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Source code

Our scripts can be found in scripts. Its README has been copied below.

Scripts

how to run

All scripts in this directory should be able to be run with ./path/to/script (excluding arguments). For this to work, the script will need to have a shebang and be executable. For more details, see this tutorial.

ament-lint.sh

Script to lint source code in all ROS packages.

build.sh

Script to build all ROS packages in the Sailbot Workspace.

clang-tidy.sh

Script to run Clang-Tidy using ament_clang_tidy.py.

run_virtual_iridium.sh

./run_virtual_iridium.sh <(optional) webhook server url> <(optional) virtual iridium http server port>

Creates a pair of socat sockets $LOCAL_TRANSCEIVER_TEST_PORT and $VIRTUAL_IRIDIUM_PORT and binds the latter to a virtual iridium server running on localhost:8080, which substitutes the Rockblock HTTP server used in deployment. Allows testing of satellite code without needing physical hardware.

Optional argument - webhook server url:

  • Specify where the URL where the Remote Transceiver or whatever other HTTP server is running.
  • Default is http://127.0.0.1:8081, which assumes fully local testing.

Optional argument - virtual iridium server port

  • Specify which localhost port the virtual iridium runs on.
  • Default is 8080.

$LOCAL_TRANSCEIVER_TEST_PORT acts as the serial port for AT commands. For example, to test via CLI:

  1. ./run_virtual_iridium.sh
  2. To monitor just the $LOCAL_TRANSCEIVER_TEST_PORT without extra debug messages, in a new terminal run cat $LOCAL_TRANSCEIVER_TEST_PORT. What you see output from this command will be what the Local Transceiver reads and sends.
  3. To issue CLI commands, open a new terminal and run stty 19200 < $LOCAL_TRANSCEIVER_TEST_PORT to set the baud rate.
  4. printf "at+sbdix\r" > $LOCAL_TRANSCEIVER_TEST_PORT. This command queries the (currently empty) mailbox.
  5. curl -X POST -F "test=1234" http://localhost:8080 (this is garbage data - it doesn't mean anything). You should see the original terminal print that it received a POST request.
  6. printf "at+sbdix\r" > $LOCAL_TRANSCEIVER_TEST_PORT to view the mailbox again. It will now indicate that it has the data.

Other relevant commands include (but are not limited to):

  • at+sbdwb=<msg_length>\r: Setup the port to receive binary data of length msg_length on next input.
  • at+sbdrb\r: Read binary content in the mailbox.
  • at+sbdd2\r: Clear all buffers.

run-tests.sh

Script to setup, build, and test all ROS packages.

run_software.sh

Script to setup, build, and run all ROS packages.

setup.sh

Script to handle ROS setup.

test.sh

Script to run tests in all ROS packages.