Implement SIM Cameras

.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 libswscale-dev \
+    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 "${TZ}" > /etc/localtime && \
@@ -89,7 +91,8 @@ RUN wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_MAJOR}.run \
     rm ZED_SDK_Linux_Ubuntu${UBUNTU_MAJOR}.run && \
     rm -rf /var/lib/apt/lists/* && \
     mkdir -p /root/Documents/ZED/ && \
-    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Fusion.hpp
+    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Fusion.hpp && \
+    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Camera.hpp && sed -i '/#warning*/d' /usr/local/zed/include/sl/Camera.hpp
 
 # Install OpenCV
 ARG OPENCV_VERSION="4.10.0"

.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 libswscale-dev libtbb-dev libtbb2 libtesseract-dev libtiff-dev libv4l-dev \
+    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 libavformat-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
 
@@ -80,7 +86,8 @@ RUN wget -q --no-check-certificate -O ZED_SDK_Linux.run \
     rm -rf ZED_SDK_Linux.run && \
     rm -rf /var/lib/apt/lists/* && \
     mkdir -p /root/Documents/ZED/ && \
-    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Fusion.hpp
+    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Fusion.hpp && \
+    sed -i '/#pragma message*/d' /usr/local/zed/include/sl/Camera.hpp && sed -i '/#warning*/d' /usr/local/zed/include/sl/Camera.hpp
 
 # Install OpenCV
 ARG OPENCV_VERSION="4.10.0"

.devcontainer/devcontainer.json

@@ -15,27 +15,35 @@
         "--privileged",
         "-v",
         "/dev/bus/usb:/dev/bus/usb",
+        // X11 socket for XWayland
         "-v",
         "/tmp/.X11-unix:/tmp/.X11-unix",
+        // Wayland socket for native Wayland apps
+        "-v",
+        "/run/user/1000/wayland:/run/user/1000/wayland",
+        // WSLg support (if on WSL)
         "-v",
         "/mnt/wslg:/mnt/wslg",
+        // Environment variables
+        "-e",
+        "DISPLAY", // XWayland display
         "-e",
-        "$DISPLAY",
+        "WAYLAND_DISPLAY", // Wayland display, you may need to run 'xhost +local:docker' to allow the container to connect to the X server.
         "-e",
-        "WAYLAND_DISPLAY",
+        "XDG_RUNTIME_DIR", // Runtime directory for Wayland
         "-e",
-        "XDG_RUNTIME_DIR"
+        "GDK_BACKEND=x11,wayland" // Allow GTK to work with both backends
     ],
     // Mount shared workspace volumes. Bind from host machine to container.
     "mounts": [
         "source=${localWorkspaceFolder}/data/models/zed,target=/usr/local/zed/resources,type=bind,consistency=delegated",
         "source=${localWorkspaceFolder}/data/calibrations/zed,target=/usr/local/zed/settings,type=bind,consistency=delegated",
         "type=bind,readonly,source=/etc/localtime,target=/etc/localtime"
     ],
-    "image": "ghcr.io/missourimrdt/autonomy-jammy:2024-11-27-23-04-01",
-    // "image": "ghcr.io/missourimrdt/autonomy-jetpack:latest",
+    "image": "ghcr.io/missourimrdt/autonomy-jammy:2025-01-05-20-37-21",
+    // "image": "ghcr.io/missourimrdt/autonomy-jetpack:2025-01-05-20-37-21",
     // "build": {
-    //     // "dockerfile": "Dockerfile_Jammy"
+    //     "dockerfile": "Dockerfile_Jammy"
     //     // "dockerfile": "Dockerfile_JetPack"
     // },
     // Features to add to the dev container. More info: https://containers.dev/features.
@@ -63,7 +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.
@@ -140,6 +149,7 @@
                 "cmake.configureOnOpen": true,
                 "cmake.options.statusBarVisibility": "visible",
                 "cmake.parallelJobs": 8,
+                "cmake.launchBehavior": "breakAndReuseTerminal",
                 // Format Files extension settings.
                 "formatFiles.excludedFolders": [
                     "node_modules",
@@ -302,6 +312,7 @@
                     "custom": true, // Enable the `custom` dictionary
                     "internal-terms": false // Disable the `internal-terms` dictionary
                 },
+                "cSpell.spellCheckOnlyWorkspaceFiles": true,
                 // Coverage Gutters Extension Settings.
                 "coverage-gutters.coverageFileNames": [
                     "lcov.info",

.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

@@ -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()

CONTRIBUTING.md

@@ -166,6 +166,7 @@ The table below lists various other common types and their corresponding prefixe
 | Future              | `fu`    | `future<void> fuExampleUseOfFuture`    |
 | Promise             | `pm`    | `promise<void> pmExampleUseOfPromise`  |
 | Unordered Map       | `um`    | `unordered_map<int, int> umExampleUseOfUnorderedMap` |
+| Functions           | `fn`    | `function<void> fnExampleUseOfFunction`   |
 
 ---