627 - Updated local transceiver to use new specific sensors (#709)

* Replaced Generic Sensors with Specific sensors in local transceiver implementation & test. Added specific sensors to Protofile

* Replaced generic sensors (data sensors) functions with specific temp, pH, salinity, and pressure sensor functions

* Added specific sensor tests

* Fixed bug in updateSensor for temperature

* Added serialization tests

* Fixed Serialization tests for Temp, Salinity, Pressure, pH

* Uncommented sendData for temp, pressure, salinity, pH

* Changed temp, pH, salinity, pressure protobuf to use packed array of float instead of respective complex objects

* Removed pressure upload in sendData test

* Added logging for bytes being sent

* Replaced magic numbers with constants

* Added a test for checking that echo server received data correctly (Currently FAILING)

* ROS2.distro auto entry

* Undid comment out

* Changed calls to specific data sensors

* Setup specific data sensor ROS topics and MongoDB collections

* Removed duplicate

* Commented out pressure sensor code (as we aren't using pressure sensors anymore)

* Commented out pressure sensor topics

* fix docs string for updateSensor functions

---------

Co-authored-by: Jing <128339540+Jng468@users.noreply.github.com>
Co-authored-by: lross03 <136214176+lross03@users.noreply.github.com>

Author: 3 people

diagrams/src/custom_interfaces/external_interfaces.puml

@@ -45,6 +45,7 @@ note right of desired_heading
     simulation and
     deployment
 end note
+' TODO: Should split into specific data sensors
 State data_sensors<<Topic>> : GenericSensors
 State gps<<Topic>> : GPS
 State mock_gps<<SimTopic>> : GPS

src/network_systems/.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "cSpell.words": [
+        "LBND"
+    ]
+}

src/network_systems/lib/cmn_hdrs/shared_constants.h

@@ -14,8 +14,8 @@
  */
 namespace SYSTEM_MODE
 {
-static const std::string PROD = "production";
-static const std::string DEV  = "development";
+static const std::string PROD     = "production";
+static const std::string DEV      = "development";
 static const std::string TEST_SAT = "test_satellite";
 };  // namespace SYSTEM_MODE
 
@@ -63,12 +63,12 @@ constexpr int NUM_PH_SENSORS = []() constexpr
     return sizeof(ph_sensors_arr) / sizeof(custom_interfaces::msg::PhSensor);
 }
 ();
-constexpr int NUM_PRESSURE_SENSORS = []() constexpr
-{
-    using pressure_sensors_arr = custom_interfaces::msg::PressureSensors::_pressure_sensors_type;
-    return sizeof(pressure_sensors_arr) / sizeof(custom_interfaces::msg::PressureSensor);
-}
-();
+// constexpr int NUM_PRESSURE_SENSORS = []() constexpr
+// {
+//     using pressure_sensors_arr = custom_interfaces::msg::PressureSensors::_pressure_sensors_type;
+//     return sizeof(pressure_sensors_arr) / sizeof(custom_interfaces::msg::PressureSensor);
+// }
+// ();
 constexpr int NUM_SALINITY_SENSORS = []() constexpr
 {
     using salinity_sensors_arr = custom_interfaces::msg::SalinitySensors::_salinity_sensors_type;

src/network_systems/lib/protofiles/sensors.proto

@@ -44,16 +44,37 @@ message Sensors
         uint64 data = 2;
     }
 
+    // Commented out in favor of using packed arrays
+
+    // message Temp {
+    //     float temp = 1;
+    // }
+
+    // message Ph {
+    //     float ph = 1;
+    // }
+
+    // message Salinity {
+    //     float salinity = 1;
+    // }
+
+    // message Pressure {
+    //     float pressure = 1;
+    // }
+
     message Path
     {
         repeated Waypoint waypoints = 1;
         // Will be expanded in the future
     }
 
-    Gps               gps             = 1;
-    repeated Wind     wind_sensors    = 2;
-    repeated Battery  batteries       = 3;
-    repeated Ais      ais_ships       = 4;
-    repeated Generic  data_sensors    = 5;
-    Path              local_path_data = 6;
+    Gps               gps              = 1;
+    repeated Wind     wind_sensors     = 2;
+    repeated Battery  batteries        = 3;
+    repeated Ais      ais_ships        = 4;
+    repeated float    temp_sensors     = 5;
+    repeated float    ph_sensors       = 6;
+    repeated float    salinity_sensors = 7;
+    repeated float    pressure_sensors = 8;
+    Path              local_path_data  = 9;
 }

src/network_systems/lib/sailbot_db/inc/sailbot_db.h

@@ -14,9 +14,13 @@
 // >>>>IMPORTANT<<<<<
 // BSON document formats from: https://ubcsailbot.atlassian.net/wiki/spaces/prjt22/pages/1907589126/Database+Schemas:
 
-const std::string COLLECTION_AIS_SHIPS        = "ais_ships";
-const std::string COLLECTION_BATTERIES        = "batteries";
-const std::string COLLECTION_DATA_SENSORS     = "data_sensors";
+const std::string COLLECTION_AIS_SHIPS = "ais_ships";
+const std::string COLLECTION_BATTERIES = "batteries";
+// const std::string COLLECTION_DATA_SENSORS     = "data_sensors";
+const std::string COLLECTION_TEMP_SENSORS     = "temp_sensors";
+const std::string COLLECTION_PH_SENSORS       = "ph_sensors";
+const std::string COLLECTION_SALINITY_SENSORS = "salinity_sensors";
+// const std::string COLLECTION_PRESSURE_SENSORS     = "pressure_sensors";
 const std::string COLLECTION_GPS              = "gps";
 const std::string COLLECTION_WIND_SENSORS     = "wind_sensors";
 const std::string COLLECTION_LOCAL_PATH       = "local_path";
@@ -26,7 +30,11 @@ const std::string COLLECTION_IRIDIUM_RESPONSE = "iridium_response";
 
 template <typename T>
 using ProtoList = google::protobuf::RepeatedPtrField<T>;
-using DocVal    = bsoncxx::document::view_or_value;
+
+template <typename T>
+using ProtoPrimitiveList = google::protobuf::RepeatedField<T>;
+
+using DocVal = bsoncxx::document::view_or_value;
 
 /**
  * Thread-safe class that encapsulates a Sailbot MongoDB database
@@ -213,10 +221,58 @@ class SailbotDB
       const ProtoList<Polaris::Sensors::Generic> & generic_pb, const std::string & timestamp,
       mongocxx::client & client);
 
+    /**
+    * @brief Adds temperature sensors to the database
+    *
+    * @param temp_pb   Protobuf list of temperature sensor objects, where the size of the list is the number of sensors
+    * @param timestamp transmission time <year - 2000>-<month>-<day> <hour>:<minute>:<second>
+    * @param client    mongocxx::client instance for the current thread
+    *
+    * @return True if sensor is added, false otherwise
+    */
+    bool storeTempSensors(
+      const ProtoPrimitiveList<float> & temp_pb, const std::string & timestamp, mongocxx::client & client);
+
+    /**
+    * @brief Adds pH sensors to the database
+    *
+    * @param ph_pb     Protobuf list of pH sensor objects, where the size of the list is the number of sensors
+    * @param timestamp transmission time <year - 2000>-<month>-<day> <hour>:<minute>:<second>
+    * @param client    mongocxx::client instance for the current thread
+    *
+    * @return True if sensor is added, false otherwise
+    */
+    bool storePhSensors(
+      const ProtoPrimitiveList<float> & ph_pb, const std::string & timestamp, mongocxx::client & client);
+
+    /**
+    * @brief Adds salinity sensors to the database
+    *
+    * @param salinity_pb Protobuf list of salinity sensor objects, where the size of the list is the number of sensors
+    * @param timestamp   transmission time <year - 2000>-<month>-<day> <hour>:<minute>:<second>
+    * @param client      mongocxx::client instance for the current thread
+    *
+    * @return True if sensor is added, false otherwise
+    */
+    bool storeSalinitySensors(
+      const ProtoPrimitiveList<float> & salinity_pb, const std::string & timestamp, mongocxx::client & client);
+
+    /**
+    * @brief Adds pressure sensors to the database
+    *
+    * @param pressure_pb Protobuf list of pressure sensor objects, where the size of the list is the number of sensors
+    * @param timestamp   transmission time <year - 2000>-<month>-<day> <hour>:<minute>:<second>
+    * @param client      mongocxx::client instance for the current thread
+    *
+    * @return True if sensor is added, false otherwise
+    */
+    bool storePressureSensors(
+      const ProtoPrimitiveList<float> & pressure_pb, const std::string & timestamp, mongocxx::client & client);
+
     /**
     * @brief Adds a battery sensors to the database
     *
-    * @param generic_pb Protobuf list of battery objects
+    * @param battery_pb Protobuf list of battery objects
     * @param timestamp  transmission time <year - 2000>-<month>-<day> <hour>:<minute>:<second>
     * @param client     mongocxx::client instance for the current thread
     *

src/network_systems/lib/sailbot_db/inc/util_db.h

@@ -10,9 +10,9 @@
 class UtilDB : public SailbotDB
 {
 public:
-    static constexpr int NUM_AIS_SHIPS       = 15;  // arbitrary number
-    static constexpr int NUM_GENERIC_SENSORS = 5;   // arbitrary number
-    static constexpr int NUM_PATH_WAYPOINTS  = 5;   // arbitrary number
+    static constexpr int NUM_AIS_SHIPS = 15;  // arbitrary number
+    // static constexpr int NUM_GENERIC_SENSORS = 5;   // arbitrary number
+    static constexpr int NUM_PATH_WAYPOINTS = 5;  // arbitrary number
 
     /**
      * @brief Construct a UtilDB, which has debug utilities for SailbotDB
@@ -136,11 +136,41 @@ class UtilDB : public SailbotDB
     void genRandAisData(Polaris::Sensors::Ais & ais_ship);
 
     /**
-    * @brief generate random generic sensor data
+    // * @brief generate random generic sensor data
+    // *
+    // * @param generic_sensor Generic sensor data to modify
+    // */
+    // void genRandGenericSensorData(Polaris::Sensors::Generic & generic_sensor);
+
+    /**
+     * @brief
+     *
+     *
+    *
+    * @param temp_sensor Temperature sensor data to modify
+    */
+    void genRandTempSensorData(float & temp_sensor);
+
+    /**
+    * @brief generate random pH sensor data
+    *
+    * @param ph_sensor pH sensor data to modify
+    */
+    void genRandPhSensorData(float & ph_sensor);
+
+    // /**
+    // * @brief generate random pressure sensor data
+    // *
+    // * @param pressure_sensor Pressure sensor data to modify
+    // */
+    // void genRandPressureSensorData(float & pressure_sensor);
+
+    /**
+    * @brief generate random salinity sensor data
     *
-    * @param generic_sensor Generic sensor data to modify
+    * @param salinity_sensor Salinity sensor data to modify
     */
-    void genRandGenericSensorData(Polaris::Sensors::Generic & generic_sensor);
+    void genRandSalinitySensorData(float & salinity_sensor);
 
     /**
     * @brief generate random battery data

src/network_systems/lib/sailbot_db/src/sailbot_db.cpp

@@ -22,7 +22,7 @@ namespace bstream = bsoncxx::builder::stream;
 using Polaris::GlobalPath;
 using Polaris::Sensors;
 
-mongocxx::instance SailbotDB::inst_{};  // staticallly initialize instance
+mongocxx::instance SailbotDB::inst_{};  // statically initialize instance
 
 // PUBLIC
 
@@ -96,7 +96,11 @@ bool SailbotDB::storeNewSensors(const Sensors & sensors_pb, RcvdMsgInfo new_info
     const std::string &   timestamp = new_info.timestamp_;
     mongocxx::pool::entry entry     = pool_->acquire();
     return storeGps(sensors_pb.gps(), timestamp, *entry) && storeAis(sensors_pb.ais_ships(), timestamp, *entry) &&
-           storeGenericSensors(sensors_pb.data_sensors(), timestamp, *entry) &&
+           //    storeGenericSensors(sensors_pb.data_sensors(), timestamp, *entry) && // * Generic sensors are replaced by Temp, Salinity, pH, Pressure
+           storeTempSensors(sensors_pb.temp_sensors(), timestamp, *entry) &&
+           storePhSensors(sensors_pb.ph_sensors(), timestamp, *entry) &&
+           storeSalinitySensors(sensors_pb.salinity_sensors(), timestamp, *entry) &&
+           //    storePressureSensors(sensors_pb.pressure_sensors(), timestamp, *entry) && // * We aren't using pH Sensors as of Nov 2025
            storeBatteries(sensors_pb.batteries(), timestamp, *entry) &&
            storeWindSensors(sensors_pb.wind_sensors(), timestamp, *entry) &&
            storePathSensors(sensors_pb.local_path_data(), timestamp, *entry);
@@ -149,21 +153,80 @@ bool SailbotDB::storeAis(
     return static_cast<bool>(ais_coll.insert_one(ais_ships_doc.view()));
 }
 
-bool SailbotDB::storeGenericSensors(
-  const ProtoList<Sensors::Generic> & generic_pb, const std::string & timestamp, mongocxx::client & client)
+// bool SailbotDB::storeGenericSensors(
+//   const ProtoList<Sensors::Generic> & generic_pb, const std::string & timestamp, mongocxx::client & client)
+// {
+//     mongocxx::database   db           = client[db_name_];
+//     mongocxx::collection generic_coll = db[COLLECTION_DATA_SENSORS];
+//     bstream::document    doc_builder{};
+//     auto                 generic_doc_arr = doc_builder << "genericSensors" << bstream::open_array;
+//     for (const Sensors::Generic & generic : generic_pb) {
+//         generic_doc_arr = generic_doc_arr << bstream::open_document << "id" << static_cast<int64_t>(generic.id())
+//                                           << "data" << static_cast<int64_t>(generic.data()) << bstream::close_document;
+//     }
+//     DocVal generic_doc = generic_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
+//     return static_cast<bool>(generic_coll.insert_one(generic_doc.view()));
+// }
+
+bool SailbotDB::storeTempSensors(
+  const ProtoPrimitiveList<float> & temp_pb, const std::string & timestamp, mongocxx::client & client)
+{
+    mongocxx::database   db        = client[db_name_];
+    mongocxx::collection temp_coll = db[COLLECTION_TEMP_SENSORS];
+    bstream::document    doc_builder{};
+    auto                 temp_doc_arr = doc_builder << "tempSensors" << bstream::open_array;
+    for (const float & temp_sensor : temp_pb) {
+        temp_doc_arr = temp_doc_arr << bstream::open_document << "temperature" << temp_sensor
+                                    << bstream::close_document;
+    }
+    DocVal temp_doc = temp_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
+    return static_cast<bool>(temp_coll.insert_one(temp_doc.view()));
+}
+
+bool SailbotDB::storePhSensors(
+  const ProtoPrimitiveList<float> & ph_pb, const std::string & timestamp, mongocxx::client & client)
 {
-    mongocxx::database   db           = client[db_name_];
-    mongocxx::collection generic_coll = db[COLLECTION_DATA_SENSORS];
+    mongocxx::database   db      = client[db_name_];
+    mongocxx::collection ph_coll = db[COLLECTION_PH_SENSORS];
     bstream::document    doc_builder{};
-    auto                 generic_doc_arr = doc_builder << "genericSensors" << bstream::open_array;
-    for (const Sensors::Generic & generic : generic_pb) {
-        generic_doc_arr = generic_doc_arr << bstream::open_document << "id" << static_cast<int64_t>(generic.id())
-                                          << "data" << static_cast<int64_t>(generic.data()) << bstream::close_document;
+    auto                 ph_doc_arr = doc_builder << "phSensors" << bstream::open_array;
+    for (const float & ph_sensor : ph_pb) {
+        ph_doc_arr = ph_doc_arr << bstream::open_document << "ph" << ph_sensor << bstream::close_document;
     }
-    DocVal generic_doc = generic_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
-    return static_cast<bool>(generic_coll.insert_one(generic_doc.view()));
+    DocVal ph_doc = ph_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
+    return static_cast<bool>(ph_coll.insert_one(ph_doc.view()));
 }
 
+bool SailbotDB::storeSalinitySensors(
+  const ProtoPrimitiveList<float> & salinity_pb, const std::string & timestamp, mongocxx::client & client)
+{
+    mongocxx::database   db            = client[db_name_];
+    mongocxx::collection salinity_coll = db[COLLECTION_SALINITY_SENSORS];
+    bstream::document    doc_builder{};
+    auto                 salinity_doc_arr = doc_builder << "salinitySensors" << bstream::open_array;
+    for (const float & salinity_sensor : salinity_pb) {
+        salinity_doc_arr = salinity_doc_arr << bstream::open_document << "salinity" << salinity_sensor
+                                            << bstream::close_document;
+    }
+    DocVal salinity_doc = salinity_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
+    return static_cast<bool>(salinity_coll.insert_one(salinity_doc.view()));
+}
+
+// bool SailbotDB::storePressureSensors(
+//   const ProtoPrimitiveList<float> & pressure_pb, const std::string & timestamp, mongocxx::client & client)
+// {
+//     mongocxx::database   db            = client[db_name_];
+//     mongocxx::collection pressure_coll = db[COLLECTION_PRESSURE_SENSORS];
+//     bstream::document    doc_builder{};
+//     auto                 pressure_doc_arr = doc_builder << "pressureSensors" << bstream::open_array;
+//     for (const float & pressure_sensor : pressure_pb) {
+//         pressure_doc_arr = pressure_doc_arr << bstream::open_document << "pressure" << pressure_sensor
+//                                             << bstream::close_document;
+//     }
+//     DocVal pressure_doc = pressure_doc_arr << bstream::close_array << "timestamp" << timestamp << bstream::finalize;
+//     return static_cast<bool>(pressure_coll.insert_one(pressure_doc.view()));
+// }
+
 bool SailbotDB::storeBatteries(
   const ProtoList<Sensors::Battery> & battery_pb, const std::string & timestamp, mongocxx::client & client)
 {