Add bio package. Subup ros2_interfaces_pkg

src/bio_pkg/bio_pkg/bio_node.py

@@ -0,0 +1,217 @@
+import rclpy
+from rclpy.node import Node
+import serial
+import sys
+import threading
+import glob
+import time
+import atexit
+import signal
+from std_msgs.msg import String
+from ros2_interfaces_pkg.msg import BioControl
+
+serial_pub = None
+thread = None
+
+class SerialRelay(Node):
+    def __init__(self):
+        # Initialize node
+        super().__init__("bio_node")
+
+        # Get launch mode parameter
+        self.declare_parameter('launch_mode', 'bio')
+        self.launch_mode = self.get_parameter('launch_mode').value
+        self.get_logger().info(f"bio launch_mode is: {self.launch_mode}")
+
+        # Create publishers
+        self.debug_pub = self.create_publisher(String, '/bio/feedback/debug', 10)
+        #self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10)
+
+
+        # Create subscribers\
+        self.control_sub = self.create_subscription(BioControl, '/bio/control', self.send_control, 10)
+
+        # Topics used in anchor mode
+        if self.launch_mode == 'anchor':
+            self.anchor_sub = self.create_subscription(String, '/anchor/bio/feedback', self.anchor_feedback, 10)
+            self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
+
+
+        # Search for ports IF in 'arm' (standalone) and not 'anchor' mode
+        if self.launch_mode == 'bio':
+            # Loop through all serial devices on the computer to check for the MCU
+            self.port = None
+            for i in range(2):
+                try:
+                    # connect and send a ping command
+                    set_port = '/dev/ttyACM0' #MCU is controlled through GPIO pins on the PI
+                    ser = serial.Serial(set_port, 115200, timeout=1)
+                    #print(f"Checking port {port}...")
+                    ser.write(b"ping\n")
+                    response = ser.read_until("\n")
+
+                    # if pong is in response, then we are talking with the MCU
+                    if b"pong" in response:
+                        self.port = set_port
+                        self.get_logger().info(f"Found MCU at {set_port}!")
+                        break
+                except:
+                    pass
+            
+            if self.port is None:
+                self.get_logger().info("Unable to find MCU... please make sure it is connected.")
+                time.sleep(1)
+                sys.exit(1)
+            
+            self.ser = serial.Serial(self.port, 115200)
+            atexit.register(self.cleanup)
+
+    def run(self):
+        global thread
+        thread = threading.Thread(target=rclpy.spin, args=(self,), daemon=True)
+        thread.start()
+        
+        #if in arm mode, will need to read from the MCU 
+
+        try:
+            while rclpy.ok():
+                if self.launch_mode == 'bio':
+                    if self.ser.in_waiting:
+                        self.read_mcu()
+                    else:
+                        time.sleep(0.1)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            self.cleanup()
+
+
+    #Currently will just spit out all values over the /arm/feedback/debug topic as strings
+    def read_mcu(self):
+        try:
+            output = str(self.ser.readline(), "utf8")
+            if output:
+                self.get_logger().info(f"[MCU] {output}")
+                msg = String()
+                msg.data = output
+                self.debug_pub.publish(msg)
+        except serial.SerialException:
+            self.get_logger().info("SerialException caught... closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+        except TypeError as e:
+            self.get_logger().info(f"TypeError: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+        except Exception as e:
+            print(f"Exception: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+
+    def send_ik(self, msg):
+        pass
+
+
+    def send_control(self, msg):
+        if msg.pumpID != 0:
+            command = "can_relay_tovic,citadel,27," + str(msg.pumpID) + "," + str(msg.pumpAmount) + "\n"
+            self.send_cmd(command)
+        if msg.fanID != 0:
+            command = "can_relay_tovic,citadel,40," + str(msg.fanID) + "," + str(msg.fanDuration) + "\n"
+            self.send_cmd(command)
+        if msg.servoID != 0:
+            command = "can_relay_tovic,citadel,25," + str(msg.servoID) + "," + str(msg.servoPosition) + "\n"
+            self.send_cmd(command)
+
+        #########
+        # To add LSS command here
+        #########
+
+        command = "can_relay_tovic,citadel,26," + str(msg.vibrationMotor) + "\n"
+        self.send_cmd(command)
+
+    def send_manual(self, msg):
+        axis0 = msg.axis0
+        axis1 = msg.axis1
+        axis2 = msg.axis2
+        axis3 = msg.axis3
+
+        #Send controls for arm
+        command = "can_relay_tovic,arm,40," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
+        self.send_cmd(command)
+        
+        #Send controls for end effector
+        command = "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
+        self.send_cmd(command)
+        
+        command = "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
+        self.send_cmd(command)
+
+        command = "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
+        self.send_cmd(command)
+
+        command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+        self.send_cmd(command)
+        
+        
+        
+        #print(f"[Wrote] {command}", end="")
+
+    #Not yet finished, needs embedded implementation for new commands
+        # ef_roll = msg.effector_roll
+        # ef_yaw = msg.effector_yaw
+        # gripper = msg.gripper
+        # actuator = msg.linear_actuator
+        # laser = msg.laser
+        # #Send controls for digit
+
+        # command = "can_relay_tovic,digit," + str(ef_roll) + "," + str(ef_yaw) + "," + str(gripper) + "," + str(actuator) + "," + str(laser) + "\n"
+
+        return
+    
+    def send_cmd(self, msg):
+        if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay
+            output = String()
+            output.data = msg
+            self.anchor_pub.publish(output)
+        elif self.launch_mode == 'bio': #if in standalone mode, send to MCU directly
+            self.get_logger().info(f"[Bio to MCU] {msg}")
+            self.ser.write(bytes(msg, "utf8"))
+
+    def anchor_feedback(self, msg):
+        self.get_logger().info(f"[Bio Anchor] {msg.data}")
+        #self.send_cmd(msg.data)
+
+
+    @staticmethod
+    def list_serial_ports():
+        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
+        #return glob.glob("/dev/tty[A-Za-z]*")
+
+    def cleanup(self):
+        print("Cleaning up...")
+        if self.ser.is_open:
+            self.ser.close()
+
+def myexcepthook(type, value, tb):
+    print("Uncaught exception:", type, value)
+    if serial_pub:
+        serial_pub.cleanup()
+
+def main(args=None):
+    rclpy.init(args=args)
+    sys.excepthook = myexcepthook
+
+    global serial_pub
+    serial_pub = SerialRelay()
+    serial_pub.run()
+
+if __name__ == '__main__':
+    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
+    main()

src/bio_pkg/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bio_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>ros2_interfaces_pkg</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/bio_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/bio_pkg
+[install]
+install_scripts=$base/lib/bio_pkg

src/bio_pkg/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'bio_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='tristan',
+    maintainer_email='tristanmcginnis26@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    entry_points={
+        'console_scripts': [
+            'bio = bio_pkg.bio_node:main'
+        ],
+    },
+)

src/core_pkg/core_pkg/core_node.py

@@ -185,7 +185,7 @@ class SerialRelay(Node):
             self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg):
-        self.get_logger().info(f"[Arm Anchor] {msg}")
+        self.get_logger().info(f"[Core Anchor] {msg}")
 
     def ping_callback(self, request, response):
         return response