e2e test

.github/workflows/ci.yml

@@ -10,7 +10,13 @@ on:
     branches: ["**"]
   pull_request:
     branches: ["**"]
-  workflow_dispatch: {}
+  workflow_dispatch:
+    inputs:
+      run_hardware_e2e:
+        description: "Run hardware E2E (backend websocket + headless UI)"
+        required: false
+        type: boolean
+        default: false
 
 defaults:
   run:
@@ -49,18 +55,33 @@ jobs:
             libopencv-dev libexiv2-dev libwebsocketpp-dev \
             rapidjson-dev libssl-dev libgps-dev libboost-system-dev \
             python3-lxml libxml2-dev libxslt1-dev \
-            lcov
+            lcov \
+            python3-websockets
           sudo -H python3 -m pip install --no-cache-dir catkin-lint flake8 coverage pytest
           if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
             sudo rosdep init
           fi
           rosdep update
 
+      - name: Pre-clean workspace (sudo)
+        run: |
+          set -eo pipefail
+          sudo rm -rf "$GITHUB_WORKSPACE"/*
+          sudo mkdir -p "$GITHUB_WORKSPACE"
+          sudo chown -R "$USER:$USER" "$GITHUB_WORKSPACE"
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
           submodules: recursive
 
+      - name: Clean Catkin workspace (self-hosted)
+        run: |
+          set -eo pipefail
+          if [ -d "$CATKIN_WS" ]; then
+            sudo rm -rf "$CATKIN_WS/build" "$CATKIN_WS/devel" "$CATKIN_WS/logs"
+          fi
+
       - name: Resolve ROS package dependencies
         run: |
           set -eo pipefail
@@ -120,6 +141,49 @@ jobs:
           # Report results but do not fail the whole job on first adoption
           catkin_test_results build/test_results || true
 
+      - name: Setup Playwright (hardware E2E)
+        if: ${{ (github.event_name == 'workflow_dispatch' && github.event.inputs.run_hardware_e2e == 'true') || (github.event_name == 'push' && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/master')) }}
+        run: |
+          set -eo pipefail
+          cd test/e2e
+          npm install --no-package-lock
+          npx playwright install --with-deps chromium
+
+      - name: Run hardware E2E (backend + headless UI)
+        if: ${{ (github.event_name == 'workflow_dispatch' && github.event.inputs.run_hardware_e2e == 'true') || (github.event_name == 'push' && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/master')) }}
+        env:
+          # Hardware-specific: set this to the USB serial adapter used for injecting fake NMEA DBT strings.
+          # Must NOT point at /dev/sonar.
+          DIAGNOSTICS_FAKE_SERIAL_PORT: "/dev/ttyUSB1"
+          # Relaxed defaults; adjust if the bench needs longer to come up.
+          POSEIDON_E2E_WAIT_SECONDS: "120"
+          DIAGNOSTICS_WS_LAUNCH_TIMEOUT: "120"
+          POSEIDON_E2E_TIMEOUT_MS: "120000"
+          POSEIDON_E2E_LAUNCH_AS_ROOT: "1"
+          # Fail early if these expected rows disappear.
+          POSEIDON_E2E_REQUIRED_DIAGNOSTICS: "GNSS Fix,IMU Communication,Sonar Communication"
+          # Avoid port/node conflicts with a system-installed Poseidon service on the bench.
+          POSEIDON_E2E_EXCLUSIVE: "1"
+          # Make comm diagnostics more tolerant on benches where rates can be lower than nominal.
+          POSEIDON_DIAG_IMU_HZ: "5"
+          POSEIDON_DIAG_IMU_WINDOW: "2.0"
+          POSEIDON_DIAG_IMU_RATIO: "0.5"
+          POSEIDON_DIAG_SONAR_HZ: "1"
+          POSEIDON_DIAG_SONAR_WINDOW: "5.0"
+          POSEIDON_DIAG_SONAR_RATIO: "0.2"
+          POSEIDON_E2E_DIAGNOSTICS_REFRESH_DELAY_MS: "7000"
+        run: |
+          set -eo pipefail
+          bash test/e2e/run_poseidon_e2e.sh
+
+      - name: Upload hardware E2E artifacts
+        if: ${{ always() && ((github.event_name == 'workflow_dispatch' && github.event.inputs.run_hardware_e2e == 'true') || (github.event_name == 'push' && (github.ref == 'refs/heads/main' || github.ref == 'refs/heads/master'))) }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: e2e-artifacts
+          path: test/e2e/artifacts
+          if-no-files-found: ignore
+
       - name: C++ coverage report (gcovr)
         run: |
           set -eo pipefail

agents.md

@@ -6,6 +6,7 @@ This guide targets contributors (humans or agents) working in Poseidon. It cover
 - Documentation policy: English only across the repository.
 - Track ROS1 changes in `version.md`; keep it up to date and group entries by date.
 - When editing `version.md`, add new notes under the heading matching the current date (do not add entries under older dates).
+- Keep contributor guidance current; update `agents.md`, `version.md`, and `manifest.md` when conventions or structure change.
 - Make minimal, safe, targeted changes.
 - Respect Catkin structure and separation of C++/Python/launch.
 - Keep compatibility across embedded targets (RPi/RockPi) and VM.
@@ -93,6 +94,7 @@ This guide targets contributors (humans or agents) working in Poseidon. It cover
 - [ ] Inline code comments/docstrings remain accurate
 - [ ] Related docs in `doc/` updated when behavior/usage changes
 - [ ] `version.md` updated with notable changes
+- [ ] `agents.md` updated when contributor or automation guidance changes
 - [ ] No secrets or non-portable hardcoded paths
 - [ ] `manifest.md` updated for structural changes
 - [ ] Run `clang-format` and `clang-tidy` for C++ changes (style/diagnostics)

launchROSService.sh

@@ -2,8 +2,14 @@
 
 # Used to call a launch file as a service on boot
 
+set -eo pipefail
+
+# Allow overriding the Poseidon root (useful for CI where the repo is checked out elsewhere).
+POSEIDON_ROOT="${POSEIDON_ROOT:-"$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"}"
+export POSEIDON_ROOT
+
 source /opt/ros/noetic/setup.bash
-source /opt/Poseidon/src/workspace/devel/setup.bash
+source "$POSEIDON_ROOT/src/workspace/devel/setup.bash"
 
 ########################
 #      Echoboat        #
@@ -104,7 +110,15 @@ source /opt/Poseidon/src/workspace/devel/setup.bash
 # Dummy simulator
 #roslaunch /opt/Poseidon/src/workspace/launch/Simulator/dummy_simulator.launch
 
-roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_ZED-F9P_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
+LOGGER_PATH="${POSEIDON_LOGGER_PATH:-"$POSEIDON_ROOT/www/webroot/record/"}"
+CONFIG_PATH="${POSEIDON_CONFIG_PATH:-"$POSEIDON_ROOT/config.txt"}"
+SONAR_DEVICE="${POSEIDON_SONAR_DEVICE:-"/dev/sonar"}"
+
+roslaunch "$POSEIDON_ROOT/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_ZED-F9P_bno055.launch" \
+  time_now:=$(date +%Y.%m.%d_%H%M%S) \
+  loggerPath:="$LOGGER_PATH" \
+  configPath:="$CONFIG_PATH" \
+  sonarDevice:="$SONAR_DEVICE"
 
 ########################
 #    Configuration     #

src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_ZED-F9P_bno055.launch

@@ -2,14 +2,21 @@
 <launch>
 
 <arg name="time_now" default="temp" />
-<arg name="gnssPortPath" value="/dev/gnss"/>
-<arg name="gpsdIp" value="localhost"/>
-<arg name="gpsdPort" value="2947"/>
+<arg name="gnssPortPath" default="/dev/gnss"/>
+<arg name="gpsdIp" default="localhost"/>
+<arg name="gpsdPort" default="2947"/>
 
-<arg name="loggerPath" value="/opt/Poseidon/www/webroot/record/"/>
-<arg name="configPath" value="/opt/Poseidon/config.txt"/>
+<arg name="loggerPath" default="/opt/Poseidon/www/webroot/record/"/>
+<arg name="configPath" default="/opt/Poseidon/config.txt"/>
 
 <arg name="boardVersion" value="2.2"/>
+<arg name="sonarDevice" default="/dev/sonar"/>
+
+<!-- sonar_nmea_0183_tcp_client/nmea_device_node reads global params under /Sonar/* -->
+<param name="/Sonar/device" value="$(arg sonarDevice)"/>
+<param name="/Sonar/useDepth" value="true"/>
+<param name="/Sonar/usePosition" value="false"/>
+<param name="/Sonar/useAttitude" value="false"/>
 
 <node pkg="i2c_controller" name="i2c_controller" type="i2c_controller_node" output="screen" args="$(arg boardVersion)" respawn="true" respawn_delay="1"/>
 
@@ -28,8 +35,6 @@
 
 
 <node pkg="sonar_nmea_0183_tcp_client" type="nmea_device_node" name="Sonar_NMEA" output="screen" respawn="true" respawn_delay="1">
-	<param name="ip_address" value="127.0.0.1"/>
-	<param name="port" value="5000"/>
 </node>
 
 <node pkg="wifi_file_transfer_config" type="wifi_config_node.py" name="wifi_config" output="screen" respawn="true" respawn_delay="1"/>

src/workspace/src/diagnostics/CMakeLists.txt

@@ -19,5 +19,6 @@ if(CATKIN_ENABLE_TESTING)
   )
 
   catkin_add_nosetests(tests/test_diagnostics_unit.py)
+  catkin_add_nosetests(tests/test_launchrosservice_websocket.py)
   add_rostest(tests/diagnostics_websocket.test)
 endif()

src/workspace/src/diagnostics/package.xml

@@ -13,7 +13,9 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>diagnostic_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>python3-websockets</exec_depend>
   <test_depend>rostest</test_depend>
+  <test_depend>python3-websockets</test_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/workspace/src/diagnostics/scripts/diagnostics_websocket.py

@@ -125,15 +125,37 @@ async def websocket_handler(self, websocket, path):
     def start_server(self, port=9099):
         """Lauch WebSocket server in asyncio loop."""
         self.loop = asyncio.new_event_loop()
-        asyncio.set_event_loop(self.loop)
+        try:
+            asyncio.set_event_loop(self.loop)
+        except AssertionError:
+            # Tests may inject a dummy loop that is not an AbstractEventLoop; skip binding in that case.
+            pass
+
+        async def _start_server():
+            # Newer versions of `websockets` require `serve()` to be called from a running loop.
+            return await websockets.serve(self.websocket_handler, "0.0.0.0", port)
+
+        try:
+            self.server = self.loop.run_until_complete(_start_server())
+        except Exception as exc:
+            ws_version = getattr(websockets, "__version__", "unknown")
+            rospy.logerr(
+                f"Failed to start DiagnosticsServer WebSocket on port {port} "
+                f"(websockets={ws_version}, python={sys.version.split()[0]}): {exc}"
+            )
+            return
 
-        self.server = websockets.serve(self.websocket_handler, "0.0.0.0", port)
-        self.loop.run_until_complete(self.server)
         rospy.loginfo(f"DiagnosticsServer WebSocket listen to port {port}")
         self.loop.run_forever()
 
     def stop_server(self):
         """Stop WebSocket server."""
+        if self.server:
+            try:
+                self.server.close()
+            except Exception:
+                pass
+
         if self.loop and self.loop.is_running():
             rospy.loginfo("Stopping WebSocket server...")
             self.loop.call_soon_threadsafe(self.loop.stop)
@@ -149,6 +171,18 @@ def main():
     rospy.init_node('diagnostics')
     server = DiagnosticsServer()
 
+    def _env_int(name: str, default: int) -> int:
+        try:
+            return int(os.environ.get(name, str(default)))
+        except Exception:
+            return default
+
+    def _env_float(name: str, default: float) -> float:
+        try:
+            return float(os.environ.get(name, str(default)))
+        except Exception:
+            return default
+
     # Connectivity first to gate DNS/API tests
     server.add_test(InternetConnectivityDiagnostic(url="http://example.com", timeout_s=3.0))
     server.add_test(DnsResolutionDiagnostic(hostname="google.com"))
@@ -168,18 +202,18 @@ def main():
     ))
     server.add_test(ImuCommunicationDiagnostic(
         name="IMU Communication",
-        message_frequency=100,  
-        topic="/imu/data",
-        timeout_s=1.0,
-        expected_ratio=0.8
+        message_frequency=_env_int("POSEIDON_DIAG_IMU_HZ", 100),
+        topic=os.environ.get("POSEIDON_DIAG_IMU_TOPIC", "/imu/data"),
+        timeout_s=_env_float("POSEIDON_DIAG_IMU_WINDOW", 1.0),
+        expected_ratio=_env_float("POSEIDON_DIAG_IMU_RATIO", 0.8),
     ))
     server.add_test(SerialNumberDiagnostic(name="Serial Number Pattern Validation"))
     server.add_test(SonarCommunicationDiagnostic(
         name="Sonar Communication",
-        message_frequency=1,   # car /depth ≈ 1 Hz
-        topic="/depth",
-        timeout_s=1.5,
-        expected_ratio=0.8
+        message_frequency=_env_int("POSEIDON_DIAG_SONAR_HZ", 1),   # /depth is often ~1 Hz
+        topic=os.environ.get("POSEIDON_DIAG_SONAR_TOPIC", "/depth"),
+        timeout_s=_env_float("POSEIDON_DIAG_SONAR_WINDOW", 1.5),
+        expected_ratio=_env_float("POSEIDON_DIAG_SONAR_RATIO", 0.8),
     ))