Testing - UBCSailbot/raye-network-table GitHub Wiki

Manual Systems Testing

SOFT Integration Testing

The network table is the glue between the software and electrical systems.
We want to verify the flow of data between global pathfinding on the landserver, local pathfinding on the NUC, boat controller on the NUC, and the sensor/motor data relayed onto the CANbus.

BBB

Build the code cd build
make

Start network table server
cd build/bin
./network_table_server

Start BBB Ethernet Listener
./bbb_ethernet_listener

Start BBB CANbus Listener
./bbb_can_listener

NUC

Build the code
cd build
make -j8\

cd ~/catkin_ws
catkin_make

Start roscore
roscore

Rudder

BBB

The BBB is connected to the CANbus. As of right now, mock data is constantly being outputted onto the CANbus.

Start network_table_server
Run bbb_canbus_listener

This will read data from the CANbus and write it to the network table

Run bbb_eth_listener

This script will send data from the network table to the NUC via an ethernet connection/socket

NUC

Start the roscore
Run nuc_eth_listener

This script will retrieve data sent from the BBB and publish it to the /sensors rosnode

Run AIS
Run local_pathfinding
Run boat_controller

Rockblock+

The Rockblock is our satellite that will transfer sensor and UCCM data from the BBB to our land server

https://rockblock.rock7.com/Operations

https://docs.rockblock.rock7.com/reference#receiving-mo-messages-via-http-webhook

Iridium hosts a server that will handle the HTTP requests sent by our code (ie. land_satellite_listener and bbb_satellite_listener)