Configurable ROV by ConnorWhalen · Pull Request #276 · EasternEdgeRobotics/Software_2017

ConnorWhalen · 2017-03-18T16:43:23Z

Addresses #270.

The file defaultconfig.yml contains the default configuration. To override the default config, create a new .yml file and set the configFile value in defaultConfig.yml to the name of the new config file. The overriding config does not need a value for every constant and if the file does not exist it carries on with the default.

cal-pratt

Looking good so far. Main note right now is about getting rid of the existing command line options and replacing with config file locations. It will also be good to get some test coverage on the Config class you created.

You can probably get away with inlining a short yml file in java strings:

final File temp = File.createTempFile("config", ".yml");
try (final BufferedWriter writer = new BufferedWriter(new FileWriter(temp))) {
    writer.write("foo:\n   bar: 1\n");
} catch ...

Or just create a file if that's easier, however, we'll then have to think about where we want to place non-java test-files.

cal-pratt · 2017-03-18T16:55:13Z

build.gradle

 }

 dependencies {
+    compile group: "org.cfg4j", name:"cfg4j-core", version: "4.4.0"


muh ocd plz write in format like the others

cal-pratt · 2017-03-20T19:41:37Z

defaultConfig.yml

@@ -0,0 +1,25 @@
+configFile: config.yml


I'm thinking for later that we can change the main methods to accept the config files as program args. This def is okay here for now.

cal-pratt · 2017-03-20T19:44:43Z

src/main/java/com/easternedgerobotics/rov/Rov.java

                    .startWith(new CameraSpeedValueA())
                    .cast(SpeedValue.class),
-                channels.get(CAMERA_A_MOTOR_CHANNEL).setOutputRange(new Range(Motor.MAX_REV, Motor.MAX_FWD))),
+                channels.get(config.cameraAMotorChannel()).setOutputRange(new Range(Motor.MAX_REV, Motor.MAX_FWD))),


nitpick: start setOutputRange on new line to match thruster code.
vertical is easier to read than horizontal.

cal-pratt · 2017-03-20T20:03:04Z

src/main/java/com/easternedgerobotics/rov/Rov.java

@@ -358,10 +326,12 @@ public static void main(final String[] args) throws InterruptedException, IOExce
            final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(


All of the Option broadcast = Option.builder... stuff should go. broadcast, serial-port and baud-rate.

This also means you should eventually edit the service file 2017/playbooks/files/etc/systemd/system/eer.service ExecStart method to not declare in these arguments.

The following code:

{% if inventory_hostname in groups['rasprime'] %} ExecStart=/opt/topside-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255 --serial-port /dev/ttyACM0 --baud-rate 115200 {% else %} ExecStart=/opt/topside-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255 {% endif %}

will become something like this:

ExecStart=/opt/topside-9.0.0/bin/{{ entry_point }} defaultConfig.yml overrideConfig.yml

Note {{ entry_point }} is an ansible-playbook variable which gets replaced with entry_point found in the playbook/hosts file. This happens when it is deployed to a system using a playbook template task:

tasks: - name: Copy unit file for systemd template: src=files/etc/systemd/system/eer.service dest=/etc/systemd/system/eer.service mode=644

cal-pratt · 2017-03-20T20:05:40Z

src/main/java/com/easternedgerobotics/rov/config/Config.java

+public final class Config {
+    private final ConfigurationProvider configProvider;
+
+    public Config() {


Build with testing in mind; pass in the config file locations to this ctor.

See above comment about adding the config files as a command line option.

ConnorWhalen · 2017-03-21T00:57:26Z

Addressed everything but the command line args. Going to do that next time and hopefully test it on rasprime thursday since i'll be touching the services

cal-pratt · 2017-03-30T20:28:54Z

We probably need to change the location of the default config and the custom config. I think you could add it to ~~playbooks/files/usr/bin~~ playbooks/files/opt/topside.

I'd then add a task to the deploy playbook to copy these files to /opt/topside-9.0.0/ on each of the systems:

  tasks:
    - set_fact:
          version: "9.0.0"

...

- name: Add config files
  template: src=files/opt/topside/{{ item }} dest=/opt/topside-{{ version }}/{{ item }} mode=755 owner=pi group=pi
  with_items:
    - config.yml
    - defaultConfig.yml

Then update your service to reference the new location.

Edit: Why is our application folder on each machine called topside? How have I only just noticed this?

cal-pratt

Looking good; added a few notes. You'll be able to deploy this to the system once you update the topside launcher ExecStart and you set up the LauncherConfig in the Topside and PiCamera main methods.

cal-pratt · 2017-04-01T20:59:11Z

playbooks/deployConfig.yml

+      template: src=files/{{ item }} dest=/opt/eer-{{ version }}/{{ item }} mode=755 owner=pi group=pi
+      with_items:
+        - config.yml
+        - defaultConfig.yml


I think we can just add this directly to the deploy.yml script.
It'll also need to be hosts: rasprime:picamera

cal-pratt · 2017-04-01T21:00:50Z

playbooks/files/etc/systemd/system/eer.service

-{% else %}
-ExecStart=/opt/topside-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255
-{% endif %}
+ExecStart=/opt/topside-9.0.0/bin/{{ entry_point }} --default /opt/topside-9.0.0/defaultConfig.yml --config /opt/topside-9.0.0/config.yml


You can also use {{ version }} here; the files are being copied to the hosts as a template, so the version variable will get replaced.

cal-pratt

I think you might have committed in some files by mistake; other than that some small points... keep it coming!

cal-pratt · 2017-04-07T02:58:14Z

playbooks/files/etc/systemd/system/eer.service

-{% else %}
-ExecStart=/opt/eer-9.0.0/bin/{{ entry_point }} --broadcast 192.168.88.255
-{% endif %}
+ExecStart=/opt/eer-9.0.0/bin/{{ entry_point }} --default /opt/eer-9.0.0/defaultConfig.yml --config /opt/eer-9.0.0/config.yml


hit up that {{ version }} tag

cal-pratt · 2017-04-07T03:01:06Z

playbooks/hosts


 [rasprime]
-192.168.88.4 ansible_user=pi ansible_ssh_pass=raspberry entry_point=rov
+192.168.88.10 ansible_user=pi ansible_ssh_pass=raspberry entry_point=rov


Revert this change. We should update the hardware address in the dhcp configs. This ip is dhcp assigned; randomly selected from 10-99 (just so happens most routers assign in order). There is no guarantee that the raspi will always have this address.

cal-pratt · 2017-04-07T03:02:24Z

playbooks/topside.yml

@@ -1,4 +1,35 @@
- hosts: topside
+- hosts: captain


Possible mistake here? Surely we dont want to remove the proxy info 🔨

cal-pratt · 2017-04-07T03:06:44Z

src/main/java/com/easternedgerobotics/rov/config/Config.java

+
+        final File overrideConfigFile = new File(overrideConfigFilename);
+        final Environment overrideEnvironment = new ImmutableEnvironment(defaultConfigFile.getParent());
+        if (new File(overrideConfigFilename).exists()) {


You already have a file object! no need for a new one here

cal-pratt · 2017-05-01T01:02:00Z

Rebase these changes on top of origin master.. then ship it!

…fig files command line args

ConnorWhalen force-pushed the configurable-rov branch 2 times, most recently from 7948bd1 to 4d55c95 Compare March 18, 2017 19:42

cal-pratt reviewed Mar 20, 2017

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cal-pratt assigned ConnorWhalen Mar 20, 2017

cal-pratt added enhancement work in progress labels Mar 20, 2017

cal-pratt added this to the MATE 2017 milestone Mar 20, 2017

ConnorWhalen force-pushed the configurable-rov branch from 4d55c95 to 78f89da Compare March 21, 2017 00:54

cal-pratt reviewed Apr 1, 2017

View reviewed changes

ConnorWhalen force-pushed the configurable-rov branch 2 times, most recently from 1fd054c to 174e06b Compare April 6, 2017 22:54

cal-pratt reviewed Apr 7, 2017

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ConnorWhalen force-pushed the configurable-rov branch 2 times, most recently from 40c85f5 to 19321a5 Compare April 23, 2017 15:45

ConnorWhalen force-pushed the configurable-rov branch from 36377ed to a01e7d5 Compare April 30, 2017 17:49

ConnorWhalen added 8 commits May 1, 2017 11:41

Add configuration management

d982249

Add configuration management

d8fbc22

Set ROV to use config values

5b688ca

Make config deployable, move command line args to config and make con…

e9f960f

…fig files command line args

Add config to topsides

93e5605

Merge launch configs

e2a621c

Add config to video player

806e194

Add config to joystick

6114f57

cal-pratt force-pushed the configurable-rov branch from a1f2ea0 to 6114f57 Compare May 1, 2017 14:23

cal-pratt merged commit 1ad5cb2 into master May 1, 2017

cal-pratt deleted the configurable-rov branch May 1, 2017 14:27

cal-pratt mentioned this pull request Jun 9, 2017

Deploying config from topside to the pi's #316

Open

cal-pratt added the config label Jun 9, 2017

		@@ -358,10 +326,12 @@ public static void main(final String[] args) throws InterruptedException, IOExce
		final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(

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ConnorWhalen commented Mar 18, 2017

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cal-pratt commented May 1, 2017

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cal-pratt commented Mar 30, 2017 •

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