From 34162784abba34c124532f630291af6834514933 Mon Sep 17 00:00:00 2001 From: sl-controls Date: Sat, 4 Apr 2026 08:41:29 -0400 Subject: [PATCH] refactor: rename legacy STM32/Mamba files to ESP32 protocol names MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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 --- .../{stm32_cmd_node.py => esp32_io_bridge_node.py} | 0 .../saltybot_bridge/{stm32_protocol.py => esp32_protocol.py} | 0 jetson/ros2_ws/src/saltybot_bridge/setup.py | 4 ++-- .../src/saltybot_can_bridge/saltybot_can_bridge/__init__.py | 2 +- .../{mamba_protocol.py => balance_protocol.py} | 3 +-- .../saltybot_can_bridge/can_bridge_node.py | 2 +- jetson/ros2_ws/src/saltybot_can_bridge/setup.py | 2 +- 7 files changed, 6 insertions(+), 7 deletions(-) rename jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/{stm32_cmd_node.py => esp32_io_bridge_node.py} (100%) rename jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/{stm32_protocol.py => esp32_protocol.py} (100%) rename jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/{mamba_protocol.py => balance_protocol.py} (98%) diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_io_bridge_node.py similarity index 100% rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_io_bridge_node.py diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py similarity index 100% rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py index dc798c0..ddde999 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py @@ -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) diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py index e146650..5d2eab6 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py @@ -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.""" diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py similarity index 98% rename from jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py rename to jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py index 32985e2..3538276 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py @@ -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. diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py index f0e6b76..0db02cb 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py @@ -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, diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py index 88161c9..e940f26 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py @@ -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={