Changelog¶

Release 1.3¶

Added OPC-UA Client/Server certificate support
Added LUA functions and corresponding TaskEditor blocks:
- is_chargig()
- get_battery_remaining()
- reset_motors()
Added Event::level to allow sorting by low/high level events.
wait_for_joystick() waits for activation now
LaserCalibration now also calibrates sensor X/Y position
Added RealSense2 support
LFP battery charge auto cycling between 90 and 100 % (see RelayBoardNode::battery_type config)
Added SystemState::is_charging

New HttpServer implementation, no longer using libmicrohttpd.
- Supports Server-Sent-Events (SSE), via /api/stream/...
- Deflate response compression (multi-threaded)
- Asynchronous chunked transfers
localization.status topic is also being recorded now.
New LocalPlanner functions: await_goal(), await_goal_ex(...), cancel_goal_await()
LocalPlanner::pause() now has an optional bool em_stop parameter to enable emergency stopping.
OPC-UA write variable support via Proxy::write_variable() and Proxy::write_object_variable().
TaskHandler now supports script parameters via execute_file() and execute_program() which are passed on to the main(...) function in LUA.
Sending a new goal while driving works as expected now, planners wait for platoform to stop before planning new path.
Kinematics_CanNode fix for CAN bus initialization, now attempts to re-initialize until successful.
New TaskHandler functions: get_time_sec(), get_time_millis(), get_time_micros()
HttpSession now contains session_timeout as well
Additional incident reporting for RelayBoard and MPO-700 homing.
SickMicroscan3 fix for reflector detection
OPC-UA Proxy authentication support via username and password configs.
TaskHandler scripts have REQUEST permission now
USER (neo-user) has INTERVENE_SCRIPT permissions now