Development merge from pool test

.gitignore

@@ -1,7 +1,5 @@
 ros/build
 ros/devel
-<<<<<<< HEAD
 .vscode
-=======
 *.swp
->>>>>>> origin/surface-hunter
+.idea/*

README.md

@@ -136,4 +136,6 @@ After what seems like an eternity (about 30 minutes for me), you should have a w
     If this was ported from X12, some files still contain python shebangs. Try changing them to python3 ones.
     Another issue might be is that you need to build nodes in `/ros` before `/surface/ros`
 
-In all cases, especially if you have had previous ROS installs on your machine, make sure `rosdep init`'s file is up-to-date with Python 3 dependencies. Meaning run `rosdep init` to find the file and delete it. Run that command again and run `rosdep update`. You may need to use `sudo` with the init stage.
+In all cases, especially if you have had previous ROS installs on your machine, make sure `rosdep init`'s file is up-to-date with Python 3 dependencies. Meaning run `rosdep init` to find the file and delete it. Run that command again and run `rosdep update`. You may need to use `sudo` with the init stage.
+
+Updated: 9/29/21

ros/.gitignore

@@ -1,3 +1,4 @@
 .catkin_workspace
-*.swp
+**/*.swp
 **/__pycache__
+**/*.pyc

ros/launch/run_rov.launch

@@ -6,11 +6,10 @@
         <node name="ROV_main" pkg="control" type="ROV_main.py"/>
 	<node name="depth" pkg="i2c" type="depth_proc.py"/>
         <node name="imu" pkg="i2c" type="imu_proc.py" output="screen"/>
-        <node name="servo" pkg="i2c" type="servo_listener.py"/>
-
-    <node name="thrust_control" pkg="control" type="thrust_control.py" output="screen"/>
+        <node name="servo" pkg="i2c" type="nuked_dumb_servo_listener.py"/>
+	<node name="pi_temp" pkg="pi_temp" type="pi_temp_node.py"/>
+        <node name="thrust_control" pkg="control" type="thrust_control.py" output="screen"/>
     </group>
-    <node name="gp_listen" pkg="roslib_comm" type="gamepad_listener.py"/>
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0.7068252 0 0.7073883 imu base_link" />
 </launch>

ros/piros.sh

@@ -1,6 +1,6 @@
 #! /bin/bash
 
-source ~/X13-Core/ros/devel/setup.bash
+source ~/X14-Core/ros/devel/setup.bash
 export ROS_IP=192.168.1.3
 export ROS_PYTHON_VERSION=3
-roslaunch ~/X13-Core/ros/launch/run_rov.launch
+roslaunch ~/X14-Core/ros/launch/run_rov.launch

ros/src/can_com/scripts/can_bus.py

@@ -26,7 +26,7 @@ def topic_message_received(msg):
         data_list.append((msg.data >> shift) % 256)
     data = bytearray(data_list)
     rospy.loginfo('Topic Message Received: ' + str(msg.id) + ':' + str(list(data)))
-    can_tx = can.Message(arbitration_id=msg.id, data=data, extended_id=False)
+    can_tx = can.Message(arbitration_id=msg.id, data=data, is_extended_id=False)
     try:
         can_bus.send(can_tx, timeout=1)
     except can.CanError as cerr:

ros/src/can_com/scripts/can_nuke.py

@@ -7,19 +7,19 @@
 boards = [0x201, 0x202, 0x203]
 
 while True:
-    packet = bytearray([140,140,140,140,140,140,140,140])
+    packet = bytearray([140, 140, 140, 140, 140, 140, 140, 140])
     for cid in boards:
-	can_tx = can.Message(arbitration_id=cid, data=packet, extended_id=False)
+        can_tx = can.Message(arbitration_id=cid, data=packet, extended_id=False)
 
-	can_bus.send(can_tx, timeout=0.001)
+        can_bus.send(can_tx, timeout=0.001)
 
-	print(cid, list(packet))
+        print(cid, list(packet))
     time.sleep(0.3)
 
-    packet = bytearray([140,140,140,140,127,127,127,127])
+    packet = bytearray([140, 140, 140, 140, 127, 127, 127, 127])
     for cid in boards:
-	can_tx = can.Message(arbitration_id=cid, data=packet, extended_id=False)
+        can_tx = can.Message(arbitration_id=cid, data=packet, extended_id=False)
         can_bus.send(can_tx, timeout=0.001)
 
-	print(cid, list(packet))
+        print(cid, list(packet))
     time.sleep(0.3)

ros/src/can_com/scripts/chaotic_good.py

@@ -4,6 +4,7 @@
 import time
 
 IDS = [513, 514, 515]
+N_CAN_BYTES = 8
 POS_RANGE = 4
 DEFAULT_POWER = 146
 ZERO_POWER = 127
@@ -19,15 +20,15 @@
         channel = sys.argv[1]
     can_bus = can.interface.Bus(channel=channel, bustype='socketcan')
 
-    for i in range(8):
-        data_list = list()
+    for i in range(N_CAN_BYTES):
+        data_list = []
         [data_list.append(0) for _ in range(i)]
         data_list.append(DEFAULT_POWER)
-        [data_list.append(0) for _ in range(i + 1, 8)]
+        [data_list.append(0) for _ in range(i + 1, N_CAN_BYTES)]
 
         # [data_list.append(DEFAULT_POWER) for _ in range(8)]
         data = bytearray(data_list)
-        print str(I) + ' : ' + str(list(data))
+        print(f"{I} : {list(data)}")
 
         can_tx = can.Message(arbitration_id=I, data=data, extended_id=False)
         can_bus.send(can_tx)

ros/src/can_com/scripts/thrust_config.py

@@ -37,9 +37,9 @@
             data_list.append(ZERO_POWER - POWER_DELTA)  # adds DEFAULT POWER at target pos
             [data_list.append(ZERO_POWER) for _ in range(POS_RANGE - p - 1)]  # adds ZERO POWER buffers after target pos
             data = bytearray(data_list)
-            print str(i) + ' : ' + str(list(data))
+            print(str(i) + ' : ' + str(list(data)))
 
-            can_tx = can.Message(arbitration_id=i, data=data, extended_id=False)
+            can_tx = can.Message(arbitration_id=i, data=data, is_extended_id=False)
             can_bus.send(can_tx)
 
             time.sleep(DELAY)
@@ -49,8 +49,8 @@
             [data_list.append(0) for _ in range(4)]
             [data_list.append(ZERO_POWER) for _ in range(4, 8)]
             data = bytearray(data_list)
-            print str(i) + ' : ' + str(list(data)) + ' STOP'
-            can_tx = can.Message(arbitration_id=i, data=data, extended_id=False)
+            print(str(i) + ' : ' + str(list(data)) + ' STOP')
+            can_tx = can.Message(arbitration_id=i, data=data, is_extended_id=False)
             can_bus.send(can_tx)
 
             time.sleep(DELAY)
@@ -73,9 +73,9 @@
         [data_list.append(0) for _ in range(4)]
         [data_list.append(ZERO_POWER) for _ in range(4, 8)]
         data = bytearray(data_list)
-        print str(i) + ' : ' + str(list(data)) + ' STOP'
+        print( str(i) + ' : ' + str(list(data)) + ' STOP')
 
-        can_tx = can.Message(arbitration_id=i, data=data, extended_id=False)
+        can_tx = can.Message(arbitration_id=i, data=data, is_extended_id=False)
         can_bus.send(can_tx)
 
         time.sleep(DELAY)

ros/src/can_proc/scripts/thrust_proc.py

@@ -10,8 +10,8 @@
 can_pos = [5, 6, 7, 5, 6, 4, 5, 7]  # positions in data packet
 
 can_better_map = {
-    0x201: [ 3, 7, 2, 6 ],
-    0x202: [ 8, 4, 5, 1 ],
+    0x201: [ 3, 7, 1, 5 ],
+    0x202: [ 8, 4, 6, 2 ],
     0x203: [ 0, 0, 0, 0 ]
 }
 

ros/src/can_proc/scripts/tool_proc.py

@@ -1,16 +1,38 @@
 #! /usr/bin/python3
 import rospy
 from shared_msgs.msg import can_msg, tools_command_msg
+from gpiozero import OutputDevice
+
+pm = OutputDevice(12)
 
 TOOLS_BOARD_ID = 0x204
 
 #PM_BIT = 0b00001000
 #GHOST_BIT = 0b11110111
 
+BLUE = 1 << 1
+BROWN = 1 << 2
+YELLOW = 1 << 3
+GREEN = 1 << 4
+WHITE = 1 << 5
+
+#=============================
+#Grant told me to put it here, don't delete yet
+#yeet - green
+#am - brown
+#pm - blue
+#bs - yello
+#blue - 0b00000010
+#brown - 0b00000100
+#yellow - 0b00001000
+#green - 0b00010000
+#white - 0b00100000
+#=============================
+
 #Easier swapping if we plug solenoids in differently
 sol0 = 1 << 1
 sol1 = 1 << 3 
-sol2 = 1 << 5
+sol2 = 1 << 4
 
 SECONDARY_BIT = sol0
 PM_BIT = sol1
@@ -24,24 +46,19 @@
 
 
 def message_received(msg):
-    cmd = (msg.pm * PM_BIT)
-    cmd |= (msg.ghost * GHOST_BIT)
-    cmd |= (msg.secondary * SECONDARY_BIT)
-
-    cmsg = can_msg()
-    cmsg.id = TOOLS_BOARD_ID
-    cmsg.data = cmd
-    pub.publish(cmsg)
+    if(msg.tools[0]):
+        pm.on()
+    else:
+        pm.off()
 
 
 if __name__ == "__main__":
     rospy.init_node('tool_proc', anonymous=True)
-
     # Publish to the CAN hardware transmitter
     pub = rospy.Publisher('can_tx', can_msg,
                           queue_size=10)
 
-    sub = rospy.Subscriber('/tools_proc', tools_command_msg,
+    sub = rospy.Subscriber('/tools', tools_command_msg,
                            message_received)
 
     # rate = rospy.Rate(5) # 5hz