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alexwitt23alexwitt23
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merge master and fix conflicts
2 parents 056dd08 + 1678e47 commit 0d53945

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‎.travis.yml

+5-4
Original file line numberDiff line numberDiff line change
@@ -19,22 +19,23 @@ jobs:
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- env: SERVICE=imagery
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- env: SERVICE=dashboard
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- env: SERVICE=image-rec-master
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- env: SERVICE=grafana
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- stage: test
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env: SERVICE_TEST=telemetry
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language: node_js
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node_js: '8'
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node_js: '12'
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- env: SERVICE_TEST=interop-proxy
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language: elixir
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elixir: '1.6'
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- env: SERVICE_TEST=pong
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language: node_js
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node_js: '8'
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node_js: '12'
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- env: SERVICE_TEST=forward-interop
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language: node_js
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node_js: '8'
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node_js: '12'
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- env: SERVICE_TEST=imagery
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language: node_js
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node_js: '8'
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node_js: '10'
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- env: SERVICE_TEST=image-rec-master
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language: python
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python: '3.7'

‎Makefile

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@@ -2,7 +2,7 @@
22

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.PHONY: all
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all: mavproxy telemetry interop-proxy pong forward-interop imagery dashboard \
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image-rec-master
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image-rec-master grafana
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.PHONY: test
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test: telemetry-test interop-proxy-test pong-test forward-interop-test \
@@ -72,6 +72,10 @@ image-rec-auto:
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image-rec-auto-test:
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$(MAKE) -C services/image-rec-auto test
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.PHONY: grafana
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grafana:
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$(MAKE) -C services/grafana
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.PHONY: clean
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clean:
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$(MAKE) -C services/mavproxy clean
@@ -83,3 +87,4 @@ clean:
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$(MAKE) -C services/dashboard clean
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$(MAKE) -C services/image-rec-master clean
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$(MAKE) -C services/image-rec-auto clean
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$(MAKE) -C services/grafana clean

‎config/.gitignore

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@@ -0,0 +1,2 @@
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# No .env files!
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.env

‎config/README.md

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@@ -0,0 +1,23 @@
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# Configuration Files
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Docker Compose + other miscellaneous files for our devices.
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Currently, we've got:
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```bash
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├── ground
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│   ├── 37-3dr.rules # udev rule for the 3DR (/dev/)
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│   ├── 38-rfd900.rules # udev rule for the RFD900 (/dev/)
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│   └── docker-compose.yml # Compose file for the ground server (portainer, mavproxy, telemetry, interop-proxy, pong, forward-interop, dashboard, imagery)
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├── plane
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│   ├── 51-pixhawk.rules # udev rule for the Pixhawk (USB FTDI) (/dev/pixhawk)
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│   ├── docker-compose.yml # Compose file for the plane's computer (mavproxy, telemetry, imagery)
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│   └── interfaces # Network config that sets up a bridge for the camera (usb2)
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```
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udev rules go in `/etc/udev/rules.d`; after you copy the files over, run `udevadm control --reload-rules && udevadm trigger` to reload the rules.
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`interfaces` should go in `/etc/network/interfaces`.
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`docker-compose -f <compose config file> up` for Docker Compose files.

‎config/ground/37-3dr.rules

+1
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@@ -0,0 +1 @@
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ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", GROUP="dialout", MODE="0666", SYMLINK+="3dr"

‎config/ground/38-rfd900.rules

+1
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@@ -0,0 +1 @@
1+
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", GROUP="dialout", MODE="0666", SYMLINK+="rfd900"

‎config/ground/docker-compose.yml

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@@ -0,0 +1,112 @@
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version: '3'
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services:
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portainer:
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image: portainer/portainer
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command: -H unix:///var/run/docker.sock
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ports:
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- '9000:9000'
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networks:
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- ground-net
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volumes:
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- /var/run/docker.sock:/var/run/docker.sock
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- portainer-data:/data
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restart: unless-stopped
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mavproxy-ground:
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image: uavaustin/mavproxy
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command: --master udpout:mavproxy-plane:14551
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--master /dev/antenna
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--out udpin:0.0.0.0:14550
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--out udpin:0.0.0.0:14551
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--nowait
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--daemon
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ports:
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- '14550:14550/udp'
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extra_hosts:
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- mavproxy-plane:${PLANE_IP}
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networks:
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- ground-net
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devices:
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- /dev/rfd900:/dev/antenna
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restart: unless-stopped
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34+
telemetry-ground:
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image: uavaustin/telemetry
36+
environment:
37+
- PLANE_HOST=mavproxy-ground
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- PLANE_PORT=14551
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networks:
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- ground-net
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restart: unless-stopped
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interop-proxy:
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image: uavaustin/interop-proxy
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environment:
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- INTEROP_URL=${INTEROP_URL}
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- USERNAME=${INTEROP_USERNAME}
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- PASSWORD=${INTEROP_PASSWORD}
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- MISSION_ID=${INTEROP_MISSION_ID}
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networks:
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- ground-net
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restart: unless-stopped
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pong:
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image: uavaustin/pong
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environment:
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- PING_SERVICES=interop-server,${INTEROP_URL},/
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interop-proxy,interop-proxy:8000
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telemetry-plane,telemetry-plane:5000
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telemetry-ground,telemetry-ground:5000
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forward-interop,forward-interop:4000
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imagery-plane,image-plane:8081
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imagery-ground,image-ground:8081
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pong,pong:7000
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extra_hosts:
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- telemetry-plane:${PLANE_IP}
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- imagery-plane:${PLANE_IP}
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networks:
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- ground-net
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restart: unless-stopped
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forward-interop:
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image: uavaustin/forward-interop
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environment:
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- TELEMETRY_HOST=telemetry-plane
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- INTEROP_PROXY_HOST=interop-proxy
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extra_hosts:
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- telemetry-plane:${PLANE_IP}
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networks:
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- ground-net
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restart: unless-stopped
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dashboard:
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image: uavaustin/dashboard
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tty: true
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environment:
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- INTEROP_PROXY_URL=interop-proxy:8000
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- FORWARD_INTEROP_URL=forward-interop:4000
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- PONG_URL=pong:7000
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networks:
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- ground-net
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restart: unless-stopped
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imagery-ground:
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image: uavaustin/imagery
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environment:
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- BACKEND=sync
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- IMAGERY_SYNC_HOST=imagery-plane
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- IMAGERY_SYNC_PORT=8081
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extra_hosts:
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- imagery-plane:${PLANE_IP}
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networks:
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- ground-net
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volumes:
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- ./imagery:/opt/imagery
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restart: unless-stopped
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networks:
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ground-net:
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volumes:
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portainer-data:

‎config/plane/51-pixhawk.rules

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@@ -0,0 +1,2 @@
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ATTRS{idVendor}=="2dae", ATTRS{idProduct}=="1011", GROUP="dialout", MODE="0666", SYMLINK+="pixhawk"
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‎config/plane/docker-compose.yml

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version: '3'
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services:
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portainer-agent-plane:
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image: portainer/agent
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ports:
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- '9001:9001'
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networks:
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- plane-net
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volumes:
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- /var/run/docker.sock:/var/run/docker.sock
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- /var/lib/docker/volumes:/var/lib/docker/volumes
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restart: unless-stopped
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mavproxy-plane:
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image: uavaustin/mavproxy
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command: --master=/dev/pixhawk
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--out udpin:0.0.0.0:14550
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--out udpin:0.0.0.0:14551
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--daemon
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--nowait
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ports:
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- '14550:14550/udp'
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- '14551:14551/udp'
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networks:
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- plane-net
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devices:
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- /dev/pixhawk:/dev/pixhawk
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restart: unless-stopped
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telemetry-plane:
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image: uavaustin/telemetry
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environment:
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- PLANE_HOST=mavproxy-plane
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- PLANE_PORT=14550
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ports:
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- '5000:5000'
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networks:
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- plane-net
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restart: unless-stopped
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imagery-plane:
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image: uavaustin/imagery
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environment:
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- BACKEND=z-cam-e1
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- TELEMETRY_HOST=telemetry-plane
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- TELEMETRY_PORT=5000
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- CAMERA_HOST=192.168.168.1
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- CAMERA_PORT=80
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- MAX_IMAGES=2048
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ports:
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- '8081:8081'
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networks:
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- plane-net
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volumes:
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- './imagery:/opt/imagery'
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restart: unless-stopped
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networks:
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plane-net:

‎config/plane/interfaces

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@@ -0,0 +1,10 @@
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# interfaces(5) file used by ifup(8) and ifdown(8)
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# Include files from /etc/network/interfaces.d:
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source-directory /etc/network/interfaces.d
4+
5+
auto usb2
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allow-hotplug usb2
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iface usb2 inet static
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address 192.168.168.2
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netmask 255.255.255.0
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gateway 192.168.168.1

‎services/common/messages/interop.proto

+27-7
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@@ -30,10 +30,30 @@ message AerialPosition {
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double alt_msl = 3;
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}
3232

33-
// Mission on the interop server.
34-
//
35-
// Note the lack of an active field, as all missions passed into the
36-
// stack will be assumed to be active.
33+
// Lists the opponent teams telemetry provided by the interop server
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message Teams {
35+
message Team {
36+
message TeamTelem {
37+
uint32 id = 1;
38+
double age_sec = 2;
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string timestamp = 3;
40+
AerialPosition pos = 4;
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double yaw = 5;
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}
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44+
uint32 id = 1;
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string username = 2;
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string name = 3;
47+
string university = 4;
48+
bool in_air = 5;
49+
TeamTelem telem = 6;
50+
}
51+
52+
double time = 1;
53+
repeated Team teams = 2;
54+
}
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// Mission on the interop server with the desired mission ID.
3757
message InteropMission {
3858
message FlyZone {
3959
double alt_msl_max = 1;
@@ -42,11 +62,11 @@ message InteropMission {
4262
}
4363

4464
double time = 1;
45-
// If there even is an active mission or not.
65+
// If the mission with given id exists.
4666
bool current_mission = 2;
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Position air_drop_pos = 3;
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repeated FlyZone fly_zones = 4;
49-
Position home_pos = 5;
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// 5 reserved.
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repeated AerialPosition waypoints = 6;
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Position off_axis_pos = 7;
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Position emergent_pos = 8;
@@ -68,7 +88,7 @@ message Obstacles {
6888

6989
double time = 1;
7090
repeated StationaryObstacle stationary = 2;
71-
repeated MovingObstacle moving = 3;
91+
// 3 reserved.
7292
}
7393

7494
// Telemetry to upload to the server.

‎services/dashboard/Dockerfile

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ARG BASE=node:8-slim
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# Compile our js source
4-
FROM ${BASE} AS builder
2+
FROM node:12-slim AS builder
53

64
WORKDIR /builder
75

@@ -19,7 +17,7 @@ COPY dashboard .
1917
RUN npm run build
2018

2119
# Making the actual image now
22-
FROM ${BASE}
20+
FROM node:12-slim
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2422
WORKDIR /app
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‎services/forward-interop/Dockerfile

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ARG BASE=node:8-alpine
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31
# Compile our js source.
4-
FROM ${BASE} AS builder
2+
FROM node:12-alpine AS builder
53

64
WORKDIR /builder
75

@@ -22,7 +20,7 @@ COPY forward-interop .
2220
RUN npm run build
2321

2422
# Make the actual image now.
25-
FROM ${BASE}
23+
FROM node:12-alpine
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2725
WORKDIR /app
2826

‎services/forward-interop/Dockerfile.test

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ARG BASE=node:8-alpine
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3-
FROM ${BASE}
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FROM node:12-alpine
42

53
ENV NODE_ENV=test
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‎services/grafana/Dockerfile

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FROM grafana/grafana
2+
3+
COPY grafana/provisioning /etc/grafana/provisioning
4+
5+
# Grafana's Dockerfile uses ENTRYPOINT so we have to override
6+
# ENTRYPOINT ourselves instead of using CMD. Sigh.
7+
ENTRYPOINT envsubst "$INFLUX_HOST $INFLUX_PORT $DB_NAME" \
8+
< /etc/grafana/provisioning/datasources/datasource.yaml \
9+
> /etc/grafana/provisioning/datasources/datasource.yaml && \
10+
/run.sh

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