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Turns radio version check back on #401

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Merged
barulicm merged 3 commits into from
Jun 9, 2026
Merged

Turns radio version check back on #401

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90b3323
Re-enables packet version check
barulicm Jun 3, 2026
8cb597b
Fixes cmake config dependencies for coms submodule
barulicm Jun 3, 2026
bb7c538
Merge branch 'main' into dev/barulicm/radio_version_check
barulicm Jun 9, 2026
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29 changes: 13 additions & 16 deletions radio/ateam_radio_bridge/src/radio_bridge_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -419,22 +419,19 @@ class RadioBridgeNode : public rclcpp::Node

HelloRequest hello_data = std::get<HelloRequest>(data_variant);

// Commented out until firmware implements git hash populating

// const uint32_t incoming_coms_hash = hello_data.coms_hash[0] | (hello_data.coms_hash[1] << 8) |
// (hello_data.coms_hash[2] << 16) | (hello_data.coms_hash[3] << 24);
// if (incoming_coms_hash != ateam_radio_msgs::kComsHash) {
// RCLCPP_WARN(get_logger(), "Ignoring discovery packet. Packet version hash mismatch.");
// return;
// }

// if (ateam_radio_msgs::kComsDirty) {
// RCLCPP_WARN(get_logger(), "Local packet version is dirty. Compatibility check may be unreliable.");
// }

// if (hello_data.coms_repo_dirty) {
// RCLCPP_WARN(get_logger(), "Remote robot's packet version is dirty. Compatibility check may be unreliable.");
// }
const uint32_t incoming_coms_hash = hello_data.coms_hash[0] << 24 | hello_data.coms_hash[1] << 16 | hello_data.coms_hash[2] << 8 | hello_data.coms_hash[3];
if (incoming_coms_hash != ateam_radio_msgs::kComsHash) {
RCLCPP_WARN(get_logger(), "Ignoring discovery packet. Packet version hash mismatch. Robot: %x Local: %x", incoming_coms_hash, ateam_radio_msgs::kComsHash);
return;
}

if (ateam_radio_msgs::kComsDirty) {
RCLCPP_WARN(get_logger(), "Local packet version is dirty. Compatibility check may be unreliable.");
}

if (hello_data.coms_repo_dirty) {
RCLCPP_WARN(get_logger(), "Remote robot's packet version is dirty. Compatibility check may be unreliable.");
}

if (!(game_controller_listener_.GetTeamColor() == ateam_common::TeamColor::Blue &&
hello_data.color == TC_BLUE) &&
Expand Down
5 changes: 5 additions & 0 deletions radio/ateam_radio_bridge/test/launch_tests/bridge_command_test.py
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Expand Up @@ -107,6 +107,7 @@ def test_2_vision_updates(self):
vis_msg.pose.orientation.y = 0.0
vis_msg.pose.orientation.z = 0.707
vis_msg.pose.orientation.w = 0.707
vis_msg.visible = True
self.vis_pub.publish(vis_msg)

timeout = time.time() + 1
Expand All @@ -118,10 +119,12 @@ def test_2_vision_updates(self):
self.vis_pub.publish(vis_msg)
last_packet = self.robot.getLastCmdMessage()
if len(last_packet) != 64:
print(f'unexpected packet length: {len(last_packet)}')
continue
# Extract vision updates
vision_update_flag = struct.unpack("<B", last_packet[8:9])[0]
if vision_update_flag & (1 << 6) == 0:
print(f'vision flag is 0')
continue
vision_x, vision_y, vision_yaw = struct.unpack("<fff", last_packet[12:24])
if (
Expand All @@ -131,6 +134,8 @@ def test_2_vision_updates(self):
):
# Pass the test
return
else:
print(f'Values wrong: x: {vision_x} y: {vision_y} t: {vision_yaw}')

@launch_testing.post_shutdown_test()
class TestProcessExit(unittest.TestCase):
Expand Down
3 changes: 2 additions & 1 deletion radio/ateam_radio_bridge/test/launch_tests/version_helpers.py
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Expand Up @@ -32,7 +32,8 @@ def find_constant_value(symbol_name):

def get_coms_submodule_hash():
"""Get the current commit hash of the software communication submodule."""
return int(find_constant_value("kComsHash"))
hash_raw = int(find_constant_value("kComsHash"))
return int.from_bytes(hash_raw.to_bytes(4, byteorder='little'), byteorder='big')

def get_coms_submodule_dirty():
"""Check if the software communication submodule has uncommitted changes."""
Expand Down
6 changes: 6 additions & 0 deletions radio/ateam_radio_msgs/cmake/generate_conversion_code.cmake
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Expand Up @@ -19,6 +19,8 @@
# THE SOFTWARE.

function(generate_conversion_code)
message(STATUS "Generating conversion code...")

set(oneValueArgs SOURCE DESTINATION)
set(multiValueArgs STRUCTS)
cmake_parse_arguments(PARSE_ARGV 0 arg "" "${oneValueArgs}" "${multiValueArgs}")
Expand Down Expand Up @@ -53,4 +55,8 @@ function(generate_conversion_code)
if(result)
message(FATAL_ERROR "Failed to generate conversion code: ${error}")
endif()

cmake_path(GET arg_SOURCE PARENT_PATH _header_dir)
file(GLOB _source_files "${_header_dir}/**/*")
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${_source_files})
endfunction()
6 changes: 6 additions & 0 deletions radio/ateam_radio_msgs/cmake/generate_msgs.cmake
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Expand Up @@ -19,6 +19,8 @@
# THE SOFTWARE.

function(generate_msgs)
message(STATUS "Generating ROS message types...")

set(oneValueArgs SOURCE DESTINATION)
set(multiValueArgs STRUCTS)
cmake_parse_arguments(PARSE_ARGV 0 arg "" "${oneValueArgs}" "${multiValueArgs}")
Expand Down Expand Up @@ -50,4 +52,8 @@ function(generate_msgs)
if(result)
message(FATAL_ERROR "Failed to generate messages: ${error}")
endif()

cmake_path(GET arg_SOURCE PARENT_PATH _header_dir)
file(GLOB _source_files "${_header_dir}/**/*")
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${_source_files})
endfunction()
5 changes: 5 additions & 0 deletions radio/ateam_radio_msgs/cmake/generate_version_header.cmake
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Expand Up @@ -20,6 +20,8 @@


function(generate_version_header)
message(STATUS "Generating version header...")

set(SOFT_COMS_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/software-communication")

find_package(Git REQUIRED)
Expand Down Expand Up @@ -55,4 +57,7 @@ function(generate_version_header)
@ONLY
)

file(GLOB submodule_files "${SOFT_COMS_SUBMODULE_DIR}/**/*")
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${submodule_files})

endfunction()
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