feat: support Aeva Aeries II by mojomex · Pull Request #169 · tier4/nebula

mojomex · 2024-06-26T08:17:58Z

PR Type

New Feature

Description

Add support for Aeva Aeries II:

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

Review Procedure

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

Remarks

This is a fairly minimal implementation for now.

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

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All open points are addressed and tracked via issues or tickets

CI Checks

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

mojomex · 2024-07-04T08:27:25Z

🟢 Evaluation

🟢 Pointcloud Output

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

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

🟢 Performance

The pointcloud is published consistently at around 10 Hz:

🟢 Hardware Monitor

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

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

🟢 PTP & Synchronization

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

Pointcloud timestamps take around 1-2 min to converge.

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

🟢 Error Handling & Recovery

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

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

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

🟢 Parameters

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

Validation:

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

mojomex · 2024-07-09T04:38:23Z

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

nebula_ros/src/aeva/aeva_ros_wrapper.cpp

nebula_ros/src/aeva/hw_monitor_wrapper.cpp

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

Codecov Report

❌ Patch coverage is 7.62389% with 727 lines in your changes missing coverage. Please review.
✅ Project coverage is 24.67%. Comparing base (97959dd) to head (dc8f483).
⚠️ Report is 100 commits behind head on main.

Files with missing lines	Patch %	Lines
nebula_ros/src/aeva/aeva_ros_wrapper.cpp	0.00%	167 Missing ⚠️
...nebula_hw_interfaces_aeva/connections/reconfig.hpp	0.00%	101 Missing ⚠️
...ebula_hw_interfaces_aeva/connections/telemetry.hpp	0.00%	78 Missing ⚠️
nebula_ros/src/aeva/hw_monitor_wrapper.cpp	0.00%	77 Missing ⚠️
...rc/nebula_aeva_hw_interfaces/aeva_hw_interface.cpp	0.00%	49 Missing ⚠️
...nebula_hw_interfaces_aeva/connections/aeva_api.hpp	35.82%	39 Missing and 4 partials ⚠️
.../src/nebula_decoders_aeva/aeva_aeries2_decoder.cpp	0.00%	38 Missing ⚠️
...hw_interfaces_common/connections/stream_buffer.hpp	0.00%	23 Missing ⚠️
...common/include/nebula_common/aeva/config_types.hpp	0.00%	17 Missing ⚠️
...s/nebula_hw_interfaces_aeva/connections/health.hpp	0.00%	16 Missing ⚠️
... and 20 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #169      +/-   ##
==========================================
- Coverage   26.07%   24.67%   -1.41%     
==========================================
  Files         101      124      +23     
  Lines        9232    10008     +776     
  Branches     2213     2315     +102     
==========================================
+ Hits         2407     2469      +62     
- Misses       6436     7133     +697     
- Partials      389      406      +17

Flag	Coverage Δ
differential	`24.67% <7.62%> (?)`
total	`?`

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knzo25 · 2024-09-03T01:15:18Z

nebula_ros/launch/aeva_launch_all_hw.xml

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


description or default?

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

mojomex · 2024-11-12T08:08:25Z

🟢 Confirmed working with FW 14.0.0 after the latest commits:

drwnz

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

docs/point_types.md

nebula_common/CMakeLists.txt

drwnz · 2024-09-09T02:39:44Z

nebula_common/include/nebula_common/aeva/config_types.hpp

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


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

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

nebula_common/include/nebula_common/aeva/config_types.hpp

drwnz · 2024-09-09T03:11:25Z

nebula_common/include/nebula_common/aeva/point_types.hpp

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


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

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

nebula_common/include/nebula_common/util/parsing.hpp

nebula_decoders/include/nebula_decoders/nebula_decoders_aeva/aeva_aeries2_decoder.hpp

drwnz · 2024-09-09T03:51:51Z

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

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


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

Agreed! Addressed in f5bd7fc.

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

knzo25 · 2024-12-13T02:18:27Z

@mojomex
There seem to be conflicts !

…, higher timeouts

Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>

… in FW14 anymore Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

… sensor_model in launch file Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

…aeva-aries2-support

mojomex · 2024-12-16T01:23:05Z

@knzo25
Sorry for the inconvenience 🙇
The PR has now been rebased ontothe newest main branch.

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

mojomex self-assigned this Jun 26, 2024

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

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

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

drwnz reviewed Jul 22, 2024

View reviewed changes

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

mojomex commented Jul 22, 2024

View reviewed changes

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

mojomex mentioned this pull request Jul 23, 2024

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

Closed

5 tasks

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

knzo25 reviewed Sep 3, 2024

View reviewed changes

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

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

drwnz requested changes Nov 12, 2024

View reviewed changes

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

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

mojomex mentioned this pull request Nov 22, 2024

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

Merged

5 tasks

mojomex requested review from drwnz and knzo25 December 12, 2024 08:02

mojomex added 6 commits December 16, 2024 09:45

refactor(mt_queue): move to nebula_common

c9be206

refactor(expected): add shorthand value_or_throw function

438f986

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

ca35b24

feat(nebula_common): add nlohmann_json and helper functions

e60b7e8

chore(watchdog_timer): clean up watchdog timer

d4d0e7c

chore: make merged changed comply with pre-commit

2838e77

mojomex and others added 25 commits December 16, 2024 09:47

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

185b0d8

…, higher timeouts

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

f180138

chore(aeva): set frame id to nebula

d6cd72f

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

063d87b

chore: accept suggestion to make pointcloud topic namespace local

1519e99

Co-authored-by: David Wong <33114676+drwnz@users.noreply.github.com>

chore: remove json_fwd header imports

6ac8184

chore: move diagnostics topic to local namespace

e1be90c

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

03622ad

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

a353f72

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

7d15607

… in FW14 anymore Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

fix(aeva): change referenced function names after merge

0c94de3

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

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

6c5b183

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

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

8f8171f

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

refactor(aeva): implement clang-tidy changes

0af2516

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(aeva): rename Aeries2 to Aeries II

c692aa2

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

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

7bccfec

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

refactor(aeva): create aeva namespace inside connections namespace

6c3bd3b

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(aeva): move hardcoded port numbers to constants

24d135f

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(aeva): remove pointer hackery for cleaner code

4fcd9ee

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(nebula_common): add version requirement for nlohmann_json

2b2fe38

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

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

f039c36

… sensor_model in launch file Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

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

8139c6d

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(hesai): remove spurious mt_queue import after Aeva rebase

2dc01ad

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

chore(aeva): remove pragma once in C file

a75e32f

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

test(aeva): fix wrongly compiledand thus skipped unit test

b248dee

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

mojomex force-pushed the aeva-aries2-support branch from dfb1a02 to b248dee Compare December 16, 2024 01:13

pre-commit-ci bot and others added 3 commits December 16, 2024 01:13

ci(pre-commit): autofix

896943d

fix(aeva): remove JSON schemarequirement of now-non-existent parameter

0c16d01

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

Merge branch 'aeva-aries2-support' of github.com:mojomex/nebula into …

dc8f483

…aeva-aries2-support

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mojomex commented Jun 26, 2024

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🟢 Evaluation

🟢 Pointcloud Output

🟢 Performance

🟢 Hardware Monitor

🟢 PTP & Synchronization

🟢 Error Handling & Recovery

🟢 Parameters

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mojomex commented Jul 9, 2024

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mojomex commented Nov 12, 2024

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knzo25 commented Dec 13, 2024

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mojomex commented Jul 4, 2024 •

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