fix the readme

Anchor Serial Refactor

README.md

@@ -65,10 +65,10 @@ You can fake the presence of a Serial device (i.e., MCU) by using the following
 $ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT
 ```
 
-When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so:
+When you go to run anchor, use the `port_override` launch parameter to point it to the fake serial port, like so:
 
 ```bash
-$ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py
+$ ros2 launch anchor_pkg rover.launch.py port_override:=/tmp/ttyACM9
 ```
 
 ### Connecting the GuliKit Controller
@@ -121,23 +121,24 @@ A: Don't worry about it. If you had the workspace sourced, ROS2 will complain ab
 ...
 ```
 
-A: To find a microcontroller to talk to, Anchor sends a ping to every Serial port on your computer. If it does not receive a 'pong' in less than one second, then it aborts. There are a few possible fixes:
+A: To find a microcontroller to talk to, Anchor filters through your available serial ports to find microcontrollers. If the microcontroller fails
+to respond properly, or one is not found, it will abort. There are a few possible fixes:
 
 - Keep trying to run it until it works
 - Run `lsusb` to see if the microcontroller is detected by your computer.
 - Run `ls /dev/tty*0` to see if there is a valid Serial port enumerated for the microcontroller.
-- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`).
+- Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`) by using the `groups` command.
 
 ## Packages
 
 - [anchor\_pkg](./src/anchor_pkg) - Handles Serial communication between the various other packages here and the microcontroller.
 - [arm\_pkg](./src/arm_pkg) - Relays controls and sensor data for the arm (socket and digit) between anchor and basestation/headless.
 - [astra\_descriptions](./src/astra_descriptions) - Submodule with URDF-related packages.
+- [astra\_msgs](./src/astra_msgs) - Contains custom message types for communication between basestation and the rover over ROS2.
 - [bio\_pkg](./src/bio_pkg) - Like arm_pkg, but for CITADEL and FAERIE
 - [core\_pkg](./src/core_pkg) - Like arm_pkg, but for Core
 - [headless\_pkg](./src/headless_pkg) - Simple, non-graphical controller node to work in place of basestation when controlling the rover by itself. This is autostarted with anchor to allow for setup-less control of the rover.
 - [latency\_tester](./src/latency_tester) - A temporary node to test comms latency over ROS2, Serial, and CAN.
-- [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`).
 - [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK.
 
 ## Maintainers

auto_start/auto_start_anchor.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/auto_start_headless_full.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/start_rosbag.sh

@@ -17,7 +17,11 @@ done
 echo "[INFO] Network interface is up!"
 
 
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
 

docker-compose.yml

@@ -1,18 +0,0 @@
-
-services:
-  ros2:
-    image: osrf/ros:jazzy-desktop-full
-    container_name: ros2_jazzy_gui
-    network_mode: host
-    environment:
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - XAUTHORITY=/tmp/.docker.xauth
-      - NVIDIA_VISIBLE_DEVICES=all
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./ros_ws:/ros_ws
-    stdin_open: true
-    tty: true
-    privileged: true

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,84 +1,137 @@
-import rclpy
-from rclpy.node import Node
-from std_srvs.srv import Empty
-
-import signal
-import time
 import atexit
-
-import serial
-import os
-import sys
-import threading
 import glob
+import signal
+import threading
+from typing import cast
+
+import rclpy
+import serial
+import serial.tools.list_ports
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from std_msgs.msg import Header, String
 
-from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
 
-serial_pub = None
-thread = None
+KNOWN_USBS = [
+    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
+    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
+    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
+]
 
 
-"""
-Publishers:
-  * /anchor/from_vic/debug
-    - Every string received from the MCU is published here for debugging
-  * /anchor/from_vic/core
-    - VicCAN messages for Core node
-  * /anchor/from_vic/arm
-    - VicCAN messages for Arm node
-  * /anchor/from_vic/bio
-    - VicCAN messages for Bio node
+class Anchor(Node):
+    """
+    Publishers:
+    * /anchor/from_vic/debug
+        - Every string received from the MCU is published here for debugging
+    * /anchor/from_vic/core
+        - VicCAN messages for Core node
+    * /anchor/from_vic/arm
+        - VicCAN messages for Arm node
+    * /anchor/from_vic/bio
+        - VicCAN messages for Bio node
 
-Subscribers:
-  * /anchor/from_vic/mock_mcu
-    - For testing without an actual MCU, publish strings here as if they came from an MCU
-  * /anchor/to_vic/relay
-    - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
-  * /anchor/to_vic/relay_string
-    - Publish raw strings to this topic to send directly to the MCU for debugging
-"""
+    Subscribers:
+    * /anchor/from_vic/mock_mcu
+        - For testing without an actual MCU, publish strings here as if they came from an MCU
+    * /anchor/to_vic/relay
+        - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
+    * /anchor/to_vic/relay_string
+        - Publish raw strings to this topic to send directly to the MCU for debugging
+    """
 
+    serial_port: str | None = None  # e.g., "/dev/ttyUSB0"
 
-class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("anchor_node")  # previously 'serial_publisher'
+        super().__init__("anchor_node")
 
-        # Loop through all serial devices on the computer to check for the MCU
-        self.port = None
-        if port_override := os.getenv("PORT_OVERRIDE"):
-            self.port = port_override
-        ports = SerialRelay.list_serial_ports()
-        for i in range(4):
-            if self.port is not None:
-                break
-            for port in ports:
-                try:
-                    # connect and send a ping command
-                    ser = serial.Serial(port, 115200, timeout=1)
-                    # (f"Checking port {port}...")
-                    ser.write(b"ping\n")
-                    response = ser.read_until(bytes("\n", "utf8"))
+        self.declare_parameter(
+            "port_override",
+            "",
+            ParameterDescriptor(
+                name="port_override", type=ParameterType.PARAMETER_STRING
+            ),
+        )
 
-                    # if pong is in response, then we are talking with the MCU
-                    if b"pong" in response:
-                        self.port = port
-                        self.get_logger().info(f"Found MCU at {self.port}!")
-                        break
-                except:
-                    pass
+        # Serial port override
+        if port_override := self.get_parameter("port_override").value:
+            self.serial_port = cast(str, port_override)  # Cast to make the linter happy
 
-        if self.port is None:
-            self.get_logger().info("Unable to find MCU...")
-            time.sleep(1)
-            sys.exit(1)
+        ##################################################
+        # Serial MCU Discovery
 
-        self.ser = serial.Serial(self.port, 115200)
-        self.get_logger().info(f"Enabling Relay Mode")
-        self.ser.write(b"can_relay_mode,on\n")
+        # If there was not a port override, look for a MCU over USB for Serial.
+        if self.serial_port is None:
+            comports = serial.tools.list_ports.comports()
+            recog_ports = list(
+                filter(
+                    # Filter for ports we know that aren't invalid
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                )
+            )
+
+            # Guards
+            if len(recog_ports) > 1:  # If we found too many
+                self.get_logger().fatal(
+                    f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}"
+                )
+                exit(1)
+            if len(recog_ports) == 0:
+                self.get_logger().fatal(
+                    f"Found no recognized MCUs: {[p.device for p in recog_ports].__str__()}"
+                )
+                exit(1)
+
+            # Everything is ok
+            found_port = recog_ports[0]
+            self.get_logger().info(
+                f"Selecting MCU '{found_port.description}' at {found_port.device}."
+            )
+            # String, location of device file; e.g., '/dev/ttyACM0'
+            self.serial_port = found_port.device
+
+        # Found a Serial port, try to open it; above code has not officially opened a Serial port
+        self.get_logger().debug(
+            f"Attempting to open Serial port '{self.serial_port}'..."
+        )
+        try:
+            self.serial_interface = serial.Serial(self.serial_port, 115200, timeout=1)
+
+            # Attempt to get name of connected MCU
+            self.serial_interface.write(b"can_relay_mode,on\n")  # can_relay_ready,[mcu]
+            mcu_name: str = ""
+            for _ in range(4):  # Sometimes it takes a sec
+                response = self.serial_interface.read_until(bytes("\n", "utf8"))
+                if b"can_relay_ready" in response:
+                    try:
+                        args: list[str] = response.decode("utf8").strip().split(",")
+                    except UnicodeDecodeError:
+                        continue  # ignore malformed responses
+                    if len(args) == 2:
+                        mcu_name = args[1]
+                    break
+            self.get_logger().info(
+                f"MCU '{mcu_name}' is ready at '{self.serial_port}'."
+            )
+
+        except serial.SerialException as e:
+            self.get_logger().fatal(
+                f"Could not open Serial port '{self.serial_port}' for reason:"
+            )
+            self.get_logger().fatal(e.strerror)
+            exit(1)
+
+        # Close serial port on exit
         atexit.register(self.cleanup)
 
+        ##################################################
+        # ROS2 Topic Setup
+
         # New pub/sub with VicCAN
         self.fromvic_debug_pub_ = self.create_publisher(
             String, "/anchor/from_vic/debug", 20
@@ -115,62 +168,40 @@ class SerialRelay(Node):
             String, "/anchor/relay", self.on_relay_tovic_string, 10
         )
 
-    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():
-                self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
     def read_MCU(self):
         """Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
+        output: str | None = None
         try:
-            output = str(self.ser.readline(), "utf8")
-
-            if output:
-                self.relay_fromvic(output)
-                # All output over debug temporarily
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,core"):
-                    self.core_pub.publish(msg)
-                elif output.startswith("can_relay_fromvic,arm") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for voltage readings
-                    self.arm_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,citadel") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for SHT sensor
-                    self.bio_pub.publish(msg)
-                # msg = String()
-                # msg.data = output
-                # self.debug_pub.publish(msg)
-                return
+            output = str(self.serial_interface.readline(), "utf8")
         except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
+            self.get_logger().fatal(f"SerialException: {e}")
             exit(1)
         except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
+            self.get_logger().fatal(f"TypeError: {e}")
             exit(1)
         except Exception as e:
-            print(f"Exception: {e}")
-            # print("Closing serial port.")
-            # if self.ser.is_open:
-            #     self.ser.close()
-            # exit(1)
+            self.get_logger().error(f"Exception: {e}")
+
+        if output:
+            self.relay_fromvic(output)
+            msg = String()
+            msg.data = output
+
+            # All output over debug
+            self.debug_pub.publish(msg)
+
+            # Send the message to the right place
+            if output.startswith("can_relay_fromvic,core"):
+                self.core_pub.publish(msg)
+            elif output.startswith("can_relay_fromvic,arm") or output.startswith(
+                "can_relay_fromvic,digit"
+            ):  # digit for voltage readings
+                self.arm_pub.publish(msg)
+            if output.startswith("can_relay_fromvic,citadel") or output.startswith(
+                "can_relay_fromvic,digit"
+            ):  # digit for SHT sensor
+                self.bio_pub.publish(msg)
+            return
 
     def on_mock_fromvic(self, msg: String):
         """For testing without an actual MCU, publish strings here as if they came from an MCU"""
@@ -184,7 +215,7 @@ class SerialRelay(Node):
             output += f",{round(num, 7)}"  # limit to 7 decimal places
         output += "\n"
         # self.get_logger().info(f"VicCAN relay to MCU: {output}")
-        self.ser.write(bytes(output, "utf8"))
+        self.serial_interface.write(bytes(output, "utf8"))
 
     def relay_fromvic(self, msg: str):
         """Relay a string message from the MCU to the appropriate VicCAN topic"""
@@ -246,7 +277,7 @@ class SerialRelay(Node):
         """Relay a raw string message to the MCU for debugging"""
         message = msg.data
         # self.get_logger().info(f"Sending command to MCU: {msg}")
-        self.ser.write(bytes(message, "utf8"))
+        self.serial_interface.write(bytes(message, "utf8"))
 
     @staticmethod
     def list_serial_ports():
@@ -254,29 +285,30 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up before terminating...")
-        if self.ser.is_open:
-            self.ser.close()
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
+        if self.serial_interface.is_open:
+            self.serial_interface.close()
 
 
 def main(args=None):
-    rclpy.init(args=args)
-    sys.excepthook = myexcepthook
+    try:
+        rclpy.init(args=args)
+        anchor_node = Anchor()
 
-    global serial_pub
+        thread = threading.Thread(target=rclpy.spin, args=(anchor_node,), daemon=True)
+        thread.start()
 
-    serial_pub = SerialRelay()
-    serial_pub.run()
+        rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
+        while rclpy.ok():
+            anchor_node.read_MCU()  # Check the MCU for updates
+            rate.sleep()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal, shutting down...")
+    finally:
+        rclpy.try_shutdown()
 
 
 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)
+        signal.SIGTERM, lambda signum, frame: exit(0)
     )  # Catch termination signals and exit cleanly
     main()

src/core_pkg/core_pkg/core_ptz.py

@@ -1,24 +1,25 @@
 #!/usr/bin/env python3
-import rclpy
-from rclpy.node import Node
 import asyncio
-from concurrent.futures import ThreadPoolExecutor
 import signal
 import sys
 import threading
 import time
+from concurrent.futures import ThreadPoolExecutor
 
+import rclpy
+from rclpy.node import Node
 from std_msgs.msg import String
+
 from astra_msgs.msg import PtzControl, PtzFeedback
 
 # Import the SIYI SDK
 from core_pkg.siyi_sdk import (
-    SiyiGimbalCamera,
-    CommandID,
-    DataStreamType,
-    DataStreamFrequency,
-    SingleAxis,
     AttitudeData,
+    CommandID,
+    DataStreamFrequency,
+    DataStreamType,
+    SingleAxis,
+    SiyiGimbalCamera,
 )
 
 
@@ -262,7 +263,7 @@ class PtzNode(Node):
             f"[{self.get_clock().now().nanoseconds / 1e9:.2f}] PTZ Node: {message_text}"
         )
         self.debug_pub.publish(msg)
-        self.get_logger().info(message_text)
+        self.get_logger().debug(message_text)
 
     def run_async_func(self, coro):
         """Run an async function in the event loop."""

src/headless_pkg/src/headless_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 from rclpy.duration import Duration
 
@@ -11,6 +12,8 @@ import os
 import sys
 import threading
 import glob
+import pwd
+import grp
 from math import copysign
 
 from std_msgs.msg import String
@@ -71,9 +74,36 @@ class Headless(Node):
             print("No gamepad found. Waiting...")
 
         # Initialize the gamepad
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f"Gamepad Found: {self.gamepad.get_name()}")
+        id = 0
+        while True:
+            self.num_gamepads = pygame.joystick.get_count()
+            if id >= self.num_gamepads:
+                self.get_logger().fatal("Ran out of controllers to try")
+                sys.exit(1)
+
+            try:
+                self.gamepad = pygame.joystick.Joystick(id)
+                self.gamepad.init()
+            except Exception as e:
+                self.get_logger().error("Error when initializing gamepad")
+                self.get_logger().error(e)
+                id += 1
+                continue
+            print(f"Gamepad Found: {self.gamepad.get_name()}")
+
+            if self.gamepad.get_numhats() == 0 or self.gamepad.get_numaxes() < 5:
+                self.get_logger().error("Controller not correctly initialized.")
+                if not is_user_in_group("input"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to add yourself to the 'input' group."
+                    )
+                if is_user_in_group("plugdev"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to remove yourself from the 'plugdev' group."
+                    )
+            else:
+                break
+            id += 1
 
         self.create_timer(0.15, self.send_controls)
 
@@ -115,7 +145,7 @@ class Headless(Node):
                 sys.exit(0)
 
         # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
+        if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
             # Send one last zero control message
             self.core_publisher.publish(CORE_STOP_MSG)
@@ -296,11 +326,34 @@ def deadzone(value: float, threshold=0.05) -> float:
     return value
 
 
+def is_user_in_group(group_name: str) -> bool:
+    # Copied from https://zetcode.com/python/os-getgrouplist/
+    try:
+        username = os.getlogin()
+
+        # Get group ID from name
+        group_info = grp.getgrnam(group_name)
+        target_gid = group_info.gr_gid
+
+        # Get user's groups
+        user_info = pwd.getpwnam(username)
+        user_groups = os.getgrouplist(username, user_info.pw_gid)
+
+        return target_gid in user_groups
+    except KeyError:
+        return False
+
+
 def main(args=None):
-    rclpy.init(args=args)
-    node = Headless()
-    rclpy.spin(node)
-    rclpy.shutdown()
+    try:
+        rclpy.init(args=args)
+
+        node = Headless()
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal. Exiting...")
+    finally:
+        rclpy.shutdown()
 
 
 if __name__ == "__main__":