Merge pull request #189 from RI-SE/dev

Master-merge

.gitignore

@@ -4,6 +4,9 @@
 *.obj
 *.elf
 
+# Compiled python code
+*.pyc
+
 # Precompiled Headers
 *.gch
 *.pch
@@ -39,3 +42,7 @@
 # Catalogs
 build*/
 PlaygroundPlatform*/
+
+# Autosave files
+*.save
+*.autosave

Jenkinsfile

@@ -0,0 +1,30 @@
+
+pipeline {
+    agent any
+
+    options {
+        timeout(time: 15, unit: 'MINUTES')
+    }
+    stages {
+        stage('Build') {
+            steps {
+                sh 'echo "Executing build script..."'
+                sh './buildMaestro.sh'
+            }
+        }
+        stage('Integration testing') {
+            steps {
+                sh 'echo "Running Maestro integration tests..."'
+                sh './allMaestroIntegrationTests.sh'
+            }
+        }
+        stage('Format check') {
+            steps {
+                sh 'echo "Running code formatting check..."'
+		sh './checkCodeFormat.sh'
+            }
+        }
+    }
+}
+
+

README.md

@@ -1,7 +1,22 @@
-# Chronos test server
+# Maestro 
+<img align="left" width="100" height="100" src="https://github.com/RI-SE/Maestro/blob/dev/server/src/icon/MaestroICON.svg">
+
+The Maestro server is a communication hub for all test objects. The server monitors and controls the test objects and is also responsible for creating logfiles.
+
+<br />
+<br />
+
+To build Maestro either usie the build script "buildMaestro.sh" or follow the guide below.
+
 
 ## How to build and run the server
 
+Clone the repo and make sure you run the following command to update all submodules:
+
+```sh
+git submodule update --init --recursive
+```
+
 Navigate to the the repo and enter the build folder 
 
 ```sh
@@ -28,14 +43,62 @@ cp -R ../conf/ .
 Create a folder for Trajectory files in /build and move one of the existing trajectory files to this folder. 
 ```sh
 mkdir traj
-cp ../traj/0.traj ./traj/192.168.0.1  
+cp ../traj/0.traj ./traj/192.168.0.1
 ```
 
 Start the server
 ```sh
 ./TEServer
 ```
 
+## Building the server with CITS module and mqtt
+
+The CITS module uses PAHO MQTT, which can be found through the following link:
+https://www.eclipse.org/paho/
+
+To be able to run the server with the CITS module you must first build and install paho mqtt. 
+
+Paho mqtt requires OpenSSL to be able to run. To install OpenSSL do
+```sh
+apt-get install libssl-dev
+```
+In order to get and build the documentation for paho mqtt, do the following
+```sh
+apt-get install doxygen graphviz
+```
+
+Now get the latest source code for paho mqtt
+```sh
+git clone https://github.com/eclipse/paho.mqtt.c.git
+```
+
+Go to the root of the cloned git repo and build the documentation by doing
+```sh
+cd paho.mqtt.c.git
+make html
+```
+This will build the documentation for all the code. Then proceede to build and install paho
+```sh
+make
+sudo make install
+```
+
+The server will not bu default build the CITS module. This is to prevent the use of the CITS module when it is not necessary. To enable building of the module, run `cmake` from the `build/` directory
+```sh
+cmake "Unix Makefiles" -DUSE_CITS:BOOL=TRUE ..
+```
+then you can build and run the server as normal
+```sh
+make
+./TEServer
+```
+
+To disable the CITS module, remake the `cmake` procedure
+
+```sh
+cmake "Unix Makefiles" -DUSE_CITS:BOOL=FALSE ..
+```
+
 # To communicate with server start program.
 ./UserControl [IP] [port]
 

allMaestroIntegrationTests.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+MAESTRODIR=$(pwd)
+cd ${MAESTRODIR}/server/integration-tests
+FAILURES=0
+NUM_TESTS=0
+
+echo "Running integration tests"
+for f in $(pwd)/*; do
+	rm -f /dev/mqueue/*
+	if [ ${f: -3} == ".py" ]; then
+		echo "Running ${f}"
+		python3 "$f"
+		if [ "$?" != "0" ]; then
+			echo "Failed test ${f}"
+			FAILURES=$((FAILURES+1))
+		fi
+		NUM_TESTS=$((NUM_TESTS+1))
+	elif [ ${f: -3} == ".sh" ]; then
+		echo "Running ${f}"
+		if [ $(sh "$f" -H > /dev/null 2>&1) ]; then
+			echo "Failed test ${f}"
+			FAILURES=$((FAILURES+1))
+		fi
+		NUM_TESTS=$((NUM_TESTS+1))
+	fi
+done
+
+SUCCESSES=$((NUM_TESTS-$FAILURES))
+echo "Tests passed:  ${SUCCESSES} / ${NUM_TESTS}"
+
+exit $FAILURES

buildMaestro.sh

@@ -1,15 +1,52 @@
 #!/bin/sh
+export PATH=$PATH:/usr/bin
+
+if [ $USER = "jenkins" ] || [ $USER = "tomcat" ]; then
+	# Show jenkins environment
+	echo "Running as ${USER} with environment"
+	printenv
+	rm -rf ~/.maestro
+fi
+
 MAESTRODIR=$(pwd)
-git submodule update --init --recursive
+git submodule update --init --recursive || exit 1
+
+# Build util
 cd util/C
-cmake -G "Unix Makefiles" .
-make
+echo "Building util"
+cmake -G "Unix Makefiles" . && make || exit 1
+
+# Build core modules
 cd $MAESTRODIR/server
 mkdir build
 cd build
-cmake -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug ..
-cp -R ../conf/ .
-mkdir traj && mkdir log
-cp ../traj/0.traj ./traj/127.0.0.1
-make
-cd $MAESTRODIR
+echo "Building core modules"
+cmake -G "Unix Makefiles" -DUSE_CITS:BOOL=FALSE -DCMAKE_BUILD_TYPE=Debug .. && make || exit 1
+
+# Build ScenarioControl module
+mkdir $MAESTRODIR/modules/ScenarioControl/build
+cd $MAESTRODIR/modules/ScenarioControl/build
+echo "Building ScenarioControl"
+cmake .. && make || exit 1
+
+# Build Supervision module
+mkdir $MAESTRODIR/modules/Supervision/build
+cd $MAESTRODIR/modules/Supervision/build
+echo "Building Supervision"
+cmake .. && make || exit 1
+
+# Set up running directory in home
+cd
+echo "Setting up running directory"
+if [ ! -d ".maestro" ]; then
+	mkdir .maestro
+	cd .maestro
+	mkdir journal
+	mkdir traj
+	mkdir conf
+	mkdir geofence
+	cp -R $MAESTRODIR/server/conf/ .
+else
+	echo "Running directory already exists, nothing to do"
+fi
+

checkCodeFormat.sh

@@ -0,0 +1,40 @@
+#!/bin/bash
+
+if ! git diff-index --quiet HEAD --; then
+	echo "Uncommitted changes detected: please commit changes before checking code format"
+	exit 1
+fi
+
+./formatSourceFiles.sh
+git diff > formatDiff.patch
+
+# Reset changes made
+find . -iname "*.c" -a -not -ipath "*ASN1*" -a -not -ipath "*CMakeFiles*" -a -not -ipath "*util/*" | xargs git checkout --
+
+if [ ! -s formatDiff.patch ]; then
+	# It was empty
+	rm formatDiff.patch
+	echo "No code formatting errors detected"
+	exit 0
+else
+	echo "Formatting errors detected. Attempting to fix ..."
+	rm formatDiff.patch
+
+	./formatSourceFiles.sh
+	./formatSourceFiles.sh
+
+	git diff > formatDiff.patch
+
+	find . -iname "*.c" -a -not -ipath "*ASN1*" -a -not -ipath "*CMakeFiles*" -a -not -ipath "*util/*" | xargs git checkout --
+
+	if [ ! -s formatDiff.patch ]; then
+		rm formatDiff.patch
+		echo "No code formatting errors detected after rerun"
+		exit 0
+	else
+		# Very wordy printout:
+		cat formatDiff.patch
+		rm formatDiff.patch
+		exit 1
+	fi
+fi

doc/Changelog.md

@@ -0,0 +1,101 @@
+Last edited 15/10- 2019
+
+Contents
+==============================
+[v.0.4.0 December Server-Snapshot](#December-release-v040---serversnapshot)
+
+[v.0.3.0 Trigger and Action](#maestro-v030-trigger-and-action)
+
+[v.0.2.0 July Server-snapshot](#july-release-v020---serversnapshot)
+
+[v.0.1.0 Drottning Kristina](drottning-kristina-v010)
+
+December release v0.4.0 - ServerSnapshot  
+==============================
+
+This version is compatible with Maestro-Tools v0.4.0 and Util v0.4.0
+
+New Features
+-------
+
+1. Supervisor now is its own c++ module.
+2. Supervisor now sends disarm if any object is not within a short distance to its starting position and somewhat aligned to the trajectory
+3. Supervisor now sends disconnect if any trajectory files do not match its standards (right now, its standards only state that the files should be parseable)
+4. Supervisor now sends abort if an object exits a permitted geofence or enters a forbidden one
+
+Enhancements 
+-------
+1. Implemented testing utility which allows starting an executable and polling its status from Python
+2. Implemented test which starts and kills core executable, failing if one or more modules crash before the killing commences
+3. Implemented testing utility which emulates external MSCP communication to system control
+4. Implemented testing utility which checks availability of ports
+5. Implemented testing utility which opens and parses a trajectory file
+6. Implemented test which connects via MSCP and sends initializeScenario, after which it disconnects. It fails if the MSCP connection fails or the server crashes
+7. Implemented test which steps through the "normal" test procedure i.e. connect MSCP, upload file, init, connect, arm, start, abort, reset
+
+
+Fixed bugs
+-------
+- MQ priorities were wrong: highest priority was lowest. This has been remedied.
+- Fixed error in C-ITS control DENM timestamps
+- Fixed mismatch with ISO HEAB, MONR, STRT, TRAJ based on 4a workshop
+
+Maestro v0.3.0 Trigger and Action
+==============================
+
+This version is compatible with Maestro-Tools v0.3.0 and Util v0.3.0
+
+New Features
+-------
+
+1. Server is now able to send and handle basic Trigger and Action messages. More specifically EXAC and ACCM.
+2. Brake detection algorithm for creating an internal trigger event
+3. C-ITS control initial implementation of CAM and DENM messages for demo
+
+
+Enhancements 
+-------
+The location for all files necessary to run the server has can now be defined. Defaults to ~/.maestro
+
+
+Fixed bugs
+-------
+Uploading .traj files from the GUC no longer results in a corrupted file with POST messages at the end.  
+
+
+July release v0.2.0 - ServerSnapshot  
+==============================
+
+This version is compatible with the July release of Maestro-Tools and the July release of util 
+
+New Features
+-------
+
+1. Geofencing has been enabled. Server checks if an object is located inside or outside a given geofence and prints this to terminal.
+2. MQbus defined in the util repo is now beeing used instead of the old message
+
+
+"Enhancements" 
+-------
+Latidude spelling error has been changed to Latitude
+
+
+Fixed bugs
+-------
+Server no longer creates Junk files in root directory
+
+Drottning Kristina v0.1.0 
+==============================
+
+This version is compatible with the Drottning Kristina release of Maestro-Tools 
+
+New Features
+-------
+
+1. Server now has a new and improved logger
+2. Server has an UDP connection to the GUC which is used to send MONR
+
+Enhancements 
+-------
+iCommReceive now has UTC timestamp
+