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jaiarobotics / jaiabot

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task/change-check-for-old-times-to-repeat-times #852

Closed michael-jaia closed 3 months ago

michael-jaia commented 3 months ago

Summary

Switch checks from ignoring old commands and task packets to ignoring commands and task packets with the same timestamps.

Testing

Function handle_task_packet

  1. Set start time for all task packets to be the same to simulate repeat task packets
    1. Get the current UNIX timestamp from: https://www.unixtimestamp.com/
    2. Hard code the task packet start time to the UNIX timestamp on line 320 of machine.cpp
    3. Plan a single waypoint run with a dive and repeat it twice
      1. Should see glog output Repeat taskpacket received! Ignoring... for the logging of the second task packet
    4. PASS
  2. Do not interfere with start time for task packets (restore the changes to machine.cpp)
    1. Add this line: glog.is_debug1() && glog << "Publishing taskpacket..." << std::endl; to 420 of hub_manager
    2. Plan a single waypoint run with a dive and repeat it twice
      1. Should see glog output Publishing taskpacket... twice
    3. PASS

Function handle_command

  1. Set the time for all commands to be the same to simulate repeat commands
    1. Get the current UNIX timestamp from: https://www.unixtimestamp.com/
    2. Hard code the return value of the now function in jaia_portal.py to the UNIX timestamp
    3. Activate the bots
    4. Run a mission
    5. Should see glog output Repeat command received! Ignoring...
    6. PASS
  2. Do not interfere with start time for commands
    1. Add the line glog.is_debug1() && glog << "Processing command..." << std::endl; to line 717 of handle_command in mission_manager/app.cpp
    2. Should see the glog output Processing command... two times when two commands are sent
    3. PASS