpeN9f)FY@YGO^0{AdHI z+Y4(YPlI`t<~spAQMg1@yE8R2*P4vB9hunLeppyl_qMyKjy- zCQap>fq#pQE7(eiu;E!W7$*^ZAJ40q(ZJZATOHPHqf`l7ZkqIy282*`K|bbUQlOc}w}@aK1R{% z{)XO(Pm|jBv3xu){qj`Bq-HyW&Fycm5Z3d+ClMale-D%ZH@-&tj}ghxJTPug|1&c4 zudm)kus7|0olSez5x$JQ&?|V`Uq^$`(Qu#N4}UpB5dXKAhU+`VcfY~)U%h`qY8oNp zdz5~h_hSW=W9X-ifXnsSLbsnb>JJ+Q zV1>dT?FxlIze|%4&EL*f#KG(TvBCL1*Y-CX%fi@yvla2*`=yv-0q*qQ+A;t1$@x$cvzad2AC(ck9e}9F@uP9=@+wmUy+yFBKBKLe5!Rve6D5eA=Iq`UF(nkIZ Dl-w9J From a5f09cd5b3495ad2dd3096dec79299dce42c9b65 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 5 May 2018 15:41:17 -0400 Subject: [PATCH 59/95] fixed compilation errors --- .../src/robobuggy/include/transistor/gps/GPS_Broadcaster.h | 3 +++ .../src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp | 7 ++++++- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index 6e1b83c0..0742aa04 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -8,6 +8,8 @@ #include "ros/ros.h" #include "robobuggy/GPS.h" #include "serial/serial.h" +#include +#include #include @@ -30,6 +32,7 @@ class GPS_Broadcaster std::string serial_port; int serial_baud; std::string gps_serial_buffer; + serial::Serial gps_serial; double convert_to_latitude(std::string str); double convert_to_longitude(std::string str); diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index c6a1cddd..b487bc9a 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -18,6 +18,12 @@ GPS_Broadcaster::GPS_Broadcaster() serial_baud = 9600; } + + +} + +void GPS_Broadcaster::initialize_hardware() +{ try { gps_serial.setPort(serial_port); @@ -31,7 +37,6 @@ GPS_Broadcaster::GPS_Broadcaster() ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); } - } //parse ONE NMEA string From 62bfc3bec90825a49b07c8532af6ce987d63cc28 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sat, 5 May 2018 20:56:25 -0400 Subject: [PATCH 60/95] added in script to upload changes to a Jetson --- Software/util/upload_to_jetson.py | 67 +++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100755 Software/util/upload_to_jetson.py diff --git a/Software/util/upload_to_jetson.py b/Software/util/upload_to_jetson.py new file mode 100755 index 00000000..82411af6 --- /dev/null +++ b/Software/util/upload_to_jetson.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python2 + +# Python 2.7 script for uploading current changes to a Jetson +# Make sure to run this file from the util/ directory, otherwise paths will get messed up + +import argparse +import subprocess + +jetson_names = { + "Ackermann": "ackermann", + "Kalman": "kalman", + "PID": "pid", + "Stanley": "stanley", + "TX1": "-tx1" +} + +parser = argparse.ArgumentParser(description="Upload current changes to a Jetson") +parser.add_argument("jetson_name", + type=str, + help="Jetson name", + choices=list(jetson_names) + ) +args = parser.parse_args() + +def main(): + jetson_hostname = "robobuggy{}.wv.cc.cmu.edu".format(jetson_names[args.jetson_name]) + + # check if we can ping it at all + print "Checking if {} is awake...".format(args.jetson_name) + errno = subprocess.call("ping -t 1 {} > /dev/null".format(jetson_hostname), shell=True) + if errno != 0: + print "Couldn't ping host! Exiting!" + exit(1) + + # get acknowledgement the jetson is ready + print "Have you switched to your branch on the Jetson? ([y]/n)" + ack = raw_input() + if ack != 'y' and ack != "": + print "Didn't answer \'y\', exiting!" + exit(1) + + # get acknowledgement all files desired are there + print "Have you added any untracked files desired? ([y]/n)" + ack = raw_input() + if ack != 'y' and ack != "": + print "Didn't answer \'y\', exiting!" + exit(1) + + # get git output + print "Getting list of files modified / added" + git_output = subprocess.check_output("git status --porcelain", shell=True) + lines = git_output.splitlines() + files_to_transfer = [] + for line in lines: + if "A" in line[0:2] or "M" in line[0:2]: + files_to_transfer.append(line[3:]) + + argstring = "" + for filename in files_to_transfer: + # tar goes off files from the home dir, need to add "robobuggy" to the front + argstring += "RoboBuggy/" + filename + " " + + subprocess.call("cd ../../..; tar cvzf - {0} | ssh nvidia@{1} tar xzf -".format(argstring, jetson_hostname), shell=True) + + +if __name__ == "__main__": + main() \ No newline at end of file From 0665ade05d8291f19d984e7a86d8c013c437d885 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 18 May 2018 21:08:11 -0400 Subject: [PATCH 61/95] added first part of full system simulation --- .../sim/full_system_sim.graphml | 772 ++++++++++++++++++ .../sim/full_system_sim.pdf | Bin 0 -> 110593 bytes .../scripts/{ => sim}/controller_simulator.py | 0 .../robobuggy/scripts/sim/full_system_sim.py | 123 +++ 4 files changed, 895 insertions(+) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/sim/full_system_sim.graphml create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/sim/full_system_sim.pdf rename Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/{ => sim}/controller_simulator.py (100%) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/sim/full_system_sim.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/sim/full_system_sim.graphml new file mode 100644 index 00000000..1ad5ed0d --- /dev/null +++ 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zFciZy%zP+gV2|>l3@1L)1w(O`{qzii)_lk7hsPkD;^;^?f~tAwRtfOMS#CV3*QZ?Y?b*Vm_6z#7FF6C`)S7{iW?u4*rHLACc>t>d#9H8F^z$;K;*~Q;#}7LYFj67_8Pb1l|8Pr#9?9 literal 0 HcmV?d00001 diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/controller_simulator.py similarity index 100% rename from Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/controller_simulator.py rename to Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/controller_simulator.py diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py new file mode 100644 index 00000000..eec2ac43 --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -0,0 +1,123 @@ +# Full System Simulator +# Keeps track of a ground-truth position for the robot, but reports a noisy version to the rest of the system + +# TODO Currently reports only GPS and encoder, include IMU as well +import rospy +import numpy as np +import utm +import math +from robobuggy.msg import GPS +from robobuggy.msg import Encoder +from robobuggy.msg import Command + +class Simulator: + + def __init__(self, sigma_gps, sigma_odom, start_position): + self.sigma_gps = sigma_gps + self.sigma_odom = sigma_odom + start_utm = utm.from_latlon(start_position[0], start_position[1]) + + self.steering_angle = 0 + self.dt = 0.1 + self.sim_update_hz = 1/self.dt + self.wheelbase = 1.13 + self.gps_update_rate_hz = 2 + self.odom_update_rate_hz = 5 + self.imu_update_rate_hz = 5 + self.utm_letter = 'T' + self.utm_zone = 17 + self.velocity = 3 + + x = [ + start_utm[0], + start_utm[1], + self.velocity, + start_position[2], + 0 + ] + self.x = np.array(x) + self.x.reshape([5,1]) + + def apply_control_input(self, data): + self.steering_angle = data.steer_cmd_rad + + def calculate_new_motion_model(self): + A = [ + [1, 0, self.dt * math.cos(self.x[3]), 0, 0], + [0, 1, self.dt * math.sin(self.x[3]), 0, 0], + [0, 1, 0, 0, 0], + [0, 0, 0, 1, self.dt], + [0, 0, math.tan(self.steering_angle)/self.wheelbase, 0, 0] + ] + return np.array(A) + + def step(self): + A = self.calculate_new_motion_model() + self.x = A * self.x + pass + + def generate_gps_message(self): + (x, y) = (self.x[0], self.x[1]) + x = np.random.normal(x, self.sigma_gps) + y = np.random.normal(y, self.sigma_gps) + + (lat, lon) = utm.to_latlon(x, y, self.utm_zone, self.utm_letter) + + noisy_msg = GPS() + noisy_msg.latitude = lat + noisy_msg.longitude = lon + noisy_msg.easting = x + noisy_msg.northing = y + + return noisy_msg + + def generate_odometry_message(self): + approx_distance = self.velocity * self.dt * self.sim_update_hz / self.odom_update_rate_hz + approx_distance = np.random.normal(approx_distance, self.sigma_odom) + + noisy_msg = Encoder() + noisy_msg.distance = approx_distance + + return noisy_msg + + def generate_ground_truth_message(self): + (x, y) = (self.x[0], self.x[1]) + (lat, lon) = utm.to_latlon(x, y, self.utm_zone, self.utm_letter) + + msg = GPS() + msg.latitude = lat + msg.longitude = lon + msg.easting = x + msg.northing = y + + return msg + + def generate_imu_message(self): + # TODO + pass + +def main(): + + # init + rospy.init_node("Full_System_Simulator") + gps_pub = rospy.Publisher('GPS', GPS, queue_size=10) + odom_pub = rospy.Publisher('Encoder', Encoder, queue_size=10) + + # 5m stddev + sigma_gps = 5 + + # 0.1m stddev + sigma_odom = 0.1 + + # read in waypoints from waypoint file, figure out first one + start_x = 0 + start_y = 0 + start_th = 0 + + s = Simulator(sigma_gps, sigma_odom, (start_x, start_y, start_th)) + command_sub = rospy.Publisher('Command', Command, s.command_callback) + + pass + +if __name__ == "__main__": + main() \ No newline at end of file From faf53325655951fb77b41bceae327aa4647fd4f6 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Sun, 10 Jun 2018 22:16:12 -0400 Subject: [PATCH 62/95] added message generation and timestepping to the simulator. Now it can be run properly, except for initial position --- .../robobuggy/scripts/sim/full_system_sim.py | 39 +++++++++++++++++-- 1 file changed, 36 insertions(+), 3 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py index eec2ac43..4c7bd623 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -24,6 +24,7 @@ def __init__(self, sigma_gps, sigma_odom, start_position): self.gps_update_rate_hz = 2 self.odom_update_rate_hz = 5 self.imu_update_rate_hz = 5 + self.ground_truth_update_rate_hz = 5 self.utm_letter = 'T' self.utm_zone = 17 self.velocity = 3 @@ -102,6 +103,9 @@ def main(): rospy.init_node("Full_System_Simulator") gps_pub = rospy.Publisher('GPS', GPS, queue_size=10) odom_pub = rospy.Publisher('Encoder', Encoder, queue_size=10) + ground_truth_pub = rospy.Publisher("SIM_Ground_Truth", GPS, queue_size=10) + # TODO + # imu_pub = rospy.Publisher('IMU', IMU, queue_size=10) # 5m stddev sigma_gps = 5 @@ -109,15 +113,44 @@ def main(): # 0.1m stddev sigma_odom = 0.1 - # read in waypoints from waypoint file, figure out first one + # TODO: read in waypoints from waypoint file, figure out first one start_x = 0 start_y = 0 start_th = 0 s = Simulator(sigma_gps, sigma_odom, (start_x, start_y, start_th)) - command_sub = rospy.Publisher('Command', Command, s.command_callback) + command_sub = rospy.Publisher('Command', Command, s.apply_control_input) + + # spin infinitely, while stepping each appropriate tick + rate = rospy.Rate(s.sim_update_hz) + loop_counter = 0 + while not rospy.is_shutdown(): + # Take a step + s.step() + + # If needed, generate and publish messages + if loop_counter % s.gps_update_rate_hz: + gps_msg = s.generate_gps_message() + gps_pub.publish(gps_msg) + + if loop_counter % s.odom_update_rate_hz: + odom_msg = s.generate_odometry_message() + odom_pub.publish(odom_msg) + + if loop_counter % s.ground_truth_update_rate_hz: + gt_msg = s.generate_ground_truth_message() + ground_truth_pub.publish(gt_msg) + + # TODO + # if loop_counter % s.imu_update_rate_hz: + # imu_msg = s.generate_imu_message() + # imu_pub.publish(imu_msg) + + loop_counter += 1 + rate.sleep() + + - pass if __name__ == "__main__": main() \ No newline at end of file From f6609b19eaa5b65f491e376467fcbd5c4d4ffcd3 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 11 Jun 2018 22:12:07 -0400 Subject: [PATCH 63/95] (untested) finished the implementation of the simulator, and added visualization hooks into the data_map_plot --- .../src/robobuggy/scripts/data_map_plot.py | 13 +++++++++++++ .../src/robobuggy/scripts/sim/full_system_sim.py | 12 +++++++++--- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index 520bdd1c..e6666ed0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -47,6 +47,17 @@ def command_callback(data): pass +def ground_truth_callback(data): + global viz_grndtruth_pub + + degrees_from_north = -math.degrees(data.heading_rad) + 90 + + rospy.loginfo("Got Ground Truth message: (%f, %f, %f)", data.latitude_deg, data.longitude_deg, degrees_from_north) + + viz_msg_groundtruth = GPSFix(latitude=data.latitude_deg, longitude=data.longitude_deg, track=degrees_from_north) + viz_grndtruth_pub.publish(viz_msg_groundtruth) + pass + def waypoints_publisher(): waypoints_pub = rospy.Publisher('WAYPOINTS_VIZ',GPSFix, queue_size=10) @@ -76,9 +87,11 @@ def start_subscriber_spin(): viz_pub = rospy.Publisher('GPS_VIZ', GPSFix, queue_size=10) viz_command_pub = rospy.Publisher('STEERING_COMMAND_VIZ', GPSFix, queue_size = 10) + viz_grndtruth_pub = rospy.Publisher("SIM_GROUNDTRUTH_VIZ", GPSFix, queue_size=10) rospy.Subscriber("Pose", Pose, pose_callback) rospy.Subscriber("Command", Command, command_callback) + rospy.Subscriber("SIM_Ground_Truth", GPS, ground_truth_callback) waypoints_publisher() rospy.spin() diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py index 4c7bd623..470de504 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -9,6 +9,7 @@ from robobuggy.msg import GPS from robobuggy.msg import Encoder from robobuggy.msg import Command +import json class Simulator: @@ -100,7 +101,8 @@ def generate_imu_message(self): def main(): # init - rospy.init_node("Full_System_Simulator") + NODE_NAME = "Full_System_Simulator" + rospy.init_node(NODE_NAME) gps_pub = rospy.Publisher('GPS', GPS, queue_size=10) odom_pub = rospy.Publisher('Encoder', Encoder, queue_size=10) ground_truth_pub = rospy.Publisher("SIM_Ground_Truth", GPS, queue_size=10) @@ -113,10 +115,14 @@ def main(): # 0.1m stddev sigma_odom = 0.1 - # TODO: read in waypoints from waypoint file, figure out first one start_x = 0 start_y = 0 - start_th = 0 + start_th = math.radians(250) # TODO calculate based on two waypoints + waypoint_file = rospy.get_param("/{}/waypoint_file".format(NODE_NAME)) + with open(waypoint_file) as f: + first_waypoint_str = f.readline() + first_waypoint_json = json.loads(first_waypoint_str) + first_waypoint = utm.from_latlon(first_waypoint_json['latitude'], first_waypoint_json['longitude']) s = Simulator(sigma_gps, sigma_odom, (start_x, start_y, start_th)) command_sub = rospy.Publisher('Command', Command, s.apply_control_input) From d51f307dea3acada51abad823928b95ed54eed62 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 18 Jun 2018 21:26:36 -0400 Subject: [PATCH 64/95] Finished the full system simulator - fixed an issue where the message generation didn't work - fixed an issue where the message wouldn't get visualized = added plain GPS to the visualizer - added ground truth to the visualizer Tested, works well without feedback --- .../robobuggy/launch/full_system_sim.launch | 7 +++ .../ROS_RoboBuggy/src/robobuggy/msg/Pose.msg | 3 +- .../src/robobuggy/scripts/data_map_plot.py | 23 ++++++-- .../robobuggy/scripts/sim/full_system_sim.py | 59 +++++++++++-------- 4 files changed, 58 insertions(+), 34 deletions(-) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch new file mode 100644 index 00000000..85d557eb --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Pose.msg b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Pose.msg index 05ee46a0..cdad154a 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Pose.msg +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/msg/Pose.msg @@ -3,6 +3,5 @@ Header header float64 latitude_deg float64 longitude_deg -# where 0 means north, pi/2 means east, pi means south, 3pi/2 means west -# this value should ALWAYS be modded by 2pi +# Cartesian coordinate system float64 heading_rad \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index e6666ed0..ec46525b 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -13,7 +13,7 @@ def pose_callback(data): - global viz_pub + global viz_pose_pub global last_latitude global last_longitude global last_heading_deg @@ -28,10 +28,16 @@ def pose_callback(data): viz_msg_heading = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg) rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f bearing", last_latitude, last_longitude, last_heading_deg) - viz_pub.publish(viz_msg_heading) + viz_pose_pub.publish(viz_msg_heading) pass +def gps_callback(data): + global viz_gps_pub + rospy.loginfo("Got GPS message: %f lat, %f lon", data.Lat_deg, data.Long_deg) + viz_msg_gps = GPSFix(latitude=data.Lat_deg, longitude=data.Long_deg) + viz_gps_pub.publish(viz_msg_gps) + def command_callback(data): global viz_command_pub global last_latitude @@ -63,7 +69,7 @@ def waypoints_publisher(): waypoints_pub = rospy.Publisher('WAYPOINTS_VIZ',GPSFix, queue_size=10) # read from waypoints file, parse JSON, publish - waypoints = open("../RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt", 'r') + waypoints = open("/mnt/c/Users/bhai/Documents/RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt", 'r') line = waypoints.readline() time.sleep(5) while line: @@ -76,22 +82,27 @@ def waypoints_publisher(): pass def start_subscriber_spin(): - global viz_pub + global viz_gps_pub + global viz_pose_pub global viz_command_pub + global viz_grndtruth_pub global last_latitude global last_longitude global last_heading_deg + last_heading_deg = 0 rospy.init_node("GPS_Plotter", anonymous=True) - viz_pub = rospy.Publisher('GPS_VIZ', GPSFix, queue_size=10) + viz_gps_pub = rospy.Publisher("GPS_VIZ", GPSFix, queue_size=10) + viz_pose_pub = rospy.Publisher('POSE_VIZ', GPSFix, queue_size=10) viz_command_pub = rospy.Publisher('STEERING_COMMAND_VIZ', GPSFix, queue_size = 10) viz_grndtruth_pub = rospy.Publisher("SIM_GROUNDTRUTH_VIZ", GPSFix, queue_size=10) rospy.Subscriber("Pose", Pose, pose_callback) + rospy.Subscriber("GPS", GPS, gps_callback) rospy.Subscriber("Command", Command, command_callback) - rospy.Subscriber("SIM_Ground_Truth", GPS, ground_truth_callback) + rospy.Subscriber("SIM_Ground_Truth", Pose, ground_truth_callback) waypoints_publisher() rospy.spin() diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py index 470de504..391dde26 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + # Full System Simulator # Keeps track of a ground-truth position for the robot, but reports a noisy version to the rest of the system @@ -9,18 +11,18 @@ from robobuggy.msg import GPS from robobuggy.msg import Encoder from robobuggy.msg import Command +from robobuggy.msg import Pose import json +import pdb class Simulator: def __init__(self, sigma_gps, sigma_odom, start_position): self.sigma_gps = sigma_gps self.sigma_odom = sigma_odom - start_utm = utm.from_latlon(start_position[0], start_position[1]) - self.steering_angle = 0 - self.dt = 0.1 - self.sim_update_hz = 1/self.dt + self.sim_update_hz = 10 + self.dt = 1.0 / self.sim_update_hz self.wheelbase = 1.13 self.gps_update_rate_hz = 2 self.odom_update_rate_hz = 5 @@ -31,27 +33,27 @@ def __init__(self, sigma_gps, sigma_odom, start_position): self.velocity = 3 x = [ - start_utm[0], - start_utm[1], + start_position[0], + start_position[1], self.velocity, start_position[2], 0 ] self.x = np.array(x) - self.x.reshape([5,1]) + self.x = np.reshape(x, [5,1]) def apply_control_input(self, data): self.steering_angle = data.steer_cmd_rad def calculate_new_motion_model(self): A = [ - [1, 0, self.dt * math.cos(self.x[3]), 0, 0], - [0, 1, self.dt * math.sin(self.x[3]), 0, 0], - [0, 1, 0, 0, 0], + [1, 0, self.dt * np.cos(self.x[3]), 0, 0], + [0, 1, self.dt * np.sin(self.x[3]), 0, 0], + [0, 0, 1, 0, 0], [0, 0, 0, 1, self.dt], [0, 0, math.tan(self.steering_angle)/self.wheelbase, 0, 0] ] - return np.array(A) + return np.matrix(A) def step(self): A = self.calculate_new_motion_model() @@ -66,8 +68,8 @@ def generate_gps_message(self): (lat, lon) = utm.to_latlon(x, y, self.utm_zone, self.utm_letter) noisy_msg = GPS() - noisy_msg.latitude = lat - noisy_msg.longitude = lon + noisy_msg.Lat_deg = lat + noisy_msg.Long_deg = lon noisy_msg.easting = x noisy_msg.northing = y @@ -78,7 +80,7 @@ def generate_odometry_message(self): approx_distance = np.random.normal(approx_distance, self.sigma_odom) noisy_msg = Encoder() - noisy_msg.distance = approx_distance + noisy_msg.ticks = approx_distance * 1.0 / (0.61 / 7.0 * 0.3048 * 2) return noisy_msg @@ -86,11 +88,10 @@ def generate_ground_truth_message(self): (x, y) = (self.x[0], self.x[1]) (lat, lon) = utm.to_latlon(x, y, self.utm_zone, self.utm_letter) - msg = GPS() - msg.latitude = lat - msg.longitude = lon - msg.easting = x - msg.northing = y + msg = Pose() + msg.latitude_deg = lat + msg.longitude_deg = lon + msg.heading_rad = self.x[3] return msg @@ -105,12 +106,12 @@ def main(): rospy.init_node(NODE_NAME) gps_pub = rospy.Publisher('GPS', GPS, queue_size=10) odom_pub = rospy.Publisher('Encoder', Encoder, queue_size=10) - ground_truth_pub = rospy.Publisher("SIM_Ground_Truth", GPS, queue_size=10) + ground_truth_pub = rospy.Publisher("SIM_Ground_Truth", Pose, queue_size=10) # TODO # imu_pub = rospy.Publisher('IMU', IMU, queue_size=10) # 5m stddev - sigma_gps = 5 + sigma_gps = 2 # 0.1m stddev sigma_odom = 0.1 @@ -118,32 +119,37 @@ def main(): start_x = 0 start_y = 0 start_th = math.radians(250) # TODO calculate based on two waypoints - waypoint_file = rospy.get_param("/{}/waypoint_file".format(NODE_NAME)) + # waypoint_file = rospy.get_param("/{}/waypoint_file".format(NODE_NAME)) + waypoint_file = "/mnt/c/Users/bhai/Documents/RoboBuggy/Software/real_time/ROS_RoboBuggy/src/robobuggy/config/waypoints.txt" with open(waypoint_file) as f: first_waypoint_str = f.readline() first_waypoint_json = json.loads(first_waypoint_str) first_waypoint = utm.from_latlon(first_waypoint_json['latitude'], first_waypoint_json['longitude']) + start_x = first_waypoint[0] + start_y = first_waypoint[1] s = Simulator(sigma_gps, sigma_odom, (start_x, start_y, start_th)) - command_sub = rospy.Publisher('Command', Command, s.apply_control_input) + command_sub = rospy.Subscriber('Command', Command, s.apply_control_input) # spin infinitely, while stepping each appropriate tick rate = rospy.Rate(s.sim_update_hz) loop_counter = 0 while not rospy.is_shutdown(): + print loop_counter + # Take a step s.step() # If needed, generate and publish messages - if loop_counter % s.gps_update_rate_hz: + if loop_counter % (s.sim_update_hz / s.gps_update_rate_hz) == 0: gps_msg = s.generate_gps_message() gps_pub.publish(gps_msg) - if loop_counter % s.odom_update_rate_hz: + if loop_counter % (s.sim_update_hz / s.odom_update_rate_hz) == 0: odom_msg = s.generate_odometry_message() odom_pub.publish(odom_msg) - if loop_counter % s.ground_truth_update_rate_hz: + if loop_counter % (s.sim_update_hz / s.ground_truth_update_rate_hz) == 0: gt_msg = s.generate_ground_truth_message() ground_truth_pub.publish(gt_msg) @@ -155,6 +161,7 @@ def main(): loop_counter += 1 rate.sleep() + From 639c1f153bfc873e796c7caa797fe8b911d8910b Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 18 Jun 2018 21:33:55 -0400 Subject: [PATCH 65/95] Modified docs for data map plot node --- .../data_map_plot flowchart.graphml | 222 +++++++++++++++++- .../scripts/data_map_plot flowchart.pdf | Bin 178327 -> 239992 bytes 2 files changed, 221 insertions(+), 1 deletion(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml index b403310d..a33294b0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/Doc_Flowchart_Source/data_map_plot flowchart.graphml @@ -1,6 +1,6 @@ - + @@ -350,6 +350,134 @@ + + + + + + + Receive GPS Message + + + + + + + + + + + + + + + + Create new GPSFix message + + + + + + + + + + + + + + + + Fill GPSFix message with lat and lon + + + + + + + + + + + + + + + + Publish GPS viz message + + + + + + + + + + + + + + + + Receive ground truth Message + + + + + + + + + + + + + + + + Create new GPSFix message + + + + + + + + + + + + + + + + Fill GPSFix message with lat, lon, and heading + + + + + + + + + + + + + + + + Publish GPS viz message + + + + + + + + + @@ -613,6 +741,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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loop --- .../include/transistor/localizer/Localizer.h | 4 ++-- .../src/robobuggy/launch/full_system_sim.launch | 6 ++++++ .../src/robobuggy/scripts/data_map_plot.py | 8 +++----- .../src/robobuggy/scripts/sim/full_system_sim.py | 6 ++---- .../src/transistor/localizer/Localizer.cpp | 15 +++++++++------ 5 files changed, 22 insertions(+), 17 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index b7d4e418..81563a65 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,10 +45,10 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; - Matrix C_GPS; + Matrix C_GPS; Matrix C_Encoder; Matrix C_IMU; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch index 85d557eb..243163da 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/launch/full_system_sim.launch @@ -4,4 +4,10 @@ + + + + + + \ No newline at end of file diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py index ec46525b..f6ca13e9 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/data_map_plot.py @@ -25,12 +25,11 @@ def pose_callback(data): last_longitude = data.longitude_deg last_heading_deg = -degrees_from_north + 90 - viz_msg_heading = GPSFix(latitude=last_latitude, longitude=last_longitude, track = last_heading_deg) rospy.loginfo("got Pose msg: %f degrees lat, %f degrees long, %f bearing", last_latitude, last_longitude, last_heading_deg) + viz_msg_heading = GPSFix(latitude=last_latitude, longitude=last_longitude, track=last_heading_deg) viz_pose_pub.publish(viz_msg_heading) - pass def gps_callback(data): global viz_gps_pub @@ -92,10 +91,10 @@ def start_subscriber_spin(): global last_heading_deg last_heading_deg = 0 - rospy.init_node("GPS_Plotter", anonymous=True) + rospy.init_node("Data Visualizer", anonymous=True) viz_gps_pub = rospy.Publisher("GPS_VIZ", GPSFix, queue_size=10) - viz_pose_pub = rospy.Publisher('POSE_VIZ', GPSFix, queue_size=10) + viz_pose_pub = rospy.Publisher("POSE_VIZ", GPSFix, queue_size=10) viz_command_pub = rospy.Publisher('STEERING_COMMAND_VIZ', GPSFix, queue_size = 10) viz_grndtruth_pub = rospy.Publisher("SIM_GROUNDTRUTH_VIZ", GPSFix, queue_size=10) @@ -107,7 +106,6 @@ def start_subscriber_spin(): rospy.spin() - pass if __name__ == "__main__": start_subscriber_spin() diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py index 391dde26..107d8a94 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/scripts/sim/full_system_sim.py @@ -13,7 +13,7 @@ from robobuggy.msg import Command from robobuggy.msg import Pose import json -import pdb +import time class Simulator: @@ -111,7 +111,7 @@ def main(): # imu_pub = rospy.Publisher('IMU', IMU, queue_size=10) # 5m stddev - sigma_gps = 2 + sigma_gps = 0.5 # 0.1m stddev sigma_odom = 0.1 @@ -135,8 +135,6 @@ def main(): rate = rospy.Rate(s.sim_update_hz) loop_counter = 0 while not rospy.is_shutdown(): - print loop_counter - # Take a step s.step() diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index d994e09b..d9ed900f 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -47,7 +47,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) double dx = p.easting - prev_position_utm.easting; double dy = p.northing - prev_position_utm.northing; - heading_cartesian = atan2(dx, dy); + heading_cartesian = atan2(dy, dx); if (sqrt(dx * dx + dy * dy) < 0.25) { heading_cartesian = x(3, 0); @@ -55,10 +55,11 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) } prev_position_utm = p; - Matrix z; + Matrix z; z << p.easting, - p.northing + p.northing, + heading_cartesian ; kalman_filter(C_GPS, Q_GPS, z); @@ -148,8 +149,9 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 5, 0, - 0, 5 + 10, 0, 0, + 0, 10, 0, + 0, 0, 0.1 ; std::stringstream s; @@ -186,7 +188,8 @@ void Localizer::init_C_GPS() { C_GPS << 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0 + 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0 ; std::stringstream s; From 6179592ccd1d287ef63e1c051fe6cbadf7be4800 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 25 Jun 2018 21:33:59 -0400 Subject: [PATCH 67/95] Fixed a longtime issue in the localizer where we would need to keep swapping x and y around It turns out that the reason for the inconsistencies was that we were generating the pose message incorrectly Also cleaned up the magic indices so that we don't have any more off-by-one errors with respect to the indexing --- .../include/transistor/localizer/Localizer.h | 6 ++++++ .../src/transistor/localizer/Localizer.cpp | 18 ++++++++++-------- 2 files changed, 16 insertions(+), 8 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index b7d4e418..db6e65c4 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -33,6 +33,12 @@ class Localizer long int previous_update_time_ms; long int prev_encoder_time; + const int ROW_X = 0; + const int ROW_Y = 1; + const int ROW_VEL = 2; + const int ROW_HEADING = 3; + const int ROW_TH_DOT = 4; + ros::NodeHandle nh; ros::Publisher pose_pub; ros::Subscriber gps_sub; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index d994e09b..68c22c1a 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -282,9 +282,11 @@ void Localizer::update_position_estimate() { propagate(); - geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); + double easting_x = x_hat(ROW_X, 0) + double northing_y = x_hat(ROW_Y, 0) + geodesy::UTMPoint utm_point(easting_x, northing_y, 17, 'T'); geographic_msgs::GeoPoint gps_point = geodesy::toMsg(utm_point); - double heading = x_hat(3, 0); + double heading = x_hat(ROW_HEADING, 0); robobuggy::Pose p; ros::Time time_now = ros::Time::now(); @@ -301,8 +303,8 @@ void Localizer::update_motion_model(double dt) { A << - 1, 0, dt * cos(x(3, 0)), 0, 0, - 0, 1, dt * sin(x(3, 0)), 0, 0, + 1, 0, dt * cos(x(ROW_HEADING, 0)), 0, 0, + 0, 1, dt * sin(x(ROW_HEADING, 0)), 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, dt, 0, 0, tan(current_steering_angle) / WHEELBASE_M, 0, 0 @@ -352,8 +354,8 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; - x_pre(3, 0) = clamp_angle(x_pre(3, 0)); - x_pre(4, 0) = clamp_angle(x_pre(4, 0)); + x_pre(ROW_HEADING, 0) = clamp_angle(x_pre(ROW_HEADING, 0)); + x_pre(ROW_TH_DOT, 0) = clamp_angle(x_pre(ROW_TH_DOT, 0)); MatrixXd residual = z - c * x_pre; MatrixXd K = c * P_pre * c.transpose() + q; @@ -361,6 +363,6 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; - x(3, 0) = clamp_angle(x(3, 0)); - x(4, 0) = clamp_angle(x(4, 0)); + x(ROW_HEADING, 0) = clamp_angle(x(ROW_HEADING, 0)); + x(ROW_TH_DOT, 0) = clamp_angle(x(ROW_TH_DOT, 0)); } From 5bea7e87468d17e352d07c975e6007212cd3dbe4 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 25 Jun 2018 21:42:05 -0400 Subject: [PATCH 68/95] Forgot a couple semicolons --- .../src/robobuggy/src/transistor/localizer/Localizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 68c22c1a..3bd07a93 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -282,8 +282,8 @@ void Localizer::update_position_estimate() { propagate(); - double easting_x = x_hat(ROW_X, 0) - double northing_y = x_hat(ROW_Y, 0) + double easting_x = x_hat(ROW_X, 0); + double northing_y = x_hat(ROW_Y, 0); geodesy::UTMPoint utm_point(easting_x, northing_y, 17, 'T'); geographic_msgs::GeoPoint gps_point = geodesy::toMsg(utm_point); double heading = x_hat(ROW_HEADING, 0); From 106c99f07167c70449a0dce2f1f2c09db4b71fc5 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Mon, 25 Jun 2018 22:12:59 -0400 Subject: [PATCH 69/95] reverted localizer to not use gps for heading --- .../include/transistor/localizer/Localizer.h | 4 ++-- .../src/transistor/localizer/Localizer.cpp | 17 +++++++---------- 2 files changed, 9 insertions(+), 12 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h index 81563a65..b7d4e418 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/localizer/Localizer.h @@ -45,10 +45,10 @@ class Localizer Matrix x_hat; Matrix R; Matrix P; - Matrix Q_GPS; + Matrix Q_GPS; Matrix Q_Encoder; Matrix Q_IMU; - Matrix C_GPS; + Matrix C_GPS; Matrix C_Encoder; Matrix C_IMU; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index d9ed900f..9a3380c6 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -55,11 +55,10 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) } prev_position_utm = p; - Matrix z; + Matrix z; z << p.easting, p.northing, - heading_cartesian ; kalman_filter(C_GPS, Q_GPS, z); @@ -186,7 +185,7 @@ void Localizer::init_Q_IMU() void Localizer::init_C_GPS() { - C_GPS << + 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0 @@ -282,11 +281,9 @@ Localizer::Localizer() } void Localizer::update_position_estimate() -{ - propagate(); - geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); - geographic_msgs::GeoPoint gps_point = geodesy::toMsg(utm_point); + geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); + double heading = x_hat(3, 0); double heading = x_hat(3, 0); robobuggy::Pose p; @@ -303,9 +300,9 @@ void Localizer::update_position_estimate() void Localizer::update_motion_model(double dt) { - A << 1, 0, dt * cos(x(3, 0)), 0, 0, 0, 1, dt * sin(x(3, 0)), 0, 0, + 0, 1, dt * sin(x(3, 0)), 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, dt, 0, 0, tan(current_steering_angle) / WHEELBASE_M, 0, 0 @@ -354,16 +351,16 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; - x_pre(3, 0) = clamp_angle(x_pre(3, 0)); x_pre(4, 0) = clamp_angle(x_pre(4, 0)); + x_pre(4, 0) = clamp_angle(x_pre(4, 0)); MatrixXd residual = z - c * x_pre; MatrixXd K = c * P_pre * c.transpose() + q; K = P_pre * c.transpose() * K.inverse(); x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; - x(3, 0) = clamp_angle(x(3, 0)); x(4, 0) = clamp_angle(x(4, 0)); + x(4, 0) = clamp_angle(x(4, 0)); } From 1565be4552ec6fe88391b6a264ee93d06c319ec8 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Tue, 26 Jun 2018 21:06:04 -0400 Subject: [PATCH 70/95] Messed up the revert, so I reverted the revert --- .../src/transistor/localizer/Localizer.cpp | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp index 9a3380c6..d994e09b 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Localizer.cpp @@ -47,7 +47,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) double dx = p.easting - prev_position_utm.easting; double dy = p.northing - prev_position_utm.northing; - heading_cartesian = atan2(dy, dx); + heading_cartesian = atan2(dx, dy); if (sqrt(dx * dx + dy * dy) < 0.25) { heading_cartesian = x(3, 0); @@ -58,7 +58,7 @@ void Localizer::GPS_Callback(const robobuggy::GPS::ConstPtr &msg) Matrix z; z << p.easting, - p.northing, + p.northing ; kalman_filter(C_GPS, Q_GPS, z); @@ -148,9 +148,8 @@ void Localizer::init_P() void Localizer::init_Q_GPS() { Q_GPS << - 10, 0, 0, - 0, 10, 0, - 0, 0, 0.1 + 5, 0, + 0, 5 ; std::stringstream s; @@ -185,10 +184,9 @@ void Localizer::init_Q_IMU() void Localizer::init_C_GPS() { - 0, 1, 0, 0, 0, + C_GPS << 1, 0, 0, 0, 0, - 0, 1, 0, 0, 0, - 0, 0, 0, 1, 0 + 0, 1, 0, 0, 0 ; std::stringstream s; @@ -281,9 +279,11 @@ Localizer::Localizer() } void Localizer::update_position_estimate() +{ + propagate(); + geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); - geodesy::UTMPoint utm_point(x_hat(1, 0), x_hat(0, 0), 17, 'T'); - double heading = x_hat(3, 0); + geographic_msgs::GeoPoint gps_point = geodesy::toMsg(utm_point); double heading = x_hat(3, 0); robobuggy::Pose p; @@ -300,9 +300,9 @@ void Localizer::update_position_estimate() void Localizer::update_motion_model(double dt) { + A << 1, 0, dt * cos(x(3, 0)), 0, 0, 0, 1, dt * sin(x(3, 0)), 0, 0, - 0, 1, dt * sin(x(3, 0)), 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, dt, 0, 0, tan(current_steering_angle) / WHEELBASE_M, 0, 0 @@ -351,16 +351,16 @@ void Localizer::kalman_filter(MatrixXd c, MatrixXd q, MatrixXd z) Matrix x_pre = A * x; Matrix P_pre = A * P * A.transpose() + R; + x_pre(3, 0) = clamp_angle(x_pre(3, 0)); x_pre(4, 0) = clamp_angle(x_pre(4, 0)); - x_pre(4, 0) = clamp_angle(x_pre(4, 0)); MatrixXd residual = z - c * x_pre; MatrixXd K = c * P_pre * c.transpose() + q; K = P_pre * c.transpose() * K.inverse(); x = x_pre + K * residual; P = (MatrixXd::Identity(5,5) - (K * c)) * P_pre; + x(3, 0) = clamp_angle(x(3, 0)); x(4, 0) = clamp_angle(x(4, 0)); - x(4, 0) = clamp_angle(x(4, 0)); } From 280e65841bc81fef5e6d13524160ce525227a624 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Thu, 12 Jul 2018 21:45:26 -0400 Subject: [PATCH 71/95] Added script assumptions as comments --- Software/util/upload_to_jetson.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Software/util/upload_to_jetson.py b/Software/util/upload_to_jetson.py index 82411af6..e634aaf6 100755 --- a/Software/util/upload_to_jetson.py +++ b/Software/util/upload_to_jetson.py @@ -2,6 +2,9 @@ # Python 2.7 script for uploading current changes to a Jetson # Make sure to run this file from the util/ directory, otherwise paths will get messed up +# Note that this assumes: +# - You've already configured the target Jetson to be on the correct branch +# - You aren't using the ubuntu version of ping, you're using the macos version (ping -t is timeout on mac) import argparse import subprocess From 1d894bca291762cd3b9d2e935854ccca278ed129 Mon Sep 17 00:00:00 2001 From: Vivaan Bahl Date: Fri, 31 Aug 2018 16:14:02 -0400 Subject: [PATCH 72/95] added flowchart source --- .../transistor_localizer.graphml | 375 ++++++++++++++++++ .../localizer/transistor_localizer.pdf | Bin 0 -> 75327 bytes 2 files changed, 375 insertions(+) create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Doc_Flowchart_Source/transistor_localizer.graphml create mode 100644 Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/transistor_localizer.pdf diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Doc_Flowchart_Source/transistor_localizer.graphml b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Doc_Flowchart_Source/transistor_localizer.graphml new file mode 100644 index 00000000..f90e1f56 --- /dev/null +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/Doc_Flowchart_Source/transistor_localizer.graphml @@ -0,0 +1,375 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Node Start + + + + + + + + + + + + + + + + + + Initialize Node + + + + + + + + + + + + + + + + + + Setup Publishers and +Subscribers + + + + + + + + + + + + + + + + + + Run Kalman Prediction + + + + + + + + + + + + + + + + + + Put most recent measurements +into single vector + + + + + + + + + + + + + + + + + + Run Kalman Correction + + + + + + + + + + + + + + + + + + Publish UTM position +estimate + + + + + + + + + + + + + + + + + + 5Hz + + + + + + + + + + + + + + + + + + Node Shutdown + + + + + + + + + + + + + + + + + + Shutdown Request Received + + + + + + + + + + + + + + + + + + New Sensor Measurement + + + + + + + + + + + + + + + + + + Store value as most recent +measurement + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/transistor_localizer.pdf b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/localizer/transistor_localizer.pdf new file mode 100644 index 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Z2A&GikWk;@$U%P`0bpP~;@|)E{{TIWc31!a literal 0 HcmV?d00001 diff --git a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial new file mode 100755 index 00000000..0d8bfb49 --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial @@ -0,0 +1,160 @@ +#!/usr/bin/env bash + +############################################################################## +## +## Tutorial start up script for UN*X +## +############################################################################## + +# Add default JVM options here. You can also use JAVA_OPTS and TUTORIAL_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS="" + +APP_NAME="Tutorial" +APP_BASE_NAME=`basename "$0"` + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD="maximum" + +warn ( ) { + echo "$*" +} + +die ( ) { + echo + echo "$*" + echo + exit 1 +} + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +case "`uname`" in + CYGWIN* ) + cygwin=true + ;; + Darwin* ) + darwin=true + ;; + MINGW* ) + msys=true + ;; +esac + +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/.." >&- +APP_HOME="`pwd -P`" +cd "$SAVED" >&- + +CLASSPATH=$APP_HOME/lib/Tutorial.jar:$APP_HOME/lib/commons-collections-3.2.jar:$APP_HOME/lib/BuggyRos.jar + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD="$JAVA_HOME/jre/sh/java" + else + JAVACMD="$JAVA_HOME/bin/java" + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD="java" + which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." +fi + +# Increase the maximum file descriptors if we can. +if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then + MAX_FD_LIMIT=`ulimit -H -n` + if [ $? -eq 0 ] ; then + if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then + MAX_FD="$MAX_FD_LIMIT" + fi + ulimit -n $MAX_FD + if [ $? -ne 0 ] ; then + warn "Could not set maximum file descriptor limit: $MAX_FD" + fi + else + warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" + fi +fi + +# For Darwin, add options to specify how the application appears in the dock +if $darwin; then + GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" +fi + +# For Cygwin, switch paths to Windows format before running java +if $cygwin ; then + APP_HOME=`cygpath --path --mixed "$APP_HOME"` + CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` + + # We build the pattern for arguments to be converted via cygpath + ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` + SEP="" + for dir in $ROOTDIRSRAW ; do + ROOTDIRS="$ROOTDIRS$SEP$dir" + SEP="|" + done + OURCYGPATTERN="(^($ROOTDIRS))" + # Add a user-defined pattern to the cygpath arguments + if [ "$GRADLE_CYGPATTERN" != "" ] ; then + OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" + fi + # Now convert the arguments - kludge to limit ourselves to /bin/sh + i=0 + for arg in "$@" ; do + CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` + CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option + + if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition + eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` + else + eval `echo args$i`="\"$arg\"" + fi + i=$((i+1)) + done + case $i in + (0) set -- ;; + (1) set -- "$args0" ;; + (2) set -- "$args0" "$args1" ;; + (3) set -- "$args0" "$args1" "$args2" ;; + (4) set -- "$args0" "$args1" "$args2" "$args3" ;; + (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + esac +fi + +# Split up the JVM_OPTS And TUTORIAL_OPTS values into an array, following the shell quoting and substitution rules +function splitJvmOpts() { + JVM_OPTS=("$@") +} +eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $TUTORIAL_OPTS + + +exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" a_integrator.startercode.MainFile "$@" diff --git a/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat new file mode 100644 index 00000000..c8c64ccb --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat @@ -0,0 +1,90 @@ +@if "%DEBUG%" == "" @echo off +@rem ########################################################################## +@rem +@rem Tutorial startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +@rem Add default JVM options here. You can also use JAVA_OPTS and TUTORIAL_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS= + +set DIRNAME=%~dp0 +if "%DIRNAME%" == "" set DIRNAME=. +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME%.. + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if "%ERRORLEVEL%" == "0" goto init + +echo. +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto init + +echo. +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% +echo. +echo Please set the JAVA_HOME variable in your environment to match the +echo location of your Java installation. + +goto fail + +:init +@rem Get command-line arguments, handling Windowz variants + +if not "%OS%" == "Windows_NT" goto win9xME_args +if "%@eval[2+2]" == "4" goto 4NT_args + +:win9xME_args +@rem Slurp the command line arguments. +set CMD_LINE_ARGS= +set _SKIP=2 + +:win9xME_args_slurp +if "x%~1" == "x" goto execute + +set CMD_LINE_ARGS=%* +goto execute + +:4NT_args +@rem Get arguments from the 4NT Shell from JP Software +set CMD_LINE_ARGS=%$ + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\lib\Tutorial.jar;%APP_HOME%\lib\commons-collections-3.2.jar;%APP_HOME%\lib\BuggyRos.jar + +@rem Execute Tutorial +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %TUTORIAL_OPTS% -classpath "%CLASSPATH%" a_integrator.startercode.MainFile %CMD_LINE_ARGS% + +:end +@rem End local scope for the variables with windows NT shell +if "%ERRORLEVEL%"=="0" goto mainEnd + +:fail +rem Set variable TUTORIAL_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +if not "" == "%TUTORIAL_EXIT_CONSOLE%" exit 1 +exit /b 1 + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF b/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF new file mode 100644 index 00000000..c76c39f1 --- /dev/null +++ b/real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF @@ -0,0 +1,4 @@ +Manifest-Version: 1.0 +Implementation-Title: Gradle Quickstart +Implementation-Version: 1.0 + diff --git a/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template b/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template new file mode 100644 index 00000000..3182cfdf --- /dev/null +++ b/real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template @@ -0,0 +1,18 @@ +package junit.runner; + +/** + * This class defines the current version of JUnit + */ +public class Version { + private Version() { + // don't instantiate + } + + public static String id() { + return "@version@"; + } + + public static void main(String[] args) { + System.out.println(id()); + } +} From 5540389521c5da142a6c984ff58dc61303ac67d1 Mon Sep 17 00:00:00 2001 From: abhinavGirish Date: Mon, 30 Apr 2018 17:17:25 -0400 Subject: [PATCH 55/95] Revert "made requested changes for pull request" reverting to get rid of unnecessary files from java_src This reverts commit 00beed2bb8fbe02844af8c85ee35ac3599fc94f6. --- .../include/transistor/gps/GPS_Broadcaster.h | 7 +- .../src/transistor/gps/GPS_Broadcaster.cpp | 16 +- .../taskArtifacts/.fileSnapshots.bin.icloud | Bin 169 -> 0 bytes .../2.7/taskArtifacts/cache.properties.lock | Bin 17 -> 0 bytes .../.gradle/2.7/taskArtifacts/fileHashes.bin | Bin 81456 -> 0 bytes .../2.7/taskArtifacts/outputFileStates.bin | Bin 19502 -> 0 bytes .../2.7/taskArtifacts/taskArtifacts.bin | Bin 64640 -> 0 bytes real_time/surface_src/java_src/Alice/.project | 16 - .../.settings/org.eclipse.jdt.core.prefs | 13 - .../java_src/Alice/build/libs/Alice.jar | Bin 278631 -> 0 bytes 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real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial delete mode 100644 real_time/surface_src/java_src/Tutorial/build/scripts/Tutorial.bat delete mode 100644 real_time/surface_src/java_src/Tutorial/build/tmp/jar/MANIFEST.MF delete mode 100644 real_time/surface_src/java_src/libs/junit/bin/junit/runner/Version.java.template diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h index fbcdf4ce..6e1b83c0 100755 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/include/transistor/gps/GPS_Broadcaster.h @@ -8,8 +8,7 @@ #include "ros/ros.h" #include "robobuggy/GPS.h" #include "serial/serial.h" -#include -#include + #include class GPS_Broadcaster @@ -17,7 +16,7 @@ class GPS_Broadcaster public: GPS_Broadcaster(); static const std::string NODE_NAME; - + int read_gps_message(); robobuggy::GPS* parse_tokens(std::string tokens[]); void initialize_hardware(); @@ -27,7 +26,7 @@ class GPS_Broadcaster ros::Publisher gps_pub; robobuggy::GPS gps_message; - serial::Serial gps_serial; + std::string serial_port; int serial_baud; std::string gps_serial_buffer; diff --git a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp index 1df82670..de255bbc 100644 --- a/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp +++ b/Software/real_time/ROS_RoboBuggy/src/robobuggy/src/transistor/gps/GPS_Broadcaster.cpp @@ -1,5 +1,9 @@ -#include + +//include ros library +#include +#include +#include const std::string GPS_Broadcaster::NODE_NAME = "Transistor_GPS_Broadcaster"; GPS_Broadcaster::GPS_Broadcaster() @@ -20,8 +24,14 @@ GPS_Broadcaster::GPS_Broadcaster() } -void GPS_Broadcaster::initialize_hardware() +int GPS_Broadcaster::read_gps_message() { + + //parse ONE NMEA string + + //set up serial port + serial::Serial gps_serial; + try { gps_serial.setPort(serial_port); @@ -34,7 +44,7 @@ void GPS_Broadcaster::initialize_hardware() { ROS_ERROR_STREAM("Unable to open port"); ROS_ERROR_STREAM(serial_port); - exit(1); + return -1; } } diff --git a/real_time/surface_src/java_src/.gradle/2.7/taskArtifacts/.fileSnapshots.bin.icloud b/real_time/surface_src/java_src/.gradle/2.7/taskArtifacts/.fileSnapshots.bin.icloud deleted file mode 100644 index e7bb9514eac5567877013a26a700a51c7d11154d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 169 zcmYc)$jK}&F)+By$i&RT$`<1n92(@~mzbOComv?$AOPmNW#*&?XI4RkB;Z0psm1xF zMaiill?4zf!8DM diff --git a/real_time/surface_src/java_src/.gradle/2.7/taskArtifacts/cache.properties.lock b/real_time/surface_src/java_src/.gradle/2.7/taskArtifacts/cache.properties.lock deleted file mode 100644 index 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