Purpose
From past discussions, we have seen a lot of confusion over how the global path is sent, received, handled and consumed. There has been past work on the receiving and handling of global paths; however, with the addition of node_mock_global_path and the recent work on node_global_path, things have gotten mixed up. The documentation is still out of date, and there are concerns based on this #936 PR, that there are numerous bugs in how the global path is handling and how the order of the waypoints could vary, as I haven't enforced it properly in the test plans.
Changes
In short, we first need to finalize the design specification for the global path and document the software's quirks. Then we need to identify discrepancies between the design intent and the local pathfinding codebase. Finally, we need to make the necessary fixes.
Based on my work in #963, I have already begun removing interpolation and generating paths, as we can verify those values before sending them to the boat via satellite or prior to deployment. We should move towards merging the global path nodes as stated above so that the design remains the same between development and production. While also reducing duplicate code and nodes.
We will need to review and fix any issues with the global path handling in node_navigate and add additional test cases to handle various scenarios the pathfinding software faces.
Resources
Purpose
From past discussions, we have seen a lot of confusion over how the global path is sent, received, handled and consumed. There has been past work on the receiving and handling of global paths; however, with the addition of
node_mock_global_pathand the recent work onnode_global_path, things have gotten mixed up. The documentation is still out of date, and there are concerns based on this #936 PR, that there are numerous bugs in how the global path is handling and how the order of the waypoints could vary, as I haven't enforced it properly in the test plans.Changes
In short, we first need to finalize the design specification for the global path and document the software's quirks. Then we need to identify discrepancies between the design intent and the local pathfinding codebase. Finally, we need to make the necessary fixes.
Based on my work in #963, I have already begun removing interpolation and generating paths, as we can verify those values before sending them to the boat via satellite or prior to deployment. We should move towards merging the global path nodes as stated above so that the design remains the same between development and production. While also reducing duplicate code and nodes.
We will need to review and fix any issues with the global path handling in
node_navigateand add additional test cases to handle various scenarios the pathfinding software faces.Resources
src/local_pathfindingdirectory