# ADAS Tests on E2O
- Generally we have two type of ADAS feature, one is FCW(Forward Collision Warning) and another is TLW (Traffic Light Warning). Till ***"Running LIDAR and Camera"*** the process is same for FCW and TLW. But after that specific commands needs to be followed.
- FCW uses yolov5 object detection from the package "object_Detection".
- TLW uses yolop for traffic light detection, provided in the package "yolop".

## Systems

| IP | Hostname | Password | Used For |
|:--------------------:|:------------:|:--------- |:-------------------------------- |
| nuc@192.168.1.101 | nuc-planner | nuc | ROS Master, Localization, Estimation, P&C, Reverse planner, Behavior Tree |
| ~~nuc3@192.168.1.201~~ | ~~nuc3-yolo~~ | ~~nuc3-yolo~~ | ~~RoadPlane estimation~~ |
| nuc2@192.168.1.200 | nuc2-desktop | nuc3456 | Connected to CAN, runs Ubuntu 18 |
| nuc@192.168.1.202 | nuc-pc | nuc | Floam and ALiVE Android App |
| nvidia@192.168.1.203 | ubuntu | orin@agx | GPU - AGX runs yolop model |
| jetson@192.168.1.204 | jetson | jetson | GPU - Runs YOLOv5, Tracking, Rear Collision Warning |

For adding a new system to E2O, check [this](https://hackmd.io/vAJwMddzSa2sfbOgV2JDZw).

Switch on power supply and all nucs, including the one near CAN
On nuc-planner

roscore
# do not let roscore shutdown till you shutdown the car
# new-terminal
cd alive-dev
# perform necessary git commands
# below uses ssh -X and gives terminal windows to monitor all systems
./top_level_build.bash 

## Setting up CAN
On nuc2-desktop

sudo ip link add can0 type can
sudo -S ip link set can0 type can bitrate 500000
sudo -S ip link set can0 up
# green light should blink on the usb can interface connected in the front of the car

IF ANY OF THE ABOVE STEPS ERRORS:
1. Plug in the USB properly and retry from top
2. Load systec_can as shown below and retry from top

    # from https://www.systec-electronic.com/en/company/support/driver
    cd systeccan
    make -j4
    sudo make firmwareinstall
    sudo make modulesinstall
    sudo modprobe systeccan

## Running CAN
On nuc2-desktop

cd alive-dev
rosrun can can_node
# dumps a lot of stuff to terminal
# open new terminal
python src/e2o/scripts/e2o_odom.py
rostopic hz /odom_can
# should be 100

## Running LIDAR and Camera
On nuc-planner

cd alive-dev/sensor_setup
roslaunch all_sensors.launch platform:=car

## Run FCW (Forward Collision Warning):
On Orin-ubuntu

# new-terminal
python src/adas_offshoots/scripts/fcw_campus.py

# new-terminal
roslaunch object_detection od_distance_tracking_fcw.launch simulation_state:=false use_sim_time:=false

## Run TLW (Traffic Light Warning):
On Orin-ubuntu

# new-terminal
roslaunch yolop yolop_tlw.launch simulation_state:=false

# new-terminal
python src/adas_offshoots/scripts/tlw_campus.py

## Visualization:
On nuc-planner

rviz #[subscribe to /warning_image_topic]