merge core headless

src/core_pkg/core_pkg/core_headless.py

@@ -0,0 +1,132 @@
+import rclpy
+from rclpy.node import Node
+
+import pygame
+
+import time
+
+import serial
+import sys
+import threading
+import glob
+import os
+
+import importlib
+from std_msgs.msg import String
+from ros2_interfaces_pkg.msg import CoreControl
+
+
+os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
+os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
+
+
+max_speed = 75 #Max speed as a duty cycle percentage (1-100)
+
+class Headless(Node):
+    def __init__(self):
+        # Initalize node with name
+        super().__init__("core_headless")
+
+        self.create_timer(0.20, self.send_controls)
+
+
+        # Create a publisher to publish any output the pico sends
+        self.publisher = self.create_publisher(CoreControl, '/core/control', 10) 
+
+
+        self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
+
+        pygame.init()
+
+        # Initialize the gamepad module
+        pygame.joystick.init()
+
+        # Check if any gamepad is connected
+        if pygame.joystick.get_count() == 0:
+            print("No gamepad found.")
+            pygame.quit()
+            exit()
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                exit()
+
+        # Initialize the first gamepad, print name to terminal
+        self.gamepad = pygame.joystick.Joystick(0)
+        self.gamepad.init()
+        print(f'Gamepad Found: {self.gamepad.get_name()}')
+        #
+        #
+
+
+    def run(self):
+        # This thread makes all the update processes run in the background
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+        thread.start()
+        
+
+        try:
+            while rclpy.ok():
+                #Check the pico for updates
+                self.send_controls()
+
+                if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
+                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
+                    
+                    while pygame.joystick.get_count() == 0:
+                        self.send_controls()
+                    self.gamepad = pygame.joystick.Joystick(0)
+                    self.gamepad.init() #re-initialized gamepad
+                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
+                    
+
+        except KeyboardInterrupt:
+            sys.exit(0)
+        
+
+    def send_controls(self):
+        
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                exit()
+        input = CoreControl()
+
+        input.max_speed = max_speed
+
+        input.right_stick = round(self.gamepad.get_axis(4),2)#right y-axis
+        if self.gamepad.get_axis(5) > 0:
+            input.left_stick = input.right_stick
+        else:
+            input.left_stick = round(self.gamepad.get_axis(1),2)#lext y-axis
+
+
+
+        if pygame.joystick.get_count() != 0:
+            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}' #stop the rover if there is no controller connected
+            self.get_logger().info(f"[Ctrl] {output}")
+            self.publisher.publish(input)
+        else:
+            input.left_stick = 0
+            input.right_stick = 0
+            input.max_speed = 0
+            self.get_logger().info(f"[Ctrl] Stopping. No Gamepad Connected. ")
+            self.publisher.publish(input)
+
+
+        
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = Headless()
+    
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+    #tb_bs = BaseStation()
+    #node.run()
+
+
+if __name__ == '__main__':
+    main()

src/core_pkg/core_pkg/core_node.py

@@ -21,7 +21,7 @@ thread = None
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("serial_publisher")#previously 'serial_publisher'
+        super().__init__("core_node")#previously 'serial_publisher'
 
         # Create publishers for feedback and telemetry
         self.debug_pub = self.create_publisher(String, '/core/debug', 10) 

src/core_pkg/setup.py

@@ -17,10 +17,10 @@ setup(
     maintainer_email='tristanmcginnis26@gmail.com',
     description='Core rover control package to handle command interpretation and embedded interfacing.',
     license='All Rights Reserved',
-    tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "core_control = core_pkg.core_control_node:main"
+            "core = core_pkg.core_node:main",
+            "headless = core_pkg.core_headless:main"
         ],
     },
 )

src/core_pkg/test/test_copyright.py

@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'

src/core_pkg/test/test_flake8.py

@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)

src/core_pkg/test/test_pep257.py

@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'