Remove old ESW code and add new interface files (#562)

* Add projects with pinouts * Add some boilerplate for brushed motor controller * Add PIDF * Add units library and update usage * Work more on controller design * Fix types for units * Add reader and writer interface for input to controller (NOT COMPILING RN) * Fix compile error * I should get burned at the town square for this metapgraomming witchery * Clean up slightly * Ditch massive header only units library that was C++14 and took forever to compile * Minor fixes * Refactor to use trailing return type and auto in function parameters * Normalize naming * Add position control logic * Added copy ctor and assignment operator for Unit and added Convertible concept * Add clang format and tidy, add more units * Add more information to implementing controller * Fix Ratioable concept bug * remove useless line * add specialization for radians. TODO: might want to make this for angles in general, or better, upgrade to quaternions * initial implementation for EncoderReader, haven't fused with absolute encoder yet * Update pdb ioc to include auton LED pins * init motor library * Add moteus git submodule * Motor interface improvements * Add moteus to cmake * Update motors manager to distinguish between brushed and brushless * Add very buggy implementation of drive_bridge * Stop drive wheels if no message received within heartbeat * Add multiplier functionality to drive, asserts, and comments * Add arm bridge code * Update arm library to adjust for changes in units * Add LED HW Bridge implementation * Add PDB Bridge * Create mast gimbal bridge * update mast gimbal bugs * Update some bugs * Add some CAN library thingy * Integrate CANManager * Add some more can code * Add position, throttle, and velocity * Change to rad/s * Attempt to adjust to use position velocity and throttle for more * Throttle, velocity * Add some stuff * Update CMakelists * Remove outdated code and update CMakeLists so we can actually start debuggin hahahaha * updated science pinout * Try to resolve some errors * Try to fix more errors * Make changes for mast gimbal bridge * Add function stubs for publishing data for drive * updated science pinout * Update msg and srv files * Remove outdated firmware * Modify some code * Update files * make compile, circular import is circular * minor changes * Make catkin build work in ci mode * Change garbage logic to TODO ros info logs * Add led node * Move position, velocity, and throttle functions to MotorsManager * Create template for cache, sa, and science bridge * Make code build * Properly subscribe to all servers [albeit in an ugly way] * Simplify science bridge code using lambda function * Change frame to variable size vector * Update SA bridge to use UV LED * Change it to message id * Add CAN node * Add FreeRTOS to science fw * Add science task prototypes * Update pdb code * Update CAN Node * Try to use actual CAN interface messages * Move files to .cpp * Add templated function for sending can messages. Make interface for generic. Use bit case instead of unions * Minor changes * update can msg * Update pdb pinoutto have RA laser and UV bulb * Remove from asserts * Remove unfinished programs * Modify and delete outdated launch files * Remove more new code --------- Co-authored-by: qhdwight <[email protected]> Co-authored-by: Steven Xia <[email protected]> Co-authored-by: Wilson <[email protected]> Co-authored-by: jmaff <[email protected]> Co-authored-by: wisabel0 <[email protected]> Co-authored-by: Owen Park <[email protected]>
umrover · Oct 7, 2023 · e44b080 · e44b080
1 parent e36317a
commit e44b080
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Showing 266 changed files with 76 additions and 215,705 deletions.
diff --git a/.gitignore b/.gitignore
@@ -29,3 +29,18 @@ moteus-cal*
 
 # CSV
 *.csv
+
+# STM32 workspace
+.metadata
+
+Debug/
+Release/
+.metadata/
+.settings/
+RemoteSystemsTempFiles/
+
+*.chm
+*.settings.xml
+
+*.xml
+*.launch
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "deps/moteus"]
+	path = deps/moteus
+	url = [email protected]:mjbots/moteus.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,9 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
     add_link_options(-fuse-ld=lld-16)
 endif ()
-set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -Werror -pedantic)
+if (CMAKE_BUILD_TYPE STREQUAL "Release")
+    set(MROVER_CPP_COMPILE_OPTIONS -Wall -Wextra -Werror -pedantic)
+endif ()
 
 # Generate compile_commands.json for clangd
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -24,48 +26,45 @@ set(MROVER_PACKAGES
 
 # Message files
 set(MROVER_MESSAGE_FILES
-        AvailableCameras.msg
-        Calibrated.msg
         CalibrationStatus.msg
         CameraCmd.msg
-        Carousel.msg
+        CAN.msg
         Chassis.msg
+        ControllerGroupState.msg
+        ControllerState.msg
         Course.msg
-        Diagnostic.msg
         EnableAuton.msg
-        GPSWaypoint.msg
         GPSPointList.msg
+        GPSWaypoint.msg
         HeaterData.msg
         ImuAndMag.msg
-        LimitSwitchData.msg
-        MastGimbal.msg
-        JointLock.msg
+        LED.msg
         MoteusState.msg
         MotorsStatus.msg
         NavMetadata.msg
+        NavState.msg
         NetworkBandwidth.msg
-        ScienceTemperature.msg
+        PDB.msg
+        Position.msg
+        ScienceThermistors.msg
         Spectral.msg
+        SpectralGroup.msg
+        Throttle.msg
+        Velocity.msg
         Waypoint.msg
         WaypointType.msg
         GPSPointList.msg
 )
 
 # Service files
 set(MROVER_SERVICE_FILES
-        AdjustMotors.srv
-        CalibrateMotors.srv
+        AdjustMotor.srv
         ChangeArmMode.srv
         ChangeCameras.srv
-        ChangeHeaterState.srv
-        ChangeServoAngle.srv
-        EnableDevice.srv
-        FetchMessageFromPackage.srv
         FetchMessageFromPackage.srv
         FetchPackages.srv
-        PublishEnableAuton.srv
         PublishCourse.srv
-        ResetCameras.srv
+        PublishEnableAuton.srv
 )
 
 # Generate messages list
@@ -106,6 +105,11 @@ macro(add_cpp_library_macro name sources includes)
     rosify_cpp_target_macro(${name})
 endmacro()
 
+macro(add_cpp_interface_library_macro name includes)
+    add_library(${name} INTERFACE)
+    target_include_directories(${name} INTERFACE ${includes})
+endmacro()
+
 macro(add_cpp_node_macro name sources)
     file(GLOB_RECURSE CPP_NODE_SOURCES ${sources})
     add_executable(${name} ${CPP_NODE_SOURCES})
@@ -183,7 +187,7 @@ if (${DEVICE} MATCHES "raspi4")
     # define an add and link macro
     # Put items here to build
     macro(add_and_link_macro)
-        add_cpp_node_macro(brushed_motors "src/esw/brushed_motors/*")
+        # add_cpp_node_macro(arm_bridge "src/esw/arm_bridge/*")
     endmacro()
 else ()
     # -=-=-=-=-
@@ -233,23 +237,18 @@ else ()
         target_precompile_headers(tag_detector_nodelet PRIVATE src/perception/tag_detector/pch.hpp)
         target_link_libraries(tag_detector_nodelet PRIVATE opencv_core opencv_objdetect opencv_aruco opencv_imgproc lie)
 
-        add_cpp_node_macro(brushed_motors "src/esw/brushed_motors/*.cpp")
+        add_cpp_library_macro(lie src/util/lie/*.cpp src/util/lie)
 
-        add_cpp_library_macro(lie "src/util/lie/*.cpp" "src/util/lie")
+        add_cpp_interface_library_macro(moteus deps/moteus/lib/cpp/mjbots)
+
+        add_gazebo_plugin_macro(differential_drive_plugin_6w src/gazebo/differential_drive_6w.cpp src)
 
-        add_gazebo_plugin_macro(differential_drive_plugin_6w "src/gazebo/differential_drive_6w.cpp" "src")
-
-        add_gazebo_plugin_macro(kinect_plugin "src/gazebo/gazebo_ros_openni_kinect.cpp" "src/gazebo")
+        add_gazebo_plugin_macro(kinect_plugin src/gazebo/gazebo_ros_openni_kinect.cpp src/gazebo)
         target_link_libraries(kinect_plugin PRIVATE gazebo_ros_camera_utils DepthCameraPlugin Eigen3::Eigen)
         set_target_properties(kinect_plugin PROPERTIES CXX_CLANG_TIDY "")
 
         if (ZED_FOUND)
-            #            add_cpp_node_macro(zed_node "src/perception/zed_wrapper/*.c*")
-            #            target_link_options(zed_node PRIVATE "LINKER:--copy-dt-needed-entries")
-            #            target_include_directories(zed_node SYSTEM PRIVATE ${ZED_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
-            #            target_link_libraries(zed_node PRIVATE ${ZED_LIBRARIES} ${OpenCV_LIBRARIES} ${SPECIAL_OS_LIBS} lie tag_detector_nodelet)
-
-            add_cpp_nodelet_macro(zed_nodelet "src/perception/zed_wrapper/*.c*" , "src/perception/zed_wrapper")
+            add_cpp_nodelet_macro(zed_nodelet src/perception/zed_wrapper/*.c* src/perception/zed_wrapper)
             target_precompile_headers(zed_nodelet PRIVATE src/perception/zed_wrapper/pch.hpp)
             target_include_directories(zed_nodelet SYSTEM PRIVATE ${ZED_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
             target_link_libraries(zed_nodelet PRIVATE ${ZED_LIBRARIES} ${OpenCV_LIBRARIES} ${SPECIAL_OS_LIBS} lie)

diff --git a/deps/moteus b/deps/moteus
diff --git a/launch/brushed.launch b/launch/brushed.launch
diff --git a/launch/brushless.launch b/launch/brushless.launch
diff --git a/launch/jetson.launch b/launch/jetson.launch
@@ -19,13 +19,6 @@
     <rosparam command="load" file="$(find mrover)/config/teleop.yaml"/>
     <node name="jetson_teleop" pkg="mrover" type="jetson_teleop.py"/>
 
-    <!-- science board node for Auton, ES, and Science missions. -->
-    <node name="science" pkg="mrover" type="science.py" output="screen"/>
-
     <!-- camera node -->
     <node name="cameras" pkg="mrover" type="cameras.py"/>
-
-    <!-- Run the auton led program -->
-    <node name="auton_led" pkg="mrover" type="auton_led.py" output="screen"></node>
-
 </launch>
diff --git a/launch/pi.launch b/launch/pi.launch
diff --git a/msg/AvailableCameras.msg b/msg/AvailableCameras.msg
diff --git a/msg/CAN.msg b/msg/CAN.msg
@@ -0,0 +1,3 @@
+uint8 bus
+uint16 message_id
+uint8[] data
diff --git a/msg/Calibrated.msg b/msg/Calibrated.msg
diff --git a/msg/Carousel.msg b/msg/Carousel.msg
diff --git a/msg/ControllerGroupState.msg b/msg/ControllerGroupState.msg
@@ -0,0 +1 @@
+ControllerState[] controllers
diff --git a/msg/ControllerState.msg b/msg/ControllerState.msg
@@ -0,0 +1,3 @@
+string name
+string state # Armed, Disconnected, or Error
+string error
diff --git a/msg/Diagnostic.msg b/msg/Diagnostic.msg
diff --git a/msg/HeaterData.msg b/msg/HeaterData.msg
@@ -1 +1 @@
-bool[3] state
+bool[6] state
diff --git a/msg/JointLock.msg b/msg/JointLock.msg
diff --git a/msg/LED.msg b/msg/LED.msg
@@ -0,0 +1,4 @@
+bool red
+bool green
+bool blue
+bool is_blinking
diff --git a/msg/LimitSwitchData.msg b/msg/LimitSwitchData.msg
diff --git a/msg/MastGimbal.msg b/msg/MastGimbal.msg
diff --git a/msg/NavState.msg b/msg/NavState.msg
@@ -0,0 +1 @@
+bool completed  # TODO - temporary
diff --git a/msg/PDB.msg b/msg/PDB.msg
@@ -0,0 +1,2 @@
+float32[5] temperatures # Celsius. 0-2 are for the 12V bucks, 3 is for 5V, 4 is for 3.3V.
+float32[5] currents # Amperes
diff --git a/msg/Position.msg b/msg/Position.msg
@@ -0,0 +1,2 @@
+string[] names # names of joints
+float32[] positions # position should be in radians for the joints
diff --git a/msg/ScienceTemperature.msg b/msg/ScienceTemperature.msg
diff --git a/msg/ScienceThermistors.msg b/msg/ScienceThermistors.msg
@@ -0,0 +1 @@
+sensor_msgs/Temperature[6] temperatures  # Celsius
diff --git a/msg/Spectral.msg b/msg/Spectral.msg
@@ -1 +1 @@
-int32[6] data
+int32[6] data
diff --git a/msg/SpectralGroup.msg b/msg/SpectralGroup.msg
@@ -0,0 +1 @@
+Spectral[3] spectrals
diff --git a/msg/Throttle.msg b/msg/Throttle.msg
@@ -0,0 +1,2 @@
+string[] names # names of joints
+float32[] throttles # throttle should be [-1.0, 1.0] for the joints
diff --git a/msg/Velocity.msg b/msg/Velocity.msg
@@ -0,0 +1,2 @@
+string[] names # names of joints
+float32[] velocities # velocity should be in rad/s for joints
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		float32[5] temperatures # Celsius. 0-2 are for the 12V bucks, 3 is for 5V, 4 is for 3.3V.
		float32[5] currents # Amperes
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		string[] names # names of joints
		float32[] positions # position should be in radians for the joints
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		sensor_msgs/Temperature[6] temperatures # Celsius
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		string[] names # names of joints
		float32[] throttles # throttle should be [-1.0, 1.0] for the joints
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		string[] names # names of joints
		float32[] velocities # velocity should be in rad/s for joints