Add vehicle module #109

RaulTrombin · 2025-07-08T23:44:21Z

Add Vehicle module to handle relevant data and share across other services.
The technical approach uses a RWLock that updates accordingly with the latest received values.

The Zenoh connection changes according to the feature flag "blueos-extension", which defines local/remote settings.

A channel containing the structure VehicleData (with JSON schema autogenerated already) will store vehicle data alongside Sonars. This closes a requirement also desired by integrators such as ThinkSmart, that have their own GPS data source.

VehicleData {
    roll: att.roll,
    pitch: att.pitch,
    yaw: att.yaw,
    alt: pos.alt as f64 / 1000.0,
    lat: pos.lat as f64 / 1e7,
    lon: pos.lon as f64 / 1e7,
};

The channel log was changed to use log_with_time, ensuring both channels will have the same timestamp.

patrickelectric · 2025-07-09T11:55:27Z

src/device/recording/mod.rs

-                trace!("Handling RecordingManager request: Success");
-                Ok(ans)
+pub async fn zenoh_pose_bridge(latest_pose: Arc<RwLock<Option<VehicleData>>>) {
+    let session = match zenoh::open(zenoh::Config::default()).await {


It's missing the service configuration as declared in mavlink-camera-manager and mavlink-server, for more information about it check the zBlueberry document that I sent to you.

added new config following our requirements,
please check the load/save/generate steps and let me know you have some suggestions.

patrickelectric · 2025-07-09T11:56:10Z

src/device/recording/mod.rs

+    };
+    let sub = match session.declare_subscriber("mavlink/1/1/AHRS2").await {


It should subscribe to mavlink/**/1/AHRS2 to work with any system id

changed to use :
mavlink//1/ATTITUDE and mavlink//1/GLOBAL_POSITION_INT
where both are used to generate:

let pose = VehicleData { roll: att.roll, pitch: att.pitch, yaw: att.yaw, alt: pos.alt as f64 / 1000.0, lat: pos.lat as f64 / 1e7, lon: pos.lon as f64 / 1e7, };

patrickelectric · 2025-07-16T17:13:07Z

src/vehicle/mod.rs

+        .insert_json5("mode", r#""client""#)
+        .expect("Failed to insert client mode");
+    config
+        .insert_json5("metadata", &format!(r#"{{"name": "{}"}}"#, node_name))


Suggested change

.insert_json5("metadata", &format!(r#"{{"name": "{}"}}"#, node_name))

.insert_json5("metadata", &format!(r#"{{"name": "{node_name}"}}"#))

patrickelectric · 2025-07-16T17:15:41Z

src/vehicle/mod.rs

+        config
+            .insert_json5("scouting/timeout", r#"3000"#)
+            .expect("Failed to insert scouting/timeout");
+        config
+            .insert_json5("scouting/multicast/enabled", r#"true"#)
+            .expect("Failed to insert scouting/multicast/enabled");
+        config
+            .insert_json5("scouting/multicast/ttl", r#"1"#)
+            .expect("Failed to insert scouting/multicast/ttl");
+        config
+            .insert_json5("scouting/gossip/enabled", r#"true"#)
+            .expect("Failed to insert scouting/gossip/enabled");
+        config
+            .insert_json5("scouting/gossip/multihop", r#"false"#)
+            .expect("Failed to insert scouting/gossip/multihop");
+    }


this configuration is not necessary for an extension, the ttl and and multihop configuration is only necessary for peripherals to not leak data inside the vehicle. The only thing necessary is to change the connect/endpoints

we still need to deal with it for standalone app.

there is no need to configure it as well for a standalone app, the connection ip is the only thing necessary

patrickelectric · 2025-07-16T17:32:13Z

src/vehicle/mod.rs

+fn save_config(config: &zenoh::Config, config_path: &str) {
+    match serde_json::to_string_pretty(config) {
+        Ok(json_str) => {
+            if let Err(e) = std::fs::write(config_path, json_str) {
+                error!("Failed to write zenoh_config.json: {e}");
+            } else {
+                info!("zenoh_config.json saved successfully");
+            }
+        }
+        Err(e) => {
+            error!("Failed to serialize config with serde_json: {e}");
+            debug!("Config debug: {:#?}", config);
+        }
+    }
+}


Saving the configuration on loading the configuration from a file is problematic, this will save the zenoh id that should be unique per application while being unnecessary at all.
If the goal is to load custom zenoh configuration you should do as the following pseudo-python script

zenoh_config = zenoh.Config() zenoh_config.insert_json5("mode", json.dumps("client")) zenoh_config.insert_json5("connect/endpoints", json.dumps(["tcp/127.0.0.1:7447"])) zenoh_config.insert_json5("adminspace", json.dumps({"enabled": True})) zenoh_config.insert_json5("metadata", json.dumps({"name": node_name})) if input_file: zenoh_config.from_json5(json5.dumps(input_file)) session = zenoh.open(zenoh_config)

patrickelectric · 2025-07-16T18:04:56Z

src/vehicle/mod.rs

+    loop {
+        tokio::select! {
+            Ok(sample) = attitude_sub.recv_async() => {
+                if let Ok(env) = serde_json::from_slice::<Envelope<ATTITUDE_DATA>>(&sample.payload().to_bytes()) {


need to use serde_json5 over serde_json

patrickelectric · 2025-07-16T18:05:28Z

src/vehicle/mod.rs

+                roll: att.roll,
+                pitch: att.pitch,
+                yaw: att.yaw,
+                alt: pos.alt as f64 / 1000.0,


would be nice to have the units here in docstring

#[derive(Debug, Clone, Serialize, Deserialize, schemars::JsonSchema)]
pub struct VehicleData {
#[schemars(description = "Roll angle in radians")]
pub roll: f32,
#[schemars(description = "Pitch angle in radians")]
pub pitch: f32,
#[schemars(description = "Yaw angle in radians")]
pub yaw: f32,
#[schemars(description = "Altitude in meters above sea level")]
pub alt: f64,
#[schemars(description = "Latitude in decimal degrees")]
pub lat: f64,
#[schemars(description = "Longitude in decimal degrees")]
pub lon: f64,
}

patrickelectric · 2025-07-16T18:06:05Z

src/main.rs

+    let vehicle_data = Arc::new(RwLock::new(None));
+
+    // Start the Zenoh-client with shared data
+    tokio::spawn(zenoh_client_bridge(vehicle_data.clone()));


this should be reconnected if it fails to connect

please check
012ee15

ping @patrickelectric

patrickelectric · 2025-07-16T21:05:42Z

src/device/recording/mod.rs

        // Define topic strings
        let ping1d_topic = format!("/device_{}/Ping1D", device_id);
        let ping360_topic = format!("/device_{}/Ping360", device_id);
+        let vehicle_topic = format!("/device_{}/VehicleData", device_id);


just to inform you, topics don't have trailing slashes in zenoh, it would be better to remove them.

patrickelectric · 2025-07-16T21:07:34Z

src/vehicle/mod.rs

+            Ok(s) => s,
+            Err(e) => {
+                error!("Zenoh session error: {e}, retrying in {reconnect_delay_secs}s");
+                sleep(reconnect_delay).await;


Add the delay in the beginning of the loop to avoid calling it in every continue call

patrickelectric · 2025-07-16T21:08:11Z

src/vehicle/mod.rs

+    let reconnect_delay_secs = 30;
+    let reconnect_delay = Duration::from_secs(reconnect_delay_secs);


30s is a lot. We should make it 5 or less.

patrickelectric · 2025-07-16T21:10:40Z

src/vehicle/mod.rs

+                    lon: pos.lon as f64 / 1e7,
+                };
+                let mut pose_guard = latest_pose.write().await;
+                *pose_guard = Some(pose.clone());


this clone is unnecessary

patrickelectric · 2025-07-16T21:11:39Z

src/vehicle/mod.rs

+        config
+            .insert_json5("connect/endpoints", r#"["tcp/127.0.0.1:7447"]"#)
+            .expect("Failed to insert endpoints");
+    }


You should have it by default, if there is a configuration in the loaded settings it'll replace it.

src/vehicle/mod.rs

RaulTrombin force-pushed the add_zenoh_client branch from 295bad5 to e58ff22 Compare July 9, 2025 00:03

patrickelectric reviewed Jul 9, 2025

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RaulTrombin force-pushed the add_zenoh_client branch 4 times, most recently from 76c1d86 to 5e76d00 Compare July 15, 2025 21:18

RaulTrombin requested a review from patrickelectric July 15, 2025 21:41

RaulTrombin changed the title ~~Add zenoh client~~ Add vehicle module Jul 15, 2025

RaulTrombin marked this pull request as ready for review July 16, 2025 16:08

patrickelectric requested changes Jul 16, 2025

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RaulTrombin force-pushed the add_zenoh_client branch from 207de55 to 945e1ec Compare July 16, 2025 18:59

RaulTrombin mentioned this pull request Jul 16, 2025

Allow load custom json zenoh settings #112

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RaulTrombin requested a review from patrickelectric July 16, 2025 19:20

RaulTrombin force-pushed the add_zenoh_client branch from 012ee15 to 11518c6 Compare July 16, 2025 19:22

patrickelectric requested changes Jul 16, 2025

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RaulTrombin force-pushed the add_zenoh_client branch from 11518c6 to b2c1179 Compare July 16, 2025 21:44

RaulTrombin requested a review from patrickelectric July 16, 2025 21:44

patrickelectric requested changes Jul 17, 2025

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src/vehicle/mod.rs Outdated Show resolved Hide resolved

RaulTrombin added 5 commits July 17, 2025 09:27

src: vehicle: Initial module

2ca2159

src: device: recording: Add vehicle data option

21e0d28

Cargo: Add zenoh, mavlink, json5 and schemars

1319dfc

src: vehicle: Add reconnection logic

b0cbab4

recorder: Remove leading slashes, following zenoh path convention

b1c62df

RaulTrombin force-pushed the add_zenoh_client branch from b2c1179 to b1c62df Compare July 17, 2025 12:27

RaulTrombin requested a review from patrickelectric July 17, 2025 12:27

patrickelectric approved these changes Jul 17, 2025

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RaulTrombin merged commit 7b9886c into bluerobotics:master Jul 17, 2025
14 checks passed

		};
		let sub = match session.declare_subscriber("mavlink/1/1/AHRS2").await {

	.insert_json5("metadata", &format!(r#"{{"name": "{}"}}"#, node_name))
	.insert_json5("metadata", &format!(r#"{{"name": "{node_name}"}}"#))

		let reconnect_delay_secs = 30;
		let reconnect_delay = Duration::from_secs(reconnect_delay_secs);

Add vehicle module #109

Add vehicle module #109

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RaulTrombin commented Jul 8, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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RaulTrombin commented Jul 8, 2025 •

edited

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