mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-04-20 03:41:17 -05:00
worth a shot to see if it works
This commit is contained in:
ryleu
@@ -1,18 +1,13 @@
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import rclpy
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from rclpy.node import Node
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from rclpy.executors import ExternalShutdownException
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from std_srvs.srv import Empty
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import signal
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import time
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import atexit
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import serial
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import serial.tools.list_ports
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import os
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from connector import Connector, SerialConnector, CANConnector
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import sys
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import threading
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import glob
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from std_msgs.msg import String, Header
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from astra_msgs.msg import VicCAN
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@@ -46,120 +41,13 @@ class Anchor(Node):
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- Publish raw strings to this topic to send directly to the MCU for debugging
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"""
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connector: Connector
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def __init__(self):
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# Initalize node with name
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super().__init__("anchor_node") # previously 'serial_publisher'
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self.serial_port: str | None = None # e.g., "/dev/ttyUSB0"
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# Serial port override
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if port_override := os.getenv("PORT_OVERRIDE"):
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self.serial_port = port_override
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##################################################
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# Serial MCU Discovery
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# If there was not a port override, look for a MCU over USB for Serial.
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if self.serial_port is None:
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comports = serial.tools.list_ports.comports()
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real_ports = list(
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filter(
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lambda p: p.vid is not None
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and p.pid is not None
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and p.device is not None,
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comports,
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)
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)
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recog_ports = list(filter(lambda p: (p.vid, p.pid) in KNOWN_USBS, comports))
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if len(recog_ports) == 1: # Found singular recognized MCU
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found_port = recog_ports[0]
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self.get_logger().info(
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f"Selecting MCU '{found_port.description}' at {found_port.device}."
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)
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self.serial_port = found_port.device # String, location of device file; e.g., '/dev/ttyACM0'
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elif len(recog_ports) > 1: # Found multiple recognized MCUs
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# Kinda jank log message
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self.get_logger().error(
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f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}"
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)
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# Don't set self.serial_port; later if-statement will exit()
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elif (
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len(recog_ports) == 0 and len(real_ports) > 0
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): # Found real ports but none recognized; i.e. maybe found an IMU or camera but not a MCU
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self.get_logger().error(
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f"No recognized MCUs found; instead found {[p.device for p in real_ports].__str__()}."
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)
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# Don't set self.serial_port; later if-statement will exit()
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else: # Found jack shit
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self.get_logger().error("No valid Serial ports specified or found.")
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# Don't set self.serial_port; later if-statement will exit()
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# We still don't have a serial port; fall back to legacy discovery (Areeb's code)
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# Loop through all serial devices on the computer to check for the MCU
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if self.serial_port is None:
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self.get_logger().warning("Falling back to legacy MCU discovery...")
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ports = Anchor.list_serial_ports()
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for _ in range(4):
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if self.serial_port is not None:
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break
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for port in ports:
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try:
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# connect and send a ping command
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ser = serial.Serial(port, 115200, timeout=1)
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# (f"Checking port {port}...")
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ser.write(b"ping\n")
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response = ser.read_until(bytes("\n", "utf8"))
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# if pong is in response, then we are talking with the MCU
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if b"pong" in response:
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self.serial_port = port
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self.get_logger().info(f"Found MCU at {self.serial_port}!")
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break
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except:
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pass
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# If port is still None then we ain't finding no mcu
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if self.serial_port is None:
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self.get_logger().error("Unable to find MCU. Exiting...")
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time.sleep(1)
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sys.exit(1)
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# Found a Serial port, try to open it; above code has not officially opened a Serial port
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else:
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self.get_logger().debug(
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f"Attempting to open Serial port '{self.serial_port}'..."
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)
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try:
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self.serial_interface = serial.Serial(
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self.serial_port, 115200, timeout=1
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)
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# Attempt to get name of connected MCU
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self.serial_interface.write(
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b"can_relay_mode,on\n"
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) # can_relay_ready,[mcu]
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mcu_name: str = ""
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for _ in range(4):
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response = self.serial_interface.read_until(bytes("\n", "utf8"))
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try:
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if b"can_relay_ready" in response:
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args: list[str] = response.decode("utf8").strip().split(",")
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if len(args) == 2:
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mcu_name = args[1]
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break
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except UnicodeDecodeError:
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pass # ignore malformed responses
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self.get_logger().info(
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f"MCU '{mcu_name}' is ready at '{self.serial_port}'."
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)
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except serial.SerialException as e:
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self.get_logger().error(
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f"Could not open Serial port '{self.serial_port}' for reason:"
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)
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self.get_logger().error(e.strerror)
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time.sleep(1)
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sys.exit(1)
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self.connector = SerialConnector(self.get_logger())
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# Close serial port on exit
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atexit.register(self.cleanup)
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@@ -167,7 +55,7 @@ class Anchor(Node):
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##################################################
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# ROS2 Topic Setup
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# New pub/sub with VicCAN
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# Pub/sub with VicCAN
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self.fromvic_debug_pub_ = self.create_publisher(
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String, "/anchor/from_vic/debug", 20
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)
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@@ -181,163 +69,32 @@ class Anchor(Node):
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VicCAN, "/anchor/from_vic/bio", 20
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)
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self.mock_mcu_sub_ = self.create_subscription(
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String, "/anchor/from_vic/mock_mcu", self.on_mock_fromvic, 20
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)
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self.tovic_sub_ = self.create_subscription(
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VicCAN, "/anchor/to_vic/relay", self.on_relay_tovic_viccan, 20
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)
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self.tovic_debug_sub_ = self.create_subscription(
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String, "/anchor/to_vic/relay_string", self.on_relay_tovic_string, 20
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VicCAN, "/anchor/to_vic/relay", self.connector.write, 20
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)
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# Create publishers
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self.arm_pub = self.create_publisher(String, "/anchor/arm/feedback", 10)
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self.core_pub = self.create_publisher(String, "/anchor/core/feedback", 10)
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self.bio_pub = self.create_publisher(String, "/anchor/bio/feedback", 10)
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self.debug_pub = self.create_publisher(String, "/anchor/debug", 10)
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# Create a subscriber
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self.relay_sub = self.create_subscription(
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String, "/anchor/relay", self.on_relay_tovic_string, 10
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)
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def cleanup(self):
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self.connector.cleanup()
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def read_MCU(self):
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"""Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
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try:
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output = str(self.serial_interface.readline(), "utf8")
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output = self.connector.read()
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if output:
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self.relay_fromvic(output)
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# All output over debug temporarily
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# self.get_logger().info(f"[MCU] {output}")
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msg = String()
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msg.data = output
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self.debug_pub.publish(msg)
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if output.startswith("can_relay_fromvic,core"):
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self.core_pub.publish(msg)
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elif output.startswith("can_relay_fromvic,arm") or output.startswith(
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"can_relay_fromvic,digit"
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): # digit for voltage readings
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self.arm_pub.publish(msg)
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if output.startswith("can_relay_fromvic,citadel") or output.startswith(
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"can_relay_fromvic,digit"
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): # digit for SHT sensor
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self.bio_pub.publish(msg)
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# msg = String()
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# msg.data = output
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# self.debug_pub.publish(msg)
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return
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except serial.SerialException as e:
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print(f"SerialException: {e}")
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print("Closing serial port.")
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try:
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if self.serial_interface.is_open:
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self.serial_interface.close()
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except:
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pass
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exit(1)
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except TypeError as e:
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print(f"TypeError: {e}")
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print("Closing serial port.")
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try:
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if self.serial_interface.is_open:
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self.serial_interface.close()
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except:
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pass
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exit(1)
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except Exception as e:
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print(f"Exception: {e}")
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# print("Closing serial port.")
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# if self.ser.is_open:
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# self.ser.close()
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# exit(1)
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if not output:
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return
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def on_mock_fromvic(self, msg: String):
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"""For testing without an actual MCU, publish strings here as if they came from an MCU"""
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# self.get_logger().info(f"Got command from mock MCU: {msg}")
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self.relay_fromvic(msg.data)
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self.relay_fromvic(output)
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def on_relay_tovic_viccan(self, msg: VicCAN):
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"""Relay a VicCAN message to the MCU"""
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output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
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for num in msg.data:
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output += f",{round(num, 7)}" # limit to 7 decimal places
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output += "\n"
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# self.get_logger().info(f"VicCAN relay to MCU: {output}")
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self.serial_interface.write(bytes(output, "utf8"))
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def relay_fromvic(self, msg: str):
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def relay_fromvic(self, msg: VicCAN):
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"""Relay a string message from the MCU to the appropriate VicCAN topic"""
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self.fromvic_debug_pub_.publish(String(data=msg))
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parts = msg.strip().split(",")
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if len(parts) > 0 and parts[0] != "can_relay_fromvic":
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self.get_logger().debug(f"Ignoring non-VicCAN message: '{msg.strip()}'")
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return
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msg.header = Header(stamp=self.get_clock().now().to_msg(), frame_id="from_vic")
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# String validation
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malformed: bool = False
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malformed_reason: str = ""
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if len(parts) < 3 or len(parts) > 7:
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malformed = True
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malformed_reason = (
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f"invalid argument count (expected [3,7], got {len(parts)})"
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)
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elif parts[1] not in ["core", "arm", "digit", "citadel", "broadcast"]:
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malformed = True
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malformed_reason = f"invalid mcu_name '{parts[1]}'"
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elif not (parts[2].isnumeric()) or int(parts[2]) < 0:
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malformed = True
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malformed_reason = f"command_id '{parts[2]}' is not a non-negative integer"
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else:
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for x in parts[3:]:
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try:
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float(x)
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except ValueError:
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malformed = True
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malformed_reason = f"data '{x}' is not a float"
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break
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if malformed:
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self.get_logger().warning(
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f"Ignoring malformed from_vic message: '{msg.strip()}'; reason: {malformed_reason}"
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)
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return
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# Have valid VicCAN message
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output = VicCAN()
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output.mcu_name = parts[1]
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output.command_id = int(parts[2])
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if len(parts) > 3:
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output.data = [float(x) for x in parts[3:]]
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output.header = Header(
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stamp=self.get_clock().now().to_msg(), frame_id="from_vic"
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)
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# self.get_logger().info(f"Relaying from MCU: {output}")
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if output.mcu_name == "core":
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self.fromvic_core_pub_.publish(output)
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elif output.mcu_name == "arm" or output.mcu_name == "digit":
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self.fromvic_arm_pub_.publish(output)
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elif output.mcu_name == "citadel" or output.mcu_name == "digit":
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self.fromvic_bio_pub_.publish(output)
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def on_relay_tovic_string(self, msg: String):
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"""Relay a raw string message to the MCU for debugging"""
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message = msg.data
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# self.get_logger().info(f"Sending command to MCU: {msg}")
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self.serial_interface.write(bytes(message, "utf8"))
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@staticmethod
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def list_serial_ports():
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return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
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def cleanup(self):
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print("Cleaning up before terminating...")
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if self.serial_interface.is_open:
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self.serial_interface.close()
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if msg.mcu_name == "core":
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self.fromvic_core_pub_.publish(msg)
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elif msg.mcu_name == "arm" or msg.mcu_name == "digit":
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self.fromvic_arm_pub_.publish(msg)
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elif msg.mcu_name == "citadel" or msg.mcu_name == "digit":
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self.fromvic_bio_pub_.publish(msg)
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def main(args=None):
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|
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194
src/anchor_pkg/anchor_pkg/connector.py
Normal file
194
src/anchor_pkg/anchor_pkg/connector.py
Normal file
@@ -0,0 +1,194 @@
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from abc import ABC, abstractmethod
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import serial
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import serial.tools.list_ports
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from astra_msgs.msg import VicCAN
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from rclpy.impl.rcutils_logger import RcutilsLogger
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KNOWN_USBS = [
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(0x2E8A, 0x00C0), # Raspberry Pi Pico
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(0x1A86, 0x55D4), # Adafruit Feather ESP32 V2
|
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(0x10C4, 0xEA60), # DOIT ESP32 Devkit V1
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(0x1A86, 0x55D3), # ESP32 S3 Development Board
|
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]
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BAUD_RATE = 115200
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class NoValidDeviceException(Exception):
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pass
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|
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class NoWorkingDeviceException(Exception):
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pass
|
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|
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|
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class MultipleValidDevicesException(Exception):
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pass
|
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|
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|
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class DeviceClosedException(Exception):
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pass
|
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class Connector(ABC):
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logger: RcutilsLogger
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@abstractmethod
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def read(self) -> VicCAN | None:
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pass
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@abstractmethod
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def write(self, msg: VicCAN):
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pass
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def cleanup(self):
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pass
|
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|
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class SerialConnector(Connector):
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port: str
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mcu_name: str
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serial_interface: serial.Serial
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override: bool
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|
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def _get_name(self, port: str) -> str | None:
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"""
|
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Get the name of the MCU (if it works)
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|
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returns: str name of the MCU, None if it doesn't work
|
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"""
|
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# attempt to open the serial port
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serial_interface: serial.Serial
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try:
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self.logger.info(f"asking {port} for its name")
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serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
|
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|
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for i in range(4):
|
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self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
|
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response = serial_interface.read_until(bytes("\n", "utf8"))
|
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try:
|
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if b"can_relay_ready" in response:
|
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args = response.decode("utf8").strip().split(",")
|
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if len(args) == 2:
|
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return args[1]
|
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break
|
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except UnicodeDecodeError as e:
|
||||
self.logger.debug(
|
||||
f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
|
||||
)
|
||||
|
||||
if serial_interface.is_open:
|
||||
serial_interface.close()
|
||||
except serial.SerialException as e:
|
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self.logger.error(f"SerialException when asking for MCU name: {e}")
|
||||
|
||||
return None
|
||||
|
||||
def _find_ports(self) -> list[str]:
|
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"""
|
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Finds all valid ports but does not test them
|
||||
|
||||
returns: all valid ports
|
||||
"""
|
||||
comports = serial.tools.list_ports.comports()
|
||||
valid_ports = list(
|
||||
map( # get just device strings
|
||||
lambda p: p.device,
|
||||
filter( # make sure we have a known device
|
||||
lambda p: (p.vid, p.pid, p.device) in KNOWN_USBS
|
||||
and p.device is not None,
|
||||
comports,
|
||||
),
|
||||
)
|
||||
)
|
||||
self.logger.debug(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
|
||||
return valid_ports
|
||||
|
||||
def cleanup(self):
|
||||
self.logger.info(f"closing serial port if open {self.port}")
|
||||
try:
|
||||
if self.serial_interface.is_open:
|
||||
self.serial_interface.close()
|
||||
except Exception as e:
|
||||
self.logger.error(e)
|
||||
|
||||
def __init__(self, logger: RcutilsLogger, port_override: str | None = None):
|
||||
self.logger = logger
|
||||
self.override = bool(port_override)
|
||||
|
||||
ports: list[str]
|
||||
|
||||
if port_override:
|
||||
ports = [port_override]
|
||||
else:
|
||||
ports = self._find_ports()
|
||||
|
||||
if len(ports) <= 0:
|
||||
raise NoValidDeviceException("no valid serial device found")
|
||||
if (l := len(ports)) > 1:
|
||||
raise MultipleValidDevicesException(
|
||||
f"too many ({l}) valid serial devices found"
|
||||
)
|
||||
|
||||
# check each of our ports to make sure one of them is responding
|
||||
port = ports[0]
|
||||
mcu_name = "mock" if self.override else self._get_name(port)
|
||||
if not mcu_name:
|
||||
raise NoWorkingDeviceException(
|
||||
f"found {port}, but it did not respond with its name"
|
||||
)
|
||||
|
||||
self.port = port
|
||||
self.mcu_name = mcu_name
|
||||
|
||||
# if we fail at this point, it should crash because we've already tested the port
|
||||
self.serial_interface = serial.Serial(self.port, BAUD_RATE, timeout=1)
|
||||
|
||||
def read(self) -> VicCAN | None:
|
||||
try:
|
||||
raw = str(self.serial_interface.readline(), "utf8")
|
||||
|
||||
if not raw:
|
||||
return None
|
||||
|
||||
parts = raw.split(",")
|
||||
|
||||
# don't need an extra check because len of .split output is always >= 1
|
||||
if parts[0] != "can_relay_fromvic":
|
||||
self.logger.debug(f"got non-CAN data from {self.mcu_name}: {raw}")
|
||||
return None
|
||||
elif len(parts) < 3:
|
||||
self.logger.debug(
|
||||
f"got garbage (not enough parts) CAN data from {self.mcu_name}: {raw}"
|
||||
)
|
||||
return None
|
||||
elif len(parts) > 7:
|
||||
self.logger.debug(
|
||||
f"got garbage (too many parts) CAN data from {self.mcu_name}: {raw}"
|
||||
)
|
||||
return None
|
||||
|
||||
return VicCAN(
|
||||
mcu_name=parts[1],
|
||||
command_id=parts[2],
|
||||
data=[float(x) for x in parts[3:]],
|
||||
)
|
||||
except serial.SerialException as e:
|
||||
self.logger.error(f"SerialException: {e}")
|
||||
self._close_port()
|
||||
raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
|
||||
except TypeError as e:
|
||||
self.logger.error(f"TypeError: {e}")
|
||||
self._close_port()
|
||||
raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
|
||||
except Exception:
|
||||
pass # pretty much no other error matters
|
||||
|
||||
def write(self, msg: VicCAN):
|
||||
# go from [ w, x, y, z ] -> "w,x,y,z" & round to 7 digits max
|
||||
data = ",".join([str(round(x, 7)) for x in msg.data])
|
||||
output = f"can_relay_tovic,{msg.mcu_name},{msg.command_id},{data}\n"
|
||||
self.serial_interface.write(bytes(output, "utf8"))
|
||||
|
||||
|
||||
class CANConnector(Connector):
|
||||
pass
|
||||
Reference in New Issue
Block a user