Merge branch 'topic/sim-cam' of github.com:MissouriMRDT/Autonomy_Soft…

…ware into topic/sim-cam

.devcontainer/Dockerfile_Jammy

@@ -31,31 +31,33 @@ RUN echo "${TZ}" > /etc/localtime && \
 RUN echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}" > /usr/local/cuda/version.txt
 
 # Add APT Repo for PCIe drivers.
-RUN apt update && apt install -y curl && \
+RUN apt update && apt install -y wget gnupg && \
     echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | tee /etc/apt/sources.list.d/coral-edgetpu.list && \
-    curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add - && \
-    curl -fsSL https://bazel.build/bazel-release.pub.gpg | gpg --dearmor >bazel-archive-keyring.gpg && \
+    wget -qO - https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add - && \
+    wget -qO - https://bazel.build/bazel-release.pub.gpg | gpg --dearmor > bazel-archive-keyring.gpg && \
     mv bazel-archive-keyring.gpg /usr/share/keyrings && \
     echo "deb [arch=amd64 signed-by=/usr/share/keyrings/bazel-archive-keyring.gpg] https://storage.googleapis.com/bazel-apt stable jdk1.8" | tee /etc/apt/sources.list.d/bazel.list
 
 # Install Required Ubuntu Packages
 RUN apt-get update && apt-get install --no-install-recommends -y iputils-ping \
-    build-essential gdb wget less udev zstd sudo libgomp1 \
+    build-essential gdb less udev zstd sudo libgomp1 \
     cmake git libgtk2.0-dev pkg-config libx264-dev libdrm-dev ssh \
     libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev tzdata net-tools \
     yasm libatlas-base-dev gfortran libpq-dev libpostproc-dev \
     libxine2-dev libglew-dev libtiff5-dev zlib1g-dev cowsay lolcat locales usbutils \
     libeigen3-dev python3-dev python3-pip python3-numpy libx11-dev xauth libssl-dev \
     valgrind doxygen graphviz htop nano fortune fortunes \
-    vim-common gasket-dkms nlohmann-json3-dev gcovr lcov
+    vim-common gasket-dkms nlohmann-json3-dev gcovr lcov curl \
+    libaom-dev libass-dev libfdk-aac-dev libdav1d-dev libmp3lame-dev \
+    libopus-dev libvorbis-dev libvpx-dev libx264-dev libx265-dev
 
 # Nice to have
 RUN apt-get update && apt-get install --no-install-recommends -y bat \
     bash-completion fish git-lfs
 
 # Install Required Python Packages and link python3 executable to python.
 RUN ln -s /usr/bin/python3 /usr/bin/python && \
-    python -m pip install numpy opencv-python pyopengl
+    python -m pip install numpy opencv-python pyopengl matplotlib
 
 # Set Timezone
 RUN echo "${TZ}" > /etc/localtime && \

.devcontainer/Dockerfile_JetPack

@@ -25,26 +25,32 @@ RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}.${L4T_PATCH}" > /etc
 # Clean APT Cache
 RUN rm /var/lib/dpkg/info/libc-bin.*
 # Add APT Repo for PCIe drivers and Bazel.
-RUN apt update && apt install -y curl && \
+RUN apt update && apt install -y wget && \
     echo "deb https://packages.cloud.google.com/apt coral-edgetpu-stable main" | tee /etc/apt/sources.list.d/coral-edgetpu.list && \
-    curl https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add -
+    wget -q -O - https://packages.cloud.google.com/apt/doc/apt-key.gpg | apt-key add -
 
 # Install Required Ubuntu Packages
 RUN apt-get update && apt-get install --no-install-recommends -y \
     build-essential gfortran cmake git gdb file tar libatlas-base-dev apt-transport-https iputils-ping \
-    libswresample-dev libcanberra-gtk3-module zstd wget less libx264-dev libdrm-dev \
+    libswresample-dev libcanberra-gtk3-module zstd less libx264-dev libdrm-dev \
     libeigen3-dev libglew-dev libgstreamer-plugins-base1.0-dev udev net-tools \
     libgstreamer-plugins-good1.0-dev libgstreamer1.0-dev libgtk-3-dev libjpeg-dev sudo usbutils \
     libjpeg8-dev libjpeg-turbo8-dev liblapack-dev liblapacke-dev libopenblas-dev libpng-dev tzdata \
     libpostproc-dev libtbb-dev libtbb2 libtesseract-dev libtiff-dev libv4l-dev \
     libxine2-dev libxvidcore-dev libx264-dev libgtkglext1 libgtkglext1-dev pkg-config qv4l2 \
     v4l-utils zlib1g-dev python3-dev libboost-all-dev valgrind doxygen graphviz nano \
-    vim-common libedgetpu1-std gasket-dkms ca-certificates nlohmann-json3-dev 
+    vim-common libedgetpu1-std gasket-dkms ca-certificates nlohmann-json3-dev curl \
+    python3-dev python3-pip python3-numpy libaom-dev libass-dev libfdk-aac-dev libdav1d-dev \
+    libmp3lame-dev libopus-dev libvorbis-dev libvpx-dev libx264-dev libx265-dev
 
 # Nice to have
 RUN apt-get update && apt-get install --no-install-recommends -y bat \
     bash-completion fish git-lfs
 
+# Install Required Python Packages and link python3 executable to python.
+RUN ln -s /usr/bin/python3 /usr/bin/python && \
+    python -m pip install numpy opencv-python pyopengl matplotlib
+
 # This symbolic link is needed to use the streaming features on Jetson inside a container
 RUN ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so
 

.devcontainer/devcontainer.json

@@ -71,7 +71,8 @@
                 "gruntfuggly.todo-tree",
                 "streetsidesoftware.code-spell-checker",
                 "vscode-icons-team.vscode-icons",
-                "ryanluker.vscode-coverage-gutters"
+                "ryanluker.vscode-coverage-gutters",
+                "GitHub.vscode-pull-request-github"
             ],
             "settings": {
                 // VSCode settings.

.gitignore

@@ -8,6 +8,9 @@ valgrind.rpt
 tools/action-runners/compose.yml
 !tools/package-builders/
 
+# Logging tools.
+tools/logging/*.png
+
 # Compiled Program
 Autonomy_Software
 

CMakeLists.txt

@@ -27,7 +27,7 @@ cmake_policy(SET CMP0153 OLD)    # Allows use of "Exec_Program" function
 ####################################################################################################################
 
 ## Enable or Disable Simulation Mode
-option(BUILD_SIM_MODE "Enable Simulation Mode" ON)
+option(BUILD_SIM_MODE "Enable Simulation Mode" OFF)
 
 ## Enable or Disable Code Coverage Mode
 option(BUILD_CODE_COVERAGE "Enable Code Coverage Mode" OFF)
@@ -186,6 +186,9 @@ endif()
 ## Find Threads
 find_package(Threads REQUIRED)
 
+## Find OpenMP
+find_package(OpenMP REQUIRED)
+
 ## Find Quill
 find_package(quill REQUIRED)
 
@@ -309,6 +312,7 @@ endif()
 
 ## Link Libraries
 set(AUTONOMY_LIBRARIES  Threads::Threads
+                        OpenMP::OpenMP_CXX
                         Eigen3::Eigen
                         RoveComm_CPP
                         quill::quill
@@ -343,23 +347,24 @@ if (BUILD_TESTS_MODE)
     file(GLOB_RECURSE IntegrationTests_SRC  CONFIGURE_DEPENDS  "tests/Integration/*.cc")
     file(GLOB_RECURSE Algorithms_SRC        CONFIGURE_DEPENDS  "src/algorithms/*.cpp")
     file(GLOB_RECURSE Drivers_SRC           CONFIGURE_DEPENDS  "src/drivers/*.cpp")
-    # file(GLOB_RECURSE Handlers_SRC          CONFIGURE_DEPENDS  "src/handlers/*.cpp")
+    file(GLOB_RECURSE Vision_SRC            CONFIGURE_DEPENDS  "src/vision/*.cpp")
     file(GLOB         Network_SRC           CONFIGURE_DEPENDS  "src/AutonomyNetworking.cpp")
     file(GLOB         Logging_SRC           CONFIGURE_DEPENDS  "src/AutonomyLogging.cpp")
+    file(GLOB         Globals_SRC           CONFIGURE_DEPENDS  "src/AutonomyGlobals.cpp")   
 
     list(LENGTH UnitTests_SRC UnitTests_LEN)
     list(LENGTH IntegrationTests_SRC IntegrationTests_LEN)
 
     if (UnitTests_LEN GREATER 0)
-        add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Network_SRC} ${Logging_SRC})
+        add_executable(${EXE_NAME}_UnitTests ${UnitTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
         target_link_libraries(${EXE_NAME}_UnitTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
         add_test(Unit_Tests ${EXE_NAME}_UnitTests)
     else()
         message("No Unit Tests!")
     endif()
 
     if (IntegrationTests_LEN GREATER 0)
-        add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Network_SRC} ${Logging_SRC})
+        add_executable(${EXE_NAME}_IntegrationTests ${IntegrationTests_SRC} ${Algorithms_SRC} ${Drivers_SRC} ${Vision_SRC} ${Network_SRC} ${Logging_SRC} ${Globals_SRC})
         target_link_libraries(${EXE_NAME}_IntegrationTests GTest::gtest GTest::gtest_main ${AUTONOMY_LIBRARIES})
         add_test(Integration_Tests ${EXE_NAME}_IntegrationTests)
     else()

data/Custom_Dictionaries/Autonomy-Dictionary.txt

@@ -41,6 +41,7 @@ CAFFE
 CALIB
 CELLVOLTAGE
 charconv
+chromaprint
 chrono
 clayjay
 CLEARWAYPOINTS
@@ -202,6 +203,7 @@ Geospatial
 gfortran
 gmock
 GNSS
+gnutls
 GPSLATLONALT
 GPSMDRS
 GPSSDELC
@@ -254,53 +256,111 @@ jthread
 kbits
 keyrings
 keyscan
+ladspa
 latlng
 latlon
 ldconfig
 LEDRGB
 LEFTCAM
+libaom
+libass
 libatlas
 libavcodec
 libavdevice
 libavfilter
 libavformat
 libavutil
+libbluray
 libboost
+libbs
 libc
+libcaca
 libcanberra
+libcdio
+libchromaprint
+libcodec
 libdatachannel
+libdav
+libdc
 libdrm
 libedgetpu
 libeigen
+libfdk
+libflite
+libfontconfig
+libfreetype
+libfribidi
 libglew
+libglslang
+libgme
+libgnutls
 libgomp
+libgsm
 libgstreamer
 libgtkglext
+libharfbuzz
+libiec
+libjack
 libjpeg
+libjxl
 liblapack
 liblapacke
+libmfx
+libmp
+libmysofa
 libopenblas
+libopenjpeg
+libopenmpt
+libopus
+libplacebo
 libpostproc
 libpq
+libpulse
+librabbitmq
+librav
+librist
+librsvg
+librubberband
+libshine
+libsnappy
+libsoxr
+libspeex
+libsrt
+libssh
+libsvtav
 libswresample
 libswscale
 libtbb
 libtesseract
+libtheora
+libtwolame
 libusb
 libv
+libvidstab
+libvorbis
+libvpl
+libvpx
+libwebp
 libx
 libxine
+libxvid
 libxvidcore
+libzimg
+libzmq
+libzvbi
 localtime
 LOGNAME
+lpthread
 m_muWebRTCRGBImageCopyMutex
 MAINCAM
 MAINCAN
 mainpage
+Makefiles
 MAKEFLAGS
 MAPANGLE
 MAPRANGE
 marsrover
+matplotlib
 matx
 Memcheck
 MERICA
@@ -321,6 +381,7 @@ NAVIGATIONBOARD
 navpvt
 nJter
 nlohmann
+nonfree
 noninteractive
 nullptr
 numops
@@ -330,9 +391,11 @@ OBJDETECTION
 OBJECTDETECT
 Objectness
 odometry
+openal
 OPENCL
 opencontainers
 opencv
+opengl
 OPENMP
 ostream
 OTSU
@@ -347,6 +410,7 @@ pispcl
 PIXELTYPE
 PKNS
 PNSD
+pocketsphinx
 POSETRACK
 Pranswer
 pthread
@@ -393,6 +457,7 @@ SIMBASICCAM
 SIMCAM
 SIMZED
 SIMZEDCAM
+sndio
 sockaddr
 softprops
 SPSC

examples/vision/cameras/OpenBasicCam.hpp

@@ -38,7 +38,7 @@ void RunExample()
     globals::g_pCameraHandler = new CameraHandler();
 
     // Get reference to camera.
-    ZEDCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::BasicCamName::eHeadGroundCam);
+    BasicCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::BasicCamName::eHeadGroundCam);
     // Start basic cam.
     ExampleBasicCam1->Start();
 

examples/vision/dnn/InferenceYOLOModel.hpp

@@ -37,7 +37,7 @@ void RunExample()
     globals::g_pCameraHandler = new CameraHandler();
 
     // Get reference to camera.
-    ZEDCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::eHeadGroundCam);
+    BasicCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::BasicCamName::eHeadGroundCam);
     // Start basic cam.
     ExampleBasicCam1->Start();
 

examples/vision/tagdetection/ArucoDetectionBasicCam.hpp

@@ -29,7 +29,7 @@ void RunExample()
     globals::g_pTagDetectionHandler = new TagDetectionHandler();
 
     // Get pointer to camera.
-    ZEDCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::eHeadGroundCam);
+    BasicCamera* ExampleBasicCam1 = globals::g_pCameraHandler->GetBasicCam(CameraHandler::BasicCamName::eHeadGroundCam);
     // Start basic cam.
     ExampleBasicCam1->Start();
 

examples/vision/tagdetection/ArucoDetectionZED.hpp

@@ -30,12 +30,12 @@ void RunExample()
     globals::g_pTagDetectionHandler = new TagDetectionHandler();
 
     // Get pointer to camera.
-    ZEDCamera* ExampleZEDCam1 = globals::g_pCameraHandler->GetZED(CameraHandler::eHeadMainCam);
+    ZEDCamera* ExampleZEDCam1 = globals::g_pCameraHandler->GetZED(CameraHandler::ZEDCamName::eHeadMainCam);
     // Start basic cam.
     ExampleZEDCam1->Start();
 
     // Get pointer to the tag detector for the basic cam.
-    TagDetector* ExampleTagDetector1 = globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::eHeadMainCam);
+    TagDetector* ExampleTagDetector1 = globals::g_pTagDetectionHandler->GetTagDetector(TagDetectionHandler::TagDetectors::eHeadMainCam);
     // Start the basic cam detector.
     ExampleTagDetector1->Start();
 

src/AutonomyConstants.h

@@ -41,6 +41,7 @@ namespace constants
     const bool MODE_SIM = false;    // REG MODE ENABLED: Toggle RoveComm and Cameras to use standard configuration.
 #endif
     const std::string SIM_IP_ADDRESS = "192.168.69.48";    // The IP address to use for simulation mode.
+    const uint SIM_WEBRTC_QP         = 25;    // The QP value to use for WebRTC in simulation mode. 0-51, 0 is lossless. If too high for network, frames drop.
 
     // Safety constants.
     const double BATTERY_MINIMUM_CELL_VOLTAGE = 3.2;      // The minimum cell voltage of the battery before autonomy will forcefully enter Idle state.
@@ -224,8 +225,8 @@ namespace constants
 
     // OpenCV ArUco detection config.
     const cv::aruco::PredefinedDictionaryType ARUCO_DICTIONARY = cv::aruco::DICT_4X4_50;    // The predefined ArUco dictionary to use for detections.
-    const float ARUCO_TAG_SIDE_LENGTH                          = 0.015f;                    // Size of the white borders around the tag.
-    const int ARUCO_VALIDATION_THRESHOLD             = 20;     // How many times does the tag need to be detected(hit) before being validated as an actual aruco tag.
+    const float ARUCO_TAG_SIDE_LENGTH                          = 0.015f;                    // Size of the white borders around the tag in meters.
+    const int ARUCO_VALIDATION_THRESHOLD             = 10;     // How many times does the tag need to be detected(hit) before being validated as an actual aruco tag.
     const int ARUCO_UNVALIDATED_TAG_FORGET_THRESHOLD = 5;      // How many times can an unvalidated tag be missing from frame before being forgotten.
     const int ARUCO_VALIDATED_TAG_FORGET_THRESHOLD   = 10;     // How many times can a validated tag be missing from frame before being forgotten.
     const double ARUCO_PIXEL_THRESHOLD               = 175;    // Pixel value threshold for pre-process threshold mask
@@ -296,7 +297,7 @@ namespace constants
     ///////////////////////////////////////////////////////////////////////////
 
     // Approaching Marker State
-    const int APPROACH_MARKER_DETECT_ATTEMPTS_LIMIT      = 60;     // How many consecutive failed attempts at detecting a tag before giving up on marker.
+    const int APPROACH_MARKER_DETECT_ATTEMPTS_LIMIT      = 5;      // How many consecutive failed attempts at detecting a tag before giving up on marker.
     const double APPROACH_MARKER_MOTOR_POWER             = 0.3;    // The amount of power the motors use when approaching the marker.
     const double APPROACH_MARKER_PROXIMITY_THRESHOLD     = 2.0;    // How close in meters the rover must be to the target marker before completing its approach.
     const double APPROACH_MARKER_TF_CONFIDENCE_THRESHOLD = 0.5;    // What is the minimal confidence necessary to consider a tensorflow tag as a target.
@@ -330,7 +331,7 @@ namespace constants
     const double STATEMACHINE_ZED_REALIGN_THRESHOLD = 0.5;    // The threshold in meters that the error between GPS and ZED must be before realigning the ZED cameras.
 
     // Navigating State.
-    const double NAVIGATING_REACHED_GOAL_RADIUS = 1.0;    // The radius in meters that the rover should get to the goal waypoint.
+    const double NAVIGATING_REACHED_GOAL_RADIUS = 2.0;    // The radius in meters that the rover should get to the goal waypoint.
 
     // Avoidance State.
     const double AVOIDANCE_STATE_MOTOR_POWER = DRIVE_MAX_POWER;    // Drive speed of avoidance state