diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..65e63ae --- /dev/null +++ b/.gitignore @@ -0,0 +1,248 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/latest/usage/project/#working-with-version-control +.pdm.toml +.pdm-python +.pdm-build/ + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ + +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE + diff --git a/README.md b/README.md index 22ab1a3..0172a68 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,85 @@ - - -# Rgator_computer_ws - +# Rgator_supervisor_computer_ws supervisor computer: localization, control, and vehicle interface perception computer: sensor interface, perception, and planning + + +## ROS2 Packages: + +### dbw: +- dbw: subscribe control command +- dbw_read: subscribe control command; read CAN bus data, convert to ROS2 topic + +### joy_control: + - joy_control: subscribe joystick input and publish contorl command + +### dbw_msgs: + - Dbw: define control command + - [PGNs]: vehicle CAN bus data msg + +### vectornav: + - vectornav: gnss-ins-imu driver + - vectornav_msgs: gnss-ins-imu msg + +### gps_nav: + - pid: control vehicle speed only + - pp_pid: pure pursuit for steering control, pid for speed control + - track_log: log x,y,heading data from imu, convert to .csv file + - path_visual: visualize track + +  + +## Driver Usage: + +### Joystick driver: +default joystick input frequency at 20Hz: + + ros2 run joy joy_node + +set joystick input frequency as 40Hz: + + ros2 run joy joy_node --ros-args -p autorepeat_rate:=40.0 + +### Drive-by-wire: +control the vehicle only: + + ros2 run dbw dbw + +control the vehicle and read CAN bus data: + + ros2 run dbw dbw_read + +### Vectornav GNSS-INS sensor: +launch with modified configuratuion file: + + ros2 launch vectornav vectornav.launch.py + + + +  + +## Project Application: + +### Joystick control + + ros2 run joy joy_node + ros2 run joy_control joy_control + ros2 run dbw dbw + +or + + ros2 launch joy_control joy_control_launch.py + +### Path track + + ros2 launch vectornav vectornav.launch.py + ros2 run dbw dbw + ros2 run gps_nav pp_pid + +### Path log + + ros2 launch vectornav vectornav.launch.py + ros2 run gps_nav track_log + + + diff --git a/dbw/.~lock.R-Gator CAN Protocol.doc# b/dbw/.~lock.R-Gator CAN Protocol.doc# new file mode 100644 index 0000000..65c6d02 --- /dev/null +++ b/dbw/.~lock.R-Gator CAN Protocol.doc# @@ -0,0 +1 @@ +,jamie,jamie--P1,15.09.2023 13:33,file:///home/jamie/.config/libreoffice/4; \ No newline at end of file diff --git a/dbw/R-Gator CAN Protocol.doc b/dbw/R-Gator CAN Protocol.doc new file mode 100644 index 0000000..4dd2aca Binary files /dev/null and b/dbw/R-Gator CAN Protocol.doc differ diff --git a/dbw/dbw/C_library/helper.c b/dbw/dbw/C_library/helper.c new file mode 100644 index 0000000..243517d --- /dev/null +++ b/dbw/dbw/C_library/helper.c @@ -0,0 +1,17 @@ +#include + +int square(int i) +{ + return i*i; +} + +struct Sumup +{ + int num1; + int num2; +}; + +int mysum(struct Sumup num) +{ + return num.num1 + num.num2; +} \ No newline at end of file diff --git a/dbw/dbw/C_library/helper.so b/dbw/dbw/C_library/helper.so new file mode 100755 index 0000000..20ccb2e Binary files /dev/null and b/dbw/dbw/C_library/helper.so differ diff --git a/dbw/dbw/C_library/libwdt_dio.so b/dbw/dbw/C_library/libwdt_dio.so new file mode 100644 index 0000000..6424bd9 Binary files /dev/null and b/dbw/dbw/C_library/libwdt_dio.so differ diff --git a/dbw/dbw/C_library/makefile b/dbw/dbw/C_library/makefile new file mode 100644 index 0000000..de39d56 --- /dev/null +++ b/dbw/dbw/C_library/makefile @@ -0,0 +1,10 @@ +CFLAGS=-Wall -Wstrict-prototypes -O2 + +test_CAN: test_CAN.o + gcc -pthread -o test_CAN test_CAN.o -L/usr/lib -lwdt_dio + +test_CAN.o: test_CAN.c + gcc -c $(CFLAGS) -I../../include test_CAN.c + +clean: + rm -f test_CAN.o test_CAN diff --git a/dbw/dbw/C_library/neo_can.c b/dbw/dbw/C_library/neo_can.c new file mode 100644 index 0000000..b0fdc7f --- /dev/null +++ b/dbw/dbw/C_library/neo_can.c @@ -0,0 +1,59 @@ +#include "wdt_dio.h" +#include +#include + +int can() +{ + printf("Running\n"); + CAN_SETUP setup; + + setup.bitRate = 250000;//25 kbps + printf("channel = %i; _bitRate = %i\n", 0, setup.bitRate); + if (setup.bitRate == 0) + { + printf("ERROR: Unsupported bit rate\n"); + return -1; + } + + setup.recvConfig = CAN_MSG_USE_ID_FILTER; + setup.recvId = 0; + setup.recvMask = 0; + + if (!CAN_Setup(0, &setup, sizeof(setup))) + { + printf("ERROR: CAN_Setup() failed\n"); + return -1; + } + + if (!CAN_Start(0)) + { + printf("ERROR: CAN_Start() failed\n"); + return -1; + } + + CAN_MSG txMsg; + //memset(&txMsg, 0, sizeof(txMsg)); + txMsg.id = 0x1A0; + //txMsg.flags = CAN_MSG_EXTENDED_ID; + txMsg.len = 8; + + for (int i=0; txMsg.len > i; ++i ) + { + txMsg.data[i] = 0x33; + } + + if ( ! CAN_Send(0, &txMsg, sizeof(txMsg)) ) + { + printf("CAN_MessageSet --> FAILED\n"); + return -1; + } + + CAN_Stop(0); + printf("Success!!\n"); +} + + + +int square(int i){ + return i*i; +} \ No newline at end of file diff --git a/dbw/dbw/C_library/neo_can.so b/dbw/dbw/C_library/neo_can.so new file mode 100755 index 0000000..ba6aabb Binary files /dev/null and b/dbw/dbw/C_library/neo_can.so differ diff --git a/dbw/dbw/C_library/utypes.h b/dbw/dbw/C_library/utypes.h new file mode 100644 index 0000000..ce1c544 --- /dev/null +++ b/dbw/dbw/C_library/utypes.h @@ -0,0 +1,40 @@ +#ifndef _U_TYPES_H_ +#define _U_TYPES_H_ universal types, by weiching.lin + +// unfixed size +// +typedef unsigned long UPtr; // unsigned pointer, uintptr_t +typedef signed long IPtr; // signed pointer, ptrdiff_t +typedef unsigned long UCnt; // unsigned count, size_t +typedef signed long ICnt; // signed count, ssize_t +typedef long long LOff; // long offset, loff_t +typedef signed long IOff; // offset, off_t +typedef unsigned long Bool; // unsigned boolean + +// fixed size +// +typedef unsigned char U8; // -128..127 +typedef signed char I8; // 0..255 +typedef unsigned short U16; // -32768..32767 +typedef signed short I16; // 0..65535 +typedef unsigned int U32; // 0..4294967295 +typedef signed int I32; // -2147483648..2147483647 +// +typedef float F32; // 4 byte real +typedef double F64; // 8 byte real + +// boolean type +// +#ifndef BOOL +#define BOOL unsigned int +#endif + +// byte order, little endian +// +#define BYTE_1ST(value) ( 0x00FF & ((value) )) +#define BYTE_2ND(value) ( 0x00FF & ((value) >> 8)) +#define BYTE_3RD(value) ( 0x00FF & ((value) >> 16)) +#define BYTE_4TH(value) ( 0x00FF & ((value) >> 24)) + + +#endif // _U_TYPES_H_ diff --git a/dbw/dbw/C_library/wdt_dio.h b/dbw/dbw/C_library/wdt_dio.h new file mode 100644 index 0000000..6c39f09 --- /dev/null +++ b/dbw/dbw/C_library/wdt_dio.h @@ -0,0 +1,546 @@ +//***************************************************************************** +// Copyright (c) 2016, Neousys Technology Inc. All rights reserved. +// +// Library: WDT_DIO +// Revision: 2.2.0 +// Date: July 31th, 2015 +// Description: Neousys series platforms support additional Dynamic Linking +// Library (DLL), which have Watch-Dog Timer (WDT), Digital +// Input Output (DIO), etc. +// Remark 1: The 32-bit library is based on WinIO library, which is the +// copyright of Yariv Kaplan 1998-2010. +// Remark 2: The 64-bit library is based on WinRing0 library, which is the +// copyright of OpenLibSys. +// Remark 3: These libraries do not support WOW64 directly. +//***************************************************************************** + +#ifndef Neousys_WDT_DIO_Library +#define Neousys_WDT_DIO_Library + +#pragma once + +#ifndef BYTE +#define BYTE unsigned char +#endif + +#ifndef WORD +#define WORD unsigned short +#endif + +#ifndef BOOL +#define BOOL int +#endif + +#if defined(__GNUC__) && __GNUC__ >= 4 +#ifndef DWORD +#define DWORD unsigned int +#endif +#define __cdecl +#define __stdcall +#pragma GCC visibility push(default) +#else +#ifndef DWORD +#define DWORD unsigned long +#endif +#endif + +#pragma pack(push, 1) + +#ifdef __cplusplus +extern "C" { +#endif + +// DICOS, setup +// +typedef struct COS_INT_SETUP_T +{ + WORD portMask; // [in ] interrupt mask for corresponding DI channel(s), 0: disable 1: enable COS interrupt + WORD edgeMode; // [in ] specify the condition of generating COS interrupt for corresponding DI channel(s), 0: level change 1: rising/falling edge + WORD edgeType; // [in ] specify the rising/falling edge for corresponding DI channel(s), 0: rising edge 1: falling edge +} +COS_INT_SETUP, *COS_INT_SETUP_P; + +// DICOS, callback argument +// +typedef struct COS_INT_CALLBACK_ARG_T +{ + WORD portData; // [out] port input data + WORD intrFlag; // [out] interrupt flag + BYTE intrSeq; // [out] interrupt sequence number (0~255) +} +COS_INT_CALLBACK_ARG, *COS_INT_CALLBACK_ARG_P; + +typedef void (__stdcall* COS_INT_CALLBACK)(COS_INT_CALLBACK_ARG* arg); + +// Deterministic Trigger I/O (DTIO), setup +// note: if trigSrcDI is configured for multiple pulseTgtDO(s), the last rising/falling edge setting is effecitve only +// +typedef struct DTIO_SETUP_T +{ + BYTE trigMode; // [in ] 0: never triggered (disabled mode), 1: always triggered, 2: rising edge, 3: falling edge + BYTE trigSrcDI; // [in ] single DI channel used as trigger source input (ex: 0~7 for Nuvo-3000) + BYTE pulseTgtDO; // [in ] single DO channel used as pulse target output (ex: 0~7 for Nuvo-3000) + BYTE pulseExtra; // [in ] some extra-parameter combination for DTIO function (ex: DTIO_INIT_HIGN) + DWORD pulseDelay; // [in ] output pulse delay tick count, range: 2~2147483647 + DWORD pulseWidth; // [in ] output pulse width tick count, range: 1~2147483647 +} +DTIO_SETUP, *DTIO_SETUP_P; + +// DTIO_SETUP.pulseExtra +// +#define DTIO_INIT_HIGN (0x01) // active-low + +// Deterministic Trigger Fan Out (DTFO), setup +// +typedef struct DTFO_SETUP_T +{ + BYTE trigMode; // [in ] 0: never triggered (disabled mode), 1: reserved, 2: rising edge, 3: falling edge + BYTE trigSrcDI; // [in ] single DI channel used as trigger source input (ex: 0~7 for Nuvo-3000) + BYTE pulseTgtDO; // [in ] single DO channel used as pulse target output (ex: 0~7 for Nuvo-3000) + BYTE pulseExtra; // [in ] some extra-parameter combination for DTFO function (ex: DTFO_INIT_HIGN) + DWORD pulseTag; // [in ] reserved field + DWORD pulseWidth; // [in ] output pulse width tick count, range: 1~2147483647 +} +DTFO_SETUP, *DTFO_SETUP_P; + +// DTFO_SETUP.pulseExtra +// +#define DTFO_INIT_HIGN (0x01) // active-low + +// LED, mode +// +#define LED_DISABLE (0x00000000) +#define LED_MODE_CC (0x00000001) +#define LED_MODE_CV (0x00000002) + +// IGN, setting +// +typedef struct IGN_SETTING_T +{ + BYTE mode; // [out] 0: atx, 1: at, 2~7: ign mode + BYTE batteryType; // [out] 0: 12v, 1: 24v + BYTE isSmartOff; // [out] 0: disabled, 1: enabled + BYTE isPostCheck; // [out] 0: disabled, 1: enabled, bios ok + DWORD onDelay; // [out] in seconds + DWORD offDelay; // [out] in seconds + DWORD hardOffTimeout; // [out] in seconds + double lowVolThreshold; // [out] low voltage threshold +} +IGN_SETTING, *IGN_SETTING_P; + +// IGN_SETTING.mode +// +#define IGN_MODE_ATX (0x00) +#define IGN_MODE_AT (0x01) +#define IGN_MODE_IGN (0x02) + +// IGN_SETTING.batteryType +// +#define IGN_BATT_12V (0x00) +#define IGN_BATT_24V (0x01) + +// CAN, setup +// +typedef struct CAN_SETUP_T +{ + DWORD bitRate; // [in ] bit rate, default: 500k + DWORD recvConfig; // [in ] holds various settings for received message. + DWORD recvId; // [in ] message identifier used for 11 or 29 bit identifiers + DWORD recvMask; // [in ] message identifier mask used when identifier filtering is enabled. +} +CAN_SETUP, *CAN_SETUP_P; + +// CAN, message object +// +typedef struct CAN_MSG_T +{ + DWORD id; // [i/o] message identifier used for 11 or 29 bit identifiers + WORD flags; // [i/o] holds various status flags and settings. + BYTE extra; // [res] reserved fields + BYTE len; // [i/o] valid:1~8, number of bytes of data in the message object. + BYTE data[8]; // [i/o] message object's data. +} +CAN_MSG, *CAN_MSG_P; + +// CAN, bit timing +// +typedef struct CAN_BITCLK_T +{ + WORD syncPropPhase1Seg; // [in ] valid:2~16, sum of the Synchronization, Propagation, and Phase Buffer 1 segments, measured in time quanta. + WORD phase2Seg; // [in ] valid:1~8, the Phase Buffer 2 segment in time quanta. + WORD jumpWidth; // [in ] valid:1~4, Resynchronization Jump Width in time quanta + WORD quantumPrescaler; // [in ] valid:1~1023, CAN_CLK divider used to determine time quanta +} +CAN_BITCLK, *CAN_BITCLK_P; + +// CAN_MSG.flags +// +#define CAN_MSG_EXTENDED_ID (0x0004) +#define CAN_MSG_REMOTE_FRAME (0x0040) +#define CAN_MSG_DATA_NEW (0x0080) +#define CAN_MSG_DATA_LOST (0x0100) + +// CAN_SETUP.recvConfig +// +#define CAN_MSG_USE_ID_FILTER (0x00000008) +#define CAN_MSG_USE_DIR_FILTER (0x00000010 | CAN_MSG_USE_ID_FILTER) // only accept the direction specified in the message type +#define CAN_MSG_USE_EXT_FILTER (0x00000020 | CAN_MSG_USE_ID_FILTER) // filters on only extended identifiers + +// CAN, status +// +#define CAN_STATUS_BUS_OFF (0x00000080) +#define CAN_STATUS_EWARN (0x00000040) // can controller error level has reached warning level. +#define CAN_STATUS_EPASS (0x00000020) // can controller error level has reached error passive level. +#define CAN_STATUS_LEC_STUFF (0x00000001) // a bit stuffing error has occurred. +#define CAN_STATUS_LEC_FORM (0x00000002) // a formatting error has occurred. +#define CAN_STATUS_LEC_ACK (0x00000003) // an acknowledge error has occurred. +#define CAN_STATUS_LEC_BIT1 (0x00000004) // the bus remained a bit level of 1 for longer than is allowed. +#define CAN_STATUS_LEC_BIT0 (0x00000005) // the bus remained a bit level of 0 for longer than is allowed. +#define CAN_STATUS_LEC_CRC (0x00000006) // a crc error has occurred. +#define CAN_STATUS_LEC_MASK (0x00000007) // this is the mask for the can last error code (lec). + +// PWM, generator setup +// +typedef struct PWM_GEN_SETUP_T +{ + DWORD genMode; // [in ] logical OR of PWM_GEN_MODE_DOWN, PWM_GEN_MODE_UP_DOWN, ... + DWORD intrTriggers; // [in ] interrupts and triggers to be enabled + WORD deadBandRise; // [in ] valid:0~4096, width of delay from the rising edge, 0:disable + WORD deadBandFall; // [in ] valid:0~4096, width of delay from the falling edge, 0:disable +} +PWM_GEN_SETUP, *PWM_GEN_SETUP_P; + +// PWM_GEN_SETUP.genMode +// +#define PWM_GEN_MODE_DOWN (0x00000000) // down count mode +#define PWM_GEN_MODE_UP_DOWN (0x00000002) // up/down count mode +#define PWM_GEN_MODE_SYNC (0x00000038) // synchronous updates +#define PWM_GEN_MODE_NO_SYNC (0x00000000) // immediate updates +// +#define PWM_GEN_MODE_FAULT_LATCHED (0x00040000) // fault is latched +#define PWM_GEN_MODE_FAULT_UNLATCHED (0x00000000) // fault is not latched +#define PWM_GEN_MODE_FAULT_MINPER (0x00020000) // enable min fault period +#define PWM_GEN_MODE_FAULT_NO_MINPER (0x00000000) // disable min fault period +#define PWM_GEN_MODE_FAULT_EXT (0x00010000) // enable extended fault support +#define PWM_GEN_MODE_FAULT_LEGACY (0x00000000) // disable extended fault support +#define PWM_GEN_MODE_DB_NO_SYNC (0x00000000) // deadband updates occur immediately +#define PWM_GEN_MODE_DB_SYNC_LOCAL (0x0000A800) // deadband updates locally synchronized +#define PWM_GEN_MODE_DB_SYNC_GLOBAL (0x0000FC00) // deadband updates globally synchronized +#define PWM_GEN_MODE_GEN_NO_SYNC (0x00000000) // generator mode updates occur immediately +#define PWM_GEN_MODE_GEN_SYNC_LOCAL (0x00000280) // generator mode updates locally synchronized +#define PWM_GEN_MODE_GEN_SYNC_GLOBAL (0x000003C0) // generator mode updates globally synchronized + +// PWM_GEN_SETUP.intrTriggers +// +#define PWM_INTR_CNT_ZERO (0x00000001) // intr if count = 0 +#define PWM_INTR_CNT_LOAD (0x00000002) // intr if count = load +#define PWM_INTR_CNT_AU (0x00000004) // intr if count = cmpa u +#define PWM_INTR_CNT_AD (0x00000008) // intr if count = cmpa d +#define PWM_INTR_CNT_BU (0x00000010) // intr if count = cmpa u +#define PWM_INTR_CNT_BD (0x00000020) // intr if count = cmpa d +// +#define PWM_TRIG_CNT_ZERO (0x00000100) // trig if count = 0 +#define PWM_TRIG_CNT_LOAD (0x00000200) // trig if count = load +#define PWM_TRIG_CNT_AU (0x00000400) // trig if count = cmpa u +#define PWM_TRIG_CNT_AD (0x00000800) // trig if count = cmpa d +#define PWM_TRIG_CNT_BU (0x00001000) // trig if count = cmpa u +#define PWM_TRIG_CNT_BD (0x00002000) // trig if count = cmpa d + +// divClock +// +#define PWM_CLK_DIV_1 (0x00000000) // system clock +#define PWM_CLK_DIV_2 (0x00000001) // system clock /2 +#define PWM_CLK_DIV_4 (0x00000002) // system clock /4 +#define PWM_CLK_DIV_8 (0x00000003) // system clock /8 +#define PWM_CLK_DIV_16 (0x00000004) // system clock /16 +#define PWM_CLK_DIV_32 (0x00000005) // system clock /32 +#define PWM_CLK_DIV_64 (0x00000006) // system clock /64 + +// pinBits +// +#define PWM_PIN_0 (0x00000001) // bit-wise id for pin 0 +#define PWM_PIN_1 (0x00000002) // bit-wise id for pin 1 +#define PWM_PIN_2 (0x00000004) // bit-wise id for pin 2 +#define PWM_PIN_3 (0x00000008) // bit-wise id for pin 3 +#define PWM_PIN_4 (0x00000010) // bit-wise id for pin 4 +#define PWM_PIN_5 (0x00000020) // bit-wise id for pin 5 +#define PWM_PIN_6 (0x00000040) // bit-wise id for pin 6 +#define PWM_PIN_7 (0x00000080) // bit-wise id for pin 7 + +// genBits, generator blocks +// +#define PWM_GEN_0 (PWM_PIN_0 | PWM_PIN_1) // bit-wise id for gen 0 +#define PWM_GEN_1 (PWM_PIN_2 | PWM_PIN_3) // bit-wise id for gen 1 +#define PWM_GEN_2 (PWM_PIN_4 | PWM_PIN_5) // bit-wise id for gen 2 +#define PWM_GEN_3 (PWM_PIN_6 | PWM_PIN_7) // bit-wise id for gen 3 + +// QEI, setup +// +typedef struct QEI_SETUP_T +{ + DWORD config; // [in ] configuration for the quadrature encoder + DWORD maxPos; // [in ] maximum position value + DWORD velPeriod; // [in ] number of clock ticks over which to measure the velocity, 0:disable + DWORD velPreDiv; // [in ] predivider applied to the input quadrature signal before it is counted +} +QEI_SETUP, *QEI_SETUP_P; + +// QEI_SETUP.config +// +#define QEI_CONFIG_CAPTURE_A (0x00000000) // count on ChA edges only +#define QEI_CONFIG_CAPTURE_A_B (0x00000008) // count on ChA and ChB edges +#define QEI_CONFIG_NO_RESET (0x00000000) // do not reset on index pulse +#define QEI_CONFIG_RESET_IDX (0x00000010) // reset position on index pulse +#define QEI_CONFIG_QUADRATURE (0x00000000) // ChA and ChB are quadrature +#define QEI_CONFIG_CLOCK_DIR (0x00000004) // ChA and ChB are clock and dir +#define QEI_CONFIG_NO_SWAP (0x00000000) // do not swap ChA and ChB +#define QEI_CONFIG_SWAP (0x00000002) // swap ChA and ChB + +// QEI_SETUP.velPreDiv +// +#define QEI_VEL_DIV_1 (0x00000000) // predivide by 1 +#define QEI_VEL_DIV_2 (0x00000040) // predivide by 2 +#define QEI_VEL_DIV_4 (0x00000080) // predivide by 4 +#define QEI_VEL_DIV_8 (0x000000C0) // predivide by 8 +#define QEI_VEL_DIV_16 (0x00000100) // predivide by 16 +#define QEI_VEL_DIV_32 (0x00000140) // predivide by 32 +#define QEI_VEL_DIV_64 (0x00000180) // predivide by 64 +#define QEI_VEL_DIV_128 (0x000001C0) // predivide by 128 + +// Deterministic Trigger Version 2 (DT2), setup +// +typedef struct DT2_SETUP_T +{ + BYTE index; // [in ] channel index + BYTE modeFlags; // [in ] some extra-parameter combination for DT2 mode type (ex: DT2_INIT_HIGN) + BYTE modeType; // [in ] operation mode type, ex: PTT, PTP, PPT, ... + BYTE trigMode; // [in ] 0: never (disabled), 1: rising edge (above), 2: falling edge (below), 3:level, 4: always + DWORD trigData; // [in ] trigger data, ex: adc data, qei position, ... + DWORD trigSrc; // [in ] trigger source + DWORD trigTgt; // [in ] trigger target + DWORD pulseDelay; // [in ] output pulse(offset) delay tick count, range: 2~2147483647 + DWORD pulseWidth; // [in ] output pulse(offset) width tick count, range: 1~2147483647 + DWORD pulseCount; // [in ] output pulse(offset) count, range: 1~2147483647 + DWORD pulseData; // [in ] output pulse data, ex: led current, ... +} +DT2_SETUP, *DT2_SETUP_P; + +// DT2_SETUP.modeFlags +// +#define DT2_INIT_HIGN (0x01) // high-initial & low-active +#define DT2_TRIG_BUFF (0x02) // buffer triggered (array index: 0~31) +#define DT2_TRIG_EX_0 (0x04) // external input (default deactivated) +#define DT2_TRIG_EX_1 (0x08) // external input (default activated) + +// DT2_SETUP.modeType +// +#define DT2_MODE_PTT (0x00) // pulse output with time delay and time length +#define DT2_MODE_PTP (0x01) // pulse output with time delay and offset length +#define DT2_MODE_PPT (0x02) // pulse output with offset delay and time length +#define DT2_MODE_PPP (0x03) // pulse output with offset delay and offset length +#define DT2_MODE_LST (0x04) // led sustain with time delay +#define DT2_MODE_LPT (0x05) // led pulse with time delay +#define DT2_MODE_LTT (0x06) // led toggle with time delay +#define DT2_MODE_CTX (0x07) // comparison output with time length +#define DT2_MODE_CPX (0x08) // comparison output with offset length +#define DT2_MODE_MTP (0x09) // pwm output with time delay +#define DT2_MODE_MPP (0x0a) // pwm output with offset delay +#define DT2_MODE_STX (0x0b) // sustain output with time delay +#define DT2_MODE_SPX (0x0c) // sustain output with offset delay +#define DT2_MODE_TTX (0x0d) // toggle output with time delay +#define DT2_MODE_TPX (0x0e) // toggle output with offset delay + +// DT2_SETUP.trigMode +// +#define DT2_TRIG_NEVER (0x00) +#define DT2_TRIG_RISING (0x01) // above +#define DT2_TRIG_FALLING (0x02) // below +#define DT2_TRIG_LEVEL (0x03) +#define DT2_TRIG_ALWAYS (0x04) + +// DT2_SETUP.trigSrc +// +#define DT2_SRC_DI_0 (0x00010001) +#define DT2_SRC_DI_1 (0x00010002) +#define DT2_SRC_DI_2 (0x00010004) +#define DT2_SRC_DI_3 (0x00010008) +#define DT2_SRC_DI_4 (0x00010010) // reserved +#define DT2_SRC_DI_5 (0x00010020) // reserved +#define DT2_SRC_DI_6 (0x00010040) // reserved +#define DT2_SRC_DI_7 (0x00010080) // reserved +// +#define DT2_SRC_DO_0 (0x00020001) +#define DT2_SRC_DO_1 (0x00020002) +#define DT2_SRC_DO_2 (0x00020004) +#define DT2_SRC_DO_3 (0x00020008) +#define DT2_SRC_DO_4 (0x00020010) +#define DT2_SRC_DO_5 (0x00020020) +#define DT2_SRC_DO_6 (0x00020040) +#define DT2_SRC_DO_7 (0x00020080) +// +#define DT2_SRC_ADC_0 (0x00040001) +#define DT2_SRC_ADC_1 (0x00040002) +#define DT2_SRC_ADC_2 (0x00040004) // reserved +#define DT2_SRC_ADC_3 (0x00040008) // reserved +// +#define DT2_SRC_QEI_0 (0x00080001) +#define DT2_SRC_QEI_1 (0x00080002) // reserved + +// DT2_SETUP.trigTgt +// +#define DT2_TGT_DO_0 (0x00020001) +#define DT2_TGT_DO_1 (0x00020002) +#define DT2_TGT_DO_2 (0x00020004) +#define DT2_TGT_DO_3 (0x00020008) +#define DT2_TGT_DO_4 (0x00020010) +#define DT2_TGT_DO_5 (0x00020020) +#define DT2_TGT_DO_6 (0x00020040) +#define DT2_TGT_DO_7 (0x00020080) +// +#define DT2_TGT_PWM_0 (0x00100001) +#define DT2_TGT_PWM_1 (0x00100002) +#define DT2_TGT_PWM_2 (0x00100004) +#define DT2_TGT_PWM_3 (0x00100008) +#define DT2_TGT_PWM_4 (0x00100010) +#define DT2_TGT_PWM_5 (0x00100020) +#define DT2_TGT_PWM_6 (0x00100040) // reserved +#define DT2_TGT_PWM_7 (0x00100080) // reserved +// +#define DT2_TGT_LED_0 (0x00200001) +#define DT2_TGT_LED_1 (0x00200002) // reserved + +#pragma pack(pop) + + +// Register WinIO driver for non-administrator operation +// +BOOL __cdecl RegisterWinIOService(void); // obselete function + +// Isolated Digital I/O +// +BOOL __cdecl InitDIO(void); +BOOL __cdecl DIReadLine(BYTE ch); +WORD __cdecl DIReadPort(void); +void __cdecl DOWriteLine(BYTE ch, BOOL value); +void __cdecl DOWritePort(WORD value); +void __cdecl DOWriteLineChecked(BYTE ch, BOOL value); +void __cdecl DOWritePortChecked(WORD value); + +// Watch-dog Timer (WDT) +// +BOOL __cdecl InitWDT(void); +BOOL __cdecl StopWDT(void); +BOOL __cdecl StartWDT(void); +BOOL __cdecl SetWDT(WORD tick, BYTE unit); +BOOL __cdecl ResetWDT(void); + +// PoE ports enable/disable +// +BYTE __cdecl GetStatusPoEPort(BYTE port); // 0: disabled 1: enabled +BOOL __cdecl DisablePoEPort(BYTE port); +BOOL __cdecl EnablePoEPort(BYTE port); + +// DI Change-of-State notification (DICOS) +// +BOOL __cdecl SetupDICOS(COS_INT_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl StartDICOS(void); // note: without DTIO, DTFO, and DT2 +BOOL __cdecl StopDICOS(void); +BOOL __cdecl RegisterCallbackDICOS(COS_INT_CALLBACK callback); + +// Deterministic Trigger I/O (DTIO) +// +BOOL __cdecl SetupDTIO(DTIO_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl StartDTIO(void); // note: without DICOS, DTFO, and DT2 +BOOL __cdecl StopDTIO(void); +BOOL __cdecl SetUnitDTIO(WORD unit, int delta); // unit: micro-second(25~2500 us), delta: fine-tuning(+/- 0.04us) +WORD __cdecl GetUnitDTIO(void); // current DTIO timing unit in micro-second + +// Deterministic Trigger Fan Out (DTFO) +// +BOOL __cdecl SetupDTFO(DTFO_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl StartDTFO(void); // note: without DICOS, DTIO, and DT2 +BOOL __cdecl StopDTFO(void); +BOOL __cdecl SetUnitDTFO(WORD unit, int delta); // unit: micro-second(25~2500 us), delta: fine-tuning(+/- 0.04us) +WORD __cdecl GetUnitDTFO(void); // current DTFO timing unit in micro-second + +// Light-Emitting Diode (LED) +// +BOOL __cdecl LED_SetCurrentDriving(DWORD mode, DWORD data); // mode: 0)disabled, 1)cc, data:current(mA), 2)cv, data:duty cycle(0.01%) + +// Micro-Controller Unit (MCU) +// +BOOL __cdecl MCU_GetVersion(DWORD *lpDateCode); // 0xYYYYMMDD e.g. 0x20150325 + +// Ignition Control (IGN) +// +BOOL __cdecl IGN_GetState(DWORD *lpState); // 0: off, 1: on +BOOL __cdecl IGN_GetBatteryVoltage(double *lpVoltage); +BOOL __cdecl IGN_GetSetting(IGN_SETTING *lpSetting, DWORD cbSetting); + +// Controller Area Network (CAN) +// +BOOL __cdecl CAN_RegisterReceived(DWORD idx, void (__stdcall *pfnHandler)(CAN_MSG *lpMsg, DWORD cbMsg)); +BOOL __cdecl CAN_RegisterStatus(DWORD idx, void (__stdcall *pfnHandler)(DWORD status)); +BOOL __cdecl CAN_Setup(DWORD idx, CAN_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl CAN_Start(DWORD idx); +BOOL __cdecl CAN_Stop(DWORD idx); +BOOL __cdecl CAN_Send(DWORD idx, CAN_MSG *lpMsg, DWORD cbMsg); +//BOOL __cdecl CAN_BitTimingGet(DWORD idx, CAN_BITCLK *lpClkParms, DWORD cbClkParms); +//BOOL __cdecl CAN_BitTimingSet(DWORD idx, CAN_BITCLK *lpClkParms, DWORD cbClkParms); + +// Pulse Width Modulator (PWM) +// +BOOL __cdecl PWM_ClockSet(DWORD idx, DWORD divClock); +BOOL __cdecl PWM_RegisterStatus(void (__stdcall *pfnHandler)(DWORD genBits, DWORD status)); +BOOL __cdecl PWM_GenSetup(DWORD genBits, PWM_GEN_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl PWM_GenPeriod(DWORD genBits, DWORD period); +BOOL __cdecl PWM_PulseWidth(DWORD pinBits, DWORD width); +BOOL __cdecl PWM_PulseInvert(DWORD pinBits); +BOOL __cdecl PWM_Start(DWORD pinBits); +BOOL __cdecl PWM_Stop(DWORD pinBits); +BOOL __cdecl PWM_SyncTimeBase(DWORD genBits); +BOOL __cdecl PWM_SyncUpdate(DWORD genBits); + +// Analog to Digital Converter (ADC) +// +BOOL __cdecl ADC_Stop(DWORD idx); +BOOL __cdecl ADC_Start(DWORD idx); +BOOL __cdecl ADC_GetData(DWORD idx, double *lpData); + +// Quadrature Encoder (QEI) +// +BOOL __cdecl QEI_Stop(DWORD idx); +BOOL __cdecl QEI_Start(DWORD idx); +BOOL __cdecl QEI_Setup(DWORD idx, QEI_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl QEI_GetDirection(DWORD idx, DWORD *lpDirection); +BOOL __cdecl QEI_GetVelocity(DWORD idx, DWORD *lpVelocity); +BOOL __cdecl QEI_GetPosition(DWORD idx, DWORD *lpPosition); +BOOL __cdecl QEI_SetPosition(DWORD idx, DWORD position); + +// PoE ports on the PCI card (PCI) +// +BYTE __cdecl PCI_GetStatusPoEPort(DWORD boardId, DWORD port); // 0: disabled, 1: enabled +BOOL __cdecl PCI_DisablePoEPort(DWORD boardId, DWORD port); +BOOL __cdecl PCI_EnablePoEPort(DWORD boardId, DWORD port); + +// Deterministic Trigger Version 2 (DT2) +// +BOOL __cdecl DT2_Setup(DT2_SETUP *lpSetup, DWORD cbSetup); +BOOL __cdecl DT2_Start(void); // note: without DICOS, DTIO, and DTFO +BOOL __cdecl DT2_Stop(void); +BOOL __cdecl DT2_SetUnit(DWORD unit, int delta); // unit: micro-second(25~2500 us), delta: fine-tuning(+/- 0.0125us) +WORD __cdecl DT2_GetUnit(void); // unit in micro-second +BOOL __cdecl DT2_GetExIndex(WORD* lpIndex); +BOOL __cdecl DT2_SetExResult(WORD index, WORD value); +BOOL __cdecl DT2_SetExOthers(WORD value); // software triggered + + +#if defined(__GNUC__) && __GNUC__ >= 4 +#pragma GCC visibility pop +#endif + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/dbw/dbw/__init__.py b/dbw/dbw/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/dbw/dbw/can_test.py b/dbw/dbw/can_test.py new file mode 100755 index 0000000..de9c1d2 --- /dev/null +++ b/dbw/dbw/can_test.py @@ -0,0 +1,87 @@ +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw + +import numpy as np + +from ctypes import * +import ctypes + + +# my_func = CDLL("/home/neousys/Workspace/src/dbw/dbw/C_library/helper.so") +neo_func = CDLL("/home/neousys/Workspace/src/dbw/dbw/C_library/libwdt_dio.so") + +class CAN_SETUP(ctypes.Structure): + _fields_ = [ + ("bitRate", ctypes.c_uint32), + ("recvConfig", ctypes.c_uint32), + ("recvId", ctypes.c_uint32), + ("recvMask", ctypes.c_uint32) + ] + +class CAN_MSG(ctypes.Structure): + _fields_ = [ + ("id", ctypes.c_uint32), + ("flags", ctypes.c_uint16), + ("len", ctypes.c_uint8), + ("data", ctypes.c_uint8*8) + ] + +class DBW(Node): + def __init__(self): + super().__init__('dbw') + + # init timer + self.timer = self.create_timer(1, self.timer_callback) + self.i = 0 + print("get version") + + print(neo_func.MCU_GetVersion(0x20150325)) + + # self.can_setup = CAN_SETUP() + # self.can_setup.bitRate = 250000 # 250kbps + # self.can_setup.recvConfig = 0x00000008 + # self.can_setup.recvId = 0 + # self.can_setup.recvMask = 0 + + # print(neo_func.CAN_Setup(0, self.can_setup, sizeof(self.can_setup))) + # print("Setup finished") + + # self.tx_msg = CAN_MSG() + # self.tx_msg.id = 0x1A0 + # self.tx_msg.len = 8 + + # self.tx_msg.data[0] = 0 + # self.tx_msg.data[1] = 1 + # self.tx_msg.data[2] = 2 + # self.tx_msg.data[3] = 3 + # self.tx_msg.data[4] = 4 + # self.tx_msg.data[5] = 5 + # self.tx_msg.data[6] = 6 + # self.tx_msg.data[7] = 7 + + + def timer_callback(self): + # print(my_func.square(self.i)) + self.i += 1 + # print(neo_func.CAN_Send(0, self.tx_msg, sizeof(self.tx_msg))) + + + + + + + +def main(): + rclpy.init() + dbw_node = DBW() + rclpy.spin(dbw_node) + neo_func.CAN_Stop(0) + dbw_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/dbw/dbw/can_test_2.py b/dbw/dbw/can_test_2.py new file mode 100755 index 0000000..19d404f --- /dev/null +++ b/dbw/dbw/can_test_2.py @@ -0,0 +1,44 @@ +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw + +import numpy as np + +from ctypes import * +import ctypes + + +my_func = CDLL("/home/neousys/Workspace/src/dbw/dbw/C_library/neo_can.so") + + +class DBW(Node): + def __init__(self): + super().__init__('dbw') + + # init timer + self.timer = self.create_timer(1, self.timer_callback) + + + + def timer_callback(self): + print(my_func.can()) + + + + + + + + +def main(): + rclpy.init() + dbw_node = DBW() + rclpy.spin(dbw_node) + dbw_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/dbw/dbw/dbw_neo.py b/dbw/dbw/dbw_neo.py new file mode 100644 index 0000000..ae6f829 --- /dev/null +++ b/dbw/dbw/dbw_neo.py @@ -0,0 +1,101 @@ +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw + +import numpy as np +from ctypes import * + + +so_file = "/home/neousys/Workspace/src/dbw/dbw/C_library/neo_can.so" +neo_func = CDLL(so_file) + +class DBW(Node): + def __init__(self): + super().__init__('dbw') + + # init subscriber + self.dbw_sub = self.create_subscription(Dbw, '/control_cmd', self.dbw_callback, 10) + + # init timer + self.timer = self.create_timer(0.1, self.timer_callback) + + # init can + # print(neo_func.square(3)) + # print(neo_func.can_init()) + + # init varibables + self.count = 0 + + # can messages definations + # sent messages + # self.teleop = can.Message(arbitration_id=0x18FFFF2A, data=[0x82, 0x7D, 0x00, 0x7D, 0xFF, 0xFF, 0xFF, 0xFF], is_extended_id=True) + # self.addressClaim = can.Message(arbitration_id=0x18EEFF2A, data=[0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80], is_extended_id=True) + # self.heartBeat = can.Message(arbitration_id=0x18FFFF2A, data=[0x80, 0x31, 0x5D, 0x55, 0xFF, 0xFD, 0xFF, 0xFF], is_extended_id=True) + # self.inhibitCmd = can.Message(arbitration_id=0x0CFE5A2A, data=[0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xFF, 0xFF, 0xFF], is_extended_id=True) + + + # send address claim message + # self.bus.send(self.addressClaim) + + def timer_callback(self): + neo_func.can_run() + # print("timer working") + # self.bus.send(self.inhibitCmd) + + # self.count += 1 + # if self.count == 10: + # self.bus.send(self.heartBeat) + # self.count = 0 + + + def dbw_callback(self, msg): + inhibit = msg.parkbrake # 1 for lock; 0 for unlock + gear = msg.gear # 0 for neutral; 1 for forward; 2 for backward + throttle_percentage = msg.throttle # 0 ~ 100 (%) + brake_percentage = msg.brake # 0 ~ 100 (%) + steering_percentage = msg.steering # -100 ~ 100 (%), left+, right- + # steering_percentage = 50.0 + + if gear == 1: + print('gear: forward') + throttle_cmd = hex(int(250.0*(throttle_percentage+100)/200.)) + elif gear == 2: + print('gear: backward') + throttle_cmd = hex(int(250.0 * (100.0 - throttle_percentage) / 200.)) + else: + print('gear: neutral') + throttle_cmd = hex(int(250.0 * (0 + 100) / 200.)) + + brake_cmd = hex(int(250.0*brake_percentage/100.)) + steering_cmd = hex(int(250.0*(steering_percentage+100)/200.)) + + + self.teleop.data[1] = np.uint8(int(throttle_cmd, 16)) + # throttle + + self.teleop.data[2] = np.uint8(int(brake_cmd, 16)) + # brake + + self.teleop.data[3] = np.uint8(int(steering_cmd, 16)) + # steering + + if inhibit == 1: + self.inhibitCmd.data[4] = 0x10 + else: + self.inhibitCmd.data[4] = 0x00 + + # self.bus.send(self.teleop) + print('sending control command') + +def main(): + rclpy.init() + dbw_node = DBW() + rclpy.spin(dbw_node) + dbw_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/dbw/dbw/dbw_read.py b/dbw/dbw/dbw_read.py new file mode 100755 index 0000000..f8db23c --- /dev/null +++ b/dbw/dbw/dbw_read.py @@ -0,0 +1,358 @@ +import rclpy +from rclpy.node import Node + +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw, EEC1, VEP, EBC1, EEC2, ETC2, EAC1, VDC2, LD, LC, ASC1, TCO1, HRW, VP2, ETC5, Shutdown, CCVS + +import numpy as np +import can +from can.message import Message + +class DBW(Node): + def __init__(self): + super().__init__('dbw_read') + + # init subscriber + self.dbw_sub = self.create_subscription(Dbw, '/control_cmd', self.dbw_callback, 10) + + # init publisher + self.eec1_pub = self.create_publisher(EEC1, '/vehicle/eec1', 10) + self.hrw_pub = self.create_publisher(HRW, '/vehicle/hrw', 10) + self.vep_pub = self.create_publisher(VEP, '/vehicle/vep', 10) + self.ebc_pub = self.create_publisher(EBC1, '/vehicle/ebc1', 10) + self.eec2_pub = self.create_publisher(EEC2, '/vehicle/eec2', 10) + self.etc2_pub = self.create_publisher(ETC2, '/vehicle/etc2', 10) + self.vp2_pub = self.create_publisher(VP2, '/vehicle/vp2', 10) + self.etc5_pub = self.create_publisher(ETC5, '/vehicle/etc5', 10) + self.shutdown_pub = self.create_publisher(Shutdown, '/vehicle/shutdown', 10) + self.ccvs_pub = self.create_publisher(CCVS, '/vehicle/ccvs', 10) + self.eac1_pub = self.create_publisher(EAC1, '/vehicle/eac1', 10) + self.vdc2_pub = self.create_publisher(VDC2, '/vehicle/vdc2', 10) + self.ld_pub = self.create_publisher(LD, '/vehicle/ld', 10) + self.lc_pub = self.create_publisher(LC, '/vehicle/lc', 10) + self.asc1_pub = self.create_publisher(ASC1, '/vehicle/asc1', 10) + self.tco1_pub = self.create_publisher(TCO1, '/vehicle/tco1', 10) + + # init timer + self.timer = self.create_timer(0.1, self.timer_callback) + + # init can + self.bus = can.Bus(interface='socketcan', channel='can0', bitrate=250000) + + # init varibables + self.count = 0 + + # can messages definations + # sent messages + self.teleop = can.Message(arbitration_id=0x18FFFF2A, data=[0x82, 0x7D, 0x00, 0x7D, 0xFF, 0xFF, 0xFF, 0xFF], is_extended_id=True) + self.addressClaim = can.Message(arbitration_id=0x18EEFF2A, data=[0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80], is_extended_id=True) + self.heartBeat = can.Message(arbitration_id=0x18FFFF2A, data=[0x80, 0x31, 0x5D, 0x55, 0xFF, 0xFD, 0xFF, 0xFF], is_extended_id=True) + self.inhibitCmd = can.Message(arbitration_id=0x0CFE5A2A, data=[0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xFF, 0xFF, 0xFF], is_extended_id=True) + + # read messages + self.notifier = can.Notifier(self.bus, [self.listener_callback]) + + # send address claim message + self.bus.send(self.addressClaim) + + def timer_callback(self): + self.bus.send(self.inhibitCmd) + + self.count += 1 + if self.count == 10: + self.bus.send(self.heartBeat) + print("sending heartbeat") + self.count = 0 + + + def dbw_callback(self, msg): + inhibit = msg.parkbrake # 1 for lock; 0 for unlock + gear = msg.gear # 0 for neutral; 1 for forward; 2 for backward + throttle_percentage = msg.throttle # 0 ~ 100 (%) + brake_percentage = msg.brake # 0 ~ 100 (%) + steering_percentage = msg.steering # -100 ~ 100 (%), left+, right- + # steering_percentage = 50.0 + + if gear == 1: + print('gear: forward') + throttle_cmd = hex(int(250.0*(throttle_percentage+100)/200.)) + elif gear == 2: + print('gear: backward') + throttle_cmd = hex(int(250.0 * (100.0 - throttle_percentage) / 200.)) + else: + print('gear: neutral') + throttle_cmd = hex(int(250.0 * (0 + 100) / 200.)) + + brake_cmd = hex(int(250.0*brake_percentage/100.)) + steering_cmd = hex(int(250.0*(steering_percentage+100)/200.)) + + + self.teleop.data[1] = np.uint8(int(throttle_cmd, 16)) + # throttle + + self.teleop.data[2] = np.uint8(int(brake_cmd, 16)) + # brake + + self.teleop.data[3] = np.uint8(int(steering_cmd, 16)) + # steering + + if inhibit == 1: + self.inhibitCmd.data[4] = 0x10 + else: + self.inhibitCmd.data[4] = 0x00 + + self.bus.send(self.teleop) + print('sending control command') + + + def listener_callback(self, msg): + if msg.arbitration_id == 0x0CF00400: + # EEC1, PGN 61444 + byte4 = msg.data[3] + byte5 = msg.data[4] + byte7 = msg.data[6] + + engine_speed = 1.0*(byte4 + 256*byte5)/8 #rpm + engine_stater_mode = byte7 % 16 + + eec1_msg = EEC1() + eec1_msg.engine_speed = engine_speed + eec1_msg.engine_stater_mode = engine_stater_mode + self.eec1_pub.publish(eec1_msg) + + elif msg.arbitration_id == 0x08FE6E27: + # HRW, PGN 65134 + byte5 = msg.data[4] + byte6 = msg.data[5] + byte7 = msg.data[6] + byte8 = msg.data[7] + + left_wheel_speed = 1.0*(byte5 + 256*byte6)/256 # km/h + right_wheel_speed = 1.0*(byte7 + 256*byte8)/256 + + hrw_msg = HRW() + hrw_msg.left_wheel_speed = left_wheel_speed + hrw_msg.right_wheel_speed = right_wheel_speed + self.hrw_pub.publish(hrw_msg) + + elif msg.arbitration_id == 0x18FEF727: + # VEP, PGN 65271 + byte3 = msg.data[2] + byte4 = msg.data[3] + byte5 = msg.data[4] + byte6 = msg.data[5] + byte7 = msg.data[6] + byte8 = msg.data[7] + + alt_potential = 1.0*(byte3 + 256*byte4)/20 + elec_potential = 1.0*(byte5 + 256*byte6)/20 + bat_potential = 1.0*(byte7 + 256*byte8)/20 + + vep_msg = VEP() + vep_msg.alt_potential = alt_potential + vep_msg.elec_potential = elec_potential + vep_msg.bat_potential = bat_potential + self.vep_pub.publish(vep_msg) + + elif msg.arbitration_id == 0x18F00127: + # EBC1, PGN 61444 + byte2 = msg.data[1] + + brake_pedal_position = 0.4*byte2/100 + + ebc1_msg = EBC1() + ebc1_msg.brake_pedal_position = brake_pedal_position + self.ebc_pub.publish(ebc1_msg) + + elif msg.arbitration_id == 0x0CF00300: + # EEC2, PGN 61443 + byte1 = msg.data[0] + byte2 = msg.data[1] + + accel_pedal_position = 0.4*byte2/100 + accel_pedal_switch = byte1 // 64 + + eec2_msg = EEC2() + eec2_msg.accel_pedal_position = accel_pedal_position + eec2_msg.accel_pedal_switch = accel_pedal_switch + self.eec2_pub.publish(eec2_msg) + + elif msg.arbitration_id == 0x0CF00527: + # ETC2, PGN 61445 + byte1 = msg.data[0] + byte4 = msg.data[3] + + selected_gear = byte1 - 125 + current_gear = byte4 - 125 + + etc2_msg = ETC2() + etc2_msg.selected_gear = selected_gear + etc2_msg.current_gear = current_gear + self.etc2_pub.publish(etc2_msg) + + elif msg.arbitration_id == 0x18F00627: + # EAC1, PGN 61446 + byte2 = msg.data[1] + + differential_lock = byte2 & 0x0C # get the 5th and 6th bits + + eac1_msg = EAC1() + eac1_msg.differential_lock = differential_lock + self.eac1_pub.publish(eac1_msg) + + elif msg.arbitration_id == 0x18F009F2: + # VDC2, PGN 61449 + byte1 = msg.data[0] + byte2 = msg.data[1] + + steering_angle = (byte1 + 256*byte2)/1024 - 31.25 + + vdc2_msg = VDC2() + vdc2_msg.steering_angle = steering_angle + self.vdc2_pub.publish(vdc2_msg) + + elif msg.arbitration_id == 0x18FE4027: + # LD, PGN 65088 + byte1 = msg.data[0] + byte2 = msg.data[1] + byte3 = msg.data[2] + + alt_beam = byte1 & 0x30 # get 3rd and 4th bits + low_beam = byte1 & 0x0C # get 5th and 6th bits + rotating_light = byte2 & 0x30 # get 3rd and 4th bits + back_up_light = byte3 & 0xC0 # get 1st and 2nd bits + + ld_msg = LD() + ld_msg.alt_beam = alt_beam + ld_msg.low_beam = low_beam + ld_msg.rotating_light = rotating_light + ld_msg.back_up_light = back_up_light + self.ld_pub.publish(ld_msg) + + elif msg.arbitration_id == 0x0CFE4127: + # LC, PGN 65089 + byte1 = msg.data[0] + byte2 = msg.data[1] + byte3 = msg.data[2] + + alt_beam = byte1 & 0x30 # get 3rd and 4th bits + low_beam = byte1 & 0x0C # get 5th and 6th bits + rotating_light = byte2 & 0x30 # get 3rd and 4th bits + back_up_light = byte3 & 0xC0 # get 1st and 2nd bits + + lc_msg = LC() + lc_msg.alt_beam = alt_beam + lc_msg.low_beam = low_beam + lc_msg.rotating_light = rotating_light + lc_msg.back_up_light = back_up_light + self.ld_pub.publish(lc_msg) + + elif msg.arbitration_id == 0x0CFE5A27: + # ASC1, PGN 65114 + byte5 = msg.data[4] + + motion_inhibit = byte5 & 0x30 # get 3rd and 4th bits + + asc1_msg = ASC1() + asc1_msg.motion_inhibit = motion_inhibit + self.asc1_pub.publish(asc1_msg) + + elif msg.arbitration_id == 0x0CFE6C27: + # TCO1, PGN 65132 + byte1 = msg.data[0] + byte4 = msg.data[3] + + drive_recognize = byte1 & 0x03 + direction_indicator = byte4 & 0x03 + + tco1_msg = TCO1() + tco1_msg.drive_recognize = drive_recognize + tco1_msg.direction_indicator = direction_indicator + self.tco1_pub.publish(tco1_msg) + + elif msg.arbitration_id == 0x1CFE8D27: + # VP2, PGN 65165 + byte1 = msg.data[0] + byte2 = msg.data[1] + + voltage = 1.0 * (byte1 + 256 * byte2) / 20 + + vp2_msg = VP2() + vp2_msg.voltage = voltage + self.vp2_pub.publish(vp2_msg) + + elif msg.arbitration_id == 0x1CFEC327: + # ETC5, PGN 65219 + byte2 = msg.data[1] + + reverse_dir_switch = byte2 & 0xC0 # get 1st and 2nd bits + neutral_dir_switch = byte2 & 0x30 # get 3rd and 4th bits + + etc5_msg = ETC5() + etc5_msg.reverse_dir_switch = reverse_dir_switch + etc5_msg.neutral_dir_switch = neutral_dir_switch + self.etc5_pub.publish(etc5_msg) + + elif msg.arbitration_id == 0x0CFEE400: + # Shutdown, PGN 65252 + byte4 = msg.data[3] + + wait = byte4 & 0xC0 # get 1st and 2nd bits + + sd_msg = Shutdown() + sd_msg.wait = wait + self.shutdown_pub.publish(sd_msg) + + elif msg.arbitration_id == 0x18FEF127: + # CCVS, PGN 65265 + byte1 = msg.data[0] + byte2 = msg.data[1] + byte3 = msg.data[2] + byte4 = msg.data[3] + + parking_brake_switch = byte1 & 0x30 # get 3rd and 4th bits + wheel_based_speed = 1.0*(byte2 + 256*byte3)/256 + brake_switch = byte4 & 0x0C # get 5rd and 6th bits + + ccvs_msg = CCVS() + ccvs_msg.parking_brake_switch = parking_brake_switch + ccvs_msg.wheel_based_speed = wheel_based_speed + ccvs_msg.brake_switch = brake_switch + self.ccvs_pub.publish(ccvs_msg) + + elif msg.arbitration_id == 0x18FEF727: + #VEP, PGN 65271 + byte3 = msg.data[2] + byte4 = msg.data[3] + byte5 = msg.data[4] + byte6 = msg.data[5] + byte7 = msg.data[6] + byte8 = msg.data[7] + + alt_potential = 1.0*(byte3 + 256*byte4)/20 + elec_potential = 1.0*(byte5 + 256*byte6)/20 + bat_potential = 1.0*(byte7 + 256*byte8)/20 + + vep_msg = VEP() + vep_msg.alt_potential = alt_potential + vep_msg.elec_potential = elec_potential + vep_msg.bat_potential = bat_potential + self.vep_pub.publish(vep_msg) + + # elif msg.arbitration_id == 0x18FEE8FE: + # # VDS, PGN 65256 + # byte3 = msg.data[2] + # byte4 = msg.data[3] + # # Navigation-Based Vehicle Speed 517? + # pass + +def main(): + rclpy.init() + dbw_node = DBW() + rclpy.spin(dbw_node) + dbw_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/dbw/dbw/test.py b/dbw/dbw/test.py new file mode 100644 index 0000000..ecd73ff --- /dev/null +++ b/dbw/dbw/test.py @@ -0,0 +1,43 @@ +import can +from can.message import Message + +# class MyListener(can.Listener): +# def __init__(self): +# super(MyListener, self).__init__() + +# def on_message_received(self, msg: Message) -> None: +# """ +# example +# when receive message 0x123，transmit message 0x456 +# """ +# if msg.arbitration_id == 0x0CF00400: +# print("CAN msg received") + + + +def print_msg(msg): + if msg.arbitration_id == 0x0CF00400: + print("CAN msg received") + print(msg) + + +if __name__ == "__main__": + # bus = can.interface.Bus('virtual_ch', bustype='virtual') + # bus = can.interface.Bus(channel='can0', bustype='socketcan') + bus = can.Bus(interface='socketcan', channel='can0', bitrate=250000) + # logger = can.Logger("logfile.asc") # save log to asc file + listeners = [ + print_msg, # Callback function, print the received messages + # logger, # save received messages to asc file + # MyListener # my listener + ] + notifier = can.Notifier(bus, listeners) + running = True + while running: + input() + running = False + + # It's important to stop the notifier in order to finish the writting of asc file + notifier.stop() + # stops the bus + bus.shutdown() diff --git a/dbw/package.xml b/dbw/package.xml new file mode 100644 index 0000000..704f27b --- /dev/null +++ b/dbw/package.xml @@ -0,0 +1,18 @@ + + + + dbw + 0.0.0 + TODO: Package description + jamie + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/dbw/resource/dbw b/dbw/resource/dbw new file mode 100644 index 0000000..e69de29 diff --git a/dbw/setup.cfg b/dbw/setup.cfg new file mode 100644 index 0000000..51f438a --- /dev/null +++ b/dbw/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/dbw +[install] +install_scripts=$base/lib/dbw diff --git a/dbw/setup.py b/dbw/setup.py new file mode 100644 index 0000000..4aab9d5 --- /dev/null +++ b/dbw/setup.py @@ -0,0 +1,29 @@ +from setuptools import setup + +package_name = 'dbw' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='jamie', + maintainer_email='jz73@illinois.edu', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'dbw_neo = dbw.dbw_neo:main', + 'dbw_read = dbw.dbw_read:main', + 'can_test = dbw.can_test:main', + 'can_test_2 = dbw.can_test_2:main' + ], + }, +) diff --git a/dbw/steering_mapping.xlsx b/dbw/steering_mapping.xlsx new file mode 100644 index 0000000..fd5c5f4 Binary files /dev/null and b/dbw/steering_mapping.xlsx differ diff --git a/dbw/test/test_copyright.py b/dbw/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/dbw/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/dbw/test/test_flake8.py b/dbw/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/dbw/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/dbw/test/test_pep257.py b/dbw/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/dbw/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/dbw_msgs/CMakeLists.txt b/dbw_msgs/CMakeLists.txt new file mode 100755 index 0000000..6a4e39b --- /dev/null +++ b/dbw_msgs/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.5) +project(dbw_msgs) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Dbw.msg" + "msg/ASC1.msg" + "msg/CCVS.msg" + "msg/EAC1.msg" + "msg/EBC1.msg" + "msg/EEC1.msg" + "msg/EEC2.msg" + "msg/ETC2.msg" + "msg/ETC5.msg" + "msg/HRW.msg" + "msg/LC.msg" + "msg/LD.msg" + "msg/Shutdown.msg" + "msg/TCO1.msg" + "msg/VDC2.msg" + "msg/VEP.msg" + "msg/VP2.msg" + ) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/dbw_msgs/msg/ASC1.msg b/dbw_msgs/msg/ASC1.msg new file mode 100755 index 0000000..be7ebaf --- /dev/null +++ b/dbw_msgs/msg/ASC1.msg @@ -0,0 +1 @@ +uint16 motion_inhibit \ No newline at end of file diff --git a/dbw_msgs/msg/CCVS.msg b/dbw_msgs/msg/CCVS.msg new file mode 100755 index 0000000..8ce5bad --- /dev/null +++ b/dbw_msgs/msg/CCVS.msg @@ -0,0 +1,3 @@ +uint16 parking_brake_switch +float32 wheel_based_speed +uint16 brake_switch \ No newline at end of file diff --git a/dbw_msgs/msg/Dbw.msg b/dbw_msgs/msg/Dbw.msg new file mode 100755 index 0000000..f339838 --- /dev/null +++ b/dbw_msgs/msg/Dbw.msg @@ -0,0 +1,6 @@ +uint16 parkbrake +uint16 gear +float32 throttle +float32 steering +float32 brake +float32 desired_speed diff --git a/dbw_msgs/msg/EAC1.msg b/dbw_msgs/msg/EAC1.msg new file mode 100755 index 0000000..9a1a982 --- /dev/null +++ b/dbw_msgs/msg/EAC1.msg @@ -0,0 +1 @@ +uint16 differential_lock diff --git a/dbw_msgs/msg/EBC1.msg b/dbw_msgs/msg/EBC1.msg new file mode 100755 index 0000000..906674d --- /dev/null +++ b/dbw_msgs/msg/EBC1.msg @@ -0,0 +1 @@ +float32 brake_pedal_position diff --git a/dbw_msgs/msg/EEC1.msg b/dbw_msgs/msg/EEC1.msg new file mode 100755 index 0000000..d99faab --- /dev/null +++ b/dbw_msgs/msg/EEC1.msg @@ -0,0 +1,2 @@ +float32 engine_speed +uint16 engine_stater_mode diff --git a/dbw_msgs/msg/EEC2.msg b/dbw_msgs/msg/EEC2.msg new file mode 100755 index 0000000..8593258 --- /dev/null +++ b/dbw_msgs/msg/EEC2.msg @@ -0,0 +1,2 @@ +float32 accel_pedal_position +uint16 accel_pedal_switch diff --git a/dbw_msgs/msg/ETC2.msg b/dbw_msgs/msg/ETC2.msg new file mode 100755 index 0000000..67fcfc3 --- /dev/null +++ b/dbw_msgs/msg/ETC2.msg @@ -0,0 +1,2 @@ +int16 selected_gear +int16 current_gear diff --git a/dbw_msgs/msg/ETC5.msg b/dbw_msgs/msg/ETC5.msg new file mode 100755 index 0000000..c7cfa09 --- /dev/null +++ b/dbw_msgs/msg/ETC5.msg @@ -0,0 +1,2 @@ +uint16 reverse_dir_switch +uint16 neutral_dir_switch diff --git a/dbw_msgs/msg/HRW.msg b/dbw_msgs/msg/HRW.msg new file mode 100755 index 0000000..856335a --- /dev/null +++ b/dbw_msgs/msg/HRW.msg @@ -0,0 +1,2 @@ +float32 left_wheel_speed +float32 right_wheel_speed diff --git a/dbw_msgs/msg/LC.msg b/dbw_msgs/msg/LC.msg new file mode 100755 index 0000000..e52693e --- /dev/null +++ b/dbw_msgs/msg/LC.msg @@ -0,0 +1,4 @@ +uint16 alt_beam +uint16 low_beam +uint16 rotating_light +uint16 back_up_light \ No newline at end of file diff --git a/dbw_msgs/msg/LD.msg b/dbw_msgs/msg/LD.msg new file mode 100755 index 0000000..e52693e --- /dev/null +++ b/dbw_msgs/msg/LD.msg @@ -0,0 +1,4 @@ +uint16 alt_beam +uint16 low_beam +uint16 rotating_light +uint16 back_up_light \ No newline at end of file diff --git a/dbw_msgs/msg/Shutdown.msg b/dbw_msgs/msg/Shutdown.msg new file mode 100755 index 0000000..de7ba7a --- /dev/null +++ b/dbw_msgs/msg/Shutdown.msg @@ -0,0 +1 @@ +uint16 wait \ No newline at end of file diff --git a/dbw_msgs/msg/TCO1.msg b/dbw_msgs/msg/TCO1.msg new file mode 100755 index 0000000..e16cfce --- /dev/null +++ b/dbw_msgs/msg/TCO1.msg @@ -0,0 +1,2 @@ +uint16 drive_recognize +uint16 direction_indicator \ No newline at end of file diff --git a/dbw_msgs/msg/VDC2.msg b/dbw_msgs/msg/VDC2.msg new file mode 100755 index 0000000..5b4498e --- /dev/null +++ b/dbw_msgs/msg/VDC2.msg @@ -0,0 +1 @@ +float32 steering_angle \ No newline at end of file diff --git a/dbw_msgs/msg/VEP.msg b/dbw_msgs/msg/VEP.msg new file mode 100755 index 0000000..4abda75 --- /dev/null +++ b/dbw_msgs/msg/VEP.msg @@ -0,0 +1,3 @@ +float32 alt_potential +float32 elec_potential +float32 bat_potential diff --git a/dbw_msgs/msg/VP2.msg b/dbw_msgs/msg/VP2.msg new file mode 100755 index 0000000..f78a4a9 --- /dev/null +++ b/dbw_msgs/msg/VP2.msg @@ -0,0 +1 @@ +float32 voltage \ No newline at end of file diff --git a/dbw_msgs/package.xml b/dbw_msgs/package.xml new file mode 100755 index 0000000..ba7b4af --- /dev/null +++ b/dbw_msgs/package.xml @@ -0,0 +1,22 @@ + + + + dbw_msgs + 0.0.0 + TODO: Package description + hcx + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + diff --git a/gps_nav/gps_nav/__init__.py b/gps_nav/gps_nav/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/gps_nav/gps_nav/path_visual.py b/gps_nav/gps_nav/path_visual.py new file mode 100644 index 0000000..f8fdff6 --- /dev/null +++ b/gps_nav/gps_nav/path_visual.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 + +# Python header +import csv +import math +import numpy as np +import os +from numpy import linalg as la +import matplotlib.pyplot as plt + +# ROS header +import rclpy +from rclpy.node import Node +import pymap3d as pm + + + +class Visual(Node): + + def __init__(self): + filename = '/home/jamie/Workspace/RGator_ROS2_ws/src/gps_nav/waypoints/SS_track.csv' + + with open(filename) as f: + path_points = [tuple(line) for line in csv.reader(f)] + path_points.pop(0) + path_points_x = np.array([float(point[0]) for point in path_points]) # east + path_points_y = np.array([float(point[1]) for point in path_points]) # north + path_points_heading = np.array([float(point[2]) for point in path_points]) # heading + # wp_size = len(path_points_x) + + + plt.scatter(path_points_x, path_points_y) + plt.xlim([-10, 70]) + plt.ylim([-40, 40]) + + plt.plot(path_points_heading) + plt.show() + + +def main(args=None): + rclpy.init(args=args) + path_visual = Visual() + rclpy.spin(path_visual) + path_visual.destroy_node() + rclpy.shutdown() + + + +if __name__ == '__main__': + main() diff --git a/gps_nav/gps_nav/pid.py b/gps_nav/gps_nav/pid.py new file mode 100644 index 0000000..a8bab7d --- /dev/null +++ b/gps_nav/gps_nav/pid.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 + +# Python header +import csv +import math +import numpy as np +import os +from numpy import linalg as la + +# ROS header +import rclpy +from rclpy.node import Node +import pymap3d as pm + +# Message header +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw +from vectornav_msgs.msg import CommonGroup, InsGroup + +# DDS header +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy + + +class PID(Node): + + def __init__(self): + super().__init__('purepursuit') + + qos_control = QoSProfile( + # reliability=QoSReliabilityPolicy.BEST_EFFORT, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=10 + ) + + # init control frequency + self.delta_t = 0.05 + + # init publisher + self.control_pub= self.create_publisher(Dbw, '/control_cmd', qos_control) + + # init subscriber + # self.imu_common = self.create_subscription(CommonGroup, '/vectornav/raw/common', self.imu_common_callback, 10) + self.imu_ins = self.create_subscription(InsGroup, '/vectornav/raw/ins', self.imu_ins_callback, 10) + + # init timer + self.timer_ = self.create_timer(self.delta_t, self.timer_callback) + + # init control command + cmd_msg = Dbw() + cmd_msg.parkbrake = 1 + cmd_msg.gear = 0 + cmd_msg.throttle = 0.0 + cmd_msg.steering = 0.0 + cmd_msg.brake = 0.0 + + # init PID + self.desired_speed = 0.8 # m/s + self.v_x = 0.0 + self.x_ned = 0.0 + self.y_ned = 0.0 + self.curr_yaw = 90.0 + self.yaw = 90.0 + self.i_error = 0.0 + self.last_error = 0.0 + self.kp = 45 + self.ki = 15 + self.kd = 20 + self.wg = 100.0 + self.de = 0.0 + + + + # def imu_common_callback(self, imu_msg): + # self.yaw = imu_msg.yawpitchroll.x + # self.pitch = imu_msg.yawpitchroll.y + # self.roll = imu_msg.yawpitchroll.z + + # self.gyro_x = imu_msg.angularrate.x + # self.gyro_y = imu_msg.angularrate.y + # self.gyro_z = imu_msg.angularrate.z + + # self.latitude = imu_msg.position.x + # self.longitude = imu_msg.position.y + # self.altitude = imu_msg.position.z + + + # self.x_ned, self.y_ned, self.z_ned = pm.geodetic2enu(self.latitude, self.longitude, self.altitude, self.olat, self.olon, self.oalt) + + # self.v_n = imu_msg.velocity.x + # self.v_e = imu_msg.velocity.y + # self.v_d = imu_msg.velocity.z + + # self.a_x = imu_msg.accel.x + # self.a_y = imu_msg.accel.y + # self.a_z = imu_msg.accel.z + + # self.ins_state = imu_msg.insstatus + + + def imu_ins_callback(self, ins_msg): + self.v_x = ins_msg.velbody.x + print("v_x", self.v_x) + self.v_y = ins_msg.velbody.y + self.v_z = ins_msg.velbody.z + + + def pid(self): + # p term + error = self.desired_speed - self.v_x + + # d term + d_error = (error - self.last_error)/self.delta_t + + # i term + self.i_error += error*self.delta_t + if self.i_error > self.wg: + self.i_error = self.wg + elif self.i_error < -self.wg: + self.i_error = -self.wg + + # update error + self.last_error = error + + # get control command + # print("ctrl_cmd: ", self.kp * error + self.ki * self.i_error + self.kd * d_error) + return self.kp * error + self.ki * self.i_error + self.kd * d_error + + + + + + def timer_callback(self): + cmd_msg = Dbw() + cmd_msg.parkbrake = 0 + cmd_msg.gear = 1 + # cmd_msg.throttle = self.pid() + cmd_msg.throttle = 50.0 + cmd_msg.steering = 0.0 + cmd_msg.brake = 0.0 + + self.control_pub.publish(cmd_msg) + + + +def main(): + rclpy.init() + tracking_node = PID() + print("PID Controling") + rclpy.spin(tracking_node) + tracking_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/gps_nav/gps_nav/pp_pid.py b/gps_nav/gps_nav/pp_pid.py new file mode 100644 index 0000000..4f53448 --- /dev/null +++ b/gps_nav/gps_nav/pp_pid.py @@ -0,0 +1,228 @@ +#!/usr/bin/env python3 + +# Python header +import csv +import math +import numpy as np +import os +from numpy import linalg as la +import matplotlib.pyplot as plt + +# ROS header +import rclpy +from rclpy.node import Node +import pymap3d as pm + +# Message header +from std_msgs.msg import String, Float32MultiArray +from dbw_msgs.msg import Dbw +from vectornav_msgs.msg import CommonGroup, InsGroup + +# DDS header +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy + + +class PurePursuit(Node): + + def __init__(self): + super().__init__('purepursuit') + + qos_control = QoSProfile( + # reliability=QoSReliabilityPolicy.BEST_EFFORT, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=10 + ) + + # init control frequency + self.delta_t = 0.05 + + # init publisher + self.control_pub= self.create_publisher(Dbw, '/control_cmd', qos_control) + + # init subscriber + self.imu_common = self.create_subscription(CommonGroup, '/vectornav/raw/common', self.imu_common_callback, 10) + self.imu_ins = self.create_subscription(InsGroup, '/vectornav/raw/ins', self.imu_ins_callback, 10) + + # init timer + self.timer_ = self.create_timer(self.delta_t, self.timer_callback) + + # init control command + cmd_msg = Dbw() + cmd_msg.parkbrake = 1 + cmd_msg.gear = 0 + cmd_msg.throttle = 0.0 + cmd_msg.steering = 0.0 + cmd_msg.brake = 0.0 + + # init PID + self.desired_speed = 0.8 # m/s + self.v_x = 0.0 + self.x_ned = 0.0 + self.y_ned = 0.0 + self.curr_yaw = 90.0 + self.yaw = 90.0 + self.i_error = 0.0 + self.last_error = 0.0 + self.kp = 45.0 + self.ki = 15.0 + self.kd = 20.0 + self.wg = 100.0 + self.de = 0.0 + + # init Pure Pursuit + self.olat = 40.09285379 # 0_track starting point + self.olon = -88.23597160 + self.oalt = 201 + self.look_ahead = 5.0 # m + self.wheelbase = 1.65 # meters, distance between front axle and the middle of rear axles + self.offset = 1.65 # meters, distance between imu and the middle of rear axles + self.goal = 100 + self.k = 0.4 + # init waypoints in local NEDF + # dirname = os.path.dirname(__file__) + # filename = os.path.join(dirname, '../waypoints/0_track.csv') + filename = '/home/jamie/Workspace/RGator_ROS2_ws/src/gps_nav/waypoints/SS_track.csv' + + with open(filename) as f: + path_points = [tuple(line) for line in csv.reader(f)] + path_points.pop(0) + self.path_points_x = np.array([float(point[0]) for point in path_points]) # east + self.path_points_y = np.array([float(point[1]) for point in path_points]) # north + self.path_points_heading = np.array([float(point[2]) for point in path_points]) # heading + self.wp_size = len(self.path_points_x) + self.dist_arr = np.zeros(self.wp_size) + + plt.scatter(self.path_points_x, self.path_points_y) + + + + def imu_common_callback(self, imu_msg): + self.yaw = imu_msg.yawpitchroll.x + # print("yaw:", self.yaw) + self.pitch = imu_msg.yawpitchroll.y + self.roll = imu_msg.yawpitchroll.z + + self.gyro_x = imu_msg.angularrate.x + self.gyro_y = imu_msg.angularrate.y + self.gyro_z = imu_msg.angularrate.z + + self.latitude = imu_msg.position.x + self.longitude = imu_msg.position.y + self.altitude = imu_msg.position.z + + + self.x_ned, self.y_ned, self.z_ned = pm.geodetic2enu(self.latitude, self.longitude, self.altitude, self.olat, self.olon, self.oalt) + + self.v_n = imu_msg.velocity.x + self.v_e = imu_msg.velocity.y + self.v_d = imu_msg.velocity.z + + self.a_x = imu_msg.accel.x + self.a_y = imu_msg.accel.y + self.a_z = imu_msg.accel.z + + self.ins_state = imu_msg.insstatus + + + def imu_ins_callback(self, ins_msg): + self.v_x = ins_msg.velbody.x + # print("v_x", self.v_x) + self.v_y = ins_msg.velbody.y + self.v_z = ins_msg.velbody.z + + + def pid(self): + # p term + error = self.desired_speed - self.v_x + + # d term + d_error = (error - self.last_error)/self.delta_t + + # i term + self.i_error += error*self.delta_t + if self.i_error > self.wg: + self.i_error = self.wg + elif self.i_error < -self.wg: + self.i_error = -self.wg + + # update error + self.last_error = error + + # get control command + return self.kp * error + self.ki * self.i_error + self.kd * d_error + + + def pure_pursuit(self): + # calculate distance array from last goal point to the end + for i in range(self.goal, self.wp_size): + self.dist_arr[i] = round(np.sqrt((self.path_points_x[i] - self.x_ned)**2 + (self.path_points_y[i] - self.y_ned)**2), 5) + + # only find point near the distance of look_ahead point + goal_area = np.where( (self.dist_arr < self.look_ahead + 0.3) & (self.dist_arr > self.look_ahead - 0.3) )[0] + + # find goal pont in the goal area and check the direction is correct + for idx in goal_area: + v1 = [self.path_points_x[idx]-self.x_ned , self.path_points_y[idx]-self.y_ned] + v2 = [np.cos(self.curr_yaw), np.sin(self.curr_yaw)] + cosang = np.dot(v1, v2) + sinang = la.norm(np.cross(v1, v2)) + temp_angle = np.arctan2(sinang, cosang) # [-pi, pi] + + if abs(temp_angle) < np.pi/2: + self.goal = idx + break + + # real look ahead distance + L = self.dist_arr[self.goal] + + # pure pursuit control law + alpha = self.path_points_heading[self.goal] - self.yaw + while alpha > 360: + alpha -= 360 + + while alpha < -360: + alpha += 360 + + print("path heading: ", self.path_points_heading[self.goal], "yaw: ", self.yaw) + front_wheel_angle = -2*math.atan((2*self.k*self.wheelbase*math.sin(alpha)) / L) + print("target: ", self.path_points_x[self.goal], self.path_points_y[self.goal], "dis:", self.dist_arr[self.goal]) + print("current: ", self.x_ned, self.y_ned) + # print("alpha:", alpha, "front wheel angle: ", front_wheel_angle) + # convert to control command + steering_cmd = 100.0*(front_wheel_angle*57.3)/31.5 + if steering_cmd > 100.0: + steering_cmd = 100.0 + if steering_cmd < -100.0: + steering_cmd = -100.0 + + print("steer_cmd", steering_cmd) + + return steering_cmd + + + def timer_callback(self): + cmd_msg = Dbw() + cmd_msg.parkbrake = 0 + cmd_msg.gear = 1 + # cmd_msg.throttle = self.pid() + cmd_msg.steering = self.pure_pursuit() + cmd_msg.throttle = 50.0 + # cmd_msg.steering = 0.0 + cmd_msg.brake = 0.0 + + self.control_pub.publish(cmd_msg) + + + +def main(): + rclpy.init() + tracking_node = PurePursuit() + print("Pure Pursuit Controller Tracking") + rclpy.spin(tracking_node) + tracking_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/gps_nav/gps_nav/track_log.py b/gps_nav/gps_nav/track_log.py new file mode 100644 index 0000000..ee15c6f --- /dev/null +++ b/gps_nav/gps_nav/track_log.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python3 + +# import ROS header +import rclpy +from rclpy.node import Node +import message_filters + +# import msg header +from std_msgs.msg import String, Float32MultiArray +from vectornav_msgs.msg import CommonGroup, InsGroup +from dbw_msgs.msg import Dbw + +# import Python header +import numpy as np +import csv +import pymap3d as pm + +class TrackLoger(Node): + + def __init__(self): + super().__init__('data_log') + + + #init subscriber + self.imu_common = self.create_subscription(CommonGroup, '/vectornav/raw/common', self.imu_common_callback, 10) + + # initial csv file + file = open('data_log.csv', 'w', encoding='UTF8', newline='') + self.writer = csv.writer(file) + self.log_header = ['x', 'y', 'yaw'] + self.writer.writerow(self.log_header) + + # initial position + # self.olat = 40.0928563 # 0_track starting point + # self.olon = -88.2359994 + # self.oalt = 202 + + self.olat = 40.0928319 # track starting point + self.olon = -88.2356109 + self.oalt = 203 + + + def imu_common_callback(self, imu_msg): + self.yaw = imu_msg.yawpitchroll.x + self.pitch = imu_msg.yawpitchroll.y + self.roll = imu_msg.yawpitchroll.z + + self.gyro_x = imu_msg.angularrate.x + self.gyro_y = imu_msg.angularrate.y + self.gyro_z = imu_msg.angularrate.z + + self.latitude = imu_msg.position.x + self.longitude = imu_msg.position.y + self.altitude = imu_msg.position.z + + self.v_n = imu_msg.velocity.x + self.v_e = imu_msg.velocity.y + self.v_d = imu_msg.velocity.z + + self.a_x = imu_msg.accel.x + self.a_y = imu_msg.accel.y + self.a_z = imu_msg.accel.z + + # self.ins_state = imu_msg.insstatus + + self.x, self.y, self.z = pm.geodetic2enu(self.latitude, self.longitude, self.altitude, self.olat, self.olon, self.oalt) + + + print([self.x, self.y, self.yaw]) + self.data=[self.x, self.y, self.yaw] + self.writer.writerow(self.data) + + + +def main(): + rclpy.init() + logger_node = TrackLoger() + print("Start logging") + rclpy.spin(logger_node) + logger_node.destroy_node() + self.df.to_csv('track.csv') + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/gps_nav/package.xml b/gps_nav/package.xml new file mode 100644 index 0000000..c6c6c80 --- /dev/null +++ b/gps_nav/package.xml @@ -0,0 +1,18 @@ + + + + gps_nav + 0.0.0 + TODO: Package description + jamie + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/gps_nav/resource/gps_nav b/gps_nav/resource/gps_nav new file mode 100644 index 0000000..e69de29 diff --git a/gps_nav/setup.cfg b/gps_nav/setup.cfg new file mode 100644 index 0000000..5ad4f6c --- /dev/null +++ b/gps_nav/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/gps_nav +[install] +install_scripts=$base/lib/gps_nav diff --git a/gps_nav/setup.py b/gps_nav/setup.py new file mode 100644 index 0000000..1a7ce21 --- /dev/null +++ b/gps_nav/setup.py @@ -0,0 +1,29 @@ +from setuptools import setup + +package_name = 'gps_nav' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='jamie', + maintainer_email='jz73@illinois.edu', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'pid = gps_nav.pid:main', + 'pp_pid = gps_nav.pp_pid:main', + 'track_log = gps_nav.track_log:main', + 'path_visual = gps_nav.path_visual:main' + ], + }, +) diff --git a/gps_nav/waypoints/0_track.csv b/gps_nav/waypoints/0_track.csv new file mode 100644 index 0000000..92a88e2 --- /dev/null +++ b/gps_nav/waypoints/0_track.csv @@ -0,0 +1,1279 @@ +-0.128,-0.002,88.449 +-0.128,-0.002,88.448 +-0.128,-0.002,88.446 +-0.128,-0.002,88.443 +-0.128,-0.002,88.445 +-0.129,-0.002,88.446 +-0.129,-0.002,88.444 +-0.129,-0.002,88.443 +-0.129,-0.002,88.444 +-0.129,-0.002,88.444 +-0.129,-0.002,88.448 +-0.129,-0.002,88.45 +-0.129,-0.002,88.45 +-0.129,-0.002,88.448 +-0.129,-0.002,88.451 +-0.129,-0.002,88.456 +-0.129,-0.002,88.452 +-0.129,-0.002,88.455 +-0.128,-0.002,88.46 +-0.128,-0.001,88.461 +-0.054,0.024,88.463 +-0.034,0.025,88.469 +-0.011,0.027,88.473 +0.016,0.029,88.475 +0.046,0.031,88.482 +0.081,0.032,88.487 +0.119,0.034,88.495 +0.16,0.036,88.504 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sensor_msgs.msg import Joy +from dbw_msgs.msg import Dbw + +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy + +class Teleop(Node): + + def __init__(self): + super().__init__('teleop') + + qos_control = QoSProfile( + # reliability=QoSReliabilityPolicy.BEST_EFFORT, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1 + ) + + # init publisher + self.control_pub= self.create_publisher(Dbw, '/control_cmd', qos_control) + + #init subscriber + self.joystick_sub = self.create_subscription(Joy, '/joy', self.joystick_callback, 10) + + #init variables + self.parking_brake = 1 + self.gear = 0 + self.throttle_cmd = 0.0 + self.brake_cmd = 0.0 + self.steering_cmd = 0.0 + + + def joystick_callback(self, msg): + #self.get_logger().info('I heard: "%s"' % msg.axes) + + # self.time_sec = msg.header.stamp.sec + # self.time_nsec = msg.header.stamp.nanosec + # print(msg.header.stamp) + # print("the time is:", self.time_sec, "s, ", self.time_nsec, "ns") + + # analog inputs + # (unpressed: 1; pressed: -1) + self.L2 = msg.axes[2] #brake + self.R2 = msg.axes[5] #throttle + + # (left: 1; right: -1; up: 1; down: -1) + self.L3_x = msg.axes[0] #steering + # self.L3_y = msg.axes[1] + # self.R3_x = msg.axes[3] + # self.R3_y = msg.axes[4] + + # digital inputs + # (unpressed: 0; pressed: 1) + self.cross = msg.buttons[0] # backward gear + self.circle = msg.buttons[1] # neutral gear + self.triangle = msg.buttons[2] # forward gear + self.square = msg.buttons[3] # parking brake + # self.L1 = msg.buttons[4] + # self.R1 = msg.buttons[5] + # self.L2_pressed = msg.buttons[6] + # self.R2_pressed = msg.buttons[7] + self.share = msg.buttons[8] + self.options = msg.buttons[9] + # self.ps = msg.buttons[10] + + + if self.square == 1: + self.parking_brake = 1 # park brake engaged + + if self.share == 1 and self.options == 1: + self.parking_brake = 0 # park brake disengaged + + + if self.triangle == 1: + self.gear = 1 # forward gear + if self.circle == 1: + self.gear = 0 # neutral gear + if self.cross == 1: + self.gear = 2 # backward gear + + self.throttle_cmd = 100.0*(-self.R2 + 1)/2 + self.brake_cmd = 100.0*(-self.L2 + 1)/2 + self.steering_cmd = 100*self.L3_x + + # print([self.parking_brake, self.gear, self.throttle_cmd, self.brake_cmd, self.steering_cmd]) + cmd_msg = Dbw() + cmd_msg.parkbrake = self.parking_brake + cmd_msg.gear = self.gear + cmd_msg.throttle = self.throttle_cmd + cmd_msg.steering = self.steering_cmd + cmd_msg.brake = self.brake_cmd + + self.control_pub.publish(cmd_msg) + + + +def main(): + rclpy.init() + teleop_node = Teleop() + print("Joystick control enabled") + rclpy.spin(teleop_node) + teleop_node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/joy_control/launch/joy_control_launch.py b/joy_control/launch/joy_control_launch.py new file mode 100644 index 0000000..a6d9f21 --- /dev/null +++ b/joy_control/launch/joy_control_launch.py @@ -0,0 +1,21 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='joy', + executable='joy_node', + name='joy_node' + ), + Node( + package='joy_control', + executable='joy_control', + name='joy_control' + ), + Node( + package='dbw', + executable='dbw', + name='dbw', + ) + ]) diff --git a/joy_control/package.xml b/joy_control/package.xml new file mode 100644 index 0000000..f0c59f2 --- /dev/null +++ b/joy_control/package.xml @@ -0,0 +1,18 @@ + + + + joy_control + 0.0.0 + TODO: Package description + jamie + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/joy_control/resource/joy_control b/joy_control/resource/joy_control new file mode 100644 index 0000000..e69de29 diff --git a/joy_control/setup.cfg b/joy_control/setup.cfg new file mode 100644 index 0000000..cd2a783 --- /dev/null +++ b/joy_control/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/joy_control +[install] +install_scripts=$base/lib/joy_control diff --git a/joy_control/setup.py b/joy_control/setup.py new file mode 100644 index 0000000..8152040 --- /dev/null +++ b/joy_control/setup.py @@ -0,0 +1,26 @@ +from setuptools import setup + +package_name = 'joy_control' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='jamie', + maintainer_email='jz73@illinois.edu', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'joy_control = joy_control.joy_control:main' + ], + }, +) diff --git a/joy_control/test/test_copyright.py b/joy_control/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/joy_control/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/joy_control/test/test_flake8.py b/joy_control/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/joy_control/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/joy_control/test/test_pep257.py b/joy_control/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/joy_control/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'