Merge branch 'main' into jamen/track-global-waypoints

Author: jamenkaye

.devcontainer/devcontainer.json

@@ -3,7 +3,7 @@
 	"name": "Sailbot Workspace",
 	"dockerComposeFile": [
 		"docker-compose.yml",
-		"website/docker-compose.website.yml", // website
+		// "website/docker-compose.website.yml", // website
 
 		// Uncomment the files containing the programs you need
 		// "docs/docker-compose.docs.yml", // docs

.github/CODEOWNERS

@@ -5,7 +5,7 @@
 # the repo. Unless a later match takes precedence,
 # these owners will be requested for
 # review when someone opens a pull request.
-* @SPDonaghy
+* @SPDonaghy @FireBoyAJ24
 
 # boat_simulator
 /notebooks/boat_simulator @eomielan
@@ -29,7 +29,7 @@
 /src/local_pathfinding @jamenkaye @FireBoyAJ24 @SPDonaghy
 
 # network_systems
-/src/network_systems @Jng468 @vaibhavambastha
+/src/network_systems @Jng468 @vaibhavambastha @lross03
 
 # website
 /src/website @JordanChen123

src/local_pathfinding/local_pathfinding/node_mock_gps.py

@@ -10,7 +10,7 @@
 from geopy.distance import great_circle
 from rclpy.node import Node
 
-from local_pathfinding.objectives import get_true_wind
+from local_pathfinding.ompl_objectives import get_true_wind
 
 MEAN_SPEED = ci.HelperSpeed(speed=15.0)  # mean boat speed in kmph
 

src/local_pathfinding/local_pathfinding/objectives.py renamed to src/local_pathfinding/local_pathfinding/ompl_objectives.py

@@ -21,7 +21,7 @@
 
 import local_pathfinding.coord_systems as cs
 import local_pathfinding.obstacles as ob
-from local_pathfinding.objectives import get_sailing_objective
+from local_pathfinding.ompl_objectives import get_sailing_objective
 
 if TYPE_CHECKING:
     from local_pathfinding.local_path import LocalPathState

src/local_pathfinding/local_pathfinding/ompl_path.py

@@ -27,7 +27,7 @@
 from shapely.geometry import Polygon
 
 import local_pathfinding.coord_systems as cs
-from local_pathfinding.objectives import get_true_wind
+from local_pathfinding.ompl_objectives import get_true_wind
 
 app = dash.Dash(__name__)
 

src/local_pathfinding/local_pathfinding/visualizer.py

@@ -5,10 +5,10 @@
 from rclpy.impl.rcutils_logger import RcutilsLogger
 
 import local_pathfinding.coord_systems as coord_systems
-import local_pathfinding.objectives as objectives
+import local_pathfinding.ompl_objectives as objectives
 import local_pathfinding.ompl_path as ompl_path
 from local_pathfinding.local_path import LocalPathState
-from local_pathfinding.objectives import get_true_wind
+from local_pathfinding.ompl_objectives import get_true_wind
 
 # Upwind downwind cost multipliers
 UPWIND_MULTIPLIER = 3000.0

src/local_pathfinding/test/test_objectives.py renamed to src/local_pathfinding/test/test_ompl_objectives.py

@@ -1,6 +1,7 @@
 #include "can_transceiver.h"
 
 #include <errno.h>
+#include <fcntl.h>
 #include <linux/can.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
@@ -108,10 +109,19 @@ CanTransceiver::~CanTransceiver()
 
 void CanTransceiver::receive()
 {
+    int flags = fcntl(sock_desc_, F_GETFL, 0);
+    if (flags == -1) {
+        std::cerr << "failed to get flags for CAN socket fd" << std::endl;
+    }
+    // make read() non-blocking so mutex gets released
+    flags |= O_NONBLOCK;
+    if (fcntl(sock_desc_, F_SETFL, flags) == -1) {
+        std::cerr << "failed to set flags for CAN socket fd" << std::endl;
+    }
     while (!shutdown_flag_) {
         // make sure the lock is acquired and released INSIDE the loop, otherwise send() will never get the lock
-        std::lock_guard<std::mutex> lock(can_mtx_);
         CanFrame                    frame;
+        std::lock_guard<std::mutex> lock(can_mtx_);
         ssize_t                     bytes_read = read(sock_desc_, &frame, sizeof(CanFrame));
         if (bytes_read > 0) {
             if (bytes_read != sizeof(CanFrame)) {
@@ -121,8 +131,10 @@ void CanTransceiver::receive()
                 onNewCanData(frame);
             }
         } else if (bytes_read < 0) {
-            std::cerr << "CAN read error: " << errno << "(" << strerror(errno)  // NOLINT(concurrency-mt-unsafe)
-                      << ")" << std::endl;
+            if (errno != EAGAIN && errno != EWOULDBLOCK) {
+                std::cerr << "CAN read error: " << errno << "(" << strerror(errno)  // NOLINT(concurrency-mt-unsafe)
+                          << ")" << std::endl;
+            }
         }
     }
 }

src/network_systems/projects/can_transceiver/src/can_transceiver.cpp

@@ -532,17 +532,17 @@ class CanTransceiverIntf : public NetNode
     void subDesiredHeadingCb(msg::DesiredHeading desired_heading)
     {
         desired_heading_ = desired_heading;
-        try {
-            CAN_FP::DesiredHeading desired_heading_frame(desired_heading, CanId::MAIN_TR_TAB);
+        // try {
+            auto desired_heading_frame = CAN_FP::DesiredHeading(desired_heading_, CanId::MAIN_HEADING);
             can_trns_->send(desired_heading_frame.toLinuxCan());
             RCLCPP_INFO(
               this->get_logger(), "%s %s", getCurrentTimeString().c_str(), desired_heading_frame.toString().c_str());
-        } catch (const std::out_of_range & e) {
-            RCLCPP_WARN(
-              this->get_logger(), "%s Attempted to construct DesiredHeading but was out of range",
-              getCurrentTimeString().c_str());
-            return;
-        }
+        // } catch (const std::out_of_range & e) {
+        //     RCLCPP_WARN(
+        //       this->get_logger(), "%s Attempted to construct DesiredHeading but was out of range",
+        //       getCurrentTimeString().c_str());
+        //     return;
+        // }
     }
 
     /**