Merge pull request #3 from MO-RISE/pipline

Pipeline

README.md

@@ -13,6 +13,32 @@ Output minimized example:
 }
 ```
 
+## Docker compose example
+
+```yml
+  crowsnest-processor-radar-0:
+    image: ghcr.io/mo-rise/crowsnest-processor-opendlv-radar:0.1.17
+    container_name: cw-radar-processor-0
+    restart: unless-stopped
+    network_mode: "host"
+    deploy:
+      resources:
+        limits:
+          memory: 1024M
+    environment:
+      - CLUON_CID=65
+      - CLUON_ENVELOPE_ID=1201
+      - MQTT_BROKER_HOST=localhost
+      - MQTT_BROKER_PORT=1883
+      - MQTT_BASE_TOPIC=CROWSNEST/SEAHORSE/RADAR/0/SWEEP
+      - RADAR_MIN_READING_WEIGHT=0
+      - RADAR_SWEEP_ANGULAR_SUBSETTING=4
+      - RADAR_SWEEP_RADIAL_SUBSETTING=4
+      - RADAR_MAX_UPDATE_FREQUENCY=1
+```
+
+
+
 ## Development setup
 To setup the development environment:
 

brefv/envelope.py

@@ -0,0 +1,25 @@
+# generated by datamodel-codegen:
+#   filename:  envelope.json
+#   timestamp: 2023-04-28T09:01:04+00:00
+
+from __future__ import annotations
+
+from datetime import datetime
+from typing import Any, Dict, List, Union
+
+from pydantic import BaseModel, Extra, Field
+
+
+class Envelope(BaseModel):
+    class Config:
+        extra = Extra.forbid
+
+    sent_at: datetime = Field(
+        ...,
+        description='Date and time when the message was sent from the application processing the sensor data, expressed according to the ISO 8601 standard.',
+        examples=['2021-10-07T20:20:39.345+00:00'],
+        title='Sent at',
+    )
+    message: Union[float, str, bool, Dict[str, Any], List[Any]] = Field(
+        ..., description='The message contained by this envelope.', title='Message'
+    )

brefv/messages/__init__.py

@@ -0,0 +1,3 @@
+# generated by datamodel-codegen:
+#   filename:  messages
+#   timestamp: 2023-04-28T09:01:10+00:00

brefv/messages/angle.py

@@ -0,0 +1,11 @@
+# generated by datamodel-codegen:
+#   filename:  angle.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Field
+
+
+class Angle(BaseModel):
+    __root__: float = Field(..., description='Angular reading [deg]', title='Angle')

brefv/messages/angle_rate.py

@@ -0,0 +1,13 @@
+# generated by datamodel-codegen:
+#   filename:  angle_rate.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Field
+
+
+class AngleRate(BaseModel):
+    __root__: float = Field(
+        ..., description='Angular rate reading [deg/min]', title='Angle rate'
+    )

brefv/messages/angular_velocity.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  angular_velocity.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class AngularVelocity(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description="Angular velocity [Yaw-rate, Pitch-rate, Roll-rate] (rad/s) of a body with respect to the body's BF frame of reference.",
+        max_items=3,
+        min_items=3,
+        title='Angular Velocity',
+    )

brefv/messages/attitude.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  attitude.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Attitude(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description="Attitude [Yaw, Pitch, Roll] (radians) of a body with respect to the body's NED frame of reference.",
+        max_items=3,
+        min_items=3,
+        title='Attitude',
+    )

brefv/messages/error_ellipse.py

@@ -0,0 +1,25 @@
+# generated by datamodel-codegen:
+#   filename:  error_ellipse.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Field
+
+
+class ErrorEllipse(BaseModel):
+    semi_major_axis: float = Field(
+        ...,
+        description="Semi-major axis of the GNSS sensor's error ellipse for 1 standard deviation",
+        title='Semi-major axis',
+    )
+    semi_minor_axis: float = Field(
+        ...,
+        description="Semi-minor axis of the GNSS sensor's error ellipse for 1 standard deviation",
+        title='Semi-minor axis',
+    )
+    azimuth: float = Field(
+        ...,
+        description="Azimuth of the semi-major axis of the GNSS sensor's error ellipse with respect to True North in degrees",
+        title='Azimuth',
+    )

brefv/messages/force.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  force.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Force(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description="Force [Fx, Fy, Fz] (N) acting on a body with respect to the body's BF frame of reference.",
+        max_items=3,
+        min_items=3,
+        title='Force',
+    )

brefv/messages/linear_velocity.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  linear_velocity.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class LinearVelocity(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description="Linear velocity [Vx, Vy, Vz] (m/s) of a body with respect to the body's BF frame of reference.",
+        max_items=3,
+        min_items=3,
+        title='Linear Velocity',
+    )

brefv/messages/location.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  location.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Location(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description='A location [x, y, z] [m] relative to a body´s geometric center, expressed in the BF frame of reference',
+        max_items=3,
+        min_items=3,
+        title='Location',
+    )

brefv/messages/moment.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  moment.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Moment(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description="Moment [Mx, My, Mz] (Nm) acting on a body and with respect to the body's BF frame of reference.",
+        max_items=3,
+        min_items=3,
+        title='Moment',
+    )

brefv/messages/playback.py

@@ -0,0 +1,22 @@
+# generated by datamodel-codegen:
+#   filename:  playback.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import Optional
+
+from pydantic import BaseModel, Field
+
+
+class PlaybackCommand(BaseModel):
+    playback_speed: float = Field(
+        ...,
+        description='Reverse is number under zero. Zero is paused. Above zero is moving forward and 1 is seen as normal speed',
+        title='Playback speed',
+    )
+    start_from: Optional[float] = Field(
+        None,
+        description='Start frame where position from where the playback will start or continue from',
+        title='Start from',
+    )

brefv/messages/point_cloud.py

@@ -0,0 +1,18 @@
+# generated by datamodel-codegen:
+#   filename:  point_cloud.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class PointCloud(BaseModel):
+    __root__: List = Field(
+        ...,
+        description='A cloud of 3D points as a list of (x,y,z) tuples [m] in a right-handed, cartesian frame of reference.',
+        examples=[[0.0, 0.0, 0.0], [0.0, 1.0, 0.0]],
+        title='Point cloud',
+    )

brefv/messages/pose.py

@@ -0,0 +1,17 @@
+# generated by datamodel-codegen:
+#   filename:  pose.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Extra
+
+from . import attitude, position
+
+
+class Pose(BaseModel):
+    class Config:
+        extra = Extra.forbid
+
+    position: position.Position
+    attitude: attitude.Attitude

brefv/messages/position.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  position.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Position(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description='Position [longitude, latitude, altitude] [degrees, degrees, m] of a body with respect to the WGS84 frame of reference. Altitude is the height of the body above the WGS84 ellipsoid.',
+        max_items=3,
+        min_items=3,
+        title='Position',
+    )

brefv/messages/rotation.py

@@ -0,0 +1,19 @@
+# generated by datamodel-codegen:
+#   filename:  rotation.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from typing import List
+
+from pydantic import BaseModel, Field
+
+
+class Rotation(BaseModel):
+    __root__: List[float] = Field(
+        ...,
+        description='A rotation [roll, pitch, yaw] [radians] expressed in the BF frame of reference given as Euler angles according to the YPR convention',
+        max_items=3,
+        min_items=3,
+        title='Rotation',
+    )

brefv/messages/rpm.py

@@ -0,0 +1,13 @@
+# generated by datamodel-codegen:
+#   filename:  rpm.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Field
+
+
+class RPM(BaseModel):
+    __root__: float = Field(
+        ..., description='RPM reading [Revolution Per Minute]', title='RPM'
+    )

brefv/messages/speed.py

@@ -0,0 +1,11 @@
+# generated by datamodel-codegen:
+#   filename:  speed.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Field
+
+
+class Speed(BaseModel):
+    __root__: float = Field(..., description='Speed reading [knots]', title='Speed')

brefv/messages/twist.py

@@ -0,0 +1,17 @@
+# generated by datamodel-codegen:
+#   filename:  twist.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Extra
+
+from . import angular_velocity, linear_velocity
+
+
+class Twist(BaseModel):
+    class Config:
+        extra = Extra.forbid
+
+    linear_velocity: linear_velocity.LinearVelocity
+    angular_velocity: angular_velocity.AngularVelocity

brefv/messages/wrench.py

@@ -0,0 +1,17 @@
+# generated by datamodel-codegen:
+#   filename:  wrench.json
+#   timestamp: 2023-04-28T09:01:10+00:00
+
+from __future__ import annotations
+
+from pydantic import BaseModel, Extra
+
+from . import force, moment
+
+
+class Wrench(BaseModel):
+    class Config:
+        extra = Extra.forbid
+
+    force: force.Force
+    moment: moment.Moment