Orchestra

Implementation-level repository for UAV Austin. Communications between different runtime services are managed here.

Services

All the services can be found in the services/ directory. A description for each service can be found in its own folder.

Services communicate with each other using REST APIs primarily. Unless otherwise noted, all the request bodies are encoded in Protocol Buffers (or protobufs). API documentation can be found in the README of the services. Protobufs allow for a compact serialization format, and can decrease the chance that unexpected data is returned (as what goes in each method is explictly defined).

To see the defined protobuf messages, see the services/common/messages directory.

In the service READMEs, there is also a note on how to run the services. Some are configured with environment variables and command-line arguments.

Building Services

This repository heavily depends on Docker. Make sure both Docker and Docker Compose (which is used for testing) are installed on your machine.

To build all the images at once, simply run make in the top-level directory. NOTE: by default, top-level make creates the uavaustin/image-rec-auto image for x86 devices. If you would like to build for the Jetson, initialize the JETSON environment variable and build in the specific directory.

For building specific images, you can either pass the name of the service (e.g. make interop-proxy) or you can call make from inside the service's directory. Note that calling make from the service directory does not ensure that build-time prerequisites are satisfied.

When Docker images are being created, the services/ directory is being used as the build context each time, this is because the images depend on things in the services/common/ directory.

Docker flags can be passed into make in case you need to configure the building process a bit. For example, to prevent using the cache when building, you can run make DOCKERFLAGS=--no-cache.

Testing

There are two kinds of tests in the repository:

• Unit tests can be found inside some of the service directories.

  Running make test inside those directories will run the tests.

• An end-to-end test configuration can be found in test/.

  Services there are set up to mock a real runtime setup. To start all the containers at once, you can run docker-compose up from inside the test directory. See the docker-compose documentation for more options.

  Images must be built with make before running this suite.

All the automated tests can be run together with make test at the top-level directory as well.

Directory Structure

• services/ - location of all the services, for descriptions of each service, see the README located inside each sub-folder.
• test/ - end-to-end test configuration with services on one large network.