Merge pull request #141 in SOF/subcode from control-helm-activity to master

CUAUV · CUAUV · commit 068287bcb70c · 2021-11-17T21:37:55.000-05:00
diff --git a/control/control_helm2/activity/README.md b/control/control_helm2/activity/README.md
@@ -0,0 +1,19 @@
+# Activity Tracking
+
+## Motivation
+It seems a common occurrence at pool tests is for one person to begin to drive the sub, only for it to behave unexpectedly because someone else was already controlling it. The Activity Tracking system attempts to eliminate this minor frustration by making clearly apparent in Control Helm anyone else who might be driving the sub.
+
+## What it does
+The rightmost column on Control Helm contains 3 panels:
+* The "Active" panel displays a list of people who have issued a command to the sub (through Control Helm) within the past 30 seconds.
+* The "Idle" panel lists people who have Control Helm open, but who have not issued a command within the past 30 seconds.
+* The "Mission" panel displays up to one name of someone who is currently running a mission on the sub.
+
+## How it works
+### "Active" and "Idle"
+A file called "activity.csv" stores all the information necessary for generating the "Active" and "Idle" panels. The format is simple: Each line contains the name of a team member who has Control Helm open, the time (in seconds since the epoch) that they last interacted with the Helm, and the number of Helms they currently have open, separated by commas.
+
+When a user opens Control Helm, their name is added to the file next to the number zero, as if the last time they interacted was the epoch, which guarantees they show up originally as "Idle." Whenever they press a key which corresponds to a command, the time next to their name in the file is updated. And when they quit the Helm, if the number of helms they have opened is decreased to 0, the line containing their name is removed. Then the "Active" and "Idle" panels simply select names from the list based on their recency.
+
+### Mission
+The Mission Runner uses a lock to prevent any two missions from running on the sub simultaneously. It also writes to a file called "mission.csv" to tell control helm when a mission is running. Specifically, it writes the name of the user who runs a mission to the file when the mission begins, and empties the file when the mission ends (and the lock is released). Then Control Helm need only read this file to see if someone is running a mission.
diff --git a/control/control_helm2/activity/logging.py b/control/control_helm2/activity/logging.py
@@ -0,0 +1,60 @@
+import os
+import sys
+import time
+
+activity_filepath = '/home/software/cuauv/workspaces/worktrees/master/control/control_helm2/activity/activity.csv'
+
+# Read the activity file, returning the raw list of lines as well
+# as the number of the line which holds the current user's name
+# (-1 if the current user's name does not appear).
+def read_file():
+    if not os.path.exists(activity_filepath):
+        open(activity_filepath, 'w')
+    with open(activity_filepath, 'r') as f:
+        lines = f.readlines()
+    line_num = -1
+    for num, line in enumerate(lines):
+        if line.split(',')[0] == os.getenv('AUV_ENV_ALIAS'):
+            line_num = num
+    return (lines, line_num)
+
+# Add the user to the list of connections stored
+# in connections.csv: their name followed by
+# a timestamp representing when they were last
+# active in the control helm.
+def log(new_helm=False):
+    lines, line_num = read_file()
+    if line_num == -1:
+        lines.append('')
+        helms = 1
+    else:
+        helms = int(lines[line_num].split(',')[2]) + (1 if new_helm else 0)
+    lines[line_num] = os.getenv('AUV_ENV_ALIAS') + ',' + str(time.time()) + ',' + str(helms) + '\n'
+    with open(activity_filepath, 'w') as f:
+        f.writelines(lines)
+
+# Add a call to 'log()' to each key callback
+# so the last time the user is marked as
+# having been active always stays up to date.
+def add_logging(callbacks, key):
+    value = callbacks[key]
+    def func():
+        log()
+        return value()
+    callbacks[key] = func
+
+# Remove the user from the activity list if closing
+# their last Helm, otherwise simply decrease their
+# helm count by 1.
+def close_helm(signum, frame):
+    lines, line_num = read_file()
+    helms = int(lines[line_num].split(',')[2])
+    if helms == 1:
+        lines.remove(lines[line_num])
+    else:
+        time = float(lines[line_num].split(',')[1])
+        lines[line_num] = os.getenv('AUV_ENV_ALIAS') + ',' + str(time) + ',' + str(helms - 1) + '\n'
+    with open(activity_filepath, 'w') as f:
+        f.writelines(lines)
+    sys.exit(0)
+
diff --git a/control/control_helm2/activity/panels.py b/control/control_helm2/activity/panels.py
@@ -0,0 +1,34 @@
+import math
+import time
+import os
+
+from helm_basis import Panel
+
+mission_filepath = '/home/software/cuauv/workspaces/worktrees/master/control/control_helm2/activity/mission.csv'
+
+# A panel which displays names from the list of connections
+class ConnectionsPanel(Panel):
+    def __init__(self, title, height, min_recency=0, max_recency=math.inf):
+        self.min_recency = min_recency
+        self.max_recency = max_recency
+        super().__init__(title=title, width=3, height=height)
+
+    def get_cols_lines(self, width, height):
+        with open('/home/software/cuauv/workspaces/worktrees/master/control/control_helm2/activity/activity.csv', 'r') as f:
+            lines = f.readlines()
+        return [[line.split(',')[0] for line in filter(lambda x: time.time() - float(x.split(',')[1]) > self.min_recency and time.time() - float(x.split(',')[1]) <= self.max_recency, lines)]]
+
+# A panel which displays up to one name from the mission file
+class MissionPanel(Panel):
+    def __init__(self):
+        super().__init__(title="Mission", width=7, height=4)
+
+    def get_cols_lines(self, width, height):
+        if not os.path.exists(mission_filepath):
+            open(mission_filepath, 'w')
+        with open(mission_filepath, 'r') as f:
+            lines = f.readlines()
+        if len(lines) != 0:
+            return [[lines[0]]]
+        return [[]]
+
diff --git a/control/control_helm2/control_helm2.py b/control/control_helm2/control_helm2.py
@@ -2,8 +2,11 @@
 
 import sys
 import time
+import os
+import signal
 
 from helm_basis import *
+import activity.panels, activity.logging
 
 import shm
 
@@ -71,102 +74,110 @@ def get_battery_status():
                 status_line = '  Voltages nominal.'
             return (voltage_line, status_line)
 
-    drive_panels = Vbox(
-        Hbox(
-            LineLambdaPanel([
-                lambda: ' PORT: {:4}  '.format(
-                    shm.motor_desires.port.get()),
-                lambda: ' STAR: {:4}  '.format(
-                    shm.motor_desires.starboard.get()),
-                lambda: ' FORE:{:3}:{:3} '.format(
-                    shm.motor_desires.fore_port.get(),
-                    shm.motor_desires.fore_starboard.get()),
-                lambda: '  AFT:{:3}:{:3} '.format(
-                    shm.motor_desires.aft_port.get(),
-                    shm.motor_desires.aft_starboard.get()),
-                lambda: ' SFOR: {:4}  '.format(
-                    shm.motor_desires.sway_fore.get()),
-                lambda: ' SAFT: {:4}  '.format(
-                    shm.motor_desires.sway_aft.get()),
-            ], width=16, padding=False),
-
-            ShmPanel(shm.navigation_desires, width=20, title=None,
-                     padding=False,
-                     select_vars=['heading', 'depth', 'pitch',
-                                  'roll', 'speed', 'sway_speed'],
-                     var_names=[' DES HEAD', ' DES DPTH', ' DES PTCH',
-                                ' DES ROLL', ' DES VELX', ' DES VELY']),
-
-            ShmPanel(shm.kalman, width=16, title=None, padding=False,
-                     select_vars=['heading', 'depth', 'pitch',
-                                  'roll', 'velx', 'vely'],
-                     var_names=[' HEAD', ' DPTH', ' PTCH',
-                                ' ROLL', ' VELX', ' VELY']),
-
-            LineLambdaPanel([
-                lambda: (' DVL ALTD:', dvl_fmt(shm.dvl.savg_altitude.get())),
-                lambda: (' DVL TEMP:', dvl_fmt(shm.dvl.temperature.get())),
-                lambda: (StyledString.highlight_if(
-                    ' DVL BEAM 1', shm.dvl.low_amp_1.get()
-                    or shm.dvl.low_correlation_1.get()), '  FWRD:'),
-                lambda: (StyledString.highlight_if(
-                    ' DVL BEAM 2', shm.dvl.low_amp_2.get()
-                    or shm.dvl.low_correlation_2.get()),
-                         dvl_fmt(shm.kalman.forward.get())),
-                lambda: (StyledString.highlight_if(
-                    ' DVL BEAM 3', shm.dvl.low_amp_3.get()
-                    or shm.dvl.low_correlation_3.get()), '  SWAY:'),
-                lambda: (StyledString.highlight_if(
-                    ' DVL BEAM 4', shm.dvl.low_amp_4.get()
-                    or shm.dvl.low_correlation_4.get()),
-                         dvl_fmt(shm.kalman.sway.get())),
-            ], width=20, columns=True, padding=False),
-
-            LineLambdaPanel([
-                lambda: StyledString.highlight_if(
-                    ' HK ',shm.switches.hard_kill.get()),
-                lambda: StyledString.highlight_if(
-                    ' SK ', shm.switches.soft_kill.get()),
-                lambda: StyledString.highlight_if(
-                    ' DV ', shm.dvl.vel_x_invalid.get()
-                    or shm.dvl.vel_y_invalid.get()
-                    or shm.dvl.vel_z_invalid.get()),
-                lambda: StyledString.highlight_if(
-                    ' PC ', shm.navigation_settings.position_controls.get()),
-                lambda: StyledString.highlight_if(
-                    ' OT ', shm.navigation_settings.optimize.get()),
-                lambda: StyledString.highlight_if(
-                    ' EN ', shm.settings_control.enabled.get()),
-            ], width=6, padding=False),
-            height=8, min_height=8
-        ),
-
-        # PID loop panels
-        Hbox(
-            pid_panel('heading', 'heading_rate', 'heading'),
-            pid_panel('pitch', 'pitch_rate', 'pitch'),
-            pid_panel('roll', 'roll_rate', 'roll'),
-            height=8,
-        ),
-        Hbox(
-            pid_panel('velx', 'accelx', 'speed'),
-            pid_panel('vely', 'accely', 'sway_speed'),
-            pid_panel('depth', 'depth_rate', 'depth'),
-            height=8,
-        ),
-
-        Hbox(
-            LineLambdaPanel([
-                lambda: get_battery_status()[0],
-                lambda: get_battery_status()[1],
-            ], width=26),
-            LineLambdaPanel([
-                lambda: msg,
-                lambda: buf,
-            ], width=26),
-            Panel(width=26),
-            height=4,
+    drive_panels = Hbox(
+        Vbox(
+            Hbox(
+                LineLambdaPanel([
+                    lambda: ' PORT: {:4}  '.format(
+                        shm.motor_desires.port.get()),
+                    lambda: ' STAR: {:4}  '.format(
+                        shm.motor_desires.starboard.get()),
+                    lambda: ' FORE:{:3}:{:3} '.format(
+                        shm.motor_desires.fore_port.get(),
+                        shm.motor_desires.fore_starboard.get()),
+                    lambda: '  AFT:{:3}:{:3} '.format(
+                        shm.motor_desires.aft_port.get(),
+                        shm.motor_desires.aft_starboard.get()),
+                    lambda: ' SFOR: {:4}  '.format(
+                        shm.motor_desires.sway_fore.get()),
+                    lambda: ' SAFT: {:4}  '.format(
+                        shm.motor_desires.sway_aft.get()),
+                ], width=16, padding=False),
+
+               ShmPanel(shm.navigation_desires, width=20, title=None,
+                         padding=False,
+                         select_vars=['heading', 'depth', 'pitch',
+                                      'roll', 'speed', 'sway_speed'],
+                         var_names=[' DES HEAD', ' DES DPTH', ' DES PTCH',
+                                    ' DES ROLL', ' DES VELX', ' DES VELY']),
+
+                ShmPanel(shm.kalman, width=16, title=None, padding=False,
+                         select_vars=['heading', 'depth', 'pitch',
+                                      'roll', 'velx', 'vely'],
+                         var_names=[' HEAD', ' DPTH', ' PTCH',
+                                    ' ROLL', ' VELX', ' VELY']),
+
+                LineLambdaPanel([
+                    lambda: (' DVL ALTD:', dvl_fmt(shm.dvl.savg_altitude.get())),
+                    lambda: (' DVL TEMP:', dvl_fmt(shm.dvl.temperature.get())),
+                    lambda: (StyledString.highlight_if(
+                        ' DVL BEAM 1', shm.dvl.low_amp_1.get()
+                        or shm.dvl.low_correlation_1.get()), '  FWRD:'),
+                    lambda: (StyledString.highlight_if(
+                        ' DVL BEAM 2', shm.dvl.low_amp_2.get()
+                        or shm.dvl.low_correlation_2.get()),
+                             dvl_fmt(shm.kalman.forward.get())),
+                    lambda: (StyledString.highlight_if(
+                        ' DVL BEAM 3', shm.dvl.low_amp_3.get()
+                        or shm.dvl.low_correlation_3.get()), '  SWAY:'),
+                    lambda: (StyledString.highlight_if(
+                        ' DVL BEAM 4', shm.dvl.low_amp_4.get()
+                        or shm.dvl.low_correlation_4.get()),
+                             dvl_fmt(shm.kalman.sway.get())),
+                ], width=20, columns=True, padding=False),
+
+                LineLambdaPanel([
+                    lambda: StyledString.highlight_if(
+                        ' HK ',shm.switches.hard_kill.get()),
+                    lambda: StyledString.highlight_if(
+                        ' SK ', shm.switches.soft_kill.get()),
+                    lambda: StyledString.highlight_if(
+                        ' DV ', shm.dvl.vel_x_invalid.get()
+                        or shm.dvl.vel_y_invalid.get()
+                        or shm.dvl.vel_z_invalid.get()),
+                    lambda: StyledString.highlight_if(
+                        ' PC ', shm.navigation_settings.position_controls.get()),
+                    lambda: StyledString.highlight_if(
+                        ' OT ', shm.navigation_settings.optimize.get()),
+                    lambda: StyledString.highlight_if(
+                        ' EN ', shm.settings_control.enabled.get()),
+                ], width=6, padding=False),
+                height=8, min_height=8
+            ),
+
+           # PID loop panels
+            Hbox(
+                pid_panel('heading', 'heading_rate', 'heading'),
+                pid_panel('pitch', 'pitch_rate', 'pitch'),
+                pid_panel('roll', 'roll_rate', 'roll'),
+                height=8,
+            ),
+            Hbox(
+                pid_panel('velx', 'accelx', 'speed'),
+                pid_panel('vely', 'accely', 'sway_speed'),
+                pid_panel('depth', 'depth_rate', 'depth'),
+                height=8,
+            ),
+            Hbox(
+                LineLambdaPanel([
+                    lambda: get_battery_status()[0],
+                    lambda: get_battery_status()[1],
+                ], width=26),
+                LineLambdaPanel([
+                    lambda: msg,
+                    lambda: buf,
+                ], width=26),
+                Panel(width=26),
+                height=4
+            ),
+
+            width=26 * 3,
         ),
+        Vbox(
+            activity.panels.ConnectionsPanel("Active", height=8, max_recency=30),
+            activity.panels.ConnectionsPanel("Idle", height=16, min_recency=30),
+            activity.panels.MissionPanel()
+        )
     )
 
     def toggle_shm(var, set_msg=None):
@@ -412,8 +423,25 @@ def commit_pos(name):
                                   lambda: commit_pos('north'), allowable_chars)
 
     add_positional_controls()
-
+    
+    # Add activity logging to each callback, so every keypress
+    # updates the user's entry in the activity list.
+    for key in drive_callbacks:
+        activity.logging.add_logging(drive_callbacks, key)
+    for mode in drive_modal_callbacks:
+        for key in drive_modal_callbacks[mode]:
+            activity.logging.add_logging(drive_modal_callbacks[mode], key)
+    
     return drive_panels, drive_callbacks, drive_modal_callbacks
 
 if __name__ == '__main__':
+    # When Control Helm is exited through any of these
+    # means, remove the user from the activity list.
+    signal.signal(signal.SIGTERM, activity.logging.close_helm)
+    signal.signal(signal.SIGINT, activity.logging.close_helm)
+    signal.signal(signal.SIGHUP, activity.logging.close_helm)
+
+    # Add the user to the activity list.
+    activity.logging.log(new_helm=True)
+
     start_helm(*build_control_helm(expert='-e' in sys.argv))
diff --git a/mission/runner.py b/mission/runner.py
@@ -107,6 +107,9 @@
 lock_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), LOCK_NAME)
 try:
     os.mkdir(lock_dir)
+    # Inform control helm that the current user is running a mission.
+    with open('/home/software/cuauv/workspaces/worktrees/master/control/control_helm2/activity/mission.csv', 'w') as f:
+        f.write(os.getenv('AUV_ENV_ALIAS'))
 except OSError:
     logger("A MISSION IS ALREADY RUNNING! Aborting...", copy_to_stdout=True)
     logger("If I am mistaken, delete %s or check permissions" % lock_dir,
@@ -136,6 +139,9 @@
 
 def release_lock():
     os.rmdir(lock_dir)
+    # Inform control helm that the no mission is currently running.
+    with open('/home/software/cuauv/workspaces/worktrees/master/control/control_helm2/activity/mission.csv', 'w') as f:
+        f.truncate(0)
 
 initially_killed = shm.switches.hard_kill.get()
 was_ever_unkilled = False
