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Carlos Rueda ESPComponent testing with LRAUV and ESP simulators

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Revised by Carlos Rueda 975a561
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Testing with simulators on bufflehead and tethyssim:

Note: the config parameter ESPComponent.simulateHardware is false for these tests: the ESP simulator is still an external process and the ESPComponent interacts with it as if it were a real ESP.)

On bufflehead

Image of the ESP software ready to be exercised (under carueda's home):

   $ cd esp2
   $ . bin/ESPenv auv honu
   $ ESPmode=simreal

Make sure the ESP simulator has enough "dry" cartridges. For this you can simply run Cmd.slot All=>:dry:

  $ esp
  -> Cmd.slot All=>:dry
  {All => :dry}
  -> Cmd.map
  {1 => :dry,
   2 => :dry,
   3 => :dry,
   4 => :dry,
   5 => :dry}
  -> exit       # note, exit the ESP simulator herre for what follows.

Then, in this bufflehead session, prepare the following command but do not launch it yet:

  $ ESPclient=tethyssim:9998 ESPcmdPort=7777 esp

This prepares the subsequent execution of the ESP system (see below) once the socket server is running on the (simulated) vehicle.

On tethyssim:

Using Missions/Maintenance/sample.xml for this testing. Parameters that can be adjusted for testing convenience, for example:

  • Depth = 1
  • NumberOfSamples = 2

Here's an actual session:

[carueda@tethyssim lrauv-application]$ bin/LRAUV -r -x "run Maintenance/sample.xml"

2016-01-21T17:03:15.182Z,1453395795.182 [Supervisor](INFO): Main Thread ID is 1692
2016-01-21T17:03:15.183Z,1453395795.183 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1814
2016-01-21T17:03:15.183Z,1453395795.183 [logger ThreadHandler](INFO): Handler Thread ID is 1815
2016-01-21T17:03:15.183Z,1453395795.183 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1812
2016-01-21T17:03:15.183Z,1453395795.183 [controlThread ThreadHandler](INFO): Handler Thread ID is 1813
2016-01-21T17:03:15.183Z,1453395795.183 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1817
2016-01-21T17:03:15.183Z,1453395795.183 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1818
2016-01-21T17:03:15.183Z,1453395795.183 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2016-01-21T17:03:15.183Z,1453395795.183 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2016-01-21T17:03:15.183Z,1453395795.183 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2016-01-21T17:03:15.183Z,1453395795.183 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2016-01-21T17:03:15.183Z,1453395795.183 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1820
2016-01-21T17:03:15.183Z,1453395795.183 [NavChartDb](FAULT): Change detected in ENC collection. Wiping NavChart Directory
2016-01-21T17:03:15.184Z,1453395795.184 [NavChartDb](INFO): Looking for Electronic Nav Chart files in directory: Resources/ElectronicNavigationCharts
2016-01-21T17:03:15.184Z,1453395795.184 [NavChartDb](IMPORTANT): Will load Electronic Nav Chart data from US5CA62M.000
2016-01-21T17:03:15.184Z,1453395795.184 [ExternalSim](INFO): ExternalSim initializing...
2016-01-21T17:03:15.285Z,1453395795.285 [MissionManager](INFO): DefineArg sample:SampleAtDepth.ESPComponentTimeout = 7.000000 min
2016-01-21T17:03:15.286Z,1453395795.286 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/sample.xml
2016-01-21T17:04:44.797Z,1453395884.797 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2016-01-21T17:04:44.797Z,1453395884.797 [Startup](INFO): Completed Startup
2016-01-21T17:04:45.196Z,1453395885.196 [MissionManager](IMPORTANT): Started mission sample
2016-01-21T17:12:26.794Z,1453396346.794 [ESPComponent](INFO): manually powering up ESP
2016-01-21T17:12:26.794Z,1453396346.794 [ESPComponent](IMPORTANT): Starting PPPD with command:/sbin/pppd xonxoff asyncmap A0000 /dev/ttyS1 linkname esp noauth local lock 115200 134.89.10.51:134.89.10.60 persist maxfail 0 holdoff 10 lcp-echo-interval 60 lcp-echo-failure 3 proxyarp ktune deflate 12 ms-dns 134.89.10.32 ms-dns 134.89.10.10
tethyssim>! echo 1 > /dev/loadB7sh: /sbin/pppd: No such file or directory
2016-01-21T17:12:26.798Z,1453396346.798 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=30.0000)
tethyssim>! echo 1 > /dev/loadB7
2016-01-21T17:12:26.808Z,1453396346.808 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB7
tethyssim>sh: /dev/loadB7: Permission denied

Upon the [ESPComponent](IMPORTANT): Waiting for ESP to connect above, launch the ESP simulator on the bufflehead session:

carueda@bufflehead:~/esp2$ ESPclient=tethyssim:9998 ESPcmdPort=7777 esp
@09:09:18.51PST21-Jan-16 <simreal> Copyright 2015 MBARI
/home/carueda/esp2/auv/honu/configure.rb
ESP 3G "honu" 5 cartridge prototype
@09:09:18.68 ArS.stop
ArS.configure ArSconfig
Rod.stop
Rod.configure RodConfig
PV.stop
PV.configure PVconfig
SC.stop
SC.configure SCconfig
TV.stop
TV.configure TVconfig
SP.stop
SP.configure SPconfig
All dwarves are running firmware version 3.74sim
@09:09:18.69 <closeIntake> Intake.close
<closeExhaust> Exhaust.close
@09:09:20.00 <simreal> Clients may connect on TCP port 7777
Connecting to tethyssim:9998
@09:09:20.39 <LRAUV> Session Begun

then, on tethyssim:

2016-01-21T17:12:31.995Z,1453396351.995 [ESPComponent](IMPORTANT): ESP has connected as client
2016-01-21T17:12:32.795Z,1453396352.795 [ESPComponent](IMPORTANT): ESP sampling sequence starting (sample #2)  sampling state: S_WAITING_INITIAL_PROMPT
2016-01-21T17:12:33.196Z,1453396353.196 [sample:SampleAtDepth:SampleWrapper:SampleESP:C](IMPORTANT): ESP sampling at 1.101370 m in nan degC water with nan ug/l chlorophyll fluorescence.
2016-01-21T17:12:33.594Z,1453396353.594 [ESPComponent](IMPORTANT): ESP sampling state: S_PREPARING_SHOW_LOG
2016-01-21T17:12:33.994Z,1453396353.994 [ESPComponent](IMPORTANT): ESP sampling state: S_PREPARING_SHOW_STATUS
2016-01-21T17:12:35.995Z,1453396355.995 [ESPComponent](IMPORTANT): ESP sampling state: S_LOADING_CARTRIDGE
2016-01-21T17:12:55.595Z,1453396375.595 [ESPComponent](IMPORTANT): ESP sampling state: S_FILTERING
2016-01-21T17:12:57.995Z,1453396377.995 [ESPComponent](IMPORTANT): ESP sampling state: S_WAITING_FOR_PAUSED
2016-01-21T17:13:19.195Z,1453396399.195 [ESPComponent](IMPORTANT): ESP sampling state: S_PROCESSING
2016-01-21T17:13:21.594Z,1453396401.594 [ESPComponent](IMPORTANT): ESP sampling state: S_WAITING_FOR_PROCESSED
2016-01-21T17:14:15.195Z,1453396455.195 [ESPComponent](IMPORTANT): ESP sampling state: S_STOPPING
2016-01-21T17:14:19.595Z,1453396459.595 [ESPComponent](IMPORTANT): ESP sampling sequence completed normally (sample #2)
2016-01-21T17:14:19.597Z,1453396459.597 [sample:SampleAtDepth:SampleWrapper:SampleESP](INFO): Completed sample:SampleAtDepth:SampleWrapper:SampleESP
2016-01-21T17:14:19.597Z,1453396459.597 [sample:SampleAtDepth:SampleWrapper](INFO): Completed sample:SampleAtDepth:SampleWrapper
2016-01-21T17:14:19.597Z,1453396459.597 [sample:SampleAtDepth](INFO): Completed sample:SampleAtDepth
2016-01-21T17:14:19.994Z,1453396459.994 [ESPComponent](INFO): powering down ESP
tethyssim>pppd: no process killed
2016-01-21T17:14:20.003Z,1453396460.003 [sample:SampleRepeater:Sample](INFO): Completed sample:SampleRepeater:Sample
2016-01-21T17:14:20.003Z,1453396460.003 [sample:SampleRepeater](INFO): Completed sample:SampleRepeater
2016-01-21T17:14:20.003Z,1453396460.003 [sample](INFO): Completed sample
2016-01-21T17:14:20.396Z,1453396460.396 [MissionManager](IMPORTANT): Started mission Default
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