.. _Changelog:

Changelog
=========

Release 1.5
-----------

Version 1.5.0 (August 2022)
***************************


* Added example maps
* OPCUA:

  * open62541 update to v1.3.2
  * ``OPC_UA_Server`` custom host name and variables
  * open62541 as shared library
  * added subscriptions to ``OPC_UA_Proxy``
  * more settings for opcua server and proxy
  * ``OPC_UA_Proxy`` proper disconnect on error and client renewal
  * Server authentication
* Added Dockerfile creation
* ``GlobalCostMap`` takes additional cost points
* LUA functions and blocks for map switching
* Implemented map storage in ``MapServer``
* Added some useful polygon methods
* Added areas to map match
* Included radar scan into local costmap
* Added basic aircontrol binary
* Added ``get_pilot_version`` method to ``PilotServer``
* Added roadmap adjacency hash
* Added radar scan to virtual scan
* Added default configuration for MP-500
* Setting ``ulimit`` automatically
* Node for RelayboardV3
* `HttpServer` blocking fix
* Added shortcut to access the documentation
* Added remote joystick tool ``pilot_joystick``
* ``TaskHandler`` fixed publishing volatile execution state
* Omnidrive kinematics with arbitrary number of drives
* Splitted ``PowerState`` and ``RelayBoardData`` from ``SystemState``
* Full support for ARM64 (e.g. Jetson Nano)
* Dedicated driver module for ELMO motors
* Fleet manager ``Tower`` implemented
* GlobalPlanner using local cost map overlay by default now
* HybridPlanner can skip road map with ``goal_options_t::planner_mode == FREE_ROAMING``
* Terminal output on Windows can use ANSI codes or Win API
* RelayBoardNode retry charging in case no charger detected
* added RelayBoardNode ``enable_charge_cycling`` option
* LocalPlanner no more goal shortcuts


Release 1.4
-----------

Version 1.4.0 (October 2021)
****************************

* `LocalPlanner` ``pause()`` fix for differential to keep on path
* `TaskHandler` ``execute_*()`` functions now have `blocking` option
* added `TaskHandler` ``set_timer_ms`` functionality
* `CanNode` automatic re-init in case of persistent motor timeouts
* `TaskHandler` generates random `jobid` if not specified
* `HttpProxy` fix for missing `LogMsg`, `ModuleInfo` and `Event` topics
* `CanNode` fix for timeouts due to blocking publishes
* `CanNode` fix for timeout feedback loop in homeing procedure
* `SerialPort` fix for blocking publish
* added `PlatformInterface` read_analog_input() + read_digital_input() functions
* added `TaskHandler` read_analog_input() + read_digital_input() functions
* added `TaskEditor` read_analog_input + read_digital_input blocks
* added `TaskEditor` map / object support
* fixed `TaskEditor` display regression when switching views
* Added `RoadMapPlanner` ``find_closest_station()``
* Added `LUA` ``find_closest_station_name()``
* Added `TaskEditor` ``find_closest_station`` block (which returns station name)

Release 1.3
-----------

Version 1.3.0 (August 2021)
***************************

* 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``

Release 1.2
-----------

Version 1.2.0 (June 2021)
*************************

* 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


Release 1.1
-----------

Version 1.1.0 (May 2021)
************************