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Version History (English)

2026-02-19

  • e2e: removed the internal fake sonar DBT writer from test/e2e/run_poseidon_e2e.sh; E2E now expects a real sonar or an external sonar simulator via POSEIDON_SONAR_DEVICE.
  • e2e: added an automatic pre-test GPSD client integration phase (POSEIDON_E2E_INSTALL_GPSD_CLIENT=1 by default) that clones gps_umd, moves gps* packages into src/workspace/src, and rebuilds with catkin_make when gpsd_client is missing.
  • docs: updated docs/test/hardware_e2e.md to reflect external sonar usage and the new automatic GPSD integration behavior.

2026-01-12

  • CI: clean Catkin build/devel/logs on self-hosted runners before builds to avoid .built_by permission errors.
  • CI: pre-clean the GitHub Actions workspace with sudo before checkout to avoid permission errors during repository cleanup.

2026-01-08

  • e2e: require root launch by default (POSEIDON_E2E_LAUNCH_AS_ROOT=1) and reuse the already-started service during the E2E run to avoid duplicate roslaunch.
  • diagnostics/e2e: honor POSEIDON_E2E_LAUNCH_AS_ROOT=1 when the websocket integration test launches launchROSService.sh.
  • e2e: split the E2E runner into explicit phases (start ROS + wait for nodes, backend test, UI test) with optional required node gating (POSEIDON_E2E_REQUIRED_NODES).
  • CI: set POSEIDON_E2E_LAUNCH_AS_ROOT=1 for hardware E2E runs to ensure sensor access.

2025-12-18

  • e2e: added Playwright-based headless UI smoke test (verifies diagnostics.html populates diagnostics + running nodes tables and required sensor diagnostics report OK; optional telemetry check on index.html).
  • e2e: added unified runner script that starts Poseidon, serves www/webroot, waits for ports, runs backend websocket E2E + UI headless checks, and stores artifacts under test/e2e/artifacts.
  • diagnostics/e2e: gated the launchROSService websocket test behind POSEIDON_E2E=1 and added POSEIDON_E2E_REUSE_RUNNING=1 to support CI benches that already run ROS.
  • diagnostics: start the WebSocket server from inside the asyncio loop to be compatible with newer websockets versions (fixes port 9099 not opening on some systems).
  • launch: made launchROSService.sh relocatable via POSEIDON_ROOT (no longer hard-coded to /opt/Poseidon).
  • launch: avoid set -u in launchROSService.sh so sourcing /opt/ros/noetic/setup.bash does not fail when ROS scripts reference unset variables (fixes CI E2E startup).
  • launch/e2e: pass loggerPath and configPath from POSEIDON_LOGGER_PATH / POSEIDON_CONFIG_PATH via launchROSService.sh (avoids invalid nested $(optenv ...) substitutions in roslaunch args).
  • CI: added optional "hardware E2E" workflow steps (Playwright install, run E2E, upload artifacts) triggered on workflow_dispatch or pushes to main/master.
  • diagnostics/e2e: make IMU/sonar communication thresholds configurable via env vars (POSEIDON_DIAG_IMU_*, POSEIDON_DIAG_SONAR_*) to reduce false negatives on slower benches.
  • e2e: allow tuning diagnostics refresh polling delay via POSEIDON_E2E_DIAGNOSTICS_REFRESH_DELAY_MS for longer-running diagnostics windows.
  • e2e: on UI failure, runner now dumps roslaunch tail + basic rostopic/diagnostics websocket debug into the job logs for faster triage.
  • e2e: avoid set -u in the E2E runner when sourcing ROS setup scripts (prevents ROS_DISTRO: unbound variable on some environments).
  • e2e: keep a DBT NMEA writer running for the whole E2E so /depth can be validated when DIAGNOSTICS_FAKE_SERIAL_PORT is available.
  • e2e: optional exclusive mode (POSEIDON_E2E_EXCLUSIVE=1) stops the system ros service and frees websocket ports before starting Poseidon to avoid port conflicts on benches.
  • launch: pass sonarDevice into the Hydrobox launch and map it to /Sonar/device so the sonar node can be pointed at a test serial adapter.

2025-12-03

  • diagnostics: added end-to-end nosetest that launches launchROSService.sh, waits for the 9099 diagnostics websocket, sends updateDiagnostic, and validates the returned payload; optional DBT feed on DIAGNOSTICS_FAKE_SERIAL_PORT (default /dev/ttyUSB1) to drive sonar without touching /dev/sonar.
  • diagnostics: declare python3-websockets as exec/test dependency so websocket clients/servers are available during integration runs.
  • diagnostics: fixed indentation in the launchROSService websocket test teardown to avoid SyntaxErrors during nosetests.
  • diagnostics: guarded asyncio.set_event_loop in diagnostics_websocket.start_server to prevent dummy-loop AssertionError in unit tests.

2025-12-02

  • Web UI: System Status now shows wlan0 state + SSID using sysfs/proc+iwgetid (no nmcli dependency in telemetry path).
  • hydroball_data_websocket: publish Wi‑Fi status/SSID in telemetry payload (telemetry.wifi), sourced from /sys/class/net/wlan0/operstate and /proc/net/wireless.
  • wifi_file_transfer_config: remove legacy C++ backups; node now purges old Wi‑Fi connections on config change and documentation/comments converted to English.
  • wifi_file_transfer_config: added Python unit tests for wifi_config_node (helpers, nmconnection parsing, autoconnect parsing, purge logic, configuration callback) wired via catkin nosetests.
  • Launch: replace missing diagnostics_node with diagnostics_websocket.py in Hydrobox/Hydroball/Simulator launch files to fix diagnostics startup errors.
  • diagnostics: add package-path fallback so diagnostics_websocket imports sibling diagnostic modules when run from install space (fix ModuleNotFoundError on diagnostics_test_base).
  • diagnostics: fix getRunningNodes handler to unpack publisher/subscriber/service lists correctly (no more "too many values to unpack").
  • diagnostics: add DNS resolution check (google.com) and Internet connectivity check (http://example.com) to the diagnostics suite.
  • diagnostics: run Internet connectivity first and skip DNS/API checks when connectivity fails to reduce noisy errors.
  • diagnostics: API connection test now uses a configurable timeout (default 2s) to avoid hanging when the API domain is blocked.
  • diagnostics: added unit tests for the diagnostics websocket node (commands, node listing, lifecycle helpers) to cover its behaviors without ROS master dependencies.
  • diagnostics: install the websocket integration test into the package bin path and skip cleanly when the websockets module is missing, so rostest can locate/execute it without false negatives.
  • install: rewrote install/stages/ethernet_move_hotspot_rpi4.sh with Unix line endings so the bash shebang runs without /bin/bash^M errors.
  • install: fixed ethernet_move_hotspot_rpi4.sh variable handling (no more escaped $/awk errors) and robust interface-name replacement in Hotspot.nmconnection.
  • launch: All Hydrobox profiles now start wifi_file_transfer_config_node so Wi‑Fi provisioning is consistent across RPi/Rock and simulator setups.
  • launch: Fixed wifi file transfer node type to wifi_config_node.py in all launch profiles/simulator so roslaunch can locate the installed Python node.
  • wifi_file_transfer_config: protect hotspot/non-target interfaces (e.g., wlan1) and force new connections onto wlan0; skip deleting hotspot profiles when applying Wi‑Fi config.
  • wifi_file_transfer_config: refuse to apply Wi‑Fi changes if the hotspot interface (default wlan1) is missing and guard against running when the target interface is absent.
  • hydroball_data_websocket: use nmcli to populate Wi‑Fi SSID/state, drop iwgetid dependency, and clear SSID when disconnected.
  • Web UI (status): Wi‑Fi row matches other bars (full-width gradient green/red) with SSID + state inline in the header; bar color now follows wifi.state up/down.
  • Tests: update statusScript Jest stubs to support .css() chaining after Wi‑Fi bar changes.

2025-12-01

  • diagnostics: added rostest that launches the WebSocket node and validates updateDiagnostic response payload (catkin test friendly).
  • raspberrypi_vitals: declare logger_service and power_management_msg dependencies so ToggleLogging and battery message headers exist at build time.
  • diagnostics: install the websocket integration test script via catkin so rostest can locate/execute it.
  • ROS tests: add pytest skip guards for ROS-dependent Python tests to avoid failures when ROS Python modules are absent.

2025-11-27

  • CI: gcovr step split into separate XML/HTML runs (no more skipped HTML output) and coverage summary script now falls back to lcov/HTML when XML is absent.
  • CI: coverage summary now also falls back to JS lcov when coverage-summary.json is missing (ensures JS coverage is reported).
  • CI: coverage summary surfaces JUnit test totals/errors/failures and lists failing suites (links to junit-test-results artifact).
  • JS: VM-based Jest tests now instrument scripts before execution so coverage is reported correctly (no longer 0%).
  • raspberrypi_vitals: ensure targets depend on generated messages (catkin_EXPORTED_TARGETS) and declare i2c_controller_service in CATKIN_DEPENDS to fix missing raspberrypi_vitals_msg/sysinfo.h during build.
  • gnss_zed_f9p: declare binary_stream_msg/virtual_serial_port deps and depend on catkin_EXPORTED_TARGETS so generated headers (e.g., Stream.h) exist before building.
  • lidar_filtering: fixed tests by passing min/max angle/distance as const refs in Filters helpers (no more rvalue binding errors).
  • CI: junit summary lines are now highlighted in red when errors/failures/skipped are non-zero for easier scanning.
  • Docs: agent guidance updated to keep Markdown docs in doc/ (source of truth) with CI able to generate PDFs for download.
  • Docs: README and doc/README now target RPi4 on Ubuntu 20.04, using install/rpi4-noetic.sh as the install path.
  • Docs: added doc/install.md detailing prerequisites and install steps for RPi4 Ubuntu 20.04.
  • Docs: added doc/nodes.md (ROS nodes list) and doc/web.md (web UI pages list); README links updated.
  • Docs: added per-web-page stubs in doc/web/*.md (index, status, diagnostics, data, map, settings, calibration, goal).
  • Docs: node/web index now link to specific Markdown docs and source files for easier navigation.
  • Docs: documented sonar_dummy_node (overview, published topic, config service keys, behavior).
  • Docs: documented raspberrypi_vitals_node (vitals topic fields, I2C service calls, thresholds).
  • Docs: documented imu_null_node (zeroed IMU publisher at 200 Hz).
  • Docs: documented hydroball_config_websocket_node (websocket config server, services, config file handling, IMU transform broadcast).
  • Docs: documented logger_binary_node (binary logging of GNSS/IMU/sonar/lidar/vitals/speed, rotation/transfer).
  • Docs: documented logger_text_node (per-stream text logs, rotation/transfer).
  • Docs: documented gnss_dummy_node (synthetic NavSatFix publisher with alternating status/path).
  • Docs: documented gnss_zed_f9p_node (serial UBX ingest, speed/diag/raw stream).
  • Docs: documented video_recorder_node (camera capture → EXIF-tagged PNGs with interpolated GNSS).
  • Docs: documented hydroball_data_websocket_node (WebSocket telemetry/recording control on port 9002).
  • Docs: documented state_controller_node (aggregates fix/IMU/depth/vitals into state + get_state service).
  • Docs: documented sonar_nmea_0183_tcp_client (network + serial NMEA readers publishing depth/fix/speed).
  • Docs: documented diagnostics_websocket_node (WebSocket diagnostics/ running-nodes commands on port 9099).
  • Docs: documented imu_dummy_node (synthetic IMU on imu/data at 200 Hz).
  • Docs: documented gnss_mosaic_x5_node (raw SBF logger; waits for fix, reads serial, writes .sbf).
  • Docs: documented lidar_filtering_node (angle/distance pointcloud filter).
  • Docs: documented hydroball_files_websocket_node (WebSocket file listing/deletion/transfer control on port 9003).

2025-12-02

  • Diagnostics: added unit tests for the diagnostics websocket node (commands, node listing, lifecycle helpers) to cover its behaviors without ROS master dependencies.

2025-11-27

2025-11-26

  • Install scripts: added shared chrony update script (PPS/NMEA + pool.ntp.org); lighttpd now points to /opt/Poseidon/www/webroot.
  • Logger: removed warning spam when toggle requested without GPS fix (ROS1).
  • CI: GitHub Actions now posts C++/Python/JS coverage summary to the workflow summary.
  • Logger: transfer loop now counts zip files once, reports status, sends, and removes on success; RapidJSON string creation simplified.
  • CI: Fixed YAML indentation for coverage summary step (workflow now parses correctly).
  • CI: Coverage summary heredoc anchored with indentation (python block).
  • CI: Coverage summary heredoc flattened (no leading spaces) to avoid Python IndentationError.
  • CI: Coverage summary now runs from a separate script .github/workflows/scripts/coverage_summary.py.
  • Build fix: added binary_stream_msg dependency to diagnostics package (resolves missing binary_stream_msg/Stream.h include).

2025-11-25

  • Added HTTPS transfer integration tests for logger binary and text nodes (local TLS server, payload verification).
  • Added memory-resilience tests: repeated failed transfers must not increase RSS.
  • Fixed create_json_str to avoid allocation leak (use SetString without manual new).
  • Updated agent guidelines to maintain this version.md.
  • Updated agent guidelines: C++ formatting/lint (clang-format, clang-tidy) now tracked in the Review & PR checklist.
  • Updated agent guidelines: Python formatting (black) added to the Review & PR checklist.
  • CI: JavaScript tests step now targets www/webroot/js (npm ci/install + npm test if package.json present).
  • Added Jest setup in www/webroot/js with a syntax smoke test for all JS files.
  • Added Jest tests for dashboardscript.js and script.js (basic DOM/jQuery stubs, helper behavior checks).
  • Added Jest test stub for poseidon.js (verifies WebSocketInit is defined).
  • Added Jest tests for statusScript.js (processState handling of uptime/humidity and missing telemetry).
  • Added Jest tests for settingsScript.js (rendering config and saveConfig payload).
  • Added Jest tests for recordingScript.js and mapScript.js (stubs for WebSocket/Leaflet; basic behavior checks).
  • Added Jest tests for diagnosticsScript.js (table population for diagnostics and running nodes).
  • Added Jest tests for dataScript.js (state processing, publish status UI updates).
  • Added Jest test for calibrationScript.js (zeroImu command dispatch).
  • JavaScript: npm test now runs Jest with coverage (collects coverage excluding minified/vendor).
  • Fixed logger text test build by defining currentRssBytes helper in test_logger_text_node.cpp.
  • CI: add C++ coverage via gcovr, Python coverage via coverage/pytest, JS coverage artifact upload; switched C++ build to --coverage.
  • CI: install Node 18 with setup-node to satisfy Jest engine requirements for JS tests.
  • JS: add guards/stubs for WebSocket/jQuery/Leaflet in browser scripts to allow Jest to run headless, and exclude node_modules/coverage from syntax scan.
  • JS: added Jest jsdom setup with global stubs (window/document/$/WebSocket), guarded polling, and map/WKT fallbacks to stabilize headless tests and avoid npm ci lockfile errors.
  • JS tests: added explicit jest-environment-jsdom devDependency to satisfy Jest config.
  • JS housekeeping: generated package-lock for reproducible installs and removed committed coverage output; keep coverage artifacts untracked.
  • hydroball_config_websocket: add message deps (geometry/state/setting) to catkin/package.xml and enforce build order on message targets to fix missing Setting.h during catkin_make.
  • Logger tests: removed embedded PEM key/cert; tests now generate ephemeral self-signed TLS material at runtime to avoid shipping secrets.
  • sonar_nmea_0183_tcp_client: use ROS params for IP/port (instead of argv) and add socket receive timeout to reconnect if the network stream stalls.
  • Install scripts: added shared chrony update script (PPS/NMEA + pool.ntp.org); lighttpd now points to /opt/Poseidon/www/webroot.