mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-04-20 03:41:17 -05:00
some consistency stuff with comments and also remove timeout from serial reads
This commit is contained in:
ryleu
@@ -12,7 +12,7 @@ cd $repo_root
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echo "this will nuke all of your current un-commited git changes, including any changes to submodules and any gitignored files. is this okay? (y/N)"
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read okay
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if [[ ! $okay == "y" ]]; then
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if [[ $okay != "y" ]]; then
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echo "you didn't say exactly 'y'. aborting." >&2
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exit 2
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fi
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@@ -13,6 +13,7 @@ fi
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cd "$repo_root"
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# colors
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BOLD='\033[1m'
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RED='\033[1;31m'
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GREEN='\033[1;32m'
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@@ -69,6 +70,24 @@ wait_for_topic() {
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return 0
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}
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# run a ROS pub/echo test
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# usage: ros_pubsub_test <echo_topic> <pub_topic> <msg_type> <msg_data>
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# returns the echo output via stdout
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ros_pubsub_test() {
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local echo_topic="$1"
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local pub_topic="$2"
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local msg_type="$3"
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local msg_data="$4"
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timeout 5 bash -c "
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ros2 topic echo --once $echo_topic &
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ECHO_PID=\$!
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sleep 0.5
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ros2 topic pub --once $pub_topic $msg_type \"$msg_data\" >/dev/null 2>&1
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wait \$ECHO_PID
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" 2>/dev/null || true
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}
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test_mock_connector() {
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log "testing mock connector"
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@@ -90,91 +109,57 @@ test_mock_connector() {
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log "anchor started successfully"
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# relay -> debug
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# test: relay -> debug
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log "testing relay -> debug"
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local output
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output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay" \
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"astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}')
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local debug_output
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debug_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 50, data: [1.0, 2.0, 3.0, 4.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n $debug_output ]] && echo "$debug_output" | grep -q "can_relay_tovic,core,50"; then
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if [[ -n $output ]] && echo "$output" | grep -q "can_relay_tovic,core,50"; then
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pass "mock connector: relay -> debug"
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else
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fail "mock connector: relay -> debug"
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fi
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# mock_mcu -> from_vic/core
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# test: mock_mcu -> from_vic/core
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log "testing mock_mcu (core) -> from_vic/core"
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output=$(ros_pubsub_test "/anchor/from_vic/core" "/anchor/from_vic/mock_mcu" \
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"astra_msgs/msg/VicCAN" '{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}')
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local core_output=""
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core_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 10, data: [100.0, 200.0]}" >/dev/null 2>&1 || true
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wait $ECHO_PID || true
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' 2>/dev/null || true) || core_output=""
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if [[ -n $core_output ]] && echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 10"; then
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if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
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pass "mock connector: mock_mcu -> from_vic/core"
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else
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fail "mock connector: mock_mcu -> from_vic/core"
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fi
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# mock_mcu -> from_vic/arm
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# test: mock_mcu -> from_vic/arm
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log "testing mock_mcu (arm) -> from_vic/arm"
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output=$(ros_pubsub_test "/anchor/from_vic/arm" "/anchor/from_vic/mock_mcu" \
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"astra_msgs/msg/VicCAN" '{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}')
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local arm_output
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arm_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/arm &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"arm\", command_id: 55, data: [0.0, 450.0, 900.0, 0.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n $arm_output ]] && echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 55"; then
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if [[ -n $output ]] && echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 55"; then
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pass "mock connector: mock_mcu -> from_vic/arm"
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else
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fail "mock connector: mock_mcu -> from_vic/arm"
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fi
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# mock_mcu -> from_vic/bio
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# test: mock_mcu -> from_vic/bio
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log "testing mock_mcu (citadel) -> from_vic/bio"
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output=$(ros_pubsub_test "/anchor/from_vic/bio" "/anchor/from_vic/mock_mcu" \
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"astra_msgs/msg/VicCAN" '{mcu_name: \"citadel\", command_id: 20, data: [5.0]}')
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local bio_output
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bio_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/bio &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/from_vic/mock_mcu astra_msgs/msg/VicCAN "{mcu_name: \"citadel\", command_id: 20, data: [5.0]}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$bio_output" | grep -q "mcu_name: citadel" && echo "$bio_output" | grep -q "command_id: 20"; then
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if echo "$output" | grep -q "mcu_name: citadel" && echo "$output" | grep -q "command_id: 20"; then
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pass "mock connector: mock_mcu -> from_vic/bio"
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else
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fail "mock connector: mock_mcu -> from_vic/bio"
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fi
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# relay_string -> debug
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# test: relay_string -> debug
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log "testing relay_string -> debug"
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output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
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"std_msgs/msg/String" '{data: \"test_raw_string_data\"}')
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local relay_string_output
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relay_string_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"test_raw_string_data\"}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "test_raw_string_data"; then
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if [[ -n $output ]] && echo "$output" | grep -q "test_raw_string_data"; then
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pass "mock connector: relay_string -> debug"
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else
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fail "mock connector: relay_string -> debug"
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@@ -218,26 +203,61 @@ test_serial_connector() {
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pass "serial connector: anchor starts with virtual serial"
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# relay_string -> debug
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# test: relay -> serial output (VicCAN encoding)
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log "testing relay -> serial output"
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local serial_out_file
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serial_out_file=$(mktemp)
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# Start head first (blocks waiting for input), then publish
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timeout 5 head -n1 /tmp/ttyOUT >"$serial_out_file" &
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local head_pid=$!
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sleep 0.3
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN \
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'{mcu_name: "core", command_id: 30, data: [1.0, 2.0, 3.0, 4.0]}' >/dev/null 2>&1
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wait $head_pid 2>/dev/null || true
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local serial_out
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serial_out=$(cat "$serial_out_file")
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rm -f "$serial_out_file"
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if [[ -n $serial_out ]] && echo "$serial_out" | grep -q "can_relay_tovic,core,30"; then
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pass "serial connector: relay -> serial output"
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else
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fail "serial connector: relay -> serial output (got: $serial_out)"
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fi
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# test: serial input -> from_vic/core
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log "testing serial input -> from_vic/core"
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local output
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output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
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sleep 0.5
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echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
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sleep 0.5
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echo "can_relay_fromvic,core,15,10.0,20.0,30.0,40.0" > /tmp/ttyOUT
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wait $ECHO_PID
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' 2>/dev/null) || true
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if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
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pass "serial connector: serial input -> from_vic/core"
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else
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fail "serial connector: serial input -> from_vic/core (got: $output)"
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fi
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# test: relay_string -> debug
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log "testing relay_string -> debug"
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output=$(ros_pubsub_test "/anchor/to_vic/debug" "/anchor/to_vic/relay_string" \
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"std_msgs/msg/String" '{data: \"serial_test_string\"}')
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local relay_string_output
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relay_string_output=$(timeout 5 bash -c '
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ros2 topic echo --once /anchor/to_vic/debug &
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ECHO_PID=$!
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay_string std_msgs/msg/String "{data: \"serial_test_string\"}" >/dev/null 2>&1
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wait $ECHO_PID
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' 2>/dev/null) || true
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if [[ -n $relay_string_output ]] && echo "$relay_string_output" | grep -q "serial_test_string"; then
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if [[ -n $output ]] && echo "$output" | grep -q "serial_test_string"; then
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pass "serial connector: relay_string -> debug"
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else
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fail "serial connector: relay_string -> debug"
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fi
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log "serial data transfer tests skipped (virtual pty limitation)"
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kill -INT -- -"$ANCHOR_PID" 2>/dev/null || true
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wait "$ANCHOR_PID" 2>/dev/null || true
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ANCHOR_PID=""
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@@ -268,106 +288,102 @@ test_can_connector() {
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log "anchor started successfully"
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sleep 1
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# relay -> CAN bus
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# test: relay -> CAN bus
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# core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
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log "testing relay -> CAN bus"
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local can_output
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can_output=$(timeout 8 bash -c '
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candump -n 1 vcan0 &
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DUMP_PID=$!
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sleep 1
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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wait $DUMP_PID
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' 2>/dev/null) || true
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local output
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output=$(timeout 8 bash -c '
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candump -n 1 vcan0 &
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DUMP_PID=$!
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sleep 1
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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sleep 0.5
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ros2 topic pub --once /anchor/to_vic/relay astra_msgs/msg/VicCAN "{mcu_name: \"core\", command_id: 30, data: [1, 2, 3, 4]}" >/dev/null 2>&1
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wait $DUMP_PID
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' 2>/dev/null) || true
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# core=1, int16x4=2, cmd=30 -> id = (1<<8)|(2<<6)|30 = 0x19E
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if echo "$can_output" | grep -qi "19E"; then
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if echo "$output" | grep -qi "19E"; then
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pass "CAN connector: relay -> CAN bus"
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else
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fail "CAN connector: relay -> CAN bus (got: $can_output)"
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fail "CAN connector: relay -> CAN bus (got: $output)"
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fi
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|
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# CAN -> from_vic/core
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# test: CAN -> from_vic/core
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log "testing CAN bus -> from_vic/core"
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local core_output
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core_output=$(timeout 5 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
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ECHO_PID=$!
|
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sleep 1
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cansend vcan0 18F#000A0014001E0028
|
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sleep 0.5
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cansend vcan0 18F#000A0014001E0028
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wait $ECHO_PID
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' 2>/dev/null) || true
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output=$(timeout 5 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
|
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ECHO_PID=$!
|
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sleep 1
|
||||
cansend vcan0 18F#000A0014001E0028
|
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sleep 0.5
|
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cansend vcan0 18F#000A0014001E0028
|
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wait $ECHO_PID
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' 2>/dev/null) || true
|
||||
|
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if echo "$core_output" | grep -q "mcu_name: core" && echo "$core_output" | grep -q "command_id: 15"; then
|
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if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 15"; then
|
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pass "CAN connector: CAN -> from_vic/core"
|
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else
|
||||
fail "CAN connector: CAN -> from_vic/core"
|
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fi
|
||||
|
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# CAN -> from_vic/arm
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# test: CAN -> from_vic/arm
|
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log "testing CAN bus -> from_vic/arm"
|
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|
||||
local arm_output
|
||||
arm_output=$(timeout 5 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/arm &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 294#00640096012C01F4
|
||||
sleep 0.5
|
||||
cansend vcan0 294#00640096012C01F4
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
output=$(timeout 5 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/arm &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 294#00640096012C01F4
|
||||
sleep 0.5
|
||||
cansend vcan0 294#00640096012C01F4
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
|
||||
if echo "$arm_output" | grep -q "mcu_name: arm" && echo "$arm_output" | grep -q "command_id: 20"; then
|
||||
if echo "$output" | grep -q "mcu_name: arm" && echo "$output" | grep -q "command_id: 20"; then
|
||||
pass "CAN connector: CAN -> from_vic/arm"
|
||||
else
|
||||
fail "CAN connector: CAN -> from_vic/arm"
|
||||
fi
|
||||
|
||||
# double data type
|
||||
# test: CAN double data type (data_type_key=0)
|
||||
log "testing CAN double data type"
|
||||
|
||||
local double_output
|
||||
double_output=$(timeout 8 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
sleep 0.5
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
sleep 0.5
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
output=$(timeout 8 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
sleep 0.5
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
sleep 0.5
|
||||
cansend vcan0 105#3FF0000000000000
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
|
||||
if echo "$double_output" | grep -q "mcu_name: core" && echo "$double_output" | grep -q "command_id: 5"; then
|
||||
if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 5"; then
|
||||
pass "CAN connector: double data type"
|
||||
else
|
||||
fail "CAN connector: double data type"
|
||||
fi
|
||||
|
||||
# float32x2 data type
|
||||
# test: CAN float32x2 data type (data_type_key=1)
|
||||
log "testing CAN float32x2 data type"
|
||||
|
||||
local float_output
|
||||
float_output=$(timeout 8 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
sleep 0.5
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
sleep 0.5
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
output=$(timeout 8 bash -c '
|
||||
ros2 topic echo --once /anchor/from_vic/core &
|
||||
ECHO_PID=$!
|
||||
sleep 1
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
sleep 0.5
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
sleep 0.5
|
||||
cansend vcan0 14A#3F80000040000000
|
||||
wait $ECHO_PID
|
||||
' 2>/dev/null) || true
|
||||
|
||||
if echo "$float_output" | grep -q "mcu_name: core" && echo "$float_output" | grep -q "command_id: 10"; then
|
||||
if echo "$output" | grep -q "mcu_name: core" && echo "$output" | grep -q "command_id: 10"; then
|
||||
pass "CAN connector: float32x2 data type"
|
||||
else
|
||||
fail "CAN connector: float32x2 data type"
|
||||
|
||||
@@ -40,9 +40,9 @@ class Anchor(Node):
|
||||
* /anchor/to_vic/relay
|
||||
- Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
|
||||
* /anchor/to_vic/relay_string
|
||||
- Send raw strings to connectors. Does not work for CANConnector.
|
||||
- Send raw strings to connectors. Does not work for CANConnector
|
||||
* /anchor/relay
|
||||
- (Deprecated) Legacy method. Takes String, converts to VicCAN, then sends to connector.
|
||||
- (Deprecated) Legacy topic. Takes String, converts to VicCAN, then sends to connector
|
||||
"""
|
||||
|
||||
connector: Connector
|
||||
@@ -52,7 +52,7 @@ class Anchor(Node):
|
||||
|
||||
logger = self.get_logger()
|
||||
|
||||
# ROS2 Parameter Setup
|
||||
# ROS2 parameter setup
|
||||
|
||||
self.declare_parameter(
|
||||
"connector",
|
||||
@@ -87,7 +87,7 @@ class Anchor(Node):
|
||||
),
|
||||
)
|
||||
|
||||
# Determine which connector to use. Options are Mock, Serial, and CAN
|
||||
# determine which connector to use. options are Mock, Serial, and CAN
|
||||
connector_select = (
|
||||
self.get_parameter("connector").get_parameter_value().string_value
|
||||
)
|
||||
@@ -127,9 +127,9 @@ class Anchor(Node):
|
||||
)
|
||||
exit(1)
|
||||
|
||||
# ROS2 Topic Setup
|
||||
# ROS2 topic setup
|
||||
|
||||
# Publishers
|
||||
# publishers
|
||||
self.fromvic_debug_pub_ = self.create_publisher( # only used by serial
|
||||
String,
|
||||
"/anchor/from_vic/debug",
|
||||
@@ -150,14 +150,14 @@ class Anchor(Node):
|
||||
"/anchor/from_vic/bio",
|
||||
20,
|
||||
)
|
||||
# Debug publisher for outgoing messages
|
||||
# debug publisher for outgoing messages
|
||||
self.tovic_debug_pub_ = self.create_publisher(
|
||||
String,
|
||||
"/anchor/to_vic/debug",
|
||||
20,
|
||||
)
|
||||
|
||||
# Subscribers
|
||||
# subscribers
|
||||
self.tovic_sub_ = self.create_subscription(
|
||||
VicCAN,
|
||||
"/anchor/to_vic/relay",
|
||||
@@ -183,10 +183,10 @@ class Anchor(Node):
|
||||
20,
|
||||
)
|
||||
|
||||
# Timer to poll connector for incoming data at 100 Hz
|
||||
# poll at 100Hz for incoming data
|
||||
self.read_timer_ = self.create_timer(0.01, self.read_connector)
|
||||
|
||||
# Close devices on exit
|
||||
# close devices on exit
|
||||
atexit.register(self.cleanup)
|
||||
|
||||
def cleanup(self):
|
||||
@@ -249,6 +249,7 @@ def main(args=None):
|
||||
except (KeyboardInterrupt, ExternalShutdownException):
|
||||
pass
|
||||
finally:
|
||||
# might not have to shut down everything manually, find out later ~riley
|
||||
executor.shutdown()
|
||||
anchor_node.destroy_node()
|
||||
rclpy.try_shutdown()
|
||||
|
||||
@@ -154,7 +154,7 @@ class SerialConnector(Connector):
|
||||
serial_interface: serial.Serial
|
||||
try:
|
||||
self.logger.info(f"asking {port} for its name")
|
||||
serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
|
||||
serial_interface = serial.Serial(port, BAUD_RATE)
|
||||
|
||||
serial_interface.write(b"can_relay_mode,on\n")
|
||||
|
||||
@@ -429,7 +429,7 @@ class CANConnector(Connector):
|
||||
class MockConnector(Connector):
|
||||
def __init__(self, logger: RcutilsLogger, clock: Clock):
|
||||
super().__init__(logger, clock)
|
||||
# No hardware interface for MockConnector. Publish to `/anchor/from_vic/mock_mcu` instead.
|
||||
# no hardware interface for MockConnector. publish to `/anchor/from_vic/mock_mcu` instead
|
||||
|
||||
def read(self) -> tuple[VicCAN | None, str | None]:
|
||||
return (None, None)
|
||||
|
||||
Reference in New Issue
Block a user