Initial commit, add all current packages

src/arm_pkg/arm_pkg/arm_relay_node.py

@@ -0,0 +1,275 @@
+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 ArmManual
+from ros2_interfaces_pkg.msg import ArmIK
+from ros2_interfaces_pkg.msg import SocketFeedback
+
+serial_pub = None
+thread = None
+
+class SerialRelay(Node):
+    def __init__(self):
+        # Initialize node with name
+        super().__init__("arm_relay")
+
+        # Create publishers
+
+        #Depricated, temporary for reference
+        # self.output_publisher = self.create_publisher(String, '/astra/arm/feedback', 10)
+        # self.state_publisher = self.create_publisher(ArmState, '/astra/arm/state', 10)
+        # self.faerie_publisher = self.create_publisher(FaerieTelemetry, '/astra/arm/bio/feedback', 10)
+
+        self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
+        self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10)
+
+
+        # Create subscribers
+
+        #Depricated, temporary for reference
+        #self.control_subscriber = self.create_subscription(ControllerState, '/astra/arm/control', self.send_controls, 10)
+        
+        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10) 
+        self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
+
+        #self.command_subscriber = self.create_subscription(String, '/astra/arm/command', self.send_command, 10)
+        #self.faerie_subscriber = self.create_subscription(String, "/astra/arm/bio/control", self.send_faerie_controls, 10)
+
+        # Loop through all serial devices on the computer to check for the MCU
+        self.port = None
+        ports = SerialRelay.list_serial_ports()
+        for i in range(2):
+            for port in ports:
+                try:
+                    # connect and send a ping command
+                    ser = serial.Serial(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 = port
+                        print(f"Found MCU at {self.port}!")
+                        break
+                except:
+                    pass
+            if self.port is not None:
+                break
+        
+        if self.port is None:
+            print("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()
+        
+        try:
+            while rclpy.ok():
+                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:
+                print(f"[MCU] {output}", end="")
+                msg = String()
+                msg.data = output
+                self.debug_pub.publish(msg)
+        except serial.SerialException:
+            print("SerialException caught... closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            pass
+        except TypeError as e:
+            print(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_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.ser.write(bytes(command, "utf8"))
+        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
+    
+
+    # Depricated functions, kept temporarily for reference
+
+    # def send_controls(self, msg):
+    #     command = ""
+    #     ef_cmd = ""
+    #     if(msg.b):
+    #         command = "arm,stop\n"
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+    #         return 
+        
+    #     if(msg.a):
+    #         command = "arm,endEffect,act,0"#retract actuator out
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+    #     elif(msg.x):
+    #         command = "arm,endEffect,act,1"#extend actuator in
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+
+    #     if(msg.plus):
+    #         command = "arm,endEffect,laser,1\n"
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+    #     elif(msg.minus):
+    #         command = "arm,endEffect,laser,0\n"
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+        
+    #     if(msg.rb):
+    #         ef_cmd = "arm,endEffect,ctrl,"
+    #         if(msg.lt >= 0.5):
+    #             ef_cmd += "-1,"
+    #         elif(msg.rt >= 0.5):
+    #             ef_cmd += "1,"
+    #         else:
+    #             ef_cmd += "0,"
+
+    #         if(msg.rs_x < 0):
+    #             ef_cmd += "-1,"
+    #         elif(msg.rs_x > 0):
+    #             ef_cmd += "1,"
+    #         else:
+    #             ef_cmd += "0,"
+    #         if(msg.ls_x < 0):
+    #             ef_cmd += "-1"
+    #         elif(msg.ls_x > 0):
+    #             ef_cmd += "1"
+    #         else:
+    #             ef_cmd += "0"
+
+    #         command = ef_cmd + "\n"
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+    #         return
+    #     else:
+    #         ef_cmd = "arm,endEffect,ctrl,"
+    #         if(msg.lt >= 0.5):
+    #             ef_cmd += "-1,0,0"
+    #         elif(msg.rt >= 0.5):
+    #             ef_cmd += "1,0,0"
+    #         else:
+    #             ef_cmd += "0,0,0"
+    #         command = ef_cmd + "\n"
+    #         self.ser.write(bytes(command, "utf8"))
+    #         print(f"[Wrote] {command}", end="")
+        
+    #     if(msg.lb):
+    #         #self.ser.write(bytes("arm,setMode,manual\n", "utf8"))
+    #         command = "arm,man,0.25,"
+    #     else:
+    #         #self.ser.write(bytes("arm,setMode,manual\n", "utf8"))
+    #         command = "arm,man,0.15,"
+
+    #     if(msg.d_left):
+    #         command += "-1,"
+    #     elif(msg.d_right):
+    #         command += "1,"
+    #     else:
+    #         command += "0,"
+    #     if(msg.ls_x < -0.4):
+    #         command += "1,"
+    #     elif(msg.ls_x > 0.4):
+    #         command += "-1,"
+    #     else:
+    #         command += "0,"
+    #     if(msg.ls_y < -0.4):
+    #         command += "1,"
+    #     elif(msg.ls_y > 0.4):
+    #         command += "-1,"
+    #     else:
+    #         command += "0,"
+    #     if(msg.rs_y < -0.4):
+    #         command += "1"
+    #     elif(msg.rs_y > 0.4):
+    #         command += "-1"
+    #     else:
+    #         command += "0"
+
+    #     command += "\n"
+    #     self.ser.write(bytes(command, "utf8"))
+    #     print(f"[Wrote] {command}", end="")
+    #     return
+
+    @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/arm_pkg/arm_pkg/arm_relay_node.py.bkp

@@ -0,0 +1,259 @@
+import rclpy
+from rclpy.node import Node
+
+import serial
+import sys
+import threading
+import glob
+import time
+
+
+from std_msgs.msg import String
+from interfaces_pkg.msg import ControllerState
+from interfaces_pkg.msg import ArmState
+
+
+
+serial_pub = None
+thread = None
+
+
+class SerialRelay(Node):
+    def __init__(self):
+        # Initalize node with name
+        super().__init__("arm_relay")
+
+        # Create a publisher to publish any output the mcu sends
+        self.output_publisher = self.create_publisher(String, '/astra/arm/feedback', 10)#Random String feedback data
+        self.state_publisher = self.create_publisher(ArmState, '/astra/arm/state', 10)#Standard state feedback data
+
+        # Create a subscriber to listen to any commands sent for the mcu
+        self.subscriber = self.create_subscription(ControllerState, '/astra/arm/control', self.send_controls, 10)
+
+        # Loop through all serial devices on the computer to check for the mcu
+        self.port = None
+        ports = SerialRelay.list_serial_ports()
+        for port in ports:
+            try:
+                # connect and send a ping command
+                ser = serial.Serial(port, timeout=1)
+                ser.write(b"arm,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 = port
+                    print(f"Found MCU at {self.port}!")
+                    break
+            except:
+                pass
+        
+        if self.port is None:
+           print("Unable to find MCU... please make sure it is connected.")
+           #sys.exit(1) TEMPORARY TEST, UNCOMMENT THIS LINE IN THE FUTURE
+        
+        self.ser = serial.Serial(self.port, 115200)
+
+        #self.mutex = threading.Lock()
+
+    def run(self):
+        # This thread makes all the update processes run in the background
+        global thread
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon = True)
+        thread.start()
+        
+        try:
+            while rclpy.ok():
+                # Check the mcu for updates
+                #rclpy.spin_once(self, timeout_sec=0.1)
+                #self.mutex.acquire()
+                if self.ser.in_waiting:
+                    #self.mutex.release()
+                    self.read_mcu()
+                else:
+                    time.sleep(0.1)
+
+        except KeyboardInterrupt:
+            #self.mutex.release()
+            serial_pub.ser.close()
+            sys.exit(0)
+        
+
+    def read_mcu(self):
+        try:
+            #self.mutex.acquire()
+            output = str(self.ser.readline(), "utf8")
+            if output:
+                print(f"[MCU] {output}", end="")
+                # Create a string message object
+                msg = String()
+
+                # Set message data
+                msg.data = output
+
+                # Publish data
+                self.output_publisher.publish(msg)
+                #print(f"[MCU] Publishing: {msg}")
+
+        except serial.SerialException:
+            #self.mutex.release()
+            pass
+        #finally:
+            #self.mutex.release()
+
+    def send_controls(self, msg):
+        command = ""
+        ef_cmd = "" #end effector command to be apended
+        #self.mutex.acquire()
+        if(msg.b):#If B button: send ESTOP command
+            command = "arm,stop\n"
+            self.ser.write(bytes(command, "utf8"))#Send command to MCU
+            print(f"[Wrote] {command}", end="")#Echo command to console
+
+            #self.mutex.release()#Release mutex lock
+            return 
+        
+        if(msg.plus):#Turn EF laser on
+            command = "arm,endEffect,laser,1\n"
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")
+        elif(msg.minus):#Turn EF laser off
+            command = "arm,endEffect,laser,0\n"
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")
+        
+        if(msg.rb):#If RB button: End Effector control mode
+            ef_cmd = "arm,endEffect,ctrl,"
+            
+            if(msg.lt >= 0.5):#If LT button: Open end effector
+                ef_cmd += "-1,"
+            elif(msg.rt >= 0.5):#If RT button: Close end effector
+                ef_cmd += "1,"
+            else:
+                ef_cmd += "0,"
+
+            if(msg.rs_x < 0): #Check left/stop/right for tilt movement
+                ef_cmd += "-1,"
+            elif(msg.rs_x > 0):
+                ef_cmd += "1,"
+            else:
+                ef_cmd += "0,"
+            pass
+            
+            if(msg.ls_x < 0): #Check left/stop/right for revolve movement
+                ef_cmd += "-1"
+            elif(msg.ls_x > 0):
+                ef_cmd += "1"
+            else:
+                ef_cmd += "0"
+
+            command = ef_cmd + "\n"
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")         
+            #self.mutex.release()   
+            return
+        else:
+            ef_cmd = "arm,endEffect,ctrl,"
+            if(msg.lt >= 0.5):
+                ef_cmd += "-1,0,0"
+            elif(msg.rt >= 0.5):
+                ef_cmd += "1,0,0"
+            else:
+                ef_cmd += "0,0,0"
+            command = ef_cmd + "\n"
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")
+        
+        if(msg.lb):#If LB button: Manual control mode
+            #First, ensure control mode is set to manual on the MCU
+            self.ser.write(bytes("arm,setMode,manual\n", "utf8"))
+            #print(f"[Wrote] arm,setMode,manual", end="")
+            
+            command = "arm,man,0.15,"#Set manual control duty cycle statically to 15% for now
+            if(msg.d_left):#If D-Pad left set axis_1 to -1
+                command += "-1,"
+            elif(msg.d_right):#If D-Pad right set axis_0 to 1
+                command += "1,"
+            else:
+                command += "0,"
+
+            #Axis_1
+            if(msg.ls_x < -0.5):#If LS left at least 50% set axis_1 to -1
+                command += "-1,"
+            elif(msg.ls_x > 0.5):#If LS right at least 50% set axis_1 to 1
+                command += "1,"
+            else:
+                command += "0,"
+
+            #Axis_2 
+            if(msg.ls_y < -0.5):#If LS up at least 50% set axis_2 to 1
+                command += "1,"
+            elif(msg.ls_y > 0.5):#If LS down at least 50% set axis_2 to -1
+                command += "-1,"
+            else:
+                command += "0,"
+
+            #Axis_3
+            if(msg.rs_y < -0.5):#If RS up at least 50% set axis_3 to 1
+                command += "1"
+            elif(msg.rs_y > 0.5):#If RS down at least 50% set axis_3 to -1
+                command += "-1"
+            else:
+                command += "0"
+
+            command += "\n"
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")
+
+            #self.mutex.release()
+            return
+        else:#Else normal (IK) control mode
+            #First, ensure control mode is set to IK on the MCU
+            self.ser.write(bytes("arm,setMode,ik\n", "utf8"))
+            #print(f"[Wrote] arm,setMode,ik", end="")
+
+            command = "arm,ik,"
+            if(msg.d_left):#If D-Pad left set axis zero to -1
+                command += "-1,"
+            elif(msg.d_right):#If D-Pad right set axis zero to 1
+                command += "1,"
+            else:
+                command += "0," 
+
+            #start with input from controller
+            coord_x = -1*msg.ls_y #out/in
+            coord_y = -1*msg.rs_y #up/down
+
+            #convert units for ik coordinate offsets
+            coord_x = round(coord_x * 20.4 * 2, 1) #20.4mm (1 in.) per 1 unit of input. Times 2 for two inches
+            coord_y = round(coord_y * 20.4 * 2, 1) #
+
+            command += f"{coord_x},{coord_y}\n"
+
+            self.ser.write(bytes(command, "utf8"))
+            print(f"[Wrote] {command}", end="")
+            #self.mutex.release()
+            return
+        
+
+    @staticmethod
+    def list_serial_ports():
+        return glob.glob("/dev/tty[A-Za-z]*")
+        
+
+def myexcepthook(type, value, tb):
+    print("Uncaught exception:", type, value)
+    serial_pub.ser.close()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    sys.excepthook = myexcepthook
+
+    global serial_pub
+    serial_pub = SerialRelay()
+    serial_pub.run()
+
+
+if __name__ == '__main__':
+    main()

src/arm_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>arm_pkg</name>
+  <version>1.0.0</version>
+  <description>Core arm package which handles ROS2 commnuication.</description>
+  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <license>All Rights Reserved</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/arm_pkg/setup.cfg

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

src/arm_pkg/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'arm_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',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'arm = arm_pkg.arm_relay_node:main'
+        ],
+    },
+)

src/arm_pkg/test/test_copyright.py

@@ -0,0 +1,25 @@
+# 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/arm_pkg/test/test_flake8.py

@@ -0,0 +1,25 @@
+# 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/arm_pkg/test/test_pep257.py

@@ -0,0 +1,23 @@
+# 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'