feat: Smooth velocity controller (Issue #652)
Adds velocity_smoother_node.py with configurable accel/decel ramps, e-stop bypass, and optional jerk limiting. VESC driver updated to subscribe /cmd_vel_smoothed instead of /cmd_vel. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
parent
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# Diagnostics Aggregator — Issue #658
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# Unified health dashboard aggregating telemetry from all SaltyBot subsystems.
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diagnostics_aggregator:
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ros__parameters:
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# Publish rate for /saltybot/system_health (Hz)
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heartbeat_hz: 1.0
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# Seconds without a topic update before a subsystem is marked STALE
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# Increase for sensors with lower publish rates (e.g. UWB at 5 Hz)
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stale_timeout_s: 5.0
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# Maximum number of state transitions kept in the in-memory ring buffer
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# Last 10 transitions are included in each /saltybot/system_health publish
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transition_log_size: 50
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"""Launch file for diagnostics aggregator node."""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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pkg_dir = get_package_share_directory("saltybot_diagnostics_aggregator")
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config_file = os.path.join(pkg_dir, "config", "aggregator_params.yaml")
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return LaunchDescription([
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DeclareLaunchArgument(
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"config_file",
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default_value=config_file,
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description="Path to aggregator_params.yaml",
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),
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DeclareLaunchArgument(
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"heartbeat_hz",
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default_value="1.0",
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description="Publish rate for /saltybot/system_health (Hz)",
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),
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DeclareLaunchArgument(
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"stale_timeout_s",
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default_value="5.0",
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description="Seconds without update before subsystem goes STALE",
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),
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Node(
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package="saltybot_diagnostics_aggregator",
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executable="diagnostics_aggregator_node",
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name="diagnostics_aggregator",
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output="screen",
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parameters=[
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LaunchConfiguration("config_file"),
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{
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"heartbeat_hz": LaunchConfiguration("heartbeat_hz"),
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"stale_timeout_s": LaunchConfiguration("stale_timeout_s"),
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},
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],
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),
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])
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_diagnostics_aggregator</name>
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<version>0.1.0</version>
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<description>
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Diagnostics aggregator for SaltyBot — unified health dashboard node (Issue #658).
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Subscribes to /vesc/health, /diagnostics, /saltybot/safety_zone/status,
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/saltybot/pose/status, /saltybot/uwb/status. Aggregates into
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/saltybot/system_health JSON at 1 Hz. Tracks motors, battery, imu, uwb,
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lidar, camera, can_bus, estop subsystems with state-transition logging.
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</description>
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<maintainer email="sl-firmware@saltylab.local">sl-firmware</maintainer>
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<license>MIT</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>diagnostic_msgs</depend>
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<buildtool_depend>ament_python</buildtool_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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#!/usr/bin/env python3
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"""Diagnostics aggregator — unified health dashboard node (Issue #658).
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Subscribes to telemetry and diagnostics topics from all subsystems, aggregates
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them into a single /saltybot/system_health JSON publish at 1 Hz.
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Subscribed topics
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-----------------
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/vesc/health (std_msgs/String) — motor VESC health JSON
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/diagnostics (diagnostic_msgs/DiagnosticArray) — ROS diagnostics bus
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/saltybot/safety_zone/status (std_msgs/String) — safety / estop state
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/saltybot/pose/status (std_msgs/String) — IMU / pose estimate state
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/saltybot/uwb/status (std_msgs/String) — UWB positioning state
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Published topics
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----------------
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/saltybot/system_health (std_msgs/String) — JSON health dashboard at 1 Hz
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JSON schema for /saltybot/system_health
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----------------------------------------
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{
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"overall_status": "OK" | "WARN" | "ERROR" | "STALE",
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"uptime_s": <float>,
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"subsystems": {
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"motors": { "status": ..., "message": ..., "age_s": ..., "previous_status": ... },
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"battery": { ... },
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"imu": { ... },
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"uwb": { ... },
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"lidar": { ... },
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"camera": { ... },
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"can_bus": { ... },
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"estop": { ... }
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},
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"last_error": { "subsystem": ..., "message": ..., "timestamp": ... } | null,
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"recent_transitions": [ { "subsystem", "from_status", "to_status",
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"message", "timestamp_iso" }, ... ],
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"timestamp": "<ISO-8601>"
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}
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Parameters
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----------
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heartbeat_hz float 1.0 Publish rate (Hz)
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stale_timeout_s float 5.0 Seconds without update → STALE
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transition_log_size int 50 Max recent transitions kept in memory
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"""
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import json
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import time
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from collections import deque
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from datetime import datetime, timezone
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from typing import Optional
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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from diagnostic_msgs.msg import DiagnosticArray
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from .subsystem import (
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SubsystemState,
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Transition,
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STATUS_OK,
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STATUS_WARN,
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STATUS_ERROR,
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STATUS_STALE,
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STATUS_UNKNOWN,
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worse,
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ros_level_to_status,
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SUBSYSTEM_NAMES as _SUBSYSTEM_NAMES,
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keyword_to_subsystem as _keyword_to_subsystem,
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)
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class DiagnosticsAggregatorNode(Node):
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"""Unified health dashboard node."""
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def __init__(self):
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super().__init__("diagnostics_aggregator")
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# ----------------------------------------------------------------
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# Parameters
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# ----------------------------------------------------------------
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self.declare_parameter("heartbeat_hz", 1.0)
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self.declare_parameter("stale_timeout_s", 5.0)
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self.declare_parameter("transition_log_size", 50)
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hz = float(self.get_parameter("heartbeat_hz").value)
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stale_timeout = float(self.get_parameter("stale_timeout_s").value)
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log_size = int(self.get_parameter("transition_log_size").value)
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# ----------------------------------------------------------------
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# Subsystem state table
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# ----------------------------------------------------------------
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self._subsystems: dict[str, SubsystemState] = {
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name: SubsystemState(name=name, stale_timeout_s=stale_timeout)
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for name in _SUBSYSTEM_NAMES
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}
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self._transitions: deque[Transition] = deque(maxlen=log_size)
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self._last_error: Optional[dict] = None
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self._start_mono = time.monotonic()
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# ----------------------------------------------------------------
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# Subscriptions
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# ----------------------------------------------------------------
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self.create_subscription(String, "/vesc/health",
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self._on_vesc_health, 10)
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self.create_subscription(DiagnosticArray, "/diagnostics",
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self._on_diagnostics, 10)
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self.create_subscription(String, "/saltybot/safety_zone/status",
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self._on_safety_zone, 10)
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self.create_subscription(String, "/saltybot/pose/status",
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self._on_pose_status, 10)
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self.create_subscription(String, "/saltybot/uwb/status",
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self._on_uwb_status, 10)
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# ----------------------------------------------------------------
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# Publisher
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# ----------------------------------------------------------------
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self._pub = self.create_publisher(String, "/saltybot/system_health", 1)
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# ----------------------------------------------------------------
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# 1 Hz heartbeat timer
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# ----------------------------------------------------------------
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self.create_timer(1.0 / max(0.1, hz), self._on_timer)
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self.get_logger().info(
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f"diagnostics_aggregator: {len(_SUBSYSTEM_NAMES)} subsystems, "
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f"heartbeat={hz} Hz, stale_timeout={stale_timeout} s"
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)
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# ----------------------------------------------------------------
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# Topic callbacks
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# ----------------------------------------------------------------
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def _on_vesc_health(self, msg: String) -> None:
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"""Parse /vesc/health JSON → motors subsystem."""
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now = time.monotonic()
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try:
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d = json.loads(msg.data)
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fault = d.get("fault_code", 0)
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alive = d.get("alive", True)
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if not alive:
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status, message = STATUS_STALE, "VESC offline"
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elif fault != 0:
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status = STATUS_ERROR
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message = f"VESC fault {d.get('fault_name', fault)}"
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else:
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status = STATUS_OK
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message = (
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f"RPM={d.get('rpm', '?')} "
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f"I={d.get('current_a', '?')} A "
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f"V={d.get('voltage_v', '?')} V"
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)
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self._update("motors", status, message, now)
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except Exception as exc:
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self.get_logger().debug(f"/vesc/health parse error: {exc}")
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def _on_diagnostics(self, msg: DiagnosticArray) -> None:
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"""Fan /diagnostics entries out to per-subsystem states."""
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now = time.monotonic()
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# Accumulate worst status per subsystem across all entries in this array
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pending: dict[str, tuple[str, str]] = {} # subsystem → (status, message)
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for ds in msg.status:
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subsystem = _keyword_to_subsystem(ds.name)
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if subsystem is None:
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continue
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status = ros_level_to_status(ds.level)
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message = ds.message or ""
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if subsystem not in pending:
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pending[subsystem] = (status, message)
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else:
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prev_s, prev_m = pending[subsystem]
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new_worst = worse(status, prev_s)
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pending[subsystem] = (
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new_worst,
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message if new_worst == status else prev_m,
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)
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for subsystem, (status, message) in pending.items():
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self._update(subsystem, status, message, now)
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def _on_safety_zone(self, msg: String) -> None:
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"""Parse /saltybot/safety_zone/status JSON → estop subsystem."""
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now = time.monotonic()
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try:
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d = json.loads(msg.data)
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triggered = d.get("estop_triggered", d.get("triggered", False))
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active = d.get("safety_zone_active", d.get("active", True))
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if triggered:
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status, message = STATUS_ERROR, "E-stop triggered"
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elif not active:
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status, message = STATUS_WARN, "Safety zone inactive"
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else:
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status, message = STATUS_OK, "Safety zone active"
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self._update("estop", status, message, now)
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except Exception as exc:
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self.get_logger().debug(f"/saltybot/safety_zone/status parse error: {exc}")
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def _on_pose_status(self, msg: String) -> None:
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"""Parse /saltybot/pose/status JSON → imu subsystem."""
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now = time.monotonic()
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try:
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d = json.loads(msg.data)
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status_str = d.get("status", "OK").upper()
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if status_str not in (STATUS_OK, STATUS_WARN, STATUS_ERROR):
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status_str = STATUS_WARN
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message = d.get("message", d.get("msg", ""))
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self._update("imu", status_str, message, now)
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except Exception as exc:
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self.get_logger().debug(f"/saltybot/pose/status parse error: {exc}")
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def _on_uwb_status(self, msg: String) -> None:
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"""Parse /saltybot/uwb/status JSON → uwb subsystem."""
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now = time.monotonic()
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try:
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d = json.loads(msg.data)
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status_str = d.get("status", "OK").upper()
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if status_str not in (STATUS_OK, STATUS_WARN, STATUS_ERROR):
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status_str = STATUS_WARN
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message = d.get("message", d.get("msg", ""))
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self._update("uwb", status_str, message, now)
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except Exception as exc:
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self.get_logger().debug(f"/saltybot/uwb/status parse error: {exc}")
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# ----------------------------------------------------------------
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# Internal helpers
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# ----------------------------------------------------------------
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def _update(self, subsystem: str, status: str, message: str, now: float) -> None:
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"""Update subsystem state and record any transition."""
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s = self._subsystems.get(subsystem)
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if s is None:
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return
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transition = s.update(status, message, now)
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if transition is not None:
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self._transitions.append(transition)
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self.get_logger().info(
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f"[{subsystem}] {transition.from_status} → {transition.to_status}: {message}"
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)
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if transition.to_status == STATUS_ERROR:
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self._last_error = {
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"subsystem": subsystem,
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"message": message,
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"timestamp": transition.timestamp_iso,
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}
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def _apply_stale_checks(self, now: float) -> None:
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for s in self._subsystems.values():
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transition = s.apply_stale_check(now)
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if transition is not None:
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self._transitions.append(transition)
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self.get_logger().warn(
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f"[{transition.subsystem}] went STALE (no data)"
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)
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# ----------------------------------------------------------------
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# Heartbeat timer
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# ----------------------------------------------------------------
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def _on_timer(self) -> None:
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now = time.monotonic()
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self._apply_stale_checks(now)
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# Overall status = worst across all subsystems
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overall = STATUS_OK
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for s in self._subsystems.values():
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overall = worse(overall, s.status)
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# UNKNOWN does not degrade overall if at least one subsystem is known
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known = [s for s in self._subsystems.values() if s.status != STATUS_UNKNOWN]
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if not known:
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overall = STATUS_UNKNOWN
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uptime = now - self._start_mono
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payload = {
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"overall_status": overall,
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"uptime_s": round(uptime, 1),
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"subsystems": {
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name: s.to_dict(now)
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for name, s in self._subsystems.items()
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},
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"last_error": self._last_error,
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"recent_transitions": [
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{
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"subsystem": t.subsystem,
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"from_status": t.from_status,
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"to_status": t.to_status,
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"message": t.message,
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"timestamp": t.timestamp_iso,
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}
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for t in list(self._transitions)[-10:] # last 10 in the JSON
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],
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"timestamp": datetime.now(timezone.utc).isoformat(),
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}
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self._pub.publish(String(data=json.dumps(payload)))
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def main(args=None):
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rclpy.init(args=args)
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node = DiagnosticsAggregatorNode()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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"""Subsystem state tracking for the diagnostics aggregator.
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Each SubsystemState tracks one logical subsystem (motors, battery, etc.)
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across potentially multiple source topics. Status priority:
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ERROR > WARN > STALE > OK > UNKNOWN
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"""
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import time
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from dataclasses import dataclass, field
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from typing import Optional
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# ---------------------------------------------------------------------------
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# Status constants — ordered by severity (higher index = more severe)
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# ---------------------------------------------------------------------------
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STATUS_UNKNOWN = "UNKNOWN"
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STATUS_OK = "OK"
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STATUS_STALE = "STALE"
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STATUS_WARN = "WARN"
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STATUS_ERROR = "ERROR"
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# ---------------------------------------------------------------------------
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# Subsystem registry and diagnostic keyword routing
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# ---------------------------------------------------------------------------
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SUBSYSTEM_NAMES: list[str] = [
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"motors", "battery", "imu", "uwb", "lidar", "camera", "can_bus", "estop"
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]
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# (keywords-tuple, subsystem-name) — first match wins, lower-cased comparison
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DIAG_KEYWORD_MAP: list[tuple[tuple[str, ...], str]] = [
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(("vesc", "motor", "esc", "fsesc"), "motors"),
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(("battery", "ina219", "lvc", "coulomb", "vbat"), "battery"),
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(("imu", "mpu6000", "bno055", "icm42688", "gyro", "accel"), "imu"),
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(("uwb", "dw1000", "dw3000"), "uwb"),
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(("lidar", "rplidar", "sick", "laser"), "lidar"),
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(("camera", "realsense", "oak", "webcam"), "camera"),
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(("can", "can_bus", "can_driver"), "can_bus"),
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(("estop", "safety", "emergency", "e-stop"), "estop"),
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]
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def keyword_to_subsystem(name: str) -> Optional[str]:
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"""Map a diagnostic status name to a subsystem key, or None."""
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lower = name.lower()
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for keywords, subsystem in DIAG_KEYWORD_MAP:
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if any(kw in lower for kw in keywords):
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return subsystem
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return None
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_SEVERITY: dict[str, int] = {
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STATUS_UNKNOWN: 0,
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STATUS_OK: 1,
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STATUS_STALE: 2,
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STATUS_WARN: 3,
|
||||
STATUS_ERROR: 4,
|
||||
}
|
||||
|
||||
|
||||
def worse(a: str, b: str) -> str:
|
||||
"""Return the more severe of two status strings."""
|
||||
return a if _SEVERITY.get(a, 0) >= _SEVERITY.get(b, 0) else b
|
||||
|
||||
|
||||
def ros_level_to_status(level: int) -> str:
|
||||
"""Convert diagnostic_msgs/DiagnosticStatus.level to a status string."""
|
||||
return {0: STATUS_OK, 1: STATUS_WARN, 2: STATUS_ERROR}.get(level, STATUS_UNKNOWN)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Transition log entry
|
||||
# ---------------------------------------------------------------------------
|
||||
@dataclass
|
||||
class Transition:
|
||||
"""A logged status change for one subsystem."""
|
||||
subsystem: str
|
||||
from_status: str
|
||||
to_status: str
|
||||
message: str
|
||||
timestamp_iso: str # ISO-8601 wall-clock
|
||||
monotonic_s: float # time.monotonic() at the transition
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Per-subsystem state
|
||||
# ---------------------------------------------------------------------------
|
||||
@dataclass
|
||||
class SubsystemState:
|
||||
"""Live health state for one logical subsystem."""
|
||||
|
||||
name: str
|
||||
stale_timeout_s: float = 5.0 # seconds without update → STALE
|
||||
|
||||
# Mutable state
|
||||
status: str = STATUS_UNKNOWN
|
||||
message: str = ""
|
||||
last_updated_mono: float = field(default_factory=lambda: 0.0)
|
||||
last_change_mono: float = field(default_factory=lambda: 0.0)
|
||||
previous_status: str = STATUS_UNKNOWN
|
||||
|
||||
def update(self, new_status: str, message: str, now_mono: float) -> Optional[Transition]:
|
||||
"""Apply a new status, record a transition if the status changed.
|
||||
|
||||
Returns a Transition if the status changed, else None.
|
||||
"""
|
||||
from datetime import datetime, timezone
|
||||
|
||||
self.last_updated_mono = now_mono
|
||||
|
||||
if new_status == self.status:
|
||||
self.message = message
|
||||
return None
|
||||
|
||||
transition = Transition(
|
||||
subsystem=self.name,
|
||||
from_status=self.status,
|
||||
to_status=new_status,
|
||||
message=message,
|
||||
timestamp_iso=datetime.now(timezone.utc).isoformat(),
|
||||
monotonic_s=now_mono,
|
||||
)
|
||||
|
||||
self.previous_status = self.status
|
||||
self.status = new_status
|
||||
self.message = message
|
||||
self.last_change_mono = now_mono
|
||||
return transition
|
||||
|
||||
def apply_stale_check(self, now_mono: float) -> Optional[Transition]:
|
||||
"""Mark STALE if no update received within stale_timeout_s.
|
||||
|
||||
Returns a Transition if newly staled, else None.
|
||||
"""
|
||||
if self.last_updated_mono == 0.0:
|
||||
# Never received any data — leave as UNKNOWN
|
||||
return None
|
||||
if (now_mono - self.last_updated_mono) > self.stale_timeout_s:
|
||||
if self.status not in (STATUS_STALE, STATUS_UNKNOWN):
|
||||
return self.update(STATUS_STALE, "No data received", now_mono)
|
||||
return None
|
||||
|
||||
def to_dict(self, now_mono: float) -> dict:
|
||||
age = (now_mono - self.last_updated_mono) if self.last_updated_mono > 0 else None
|
||||
return {
|
||||
"status": self.status,
|
||||
"message": self.message,
|
||||
"age_s": round(age, 2) if age is not None else None,
|
||||
"previous_status": self.previous_status,
|
||||
}
|
||||
@ -0,0 +1,4 @@
|
||||
[develop]
|
||||
script_dir=$base/lib/saltybot_diagnostics_aggregator
|
||||
[install]
|
||||
install_scripts=$base/lib/saltybot_diagnostics_aggregator
|
||||
28
jetson/ros2_ws/src/saltybot_diagnostics_aggregator/setup.py
Normal file
28
jetson/ros2_ws/src/saltybot_diagnostics_aggregator/setup.py
Normal file
@ -0,0 +1,28 @@
|
||||
from setuptools import setup
|
||||
|
||||
package_name = "saltybot_diagnostics_aggregator"
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version="0.1.0",
|
||||
packages=[package_name],
|
||||
data_files=[
|
||||
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
|
||||
(f"share/{package_name}", ["package.xml"]),
|
||||
(f"share/{package_name}/launch", ["launch/diagnostics_aggregator.launch.py"]),
|
||||
(f"share/{package_name}/config", ["config/aggregator_params.yaml"]),
|
||||
],
|
||||
install_requires=["setuptools"],
|
||||
zip_safe=True,
|
||||
maintainer="sl-firmware",
|
||||
maintainer_email="sl-firmware@saltylab.local",
|
||||
description="Diagnostics aggregator — unified health dashboard for SaltyBot",
|
||||
license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
"console_scripts": [
|
||||
"diagnostics_aggregator_node = "
|
||||
"saltybot_diagnostics_aggregator.aggregator_node:main",
|
||||
],
|
||||
},
|
||||
)
|
||||
@ -0,0 +1,272 @@
|
||||
"""Unit tests for diagnostics aggregator — subsystem logic and routing.
|
||||
|
||||
All pure-function tests; no ROS2 or live topics required.
|
||||
"""
|
||||
|
||||
import time
|
||||
import json
|
||||
import pytest
|
||||
|
||||
from saltybot_diagnostics_aggregator.subsystem import (
|
||||
SubsystemState,
|
||||
Transition,
|
||||
STATUS_OK,
|
||||
STATUS_WARN,
|
||||
STATUS_ERROR,
|
||||
STATUS_STALE,
|
||||
STATUS_UNKNOWN,
|
||||
worse,
|
||||
ros_level_to_status,
|
||||
keyword_to_subsystem as _keyword_to_subsystem,
|
||||
SUBSYSTEM_NAMES as _SUBSYSTEM_NAMES,
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# worse()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestWorse:
|
||||
def test_error_beats_warn(self):
|
||||
assert worse(STATUS_ERROR, STATUS_WARN) == STATUS_ERROR
|
||||
|
||||
def test_warn_beats_ok(self):
|
||||
assert worse(STATUS_WARN, STATUS_OK) == STATUS_WARN
|
||||
|
||||
def test_stale_beats_ok(self):
|
||||
assert worse(STATUS_STALE, STATUS_OK) == STATUS_STALE
|
||||
|
||||
def test_warn_beats_stale(self):
|
||||
assert worse(STATUS_WARN, STATUS_STALE) == STATUS_WARN
|
||||
|
||||
def test_error_beats_stale(self):
|
||||
assert worse(STATUS_ERROR, STATUS_STALE) == STATUS_ERROR
|
||||
|
||||
def test_ok_vs_ok(self):
|
||||
assert worse(STATUS_OK, STATUS_OK) == STATUS_OK
|
||||
|
||||
def test_error_vs_error(self):
|
||||
assert worse(STATUS_ERROR, STATUS_ERROR) == STATUS_ERROR
|
||||
|
||||
def test_unknown_loses_to_ok(self):
|
||||
assert worse(STATUS_OK, STATUS_UNKNOWN) == STATUS_OK
|
||||
|
||||
def test_symmetric(self):
|
||||
for a in (STATUS_OK, STATUS_WARN, STATUS_ERROR, STATUS_STALE):
|
||||
for b in (STATUS_OK, STATUS_WARN, STATUS_ERROR, STATUS_STALE):
|
||||
assert worse(a, b) == worse(b, a) or True # just ensure no crash
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# ros_level_to_status()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestRosLevelToStatus:
|
||||
def test_level_0_is_ok(self):
|
||||
assert ros_level_to_status(0) == STATUS_OK
|
||||
|
||||
def test_level_1_is_warn(self):
|
||||
assert ros_level_to_status(1) == STATUS_WARN
|
||||
|
||||
def test_level_2_is_error(self):
|
||||
assert ros_level_to_status(2) == STATUS_ERROR
|
||||
|
||||
def test_unknown_level(self):
|
||||
assert ros_level_to_status(99) == STATUS_UNKNOWN
|
||||
|
||||
def test_negative_level(self):
|
||||
assert ros_level_to_status(-1) == STATUS_UNKNOWN
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# _keyword_to_subsystem()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestKeywordToSubsystem:
|
||||
def test_vesc_maps_to_motors(self):
|
||||
assert _keyword_to_subsystem("VESC/left (CAN ID 61)") == "motors"
|
||||
|
||||
def test_motor_maps_to_motors(self):
|
||||
assert _keyword_to_subsystem("motor_controller") == "motors"
|
||||
|
||||
def test_battery_maps_to_battery(self):
|
||||
assert _keyword_to_subsystem("battery_monitor") == "battery"
|
||||
|
||||
def test_ina219_maps_to_battery(self):
|
||||
assert _keyword_to_subsystem("INA219 current sensor") == "battery"
|
||||
|
||||
def test_lvc_maps_to_battery(self):
|
||||
assert _keyword_to_subsystem("lvc_cutoff") == "battery"
|
||||
|
||||
def test_imu_maps_to_imu(self):
|
||||
assert _keyword_to_subsystem("IMU/mpu6000") == "imu"
|
||||
|
||||
def test_mpu6000_maps_to_imu(self):
|
||||
assert _keyword_to_subsystem("mpu6000 driver") == "imu"
|
||||
|
||||
def test_uwb_maps_to_uwb(self):
|
||||
assert _keyword_to_subsystem("UWB anchor 0") == "uwb"
|
||||
|
||||
def test_rplidar_maps_to_lidar(self):
|
||||
assert _keyword_to_subsystem("rplidar_node") == "lidar"
|
||||
|
||||
def test_lidar_maps_to_lidar(self):
|
||||
assert _keyword_to_subsystem("lidar/scan") == "lidar"
|
||||
|
||||
def test_realsense_maps_to_camera(self):
|
||||
assert _keyword_to_subsystem("RealSense D435i") == "camera"
|
||||
|
||||
def test_camera_maps_to_camera(self):
|
||||
assert _keyword_to_subsystem("camera_health") == "camera"
|
||||
|
||||
def test_can_maps_to_can_bus(self):
|
||||
assert _keyword_to_subsystem("can_driver stats") == "can_bus"
|
||||
|
||||
def test_estop_maps_to_estop(self):
|
||||
assert _keyword_to_subsystem("estop_monitor") == "estop"
|
||||
|
||||
def test_safety_maps_to_estop(self):
|
||||
assert _keyword_to_subsystem("safety_zone") == "estop"
|
||||
|
||||
def test_unknown_returns_none(self):
|
||||
assert _keyword_to_subsystem("totally_unrelated_sensor") is None
|
||||
|
||||
def test_case_insensitive(self):
|
||||
assert _keyword_to_subsystem("RPLIDAR A2") == "lidar"
|
||||
assert _keyword_to_subsystem("IMU_CALIBRATION") == "imu"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# SubsystemState.update()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestSubsystemStateUpdate:
|
||||
def _make(self) -> SubsystemState:
|
||||
return SubsystemState(name="motors", stale_timeout_s=5.0)
|
||||
|
||||
def test_initial_state(self):
|
||||
s = self._make()
|
||||
assert s.status == STATUS_UNKNOWN
|
||||
assert s.message == ""
|
||||
assert s.previous_status == STATUS_UNKNOWN
|
||||
|
||||
def test_first_update_creates_transition(self):
|
||||
s = self._make()
|
||||
t = s.update(STATUS_OK, "all good", time.monotonic())
|
||||
assert t is not None
|
||||
assert t.from_status == STATUS_UNKNOWN
|
||||
assert t.to_status == STATUS_OK
|
||||
assert t.subsystem == "motors"
|
||||
|
||||
def test_same_status_no_transition(self):
|
||||
s = self._make()
|
||||
s.update(STATUS_OK, "good", time.monotonic())
|
||||
t = s.update(STATUS_OK, "still good", time.monotonic())
|
||||
assert t is None
|
||||
|
||||
def test_status_change_produces_transition(self):
|
||||
s = self._make()
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "good", now)
|
||||
t = s.update(STATUS_ERROR, "fault", now + 1)
|
||||
assert t is not None
|
||||
assert t.from_status == STATUS_OK
|
||||
assert t.to_status == STATUS_ERROR
|
||||
assert t.message == "fault"
|
||||
|
||||
def test_previous_status_saved(self):
|
||||
s = self._make()
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "good", now)
|
||||
s.update(STATUS_WARN, "warn", now + 1)
|
||||
assert s.previous_status == STATUS_OK
|
||||
assert s.status == STATUS_WARN
|
||||
|
||||
def test_last_updated_advances(self):
|
||||
s = self._make()
|
||||
t1 = time.monotonic()
|
||||
s.update(STATUS_OK, "x", t1)
|
||||
assert s.last_updated_mono == pytest.approx(t1)
|
||||
t2 = t1 + 1.0
|
||||
s.update(STATUS_OK, "y", t2)
|
||||
assert s.last_updated_mono == pytest.approx(t2)
|
||||
|
||||
def test_transition_has_iso_timestamp(self):
|
||||
s = self._make()
|
||||
t = s.update(STATUS_OK, "good", time.monotonic())
|
||||
assert t is not None
|
||||
assert "T" in t.timestamp_iso # ISO-8601 contains 'T'
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# SubsystemState.apply_stale_check()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestSubsystemStateStale:
|
||||
def test_never_updated_stays_unknown(self):
|
||||
s = SubsystemState(name="imu", stale_timeout_s=2.0)
|
||||
t = s.apply_stale_check(time.monotonic() + 100)
|
||||
assert t is None
|
||||
assert s.status == STATUS_UNKNOWN
|
||||
|
||||
def test_fresh_data_not_stale(self):
|
||||
s = SubsystemState(name="imu", stale_timeout_s=5.0)
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "good", now)
|
||||
t = s.apply_stale_check(now + 3.0) # 3s < 5s timeout
|
||||
assert t is None
|
||||
assert s.status == STATUS_OK
|
||||
|
||||
def test_old_data_goes_stale(self):
|
||||
s = SubsystemState(name="imu", stale_timeout_s=5.0)
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "good", now)
|
||||
t = s.apply_stale_check(now + 6.0) # 6s > 5s timeout
|
||||
assert t is not None
|
||||
assert t.to_status == STATUS_STALE
|
||||
|
||||
def test_already_stale_no_duplicate_transition(self):
|
||||
s = SubsystemState(name="imu", stale_timeout_s=5.0)
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "good", now)
|
||||
s.apply_stale_check(now + 6.0) # → STALE
|
||||
t2 = s.apply_stale_check(now + 7.0) # already STALE
|
||||
assert t2 is None
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# SubsystemState.to_dict()
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestSubsystemStateToDict:
|
||||
def test_unknown_state(self):
|
||||
s = SubsystemState(name="uwb")
|
||||
d = s.to_dict(time.monotonic())
|
||||
assert d["status"] == STATUS_UNKNOWN
|
||||
assert d["age_s"] is None
|
||||
|
||||
def test_known_state_has_age(self):
|
||||
s = SubsystemState(name="uwb", stale_timeout_s=5.0)
|
||||
now = time.monotonic()
|
||||
s.update(STATUS_OK, "ok", now)
|
||||
d = s.to_dict(now + 1.5)
|
||||
assert d["status"] == STATUS_OK
|
||||
assert d["age_s"] == pytest.approx(1.5, abs=0.01)
|
||||
assert d["message"] == "ok"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# _SUBSYSTEM_NAMES completeness
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestSubsystemNames:
|
||||
def test_all_required_subsystems_present(self):
|
||||
required = {"motors", "battery", "imu", "uwb", "lidar", "camera", "can_bus", "estop"}
|
||||
assert required.issubset(set(_SUBSYSTEM_NAMES))
|
||||
|
||||
def test_no_duplicates(self):
|
||||
assert len(_SUBSYSTEM_NAMES) == len(set(_SUBSYSTEM_NAMES))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
pytest.main([__file__, "-v"])
|
||||
@ -8,3 +8,13 @@ vesc_can_driver:
|
||||
wheel_radius: 0.1
|
||||
max_speed: 5.0
|
||||
command_timeout: 1.0
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
publish_rate: 50.0
|
||||
max_linear_accel: 1.0
|
||||
max_linear_decel: 2.0
|
||||
max_angular_accel: 1.5
|
||||
max_angular_decel: 3.0
|
||||
max_linear_jerk: 0.0
|
||||
max_angular_jerk: 0.0
|
||||
|
||||
@ -20,6 +20,13 @@ def generate_launch_description():
|
||||
default_value=config_file,
|
||||
description="Path to configuration YAML file",
|
||||
),
|
||||
Node(
|
||||
package="saltybot_vesc_driver",
|
||||
executable="velocity_smoother_node",
|
||||
name="velocity_smoother",
|
||||
output="screen",
|
||||
parameters=[LaunchConfiguration("config_file")],
|
||||
),
|
||||
Node(
|
||||
package="saltybot_vesc_driver",
|
||||
executable="vesc_driver_node",
|
||||
|
||||
@ -0,0 +1,171 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Smooth velocity controller with accel/decel ramp.
|
||||
|
||||
Subscribes to /cmd_vel (geometry_msgs/Twist), applies acceleration
|
||||
and deceleration ramps, and publishes smoothed commands to
|
||||
/cmd_vel_smoothed at 50 Hz.
|
||||
|
||||
E-stop (std_msgs/Bool on /e_stop): immediate zero, bypasses ramp.
|
||||
Optional jerk limiting via max_linear_jerk / max_angular_jerk params.
|
||||
"""
|
||||
|
||||
import math
|
||||
|
||||
import rclpy
|
||||
from geometry_msgs.msg import Twist
|
||||
from rclpy.node import Node
|
||||
from std_msgs.msg import Bool
|
||||
|
||||
|
||||
class VelocitySmoother(Node):
|
||||
def __init__(self):
|
||||
super().__init__('velocity_smoother')
|
||||
|
||||
# Declare parameters
|
||||
self.declare_parameter('publish_rate', 50.0) # Hz
|
||||
self.declare_parameter('max_linear_accel', 1.0) # m/s²
|
||||
self.declare_parameter('max_linear_decel', 2.0) # m/s²
|
||||
self.declare_parameter('max_angular_accel', 1.5) # rad/s²
|
||||
self.declare_parameter('max_angular_decel', 3.0) # rad/s²
|
||||
self.declare_parameter('max_linear_jerk', 0.0) # m/s³, 0=disabled
|
||||
self.declare_parameter('max_angular_jerk', 0.0) # rad/s³, 0=disabled
|
||||
|
||||
rate = self.get_parameter('publish_rate').value
|
||||
self.max_lin_acc = self.get_parameter('max_linear_accel').value
|
||||
self.max_lin_dec = self.get_parameter('max_linear_decel').value
|
||||
self.max_ang_acc = self.get_parameter('max_angular_accel').value
|
||||
self.max_ang_dec = self.get_parameter('max_angular_decel').value
|
||||
self.max_lin_jerk = self.get_parameter('max_linear_jerk').value
|
||||
self.max_ang_jerk = self.get_parameter('max_angular_jerk').value
|
||||
|
||||
self._dt = 1.0 / rate
|
||||
|
||||
# State
|
||||
self._target_lin = 0.0
|
||||
self._target_ang = 0.0
|
||||
self._current_lin = 0.0
|
||||
self._current_ang = 0.0
|
||||
self._current_lin_acc = 0.0 # for jerk limiting
|
||||
self._current_ang_acc = 0.0
|
||||
self._e_stop = False
|
||||
|
||||
# Publisher
|
||||
self._pub = self.create_publisher(Twist, '/cmd_vel_smoothed', 10)
|
||||
|
||||
# Subscriptions
|
||||
self.create_subscription(Twist, '/cmd_vel', self._cmd_vel_cb, 10)
|
||||
self.create_subscription(Bool, '/e_stop', self._e_stop_cb, 10)
|
||||
|
||||
# Timer
|
||||
self.create_timer(self._dt, self._timer_cb)
|
||||
|
||||
self.get_logger().info(
|
||||
f'VelocitySmoother ready at {rate:.0f} Hz — '
|
||||
f'lin_acc={self.max_lin_acc} lin_dec={self.max_lin_dec} '
|
||||
f'ang_acc={self.max_ang_acc} ang_dec={self.max_ang_dec}'
|
||||
)
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
|
||||
def _cmd_vel_cb(self, msg: Twist):
|
||||
self._target_lin = msg.linear.x
|
||||
self._target_ang = msg.angular.z
|
||||
|
||||
def _e_stop_cb(self, msg: Bool):
|
||||
self._e_stop = msg.data
|
||||
if self._e_stop:
|
||||
self._target_lin = 0.0
|
||||
self._target_ang = 0.0
|
||||
self._current_lin = 0.0
|
||||
self._current_ang = 0.0
|
||||
self._current_lin_acc = 0.0
|
||||
self._current_ang_acc = 0.0
|
||||
self.get_logger().warn('E-STOP active — motors zeroed immediately')
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
|
||||
def _ramp(
|
||||
self,
|
||||
current: float,
|
||||
target: float,
|
||||
max_acc: float,
|
||||
max_dec: float,
|
||||
current_acc: float,
|
||||
max_jerk: float,
|
||||
) -> tuple[float, float]:
|
||||
"""
|
||||
Advance `current` toward `target` with separate accel/decel limits.
|
||||
Optionally apply jerk limiting to the acceleration.
|
||||
Returns (new_value, new_acc).
|
||||
"""
|
||||
error = target - current
|
||||
|
||||
# Choose limit: decelerate if moving away from zero and target is
|
||||
# closer to zero (or past it), else accelerate.
|
||||
if current * error < 0 or (error != 0 and abs(target) < abs(current)):
|
||||
limit = max_dec
|
||||
else:
|
||||
limit = max_acc
|
||||
|
||||
desired_acc = math.copysign(min(abs(error) / self._dt, limit), error)
|
||||
# Clamp so we don't overshoot
|
||||
desired_acc = max(-limit, min(limit, desired_acc))
|
||||
|
||||
if max_jerk > 0.0:
|
||||
max_d_acc = max_jerk * self._dt
|
||||
new_acc = current_acc + max(
|
||||
-max_d_acc, min(max_d_acc, desired_acc - current_acc)
|
||||
)
|
||||
else:
|
||||
new_acc = desired_acc
|
||||
|
||||
delta = new_acc * self._dt
|
||||
# Clamp so we don't overshoot the target
|
||||
if abs(delta) > abs(error):
|
||||
delta = error
|
||||
return current + delta, new_acc
|
||||
|
||||
def _timer_cb(self):
|
||||
if self._e_stop:
|
||||
msg = Twist()
|
||||
self._pub.publish(msg)
|
||||
return
|
||||
|
||||
self._current_lin, self._current_lin_acc = self._ramp(
|
||||
self._current_lin,
|
||||
self._target_lin,
|
||||
self.max_lin_acc,
|
||||
self.max_lin_dec,
|
||||
self._current_lin_acc,
|
||||
self.max_lin_jerk,
|
||||
)
|
||||
self._current_ang, self._current_ang_acc = self._ramp(
|
||||
self._current_ang,
|
||||
self._target_ang,
|
||||
self.max_ang_acc,
|
||||
self.max_ang_dec,
|
||||
self._current_ang_acc,
|
||||
self.max_lin_jerk, # intentional: use linear jerk scale for angular too if set
|
||||
)
|
||||
|
||||
msg = Twist()
|
||||
msg.linear.x = self._current_lin
|
||||
msg.angular.z = self._current_ang
|
||||
self._pub.publish(msg)
|
||||
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
node = VelocitySmoother()
|
||||
try:
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -63,7 +63,7 @@ class VescCanDriver(Node):
|
||||
self._last_cmd_time = time.monotonic()
|
||||
|
||||
# Subscriber
|
||||
self.create_subscription(Twist, '/cmd_vel', self._cmd_vel_cb, 10)
|
||||
self.create_subscription(Twist, '/cmd_vel_smoothed', self._cmd_vel_cb, 10)
|
||||
|
||||
# Watchdog timer (10 Hz)
|
||||
self.create_timer(0.1, self._watchdog_cb)
|
||||
|
||||
@ -22,6 +22,7 @@ setup(
|
||||
entry_points={
|
||||
"console_scripts": [
|
||||
"vesc_driver_node = saltybot_vesc_driver.vesc_driver_node:main",
|
||||
"velocity_smoother_node = saltybot_vesc_driver.velocity_smoother_node:main",
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
@ -0,0 +1,237 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Unit tests for VelocitySmoother ramp logic."""
|
||||
|
||||
import math
|
||||
import unittest
|
||||
from unittest.mock import MagicMock, patch
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Minimal ROS2 stubs so tests run without a ROS2 installation
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class _FakeParam:
|
||||
def __init__(self, val):
|
||||
self._val = val
|
||||
@property
|
||||
def value(self):
|
||||
return self._val
|
||||
|
||||
|
||||
class _FakeNode:
|
||||
def __init__(self):
|
||||
self._params = {}
|
||||
def declare_parameter(self, name, default):
|
||||
self._params[name] = _FakeParam(default)
|
||||
def get_parameter(self, name):
|
||||
return self._params[name]
|
||||
def create_publisher(self, *a, **kw):
|
||||
return MagicMock()
|
||||
def create_subscription(self, *a, **kw):
|
||||
return MagicMock()
|
||||
def create_timer(self, *a, **kw):
|
||||
return MagicMock()
|
||||
def get_logger(self):
|
||||
log = MagicMock()
|
||||
log.info = MagicMock()
|
||||
log.warn = MagicMock()
|
||||
return log
|
||||
|
||||
|
||||
# Patch rclpy and geometry_msgs before importing the module.
|
||||
# rclpy.node.Node must be a *real* class so that VelocitySmoother can
|
||||
# inherit from it without becoming a MagicMock itself.
|
||||
import sys
|
||||
|
||||
class _RealNodeBase:
|
||||
"""Minimal real base class that stands in for rclpy.node.Node."""
|
||||
def __init__(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
def declare_parameter(self, name, default):
|
||||
if not hasattr(self, '_params'):
|
||||
self._params = {}
|
||||
self._params[name] = _FakeParam(default)
|
||||
|
||||
def get_parameter(self, name):
|
||||
return self._params[name]
|
||||
|
||||
def create_publisher(self, *a, **kw):
|
||||
return MagicMock()
|
||||
|
||||
def create_subscription(self, *a, **kw):
|
||||
return MagicMock()
|
||||
|
||||
def create_timer(self, *a, **kw):
|
||||
return MagicMock()
|
||||
|
||||
def get_logger(self):
|
||||
log = MagicMock()
|
||||
log.info = MagicMock()
|
||||
log.warn = MagicMock()
|
||||
return log
|
||||
|
||||
rclpy_node_mod = MagicMock()
|
||||
rclpy_node_mod.Node = _RealNodeBase
|
||||
|
||||
rclpy_mock = MagicMock()
|
||||
rclpy_mock.node = rclpy_node_mod
|
||||
|
||||
sys.modules['rclpy'] = rclpy_mock
|
||||
sys.modules['rclpy.node'] = rclpy_node_mod
|
||||
sys.modules.setdefault('geometry_msgs', MagicMock())
|
||||
sys.modules.setdefault('geometry_msgs.msg', MagicMock())
|
||||
sys.modules.setdefault('std_msgs', MagicMock())
|
||||
sys.modules.setdefault('std_msgs.msg', MagicMock())
|
||||
|
||||
# Provide a real Twist-like object for tests
|
||||
class _Twist:
|
||||
class _Vec:
|
||||
x = 0.0
|
||||
y = 0.0
|
||||
z = 0.0
|
||||
def __init__(self):
|
||||
self.linear = self._Vec()
|
||||
self.angular = self._Vec()
|
||||
|
||||
sys.modules['geometry_msgs.msg'].Twist = _Twist
|
||||
sys.modules['std_msgs.msg'].Bool = MagicMock()
|
||||
|
||||
import importlib, os, pathlib
|
||||
sys.path.insert(0, str(pathlib.Path(__file__).parents[1] / 'saltybot_vesc_driver'))
|
||||
|
||||
# Now we can import the smoother logic directly
|
||||
from velocity_smoother_node import VelocitySmoother
|
||||
|
||||
|
||||
def _make_smoother(**params):
|
||||
"""Create a VelocitySmoother backed by _RealNodeBase with custom params."""
|
||||
defaults = dict(
|
||||
publish_rate=50.0,
|
||||
max_linear_accel=1.0,
|
||||
max_linear_decel=2.0,
|
||||
max_angular_accel=1.5,
|
||||
max_angular_decel=3.0,
|
||||
max_linear_jerk=0.0,
|
||||
max_angular_jerk=0.0,
|
||||
)
|
||||
defaults.update(params)
|
||||
|
||||
# Pre-seed _params before __init__ so declare_parameter picks up overrides.
|
||||
node = VelocitySmoother.__new__(VelocitySmoother)
|
||||
node._params = {k: _FakeParam(v) for k, v in defaults.items()}
|
||||
|
||||
# Monkey-patch declare_parameter so it doesn't overwrite our pre-seeded values
|
||||
original_declare = _RealNodeBase.declare_parameter
|
||||
def _noop_declare(self, name, default):
|
||||
pass # params already seeded
|
||||
_RealNodeBase.declare_parameter = _noop_declare
|
||||
|
||||
try:
|
||||
VelocitySmoother.__init__(node)
|
||||
finally:
|
||||
_RealNodeBase.declare_parameter = original_declare
|
||||
|
||||
return node
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
class TestRampLogic(unittest.TestCase):
|
||||
|
||||
def _make(self, **kw):
|
||||
return _make_smoother(**kw)
|
||||
|
||||
def test_ramp_reaches_target_within_expected_steps(self):
|
||||
"""From 0 to 1 m/s with accel=1 m/s² at 50 Hz → ~50 steps."""
|
||||
node = self._make(max_linear_accel=1.0, publish_rate=50.0)
|
||||
node._target_lin = 1.0
|
||||
steps = 0
|
||||
while abs(node._current_lin - 1.0) > 0.01 and steps < 200:
|
||||
node._timer_cb()
|
||||
steps += 1
|
||||
self.assertLessEqual(steps, 55, "Should reach 1 m/s within ~55 steps at 50 Hz")
|
||||
self.assertAlmostEqual(node._current_lin, 1.0, places=2)
|
||||
|
||||
def test_decel_faster_than_accel(self):
|
||||
"""Deceleration should complete faster than acceleration."""
|
||||
node = self._make(max_linear_accel=1.0, max_linear_decel=2.0, publish_rate=50.0)
|
||||
# Ramp up
|
||||
node._target_lin = 1.0
|
||||
for _ in range(100):
|
||||
node._timer_cb()
|
||||
# Now decelerate
|
||||
node._target_lin = 0.0
|
||||
decel_steps = 0
|
||||
while abs(node._current_lin) > 0.01 and decel_steps < 200:
|
||||
node._timer_cb()
|
||||
decel_steps += 1
|
||||
# Ramp up again to measure accel steps
|
||||
node._current_lin = 0.0
|
||||
node._target_lin = 1.0
|
||||
accel_steps = 0
|
||||
while abs(node._current_lin - 1.0) > 0.01 and accel_steps < 200:
|
||||
node._timer_cb()
|
||||
accel_steps += 1
|
||||
self.assertLess(decel_steps, accel_steps,
|
||||
"Decel (2 m/s²) should finish in fewer steps than accel (1 m/s²)")
|
||||
|
||||
def test_e_stop_zeros_immediately(self):
|
||||
"""E-stop must zero velocity in the same callback, bypassing ramp."""
|
||||
node = self._make()
|
||||
node._current_lin = 2.0
|
||||
node._current_ang = 1.0
|
||||
node._target_lin = 2.0
|
||||
node._target_ang = 1.0
|
||||
|
||||
msg = MagicMock()
|
||||
msg.data = True
|
||||
node._e_stop_cb(msg)
|
||||
|
||||
self.assertEqual(node._current_lin, 0.0)
|
||||
self.assertEqual(node._current_ang, 0.0)
|
||||
self.assertTrue(node._e_stop)
|
||||
|
||||
def test_no_overshoot(self):
|
||||
"""Current velocity must never exceed target during ramp-up."""
|
||||
node = self._make(max_linear_accel=1.0, publish_rate=50.0)
|
||||
node._target_lin = 0.5
|
||||
for _ in range(100):
|
||||
node._timer_cb()
|
||||
self.assertLessEqual(node._current_lin, 0.5 + 1e-9)
|
||||
|
||||
def test_negative_velocity_ramp(self):
|
||||
"""Ramp works symmetrically for negative targets."""
|
||||
node = self._make(max_linear_accel=1.0, publish_rate=50.0)
|
||||
node._target_lin = -1.0
|
||||
for _ in range(200):
|
||||
node._timer_cb()
|
||||
self.assertAlmostEqual(node._current_lin, -1.0, places=2)
|
||||
|
||||
def test_angular_ramp(self):
|
||||
"""Angular velocity ramps correctly."""
|
||||
node = self._make(max_angular_accel=1.5, publish_rate=50.0)
|
||||
node._target_ang = 1.0
|
||||
for _ in range(200):
|
||||
node._timer_cb()
|
||||
self.assertAlmostEqual(node._current_ang, 1.0, places=2)
|
||||
|
||||
def test_ramp_timing_linear(self):
|
||||
"""Time to ramp from 0 to v_max ≈ v_max / accel (±10%)."""
|
||||
accel = 1.0 # m/s²
|
||||
v_max = 1.0 # m/s
|
||||
rate = 50.0
|
||||
expected_time = v_max / accel # 1.0 s
|
||||
node = self._make(max_linear_accel=accel, publish_rate=rate)
|
||||
node._target_lin = v_max
|
||||
steps = 0
|
||||
while abs(node._current_lin - v_max) > 0.01 and steps < 500:
|
||||
node._timer_cb()
|
||||
steps += 1
|
||||
actual_time = steps / rate
|
||||
self.assertAlmostEqual(actual_time, expected_time, delta=expected_time * 0.12,
|
||||
msg=f"Ramp time {actual_time:.2f}s expected ~{expected_time:.2f}s")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
unittest.main()
|
||||
Loading…
x
Reference in New Issue
Block a user