User/Apps247/764-check-iridium-connection-strength (#797)

* ros service set up and potentially working

* Changed ros service to use debugSend function

* Changed ros service to use debugSendAT

* Add ros user to dialout group in container

* Separated debug_send_data ros service from regular send_data. Also added ros parameter debug_data_to_send to set the data to send. Untested.

* Commented out \r character check

* Switched from cout/cerr to ros logging in debugSendAT

* Clear incoming serial buffer before attempting send or debugSendAT

* Added skeleton for clearSerialBuffer

* Fixed clearSerialBuffer

* Added clearSerialBuffer calls to send()

* Commented out temporary logging

* Cleaned code

* Changed cout calls to logging callbacks so they can show on ros2 logs

* Remove sudo

* Remove commented-out AT::Line

Removed commented-out code for AT::Line('\r') in rcvRsps calls.

* Added virtual iridium test terminal (dev tool)

* Added checkIridiumSignalQuality function

* Added ROS service to check signal quality

* Added test for checkIridiumSignalQuality

* Made sailbot_db connection failure non-blocking for other project tests

* Added signal quality checking before attempting to send

* Switched to INFO ros logging

* Fixed serial read timeout not working

* Increased timeout, raised signal threshold

Co-authored-by: Apps247 <aprameyaithal@gmail.com>

* Added constant

* Added debugSendAT() Tested Fixes to send()

* shorten comment line to pass linter

* fix comment to pass linter again

---------

Co-authored-by: Jing <128339540+Jng468@users.noreply.github.com>
Co-authored-by: lross03 <136214176+lross03@users.noreply.github.com>
Co-authored-by: adambrett40 <adambrett40@gmail.com>

Author: 4 people

.devcontainer/docker-compose.yml

@@ -8,6 +8,10 @@ services:
     network_mode: host
     privileged: true
     user: ros
+    group_add:
+      - dialout
+    devices:
+      - /dev/ttyS0:/dev/ttyS0
     # ports:
     # website
     #### We do not use anymore. We pulled website development out of docker in PR #614

scripts/test.sh

@@ -48,7 +48,7 @@ if [[ "$PACKAGE" == "network_systems" || "$PACKAGE" == "" ]]; then
 
     NET_DIR=src/network_systems
     if [ -d $NET_DIR ]; then
-        ./scripts/run_virtual_iridium.sh &> /dev/null &
+        ./scripts/run_virtual_iridium.sh &> /tmp/virtual_iridium.log &
         pushd $NET_DIR
         ./scripts/sailbot_db sailbot_db --clear
         ./scripts/sailbot_db sailbot_db --populate

src/network_systems/CMakeLists.txt

@@ -35,6 +35,7 @@ set(ROS_DEPS
     rclcpp
     std_msgs
     custom_interfaces
+    std_srvs
 )
 find_package(ament_cmake REQUIRED)
 foreach(dep IN LISTS ROS_DEPS)

src/network_systems/lib/cmn_hdrs/shared_constants.h

@@ -16,6 +16,7 @@ namespace SYSTEM_MODE
 {
 static const std::string PROD = "production";
 static const std::string DEV  = "development";
+static const std::string TEST_SAT = "test_satellite";
 };  // namespace SYSTEM_MODE
 
 constexpr unsigned int MAX_LOCAL_TO_REMOTE_PAYLOAD_SIZE_BYTES = 340;

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

@@ -92,7 +92,8 @@ int main(int argc, char ** argv)
 
         if (!db.testConnection()) {
             std::cerr << "Failed to establish connection to DB \"" << db_name << "\"" << std::endl;
-            return -1;
+            // Return 0 so test script continues running other tests
+            return 0;
         }
 
         if (vm.count(to_string(CLIOpt::Clear)) != 0) {

src/network_systems/projects/local_transceiver/CMakeLists.txt

@@ -2,6 +2,7 @@ set(module local_transceiver)
 
 set(link_libs
     ${PROTOBUF_LINK_LIBS}
+    CURL::libcurl
 )
 
 set(inc_dirs

src/network_systems/projects/local_transceiver/inc/at_cmds.h

@@ -14,12 +14,14 @@ namespace AT
 const std::string DELIMITER = "\r\n";
 const std::string STATUS_OK = "OK";
 const std::string RSP_READY = "READY";
+const std::string CSQ       = "READY";
 const std::string GARBAGE   = "\n";
 
-const std::string CHECK_CONN    = "AT";
-const std::string SBD_SESSION   = "AT+SBDIX";  // 5.144
-const std::string DSBL_CTRLFLOW = "AT&K0";
-const std::string DNLD_TO_QUEUE = "AT+SBDRB";
+const std::string CHECK_CONN        = "AT";
+const std::string SBD_SESSION       = "AT+SBDIX";  // 5.144
+const std::string DSBL_CTRLFLOW     = "AT&K0";
+const std::string DNLD_TO_QUEUE     = "AT+SBDRB";
+const std::string CHECK_SIG_QUALITY = "AT+CSQ";
 
 namespace write_bin  // 5.154
 {
@@ -34,6 +36,16 @@ const std::string WRONG_SIZE   = "3";
 }  // namespace rsp
 }  // namespace write_bin
 
+namespace signal_quality
+{
+const int NOSIGNAL  = 0;
+const int POOR      = 1;
+const int MARGINAL  = 2;
+const int GOOD      = 3;
+const int VERYGOOD  = 4;
+const int EXCELLENT = 5;
+}  // namespace signal_quality
+
 /**
  * @brief Simple Line struct to help enforce DRY when dealing with strings while performing reads and writes
  *

src/network_systems/projects/local_transceiver/inc/local_transceiver.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <boost/asio/streambuf.hpp>
+#include <functional>
 #include <string>
 
 #include "at_cmds.h"
@@ -29,6 +30,17 @@ class LocalTransceiver
     friend class TestLocalTransceiver_checkCache_Test;
 
 public:
+    // Logging callback types
+    using LogCallback = std::function<void(const std::string &)>;
+
+    /**
+    * @brief Set logging callbacks for debug and error messages
+     *
+     * @param debug_cb Callback for debug messages
+     * @param error_cb Callback for error messages
+     */
+    void setLogCallbacks(LogCallback debug_cb, LogCallback error_cb);
+
     /**
     * @brief Update the sensor with new GPS data
     *
@@ -104,6 +116,23 @@ class LocalTransceiver
      */
     bool send();
 
+    /**
+     * @brief Debug helper that sends a small payload through the same
+     *        flow used by `send()` but using the provided bytes. Useful for
+     *        testing without serializing the full sensors protobuf.
+     *        ticket #714
+     *
+     * @param data payload to send
+     * @return true on success, false on failure
+     */
+    bool debugSendAT(const std::string & data);
+
+    /**
+     * @brief Checks Iridium satellite connection strength via AT+CSQ
+     * @return signal strength value from 0-5, or -1 if an error occurs
+     */
+    int checkIridiumSignalQuality();
+
     /**
      * @brief Send a debug command and return the output
      *
@@ -139,17 +168,27 @@ class LocalTransceiver
 
 private:
     // Serial port read/write timeout
+    // * This 'TIMEOUT' timeout is used for the socket - it doesn't work with the actual hardware modem
     constexpr static const struct timeval TIMEOUT
     {
         0,        // seconds
           200000  // microseconds
     };
+    // * This 'SERIAL_TIMEOUT' timeout actually works for the serial port, both on hardware and virtual
+    static constexpr std::chrono::milliseconds SERIAL_TIMEOUT{std::chrono::seconds(15)};
+
+    static constexpr std::chrono::seconds SMALL_WAIT{std::chrono::seconds(2)};
+    static constexpr std::chrono::seconds MEDIUM_WAIT{std::chrono::seconds(2)};
+
     // boost io service - required for boost::asio operations
     boost::asio::io_service io_;
     // serial port data where is sent and received
     boost::asio::serial_port serial_;
     // underlying sensors object
     Polaris::Sensors sensors_;
+    // Logging callbacks
+    LogCallback log_debug_;
+    LogCallback log_error_;
 
     /**
      * @brief Send a command to the serial port
@@ -170,6 +209,13 @@ class LocalTransceiver
 
     std::optional<std::string> readRsp();
 
+    /**
+     * @brief Drain/clear any pending data in the serial buffer to remove stale data
+     *        from previous iterations or operations. This helps prevent stale data from one attempt/operation
+     *        from interfering with subsequent reads.
+     */
+    void clearSerialBuffer();
+
     /**
      * @brief Parse the message received from the remote server
      *
@@ -197,4 +243,7 @@ class LocalTransceiver
      * @return checksum value
      */
     static std::string checksum(const std::string & data);
+
+    template <typename AsyncReadOp>
+    bool runWithTimeout(AsyncReadOp && op, boost::system::error_code & out_ec);
 };