seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor: rename legacy STM32/Mamba files to ESP32 protocol names

Browse Source 
Per MANDATORY CLEANUP: no file names may reference Mamba or STM32.

Renames:
  mamba_protocol.py    → balance_protocol.py   (saltybot_can_bridge)
  stm32_protocol.py    → esp32_protocol.py      (saltybot_bridge)
  stm32_cmd_node.py    → esp32_io_bridge_node.py (saltybot_bridge)

Updated:
  can_bridge_node.py     — import from balance_protocol
  saltybot_bridge/setup.py — entry point: esp32_io_bridge_node
  saltybot_can_bridge/__init__.py + setup.py — remove "Mamba" from descriptions

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-controls 2026-04-04 08:41:29 -04:00
parent f66035cf81
commit 34162784ab
7 changed files with 6 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

0
jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py → jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_io_bridge_node.py
View File

0
jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py → jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py
View File

4
jetson/ros2_ws/src/saltybot_bridge/setup.py
View File

@ -41,8 +41,8 @@ setup(
# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
"remote_estop_node = saltybot_bridge.remote_estop_node:main",
# Binary-framed STM32 command node (Issue #119)
"stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main",
# ESP32-IO inter-board bridge node
"esp32_io_bridge_node = saltybot_bridge.esp32_io_bridge_node:main",
# Battery management node (Issue #125)
"battery_node = saltybot_bridge.battery_node:main",
# Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)

2
jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py
View File

@ -1 +1 @@
"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""

3
jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py → jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
View File

@ -1,8 +1,7 @@
#!/usr/bin/env python3
"""mamba_protocol.py — CAN frame codec for Orin ↔ ESP32-S3 BALANCE.
"""balance_protocol.py — CAN frame codec for Orin ↔ ESP32-S3 BALANCE.
Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §6 (2026-04-04)
File name retained for import compatibility.
CAN bus: 500 kbps, standard 11-bit IDs, CANable 2.0 (slcan0 / can0) on Orin.

2
jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
View File

@ -40,7 +40,7 @@ from rclpy.node import Node
from sensor_msgs.msg import BatteryState
from std_msgs.msg import Bool, Float32MultiArray, String
from saltybot_can_bridge.mamba_protocol import (
from saltybot_can_bridge.balance_protocol import (
ORIN_CMD_DRIVE,
ORIN_CMD_ARM,
ORIN_CMD_ESTOP,

2
jetson/ros2_ws/src/saltybot_can_bridge/setup.py
View File

@ -15,7 +15,7 @@ setup(
zip_safe=True,
maintainer="sl-controls",
maintainer_email="sl-controls@saltylab.local",
description="CAN bus bridge for Mamba controller and VESC telemetry",
description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
license="MIT",
tests_require=["pytest"],
entry_points={