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combined scythe and citadel, added placeholder service for libs, changed values of VicCAN commands

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This commit is contained in:
iggy
2026-02-23 05:25:59 -06:00
parent 6061baec1b
commit 5a2358a176
3 changed files with 35 additions and 54 deletions
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8
flake.lock generated
View File

@@ -10,17 +10,17 @@
]
},
"locked": {
"lastModified": 1771721097,
"narHash": "sha256-VIEvS1O0P44iHOgnCB5j0d6SvkwgDewskdc13q+sk8Q=",
"lastModified": 1771845042,
"narHash": "sha256-pGsb93ZlMhP3biy8S2eJc1sW+35vmaxlWHTbuwZDlQI=",
"owner": "SHC-ASTRA",
"repo": "astra_msgs",
"rev": "2a90e7712424d8f44093334f7a359696d9398216",
"rev": "acabfd117d9711afc420612375b4e02f4ce4982d",
"type": "github"
},
"original": {
"owner": "SHC-ASTRA",
"repo": "astra_msgs",
"rev": "2a90e7712424d8f44093334f7a359696d9398216",
"rev": "acabfd117d9711afc420612375b4e02f4ce4982d",
"type": "github"
}
},

2
flake.nix
View File

@@ -5,7 +5,7 @@
nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
nixpkgs.follows = "nix-ros-overlay/nixpkgs";
astra-msgs.url =
"github:SHC-ASTRA/astra_msgs/2a90e7712424d8f44093334f7a359696d9398216";
"github:SHC-ASTRA/astra_msgs/acabfd117d9711afc420612375b4e02f4ce4982d";
};
outputs =

79
src/bio_pkg/bio_pkg/bio_node.py
View File

@@ -5,8 +5,8 @@ import time
import rclpy
from astra_msgs.action import BioVacuum
from astra_msgs.msg import BioControl, BioDistributor, BioLaser, FaerieControl, ScytheControl, VicCAN
from astra_msgs.srv import BioTestTube
from astra_msgs.msg import CitadelControl, FaerieControl, VicCAN
from astra_msgs.srv import BioTestTube, LibsSystem
from rclpy.action import ActionServer
from rclpy.node import Node
from std_msgs.msg import Header, String
@@ -42,38 +42,28 @@ class SerialRelay(Node):
)
self.anchor_pub = self.create_publisher(String, "/anchor/relay", 10)
self.distributor_sub = self.create_subscription(
BioDistributor,
"/bio/control/distributor",
self.distributor_callback,
# Messages
self.citadel_sub = self.create_subscription(
CitadelControl,
"/bio/control/citadel",
self.citadel_callback,
10,
)
self.faerie_sub = self.create_subscription(
FaerieControl,
"/bio/control/faerie",
FaerieControl,
"/bio/control/faerie",
self.faerie_callback,
10,
)
self.scythe_sub = self.create_subscription(
ScytheControl,
"/bio/control/scythe",
self.scythe_callback,
10,
)
self.laser_sub = self.create_subscription(
ScytheControl,
"/bio/control/laser",
self.laser_callback,
10,
)
# Services
self.test_tube_service = self.create_service(
BioTestTube, "/bio/control/test_tube", self.test_tube_callback
)
self.libs_service = self.create_service(
LibsSystem, "bio/control/libs_system", self.libs_callback
)
# Actions
self._action_server = ActionServer(
@@ -91,9 +81,6 @@ class SerialRelay(Node):
except KeyboardInterrupt:
pass
def send_control(self, msg: BioControl):
print("todo")
def send_cmd(self, msg: str):
# send to anchor node to relay
output = String()
@@ -121,9 +108,9 @@ class SerialRelay(Node):
self.get_logger().info(f"[Bio Anchor] {msg.data}")
# no data planned to be received from citadel, not sure about lance
def distributor_callback(self, msg: BioDistributor):
def citadel_callback(self, msg: CitadelControl):
distributor_arr = msg.distributor_id
# if (any in distributor >
# Distributor Control
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="citadel",
@@ -136,17 +123,17 @@ class SerialRelay(Node):
],
)
self.anchor_tovic_pub_.publish(vic_cmd)
def faerie_callback(self, msg: FaerieControl):
# msg.vibration_motor:
# Move Scythe
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="digit",
command_id=37,
data=[float(msg.vibration_motor)]
command_id=42,
data=[float(msg.move_scythe)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
# msg.move_faerie:
def faerie_callback(self, msg: FaerieControl):
# Move Faerie
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="digit",
@@ -154,31 +141,22 @@ class SerialRelay(Node):
data=[float(msg.move_faerie)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
# msg.drill_speed
# Drill Speed
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="digit",
command_id=19,
data=[float(msg.drill_speed)],
data=[
float(msg.drill_speed * 100)
], # change on embedded so we can go (-1,1)
)
self.anchor_tovic_pub_.publish(vic_cmd)
def scythe_callback(self, msg: ScytheControl):
# Vanity Laser Control
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="digit",
command_id=24,
data=[float(msg.move_scythe)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
def laser_callback(self, msg: BioLaser):
vic_cmd = VicCAN(
header=Header(stamp=self.get_clock().now().to_msg()),
mcu_name="digit",
command_id=24,
data=[float(msg.fire)],
command_id=28,
data=[float(msg.vanity_laser)],
)
self.anchor_tovic_pub_.publish(vic_cmd)
@@ -195,6 +173,9 @@ class SerialRelay(Node):
self.anchor_tovic_pub_.publish(vic_cmd)
return response
def libs_callback(self, request, response):
print("todo")
def execute_vacuum(self, goal_handle):
valve_id = int(goal_handle.request.valve_id)
duty = int(goal_handle.request.fan_duty_cycle_percent)