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docs/AGENTS.md
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docs/AGENTS.md
@ -5,17 +5,18 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read
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## Project Overview
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## Project Overview
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A hoverboard-based balancing robot with two compute layers:
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A hoverboard-based balancing robot with two compute layers:
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1. **FC (Flight Controller)** — MAMBA F722S (STM32F722RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
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1. **ESP32-S3 BALANCE** — runs the PID balance loop. Safety-critical, operates independently of the Orin.
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2. **Jetson Nano** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
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2. **ESP32-S3 IO** — handles I/O: motor commands to VESCs, sensor polling, CAN/UART comms.
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3. **Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to ESP32-S3 BALANCE via UART. Not safety-critical.
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```
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```
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Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch)
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Orin Nano Super (speed+steer via UART) ←→ ELRS RC (kill switch)
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│
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│
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▼
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▼
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MAMBA F722S (MPU6000 IMU, PID balance)
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ESP32-S3 BALANCE (IMU, PID balance loop)
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│
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│
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▼ UART2
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▼ CAN / UART
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Hoverboard ESC (FOC) → 2× 8" hub motors
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ESP32-S3 IO → VESC 68 (left) + VESC 56 (right)
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```
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```
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## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
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## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
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@ -26,7 +27,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
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2. **Tilt cutoff at ±25°** — motors to zero, require manual re-arm. No retry, no recovery.
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2. **Tilt cutoff at ±25°** — motors to zero, require manual re-arm. No retry, no recovery.
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3. **Hardware watchdog (50ms)** — if firmware hangs, motors cut.
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3. **Hardware watchdog (50ms)** — if firmware hangs, motors cut.
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4. **RC kill switch** — dedicated ELRS channel, checked every loop iteration. Always overrides.
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4. **RC kill switch** — dedicated ELRS channel, checked every loop iteration. Always overrides.
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5. **Jetson UART timeout (200ms)** — if Jetson disconnects, motors cut.
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5. **Orin UART timeout (200ms)** — if Orin disconnects, motors cut.
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6. **Speed hard cap** — firmware limit, start at 10%. Increase only after proven stable.
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6. **Speed hard cap** — firmware limit, start at 10%. Increase only after proven stable.
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7. **Never test untethered** until PID is stable for 5+ minutes on a tether.
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7. **Never test untethered** until PID is stable for 5+ minutes on a tether.
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@ -35,31 +36,16 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
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## Repository Layout
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## Repository Layout
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```
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```
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firmware/ # STM32 HAL firmware (PlatformIO)
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esp32/ # ESP32-S3 firmware (ESP-IDF)
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├── src/
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├── balance/ # ESP32-S3 BALANCE — PID loop, IMU, safety
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│ ├── main.c # Entry point, clock config, main loop
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└── io/ # ESP32-S3 IO — VESC CAN, sensors, comms
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│ ├── icm42688.c # ICM-42688-P SPI driver (backup IMU — currently broken)
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│ ├── bmp280.c # Barometer driver (disabled)
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│ └── status.c # LED + buzzer status patterns
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├── include/
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│ ├── config.h # Pin definitions, constants
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│ ├── icm42688.h
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│ ├── mpu6000.h # MPU6000 driver header (primary IMU)
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│ ├── hoverboard.h # Hoverboard ESC UART protocol
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│ ├── crsf.h # ELRS CRSF protocol
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│ ├── bmp280.h
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│ └── status.h
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├── lib/USB_CDC/ # USB CDC stack (serial over USB)
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│ ├── src/ # CDC implementation, USB descriptors, PCD config
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│ └── include/
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└── platformio.ini # Build config
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cad/ # OpenSCAD parametric parts (16 files)
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cad/ # OpenSCAD parametric parts (16 files)
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├── dimensions.scad # ALL measurements live here — single source of truth
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├── dimensions.scad # ALL measurements live here — single source of truth
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├── assembly.scad # Full robot assembly visualization
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├── assembly.scad # Full robot assembly visualization
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├── motor_mount_plate.scad
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├── motor_mount_plate.scad
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├── battery_shelf.scad
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├── battery_shelf.scad
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├── fc_mount.scad # Vibration-isolated FC mount
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├── esp32_balance_mount.scad # Vibration-isolated ESP32-S3 BALANCE mount
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├── jetson_shelf.scad
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├── jetson_shelf.scad
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├── esc_mount.scad
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├── esc_mount.scad
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├── sensor_tower_top.scad
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├── sensor_tower_top.scad
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@ -82,55 +68,55 @@ PLATFORM.md # Hardware platform reference
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## Hardware Quick Reference
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## Hardware Quick Reference
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### MAMBA F722S Flight Controller
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### ESP32-S3 BALANCE
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| Spec | Value |
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| Spec | Value |
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|------|-------|
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|------|-------|
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| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
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| MCU | ESP32-S3 (dual-core Xtensa LX7, 240MHz, 512KB SRAM, 8MB flash) |
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| Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
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| Primary IMU | MPU6000 (SPI) |
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| IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
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| Role | PID balance loop, tilt cutoff, arming |
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| IMU EXTI | PC4 (data ready interrupt) |
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| Comms to Orin | UART (velocity commands in, telemetry out) |
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| IMU Orientation | CW270 (Betaflight convention) |
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| Flash | `idf.py -p /dev/ttyUSB0 flash` |
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| Secondary IMU | ICM-42688-P (on same SPI1, CS unknown — currently non-functional) |
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| Betaflight Target | DIAT-MAMBAF722_2022B |
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| USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
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| VID/PID | 0x0483/0x5740 |
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| LEDs | PC15 (LED1), PC14 (LED2), active low |
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| Buzzer | PB2 (inverted push-pull) |
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| Battery ADC | PC1=VBAT, PC3=CURR (ADC3) |
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| DFU | Hold yellow BOOT button + plug USB (or send 'R' over CDC) |
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### UART Assignments
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### ESP32-S3 IO
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| UART | Pins | Connected To | Baud |
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| Spec | Value |
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|------|------|-------------|------|
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|------|-------|
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| USART1 | PA9/PA10 | Jetson Nano | 115200 |
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| MCU | ESP32-S3 |
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| USART2 | PA2/PA3 | Hoverboard ESC | 115200 |
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| Role | VESC CAN driver, sensor polling, peripheral I/O |
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| USART3 | PB10/PB11 | ELRS Receiver | 420000 (CRSF) |
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| VESC IDs | 68 (left), 56 (right) |
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| UART4 | — | Spare | — |
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| Motor bus | CAN 1Mbit/s |
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| UART5 | — | Spare | — |
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| Flash | `idf.py -p /dev/ttyUSB1 flash` |
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### UART Assignments (ESP32-S3 BALANCE)
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| UART | Connected To | Baud |
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|------|-------------|------|
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| UART0 | Orin Nano Super | 115200 |
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| UART1 | ESP32-S3 IO | 115200 |
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| UART2 | ELRS Receiver | 420000 (CRSF) |
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### Motor/ESC
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### Motor/ESC
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- 2× 8" pneumatic hub motors (36V, hoverboard type)
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- 2× 8" pneumatic hub motors (36V, hoverboard type)
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- Hoverboard ESC with FOC firmware
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- 2× VESC motor controllers (CAN IDs 68, 56)
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- UART protocol: `{0xABCD, int16 speed, int16 steer, uint16 checksum}` at 115200
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- VESC CAN protocol: standard SET_DUTY / SET_CURRENT / SET_RPM
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- Speed range: -1000 to +1000
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- Speed range: -1.0 to +1.0 (duty cycle)
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### Physical Dimensions (from `cad/dimensions.scad`)
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### Physical Dimensions (from `cad/dimensions.scad`)
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| Part | Key Measurement |
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| Part | Key Measurement |
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|------|----------------|
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|------|----------------|
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| FC mounting holes | 25.5mm spacing (NOT standard 30.5mm!) |
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| ESP32-S3 BALANCE board | ~55×28mm (DevKit form factor) |
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| FC board size | ~36mm square |
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| ESP32-S3 IO board | ~55×28mm (DevKit form factor) |
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| Hub motor body | Ø200mm (~8") |
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| Hub motor body | Ø200mm (~8") |
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| Motor axle | Ø12mm, 45mm long |
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| Motor axle | Ø12mm, 45mm long |
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| Jetson Nano | 100×80×29mm, M2.5 holes at 86×58mm |
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| Orin Nano Super | 100×79mm, M2.5 holes at 86×58mm |
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| RealSense D435i | 90×25×25mm, 1/4-20 tripod mount |
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| RealSense D435i | 90×25×25mm, 1/4-20 tripod mount |
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| RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle |
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| RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle |
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| Kill switch hole | Ø22mm panel mount |
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| Kill switch hole | Ø22mm panel mount |
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| Battery pack | ~180×80×40mm |
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| Battery pack | ~180×80×40mm |
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| Hoverboard ESC | ~80×50×15mm |
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| VESC (each) | ~70×50×15mm |
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| 2020 extrusion | 20mm square, M5 center bore |
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| 2020 extrusion | 20mm square, M5 center bore |
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| Frame width | ~350mm (axle to axle) |
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| Frame width | ~350mm (axle to axle) |
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| Frame height | ~500-550mm total |
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| Frame height | ~500-550mm total |
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@ -147,7 +133,7 @@ PLATFORM.md # Hardware platform reference
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| sensor_tower_top | ASA | 80% |
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| sensor_tower_top | ASA | 80% |
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| lidar_standoff (Ø80×80mm) | ASA | 40% |
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| lidar_standoff (Ø80×80mm) | ASA | 40% |
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| realsense_bracket | PETG | 60% |
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| realsense_bracket | PETG | 60% |
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| fc_mount (vibration isolated) | TPU+PETG | — |
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| esp32_balance_mount (vibration isolated) | TPU+PETG | — |
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| bumper front + rear (350×50×30mm) | TPU | 30% |
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| bumper front + rear (350×50×30mm) | TPU | 30% |
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| handle | PETG | 80% |
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| handle | PETG | 80% |
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| kill_switch_mount | PETG | 80% |
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| kill_switch_mount | PETG | 80% |
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@ -159,99 +145,75 @@ PLATFORM.md # Hardware platform reference
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|||||||
|
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### Critical Lessons Learned (DON'T REPEAT THESE)
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### Critical Lessons Learned (DON'T REPEAT THESE)
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1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
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1. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
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2. **DCache breaks SPI on STM32F7** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
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2. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0. Always use explicit error codes.
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3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
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3. **USB CDC needs RX primed in init** — without it, the OUT endpoint never starts listening.
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4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
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4. **Watchdog must be fed every loop iteration** — if balance loop stalls, motors must cut within 50ms.
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5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
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5. **Never change PID and speed limit in the same test** — one variable at a time.
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|
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### DFU Reboot (Betaflight Method)
|
### Build & Flash (ESP32-S3)
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|
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The firmware supports reboot-to-DFU via USB command:
|
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1. Send `R` byte over USB CDC
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2. Firmware writes `0xDEADBEEF` to RTC backup register 0
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3. `NVIC_SystemReset()` — clean hardware reset
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4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
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5. If magic found: clears it, remaps system memory, jumps to STM32 bootloader at `0x1FF00000`
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6. Board appears as DFU device, ready for `dfu-util` flash
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|
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### Build & Flash
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|
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|
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```bash
|
```bash
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cd firmware/
|
# Balance board
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python3 -m platformio run # Build
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cd esp32/balance/
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dfu-util -a 0 -s 0x08000000:leave -D .pio/build/f722/firmware.bin # Flash
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idf.py build && idf.py -p /dev/ttyUSB0 flash monitor
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|
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# IO board
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|
cd esp32/io/
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|
idf.py build && idf.py -p /dev/ttyUSB1 flash monitor
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||||||
```
|
```
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|
|
||||||
Dev machine: mbpm4 (seb@192.168.87.40), PlatformIO project at `~/Projects/saltylab-firmware/`
|
Dev machine: mbpm4 (seb@192.168.87.40)
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||||||
|
|
||||||
### Clock Configuration
|
|
||||||
|
|
||||||
```
|
|
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HSE 8MHz → PLL (M=8, N=432, P=2, Q=9) → SYSCLK 216MHz
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|
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PLLSAI (N=384, P=8) → CLK48 48MHz (USB)
|
|
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APB1 = HCLK/4 = 54MHz
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|
||||||
APB2 = HCLK/2 = 108MHz
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|
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Fallback: HSI 16MHz if HSE fails (PLL M=16)
|
|
||||||
```
|
|
||||||
|
|
||||||
## Current Status & Known Issues
|
## Current Status & Known Issues
|
||||||
|
|
||||||
### Working
|
### Working
|
||||||
- USB CDC serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
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- IMU streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
|
||||||
- Clock config with HSE + HSI fallback
|
- VESC CAN communication (IDs 68, 56)
|
||||||
- Reboot-to-DFU via USB 'R' command
|
- LED status patterns
|
||||||
- LED status patterns (status.c)
|
|
||||||
- Web UI with WebSerial + Three.js 3D visualization
|
- Web UI with WebSerial + Three.js 3D visualization
|
||||||
|
|
||||||
### Broken / In Progress
|
### In Progress
|
||||||
- **ICM-42688-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
|
- PID balance loop tuning
|
||||||
- **MPU6000 driver** — header exists but implementation needs completion
|
- ELRS CRSF receiver integration
|
||||||
- **PID balance loop** — not yet implemented
|
- Orin UART integration
|
||||||
- **Hoverboard ESC UART** — protocol defined, driver not written
|
|
||||||
- **ELRS CRSF receiver** — protocol defined, driver not written
|
|
||||||
- **Barometer (BMP280)** — I2C init hangs, disabled
|
|
||||||
|
|
||||||
### TODO (Priority Order)
|
### TODO (Priority Order)
|
||||||
1. Get MPU6000 streaming accel+gyro data
|
1. Tune PID balance loop on ESP32-S3 BALANCE
|
||||||
2. Implement complementary filter (pitch angle)
|
2. Implement complementary filter (pitch angle)
|
||||||
3. Write hoverboard ESC UART driver
|
3. Wire ELRS receiver, implement CRSF parser
|
||||||
4. Write PID balance loop with safety checks
|
4. Bench test (VESCs disconnected, verify PID output)
|
||||||
5. Wire ELRS receiver, implement CRSF parser
|
5. First tethered balance test at 10% speed
|
||||||
6. Bench test (ESC disconnected, verify PID output)
|
6. Orin UART integration
|
||||||
7. First tethered balance test at 10% speed
|
7. LED subsystem (ESP32-S3 IO)
|
||||||
8. Jetson UART integration
|
|
||||||
9. LED subsystem (ESP32-C3)
|
|
||||||
|
|
||||||
## Communication Protocols
|
## Communication Protocols
|
||||||
|
|
||||||
### Jetson → FC (UART1, 50Hz)
|
### Orin → ESP32-S3 BALANCE (UART0, 50Hz)
|
||||||
```c
|
```c
|
||||||
struct { uint8_t header=0xAA; int16_t speed; int16_t steer; uint8_t mode; uint8_t checksum; };
|
struct { uint8_t header=0xAA; int16_t speed; int16_t steer; uint8_t mode; uint8_t checksum; };
|
||||||
// mode: 0=idle, 1=balance, 2=follow, 3=RC
|
// mode: 0=idle, 1=balance, 2=follow, 3=RC
|
||||||
```
|
```
|
||||||
|
|
||||||
### FC → Hoverboard ESC (UART2, loop rate)
|
### ESP32-S3 IO → VESC (CAN, loop rate)
|
||||||
```c
|
- Standard VESC CAN protocol (SET_DUTY / SET_CURRENT / SET_RPM)
|
||||||
struct { uint16_t start=0xABCD; int16_t speed; int16_t steer; uint16_t checksum; };
|
- Node IDs: VESC 68 (left), VESC 56 (right)
|
||||||
// speed/steer: -1000 to +1000
|
|
||||||
```
|
|
||||||
|
|
||||||
### FC → Jetson Telemetry (UART1 TX, 50Hz)
|
### ESP32-S3 BALANCE → Orin Telemetry (UART0 TX, 50Hz)
|
||||||
```
|
```
|
||||||
T:12.3,P:45,L:100,R:-80,S:3\n
|
T:12.3,P:45,L:100,R:-80,S:3\n
|
||||||
// T=tilt°, P=PID output, L/R=motor commands, S=state (0-3)
|
// T=tilt°, P=PID output, L/R=motor commands, S=state (0-3)
|
||||||
```
|
```
|
||||||
|
|
||||||
### FC → USB CDC (50Hz JSON)
|
### ESP32-S3 → USB (50Hz JSON, debug/tuning)
|
||||||
```json
|
```json
|
||||||
{"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0,"bt":0}
|
{"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0}
|
||||||
// Raw IMU values (int16), t=temp×10, p=pressure, bt=baro temp
|
// Raw IMU values (int16), t=temp×10, p=PID output
|
||||||
```
|
```
|
||||||
|
|
||||||
## LED Subsystem (ESP32-C3)
|
## LED Subsystem (ESP32-S3 IO)
|
||||||
|
|
||||||
ESP32-C3 eavesdrops on FC→Jetson telemetry (listen-only tap on UART1 TX). No extra FC UART needed.
|
ESP32-S3 IO eavesdrops on BALANCE→Orin telemetry (listen-only). No extra UART needed.
|
||||||
|
|
||||||
| State | Pattern | Color |
|
| State | Pattern | Color |
|
||||||
|-------|---------|-------|
|
|-------|---------|-------|
|
||||||
@ -275,7 +237,7 @@ ESP32-C3 eavesdrops on FC→Jetson telemetry (listen-only tap on UART1 TX). No e
|
|||||||
1. **Read SALTYLAB.md fully** before making any design decisions
|
1. **Read SALTYLAB.md fully** before making any design decisions
|
||||||
2. **Never remove safety checks** from firmware — add more if needed
|
2. **Never remove safety checks** from firmware — add more if needed
|
||||||
3. **All measurements go in `cad/dimensions.scad`** — single source of truth
|
3. **All measurements go in `cad/dimensions.scad`** — single source of truth
|
||||||
4. **Test firmware on bench before any motor test** — ESC disconnected, verify outputs on serial
|
4. **Test firmware on bench before any motor test** — VESCs disconnected, verify outputs on serial
|
||||||
5. **One variable at a time** — don't change PID and speed limit in the same test
|
5. **One variable at a time** — don't change PID and speed limit in the same test
|
||||||
6. **Document what you change** — update this file if you add pins, change protocols, or discover hardware quirks
|
6. **Document what you change** — update this file if you add pins, change protocols, or discover hardware quirks
|
||||||
7. **Ask before wiring changes** — wrong connections can fry the FC ($50+ board)
|
7. **Ask before wiring changes** — wrong connections can fry an ESP32 or VESC
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
|
uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
|
||||||
|
|
||||||
Launches serial_bridge_node configured for Jetson Orin UART port.
|
Launches serial_bridge_node configured for Jetson Orin UART port.
|
||||||
Bridges Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 into ROS2.
|
Bridges Flight Controller (ESP32-S3 BALANCE) telemetry from /dev/ttyTHS1 into ROS2.
|
||||||
|
|
||||||
Published topics (same as USB CDC bridge):
|
Published topics (same as USB CDC bridge):
|
||||||
/saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity
|
/saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity
|
||||||
|
|||||||
@ -378,7 +378,7 @@ class CmdVelBridgeNode(Node):
|
|||||||
diag.header.stamp = stamp
|
diag.header.stamp = stamp
|
||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = f"{state_label} [{mode_label}]"
|
status.message = f"{state_label} [{mode_label}]"
|
||||||
status.level = (
|
status.level = (
|
||||||
DiagnosticStatus.OK if state == 1 else
|
DiagnosticStatus.OK if state == 1 else
|
||||||
@ -406,7 +406,7 @@ class CmdVelBridgeNode(Node):
|
|||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.level = DiagnosticStatus.ERROR
|
status.level = DiagnosticStatus.ERROR
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = f"IMU fault errno={errno}"
|
status.message = f"IMU fault errno={errno}"
|
||||||
diag.status.append(status)
|
diag.status.append(status)
|
||||||
self._diag_pub.publish(diag)
|
self._diag_pub.publish(diag)
|
||||||
|
|||||||
@ -322,7 +322,7 @@ class SaltybotCanNode(Node):
|
|||||||
diag.header.stamp = stamp
|
diag.header.stamp = stamp
|
||||||
st = DiagnosticStatus()
|
st = DiagnosticStatus()
|
||||||
st.name = "saltybot/balance_controller"
|
st.name = "saltybot/balance_controller"
|
||||||
st.hardware_id = "stm32f722"
|
st.hardware_id = "esp32_balance"
|
||||||
st.message = state_label
|
st.message = state_label
|
||||||
st.level = (DiagnosticStatus.OK if state == 1 else
|
st.level = (DiagnosticStatus.OK if state == 1 else
|
||||||
DiagnosticStatus.WARN if state == 0 else
|
DiagnosticStatus.WARN if state == 0 else
|
||||||
|
|||||||
@ -266,7 +266,7 @@ class SaltybotCmdNode(Node):
|
|||||||
diag.header.stamp = stamp
|
diag.header.stamp = stamp
|
||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = state_label
|
status.message = state_label
|
||||||
if state == 1:
|
if state == 1:
|
||||||
status.level = DiagnosticStatus.OK
|
status.level = DiagnosticStatus.OK
|
||||||
@ -294,7 +294,7 @@ class SaltybotCmdNode(Node):
|
|||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.level = DiagnosticStatus.ERROR
|
status.level = DiagnosticStatus.ERROR
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = f"IMU fault errno={errno}"
|
status.message = f"IMU fault errno={errno}"
|
||||||
diag.status.append(status)
|
diag.status.append(status)
|
||||||
self._diag_pub.publish(diag)
|
self._diag_pub.publish(diag)
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
"""
|
"""
|
||||||
saltybot_bridge — serial_bridge_node
|
saltybot_bridge — serial_bridge_node
|
||||||
STM32F722 USB CDC → ROS2 topic publisher
|
ESP32-S3 BALANCE USB CDC → ROS2 topic publisher
|
||||||
|
|
||||||
Telemetry frame (50 Hz, newline-delimited JSON):
|
Telemetry frame (50 Hz, newline-delimited JSON):
|
||||||
{"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
|
{"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
|
||||||
@ -264,7 +264,7 @@ class SerialBridgeNode(Node):
|
|||||||
diag.header.stamp = stamp
|
diag.header.stamp = stamp
|
||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = state_label
|
status.message = state_label
|
||||||
|
|
||||||
if state == 1: # ARMED
|
if state == 1: # ARMED
|
||||||
@ -293,7 +293,7 @@ class SerialBridgeNode(Node):
|
|||||||
status = DiagnosticStatus()
|
status = DiagnosticStatus()
|
||||||
status.level = DiagnosticStatus.ERROR
|
status.level = DiagnosticStatus.ERROR
|
||||||
status.name = "saltybot/balance_controller"
|
status.name = "saltybot/balance_controller"
|
||||||
status.hardware_id = "stm32f722"
|
status.hardware_id = "esp32_balance"
|
||||||
status.message = f"IMU fault errno={errno}"
|
status.message = f"IMU fault errno={errno}"
|
||||||
diag.status.append(status)
|
diag.status.append(status)
|
||||||
self._diag_pub.publish(diag)
|
self._diag_pub.publish(diag)
|
||||||
|
|||||||
@ -1,7 +1,11 @@
|
|||||||
can_bridge_node:
|
can_bridge_node:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
can_interface: slcan0
|
# SocketCAN interface — CANable 2.0 USB-to-CAN on Orin
|
||||||
|
can_interface: "can0"
|
||||||
|
|
||||||
|
# VESC CAN node IDs (FSESC 6.7 Pro Mini Dual)
|
||||||
left_vesc_can_id: 56
|
left_vesc_can_id: 56
|
||||||
right_vesc_can_id: 68
|
right_vesc_can_id: 68
|
||||||
mamba_can_id: 1
|
|
||||||
|
# Watchdog: send zero velocity if no /cmd_vel for this many seconds
|
||||||
command_timeout_s: 0.5
|
command_timeout_s: 0.5
|
||||||
|
|||||||
@ -1 +1 @@
|
|||||||
"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
|
"""saltybot_can_bridge — CAN bus bridge for ESP32 BALANCE and VESC telemetry."""
|
||||||
|
|||||||
@ -0,0 +1,169 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""balance_protocol.py — CAN frame codec for SAUL-TEE ESP32 BALANCE + VESC.
|
||||||
|
|
||||||
|
CAN bus: 500 kbps, CANable 2.0 (can0) on Orin.
|
||||||
|
|
||||||
|
── Orin → ESP32 BALANCE (commands) ───────────────────────────────────────────
|
||||||
|
0x300 DRIVE 8 B [left_mps f32 LE][right_mps f32 LE]
|
||||||
|
0x301 MODE 1 B [mode u8] 0=idle 1=drive 2=estop
|
||||||
|
0x302 ESTOP 1 B [flags u8] bit0=stop bit1=clear
|
||||||
|
0x303 LED 4 B [pattern u8][r u8][g u8][b u8]
|
||||||
|
|
||||||
|
── ESP32 BALANCE → Orin (telemetry) ──────────────────────────────────────────
|
||||||
|
0x400 FC_STATUS 8 B [pitch_x10 i16][motor_cmd u16][vbat_mv u16][state u8][flags u8] 10 Hz
|
||||||
|
0x401 FC_VESC 8 B [l_rpm_x10 i16][r_rpm_x10 i16][l_cur_x10 i16][r_cur_x10 i16] 10 Hz
|
||||||
|
|
||||||
|
── VESC standard CAN frames (29-bit extended IDs) ────────────────────────────
|
||||||
|
VESC node IDs: Left = 56, Right = 68
|
||||||
|
ID = (packet_type << 8) | node_id
|
||||||
|
"""
|
||||||
|
|
||||||
|
import struct
|
||||||
|
from dataclasses import dataclass
|
||||||
|
|
||||||
|
ORIN_CMD_DRIVE: int = 0x300
|
||||||
|
ORIN_CMD_MODE: int = 0x301
|
||||||
|
ORIN_CMD_ESTOP: int = 0x302
|
||||||
|
ORIN_CMD_LED: int = 0x303
|
||||||
|
|
||||||
|
FC_STATUS: int = 0x400
|
||||||
|
FC_VESC: int = 0x401
|
||||||
|
|
||||||
|
VESC_LEFT_ID: int = 56
|
||||||
|
VESC_RIGHT_ID: int = 68
|
||||||
|
|
||||||
|
VESC_CMD_SET_RPM: int = 3
|
||||||
|
VESC_STATUS_1: int = 9
|
||||||
|
VESC_STATUS_4: int = 16
|
||||||
|
VESC_STATUS_5: int = 27
|
||||||
|
|
||||||
|
MODE_IDLE: int = 0
|
||||||
|
MODE_DRIVE: int = 1
|
||||||
|
MODE_ESTOP: int = 2
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class FcStatus:
|
||||||
|
pitch_deg: float = 0.0
|
||||||
|
motor_cmd: int = 0
|
||||||
|
vbat_mv: int = 0
|
||||||
|
state: int = 0
|
||||||
|
flags: int = 0
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class FcVesc:
|
||||||
|
left_rpm: float = 0.0
|
||||||
|
right_rpm: float = 0.0
|
||||||
|
left_cur: float = 0.0
|
||||||
|
right_cur: float = 0.0
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class VescStatus1:
|
||||||
|
node_id: int = 0
|
||||||
|
erpm: float = 0.0
|
||||||
|
current: float = 0.0
|
||||||
|
duty: float = 0.0
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class VescStatus4:
|
||||||
|
node_id: int = 0
|
||||||
|
temp_fet_c: float = 0.0
|
||||||
|
temp_motor_c: float = 0.0
|
||||||
|
current_in: float = 0.0
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class VescStatus5:
|
||||||
|
node_id: int = 0
|
||||||
|
tacho: int = 0
|
||||||
|
vbat_v: float = 0.0
|
||||||
|
|
||||||
|
|
||||||
|
def encode_drive_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||||
|
"""Encode ORIN_CMD_DRIVE (0x300): 8 bytes, 2 × float32 little-endian."""
|
||||||
|
return struct.pack("<ff", float(left_mps), float(right_mps))
|
||||||
|
|
||||||
|
|
||||||
|
def encode_mode_cmd(mode: int) -> bytes:
|
||||||
|
"""Encode ORIN_CMD_MODE (0x301): 1 byte mode value."""
|
||||||
|
if mode not in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
||||||
|
raise ValueError(f"Invalid mode {mode!r}")
|
||||||
|
return struct.pack("B", mode)
|
||||||
|
|
||||||
|
|
||||||
|
def encode_estop_cmd(stop: bool = True, clear: bool = False) -> bytes:
|
||||||
|
"""Encode ORIN_CMD_ESTOP (0x302): 1 byte flags (bit0=stop, bit1=clear)."""
|
||||||
|
return struct.pack("B", (0x01 if stop else 0) | (0x02 if clear else 0))
|
||||||
|
|
||||||
|
|
||||||
|
def encode_led_cmd(pattern: int, r: int, g: int, b: int) -> bytes:
|
||||||
|
"""Encode ORIN_CMD_LED (0x303): 4 bytes."""
|
||||||
|
return struct.pack("BBBB", pattern & 0xFF, r & 0xFF, g & 0xFF, b & 0xFF)
|
||||||
|
|
||||||
|
|
||||||
|
def encode_vesc_set_rpm(node_id: int, rpm: int) -> tuple:
|
||||||
|
"""Return (arb_id, payload) for a VESC SET_RPM command."""
|
||||||
|
return (VESC_CMD_SET_RPM << 8) | (node_id & 0xFF), struct.pack(">i", int(rpm))
|
||||||
|
|
||||||
|
|
||||||
|
def decode_fc_status(data: bytes) -> FcStatus:
|
||||||
|
"""Decode FC_STATUS (0x400) payload → FcStatus."""
|
||||||
|
if len(data) < 8:
|
||||||
|
raise ValueError(f"FC_STATUS expects 8 bytes, got {len(data)}")
|
||||||
|
pitch_x10, motor_cmd, vbat_mv, state, flags = struct.unpack_from(">hHHBB", data)
|
||||||
|
return FcStatus(
|
||||||
|
pitch_deg=pitch_x10 / 10.0,
|
||||||
|
motor_cmd=motor_cmd,
|
||||||
|
vbat_mv=vbat_mv,
|
||||||
|
state=state,
|
||||||
|
flags=flags,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def decode_fc_vesc(data: bytes) -> FcVesc:
|
||||||
|
"""Decode FC_VESC (0x401) payload → FcVesc."""
|
||||||
|
if len(data) < 8:
|
||||||
|
raise ValueError(f"FC_VESC expects 8 bytes, got {len(data)}")
|
||||||
|
l_rpm, r_rpm, l_cur, r_cur = struct.unpack_from(">hhhh", data)
|
||||||
|
return FcVesc(
|
||||||
|
left_rpm=l_rpm / 10.0,
|
||||||
|
right_rpm=r_rpm / 10.0,
|
||||||
|
left_cur=l_cur / 10.0,
|
||||||
|
right_cur=r_cur / 10.0,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def decode_vesc_can_id(can_id: int) -> tuple:
|
||||||
|
"""Decode a VESC extended CAN ID → (packet_type, node_id)."""
|
||||||
|
return (can_id >> 8) & 0xFF, can_id & 0xFF
|
||||||
|
|
||||||
|
|
||||||
|
def decode_vesc_status1(node_id: int, data: bytes) -> VescStatus1:
|
||||||
|
"""Decode VESC STATUS_1 payload → VescStatus1."""
|
||||||
|
erpm, cur_x10, duty_x1000 = struct.unpack_from(">ihh", data[:8])
|
||||||
|
return VescStatus1(
|
||||||
|
node_id=node_id,
|
||||||
|
erpm=float(erpm),
|
||||||
|
current=cur_x10 / 10.0,
|
||||||
|
duty=duty_x1000 / 1000.0,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def decode_vesc_status4(node_id: int, data: bytes) -> VescStatus4:
|
||||||
|
"""Decode VESC STATUS_4 payload → VescStatus4."""
|
||||||
|
tfet, tmot, cur_in, _ = struct.unpack_from(">hhhh", data[:8])
|
||||||
|
return VescStatus4(
|
||||||
|
node_id=node_id,
|
||||||
|
temp_fet_c=tfet / 10.0,
|
||||||
|
temp_motor_c=tmot / 10.0,
|
||||||
|
current_in=cur_in / 10.0,
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def decode_vesc_status5(node_id: int, data: bytes) -> VescStatus5:
|
||||||
|
"""Decode VESC STATUS_5 payload → VescStatus5."""
|
||||||
|
tacho, vbat_x10 = struct.unpack_from(">ih", data[:6])
|
||||||
|
return VescStatus5(node_id=node_id, tacho=tacho, vbat_v=vbat_x10 / 10.0)
|
||||||
@ -1,20 +1,20 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
"""
|
"""
|
||||||
can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
|
can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE
|
||||||
controller and VESC motor controllers over CAN bus.
|
controller and VESC motor controllers over CAN bus.
|
||||||
|
|
||||||
The node opens the SocketCAN interface (slcan0 by default), spawns a background
|
The node opens the SocketCAN interface (can0 by default), spawns a background
|
||||||
reader thread to process incoming telemetry, and exposes the following interface:
|
reader thread to process incoming telemetry, and exposes the following interface:
|
||||||
|
|
||||||
Subscriptions
|
Subscriptions
|
||||||
-------------
|
-------------
|
||||||
/cmd_vel geometry_msgs/Twist → VESC speed commands (CAN)
|
/cmd_vel geometry_msgs/Twist -> drive commands (CAN 0x300)
|
||||||
/estop std_msgs/Bool → Mamba e-stop (CAN)
|
/estop std_msgs/Bool -> e-stop (CAN 0x303)
|
||||||
|
|
||||||
Publications
|
Publications
|
||||||
------------
|
------------
|
||||||
/can/imu sensor_msgs/Imu Mamba IMU telemetry
|
/can/attitude std_msgs/Float32MultiArray ESP32-S3 BALANCE attitude
|
||||||
/can/battery sensor_msgs/BatteryState Mamba battery telemetry
|
/can/battery std_msgs/Float32MultiArray ESP32-S3 BALANCE battery
|
||||||
/can/vesc/left/state std_msgs/Float32MultiArray Left VESC state
|
/can/vesc/left/state std_msgs/Float32MultiArray Left VESC state
|
||||||
/can/vesc/right/state std_msgs/Float32MultiArray Right VESC state
|
/can/vesc/right/state std_msgs/Float32MultiArray Right VESC state
|
||||||
/can/connection_status std_msgs/String "connected" | "disconnected"
|
/can/connection_status std_msgs/String "connected" | "disconnected"
|
||||||
@ -30,30 +30,24 @@ import can
|
|||||||
import rclpy
|
import rclpy
|
||||||
from geometry_msgs.msg import Twist
|
from geometry_msgs.msg import Twist
|
||||||
from rclpy.node import Node
|
from rclpy.node import Node
|
||||||
from rcl_interfaces.msg import SetParametersResult
|
|
||||||
from sensor_msgs.msg import BatteryState, Imu
|
|
||||||
from std_msgs.msg import Bool, Float32MultiArray, String
|
from std_msgs.msg import Bool, Float32MultiArray, String
|
||||||
|
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
from saltybot_can_bridge.balance_protocol import (
|
||||||
MAMBA_CMD_ESTOP,
|
ESP32_TELEM_ATTITUDE,
|
||||||
MAMBA_CMD_MODE,
|
ESP32_TELEM_BATTERY,
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_DRIVE,
|
||||||
MAMBA_TELEM_BATTERY,
|
ORIN_CMD_ESTOP,
|
||||||
MAMBA_TELEM_IMU,
|
VESC_LEFT_ID,
|
||||||
VESC_TELEM_STATE,
|
VESC_RIGHT_ID,
|
||||||
ORIN_CAN_ID_FC_PID_ACK,
|
VESC_STATUS_1,
|
||||||
ORIN_CAN_ID_PID_SET,
|
|
||||||
MODE_DRIVE,
|
MODE_DRIVE,
|
||||||
MODE_ESTOP,
|
|
||||||
MODE_IDLE,
|
MODE_IDLE,
|
||||||
|
encode_drive_cmd,
|
||||||
encode_estop_cmd,
|
encode_estop_cmd,
|
||||||
encode_mode_cmd,
|
decode_attitude,
|
||||||
encode_velocity_cmd,
|
decode_battery,
|
||||||
encode_pid_set_cmd,
|
decode_vesc_can_id,
|
||||||
decode_battery_telem,
|
decode_vesc_status1,
|
||||||
decode_imu_telem,
|
|
||||||
decode_pid_ack,
|
|
||||||
decode_vesc_state,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
# Reconnect attempt interval when CAN bus is lost
|
# Reconnect attempt interval when CAN bus is lost
|
||||||
@ -64,39 +58,35 @@ _WATCHDOG_HZ: float = 10.0
|
|||||||
|
|
||||||
|
|
||||||
class CanBridgeNode(Node):
|
class CanBridgeNode(Node):
|
||||||
"""CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
|
"""CAN bus bridge between Orin ROS2 and ESP32-S3 BALANCE / VESC controllers."""
|
||||||
|
|
||||||
def __init__(self) -> None:
|
def __init__(self) -> None:
|
||||||
super().__init__("can_bridge_node")
|
super().__init__("can_bridge_node")
|
||||||
|
|
||||||
# ── Parameters ────────────────────────────────────────────────────
|
# -- Parameters --
|
||||||
self.declare_parameter("can_interface", "slcan0")
|
self.declare_parameter("can_interface", "can0")
|
||||||
self.declare_parameter("left_vesc_can_id", 56)
|
self.declare_parameter("left_vesc_can_id", VESC_LEFT_ID)
|
||||||
self.declare_parameter("right_vesc_can_id", 68)
|
self.declare_parameter("right_vesc_can_id", VESC_RIGHT_ID)
|
||||||
self.declare_parameter("mamba_can_id", 1)
|
|
||||||
self.declare_parameter("command_timeout_s", 0.5)
|
self.declare_parameter("command_timeout_s", 0.5)
|
||||||
self.declare_parameter("pid/kp", 0.0)
|
|
||||||
self.declare_parameter("pid/ki", 0.0)
|
|
||||||
self.declare_parameter("pid/kd", 0.0)
|
|
||||||
|
|
||||||
self._iface: str = self.get_parameter("can_interface").value
|
self._iface: str = self.get_parameter("can_interface").value
|
||||||
self._left_vesc_id: int = self.get_parameter("left_vesc_can_id").value
|
self._left_vesc_id: int = self.get_parameter("left_vesc_can_id").value
|
||||||
self._right_vesc_id: int = self.get_parameter("right_vesc_can_id").value
|
self._right_vesc_id: int = self.get_parameter("right_vesc_can_id").value
|
||||||
self._mamba_id: int = self.get_parameter("mamba_can_id").value
|
|
||||||
self._cmd_timeout: float = self.get_parameter("command_timeout_s").value
|
self._cmd_timeout: float = self.get_parameter("command_timeout_s").value
|
||||||
self._pid_kp: float = self.get_parameter("pid/kp").value
|
|
||||||
self._pid_ki: float = self.get_parameter("pid/ki").value
|
|
||||||
self._pid_kd: float = self.get_parameter("pid/kd").value
|
|
||||||
|
|
||||||
# ── State ─────────────────────────────────────────────────────────
|
# -- State --
|
||||||
self._bus: Optional[can.BusABC] = None
|
self._bus: Optional[can.BusABC] = None
|
||||||
self._connected: bool = False
|
self._connected: bool = False
|
||||||
self._last_cmd_time: float = time.monotonic()
|
self._last_cmd_time: float = time.monotonic()
|
||||||
self._lock = threading.Lock() # protects _bus / _connected
|
self._lock = threading.Lock()
|
||||||
|
|
||||||
# ── Publishers ────────────────────────────────────────────────────
|
# -- Publishers --
|
||||||
self._pub_imu = self.create_publisher(Imu, "/can/imu", 10)
|
self._pub_attitude = self.create_publisher(
|
||||||
self._pub_battery = self.create_publisher(BatteryState, "/can/battery", 10)
|
Float32MultiArray, "/can/attitude", 10
|
||||||
|
)
|
||||||
|
self._pub_battery = self.create_publisher(
|
||||||
|
Float32MultiArray, "/can/battery", 10
|
||||||
|
)
|
||||||
self._pub_vesc_left = self.create_publisher(
|
self._pub_vesc_left = self.create_publisher(
|
||||||
Float32MultiArray, "/can/vesc/left/state", 10
|
Float32MultiArray, "/can/vesc/left/state", 10
|
||||||
)
|
)
|
||||||
@ -107,55 +97,29 @@ class CanBridgeNode(Node):
|
|||||||
String, "/can/connection_status", 10
|
String, "/can/connection_status", 10
|
||||||
)
|
)
|
||||||
|
|
||||||
# ── Subscriptions ─────────────────────────────────────────────────
|
# -- Subscriptions --
|
||||||
self.create_subscription(Twist, "/cmd_vel", self._cmd_vel_cb, 10)
|
self.create_subscription(Twist, "/cmd_vel", self._cmd_vel_cb, 10)
|
||||||
self.create_subscription(Bool, "/estop", self._estop_cb, 10)
|
self.create_subscription(Bool, "/estop", self._estop_cb, 10)
|
||||||
self.add_on_set_parameters_callback(self._on_set_parameters)
|
|
||||||
|
|
||||||
# ── Timers ────────────────────────────────────────────────────────
|
# -- Timers --
|
||||||
self.create_timer(1.0 / _WATCHDOG_HZ, self._watchdog_cb)
|
self.create_timer(1.0 / _WATCHDOG_HZ, self._watchdog_cb)
|
||||||
self.create_timer(_RECONNECT_INTERVAL_S, self._reconnect_cb)
|
self.create_timer(_RECONNECT_INTERVAL_S, self._reconnect_cb)
|
||||||
|
|
||||||
# ── Open CAN ──────────────────────────────────────────────────────
|
# -- Open CAN --
|
||||||
self._try_connect()
|
self._try_connect()
|
||||||
|
|
||||||
# ── Background reader thread ──────────────────────────────────────
|
# -- Background reader thread --
|
||||||
self._reader_thread = threading.Thread(
|
self._reader_thread = threading.Thread(
|
||||||
target=self._reader_loop, daemon=True, name="can_reader"
|
target=self._reader_loop, daemon=True, name="can_reader"
|
||||||
)
|
)
|
||||||
self._reader_thread.start()
|
self._reader_thread.start()
|
||||||
|
|
||||||
self.get_logger().info(
|
self.get_logger().info(
|
||||||
f"can_bridge_node ready — iface={self._iface} "
|
f"can_bridge_node ready -- iface={self._iface} "
|
||||||
f"left_vesc={self._left_vesc_id} right_vesc={self._right_vesc_id}"
|
f"left_vesc={self._left_vesc_id} right_vesc={self._right_vesc_id}"
|
||||||
f"mamba={self._mamba_id}"
|
|
||||||
)
|
)
|
||||||
|
|
||||||
# -- PID parameter callback (Issue #693) --
|
# -- Connection management --
|
||||||
|
|
||||||
def _on_set_parameters(self, params) -> SetParametersResult:
|
|
||||||
"""Send new PID gains over CAN when pid/* params change."""
|
|
||||||
for p in params:
|
|
||||||
if p.name == "pid/kp":
|
|
||||||
self._pid_kp = float(p.value)
|
|
||||||
elif p.name == "pid/ki":
|
|
||||||
self._pid_ki = float(p.value)
|
|
||||||
elif p.name == "pid/kd":
|
|
||||||
self._pid_kd = float(p.value)
|
|
||||||
else:
|
|
||||||
continue
|
|
||||||
try:
|
|
||||||
payload = encode_pid_set_cmd(self._pid_kp, self._pid_ki, self._pid_kd)
|
|
||||||
self._send_can(ORIN_CAN_ID_PID_SET, payload, "pid_set")
|
|
||||||
self.get_logger().info(
|
|
||||||
f"PID gains sent: Kp={self._pid_kp:.2f} "
|
|
||||||
f"Ki={self._pid_ki:.2f} Kd={self._pid_kd:.2f}"
|
|
||||||
)
|
|
||||||
except ValueError as exc:
|
|
||||||
return SetParametersResult(successful=False, reason=str(exc))
|
|
||||||
return SetParametersResult(successful=True)
|
|
||||||
|
|
||||||
# ── Connection management ──────────────────────────────────────────────
|
|
||||||
|
|
||||||
def _try_connect(self) -> None:
|
def _try_connect(self) -> None:
|
||||||
"""Attempt to open the CAN interface; silently skip if already connected."""
|
"""Attempt to open the CAN interface; silently skip if already connected."""
|
||||||
@ -174,7 +138,7 @@ class CanBridgeNode(Node):
|
|||||||
except Exception as exc:
|
except Exception as exc:
|
||||||
self.get_logger().warning(
|
self.get_logger().warning(
|
||||||
f"CAN bus not available ({self._iface}): {exc} "
|
f"CAN bus not available ({self._iface}): {exc} "
|
||||||
f"— will retry every {_RECONNECT_INTERVAL_S:.0f} s"
|
f"-- will retry every {_RECONNECT_INTERVAL_S:.0f} s"
|
||||||
)
|
)
|
||||||
self._connected = False
|
self._connected = False
|
||||||
self._publish_status("disconnected")
|
self._publish_status("disconnected")
|
||||||
@ -197,46 +161,33 @@ class CanBridgeNode(Node):
|
|||||||
self._connected = False
|
self._connected = False
|
||||||
self._publish_status("disconnected")
|
self._publish_status("disconnected")
|
||||||
|
|
||||||
# ── ROS callbacks ─────────────────────────────────────────────────────
|
# -- ROS callbacks --
|
||||||
|
|
||||||
def _cmd_vel_cb(self, msg: Twist) -> None:
|
def _cmd_vel_cb(self, msg: Twist) -> None:
|
||||||
"""Convert /cmd_vel Twist to VESC speed commands over CAN."""
|
"""Convert /cmd_vel Twist to ESP32-S3 BALANCE drive commands over CAN (0x300)."""
|
||||||
self._last_cmd_time = time.monotonic()
|
self._last_cmd_time = time.monotonic()
|
||||||
|
|
||||||
if not self._connected:
|
if not self._connected:
|
||||||
return
|
return
|
||||||
|
|
||||||
# Differential drive decomposition — individual wheel speeds in m/s.
|
|
||||||
# The VESC nodes interpret linear velocity directly; angular is handled
|
|
||||||
# by the sign difference between left and right.
|
|
||||||
linear = msg.linear.x
|
linear = msg.linear.x
|
||||||
angular = msg.angular.z
|
angular = msg.angular.z
|
||||||
|
# Differential drive -- motor units [-1000, +1000]
|
||||||
# Forward left = forward right for pure translation; for rotation
|
speed_units = int(linear * 1000.0)
|
||||||
# left slows and right speeds up (positive angular = CCW = left turn).
|
steer_units = int(angular * 1000.0)
|
||||||
# The Mamba velocity command carries both wheels independently.
|
self._send_can(
|
||||||
left_mps = linear - angular
|
ORIN_CMD_DRIVE,
|
||||||
right_mps = linear + angular
|
encode_drive_cmd(speed_units, steer_units, mode=MODE_DRIVE),
|
||||||
|
"cmd_vel",
|
||||||
payload = encode_velocity_cmd(left_mps, right_mps)
|
)
|
||||||
self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
|
|
||||||
|
|
||||||
# Keep Mamba in DRIVE mode while receiving commands
|
|
||||||
self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
|
|
||||||
|
|
||||||
def _estop_cb(self, msg: Bool) -> None:
|
def _estop_cb(self, msg: Bool) -> None:
|
||||||
"""Forward /estop to Mamba over CAN."""
|
"""Forward /estop to ESP32-S3 BALANCE over CAN (0x303)."""
|
||||||
if not self._connected:
|
if not self._connected:
|
||||||
return
|
return
|
||||||
payload = encode_estop_cmd(msg.data)
|
|
||||||
self._send_can(MAMBA_CMD_ESTOP, payload, "estop")
|
|
||||||
if msg.data:
|
if msg.data:
|
||||||
self._send_can(
|
self._send_can(ORIN_CMD_ESTOP, encode_estop_cmd(), "estop")
|
||||||
MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
|
self.get_logger().warning("E-stop asserted -- sent ESTOP to ESP32-S3 BALANCE")
|
||||||
)
|
|
||||||
self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
|
|
||||||
|
|
||||||
# ── Watchdog ──────────────────────────────────────────────────────────
|
# -- Watchdog --
|
||||||
|
|
||||||
def _watchdog_cb(self) -> None:
|
def _watchdog_cb(self) -> None:
|
||||||
"""If no /cmd_vel arrives within the timeout, send zero velocity."""
|
"""If no /cmd_vel arrives within the timeout, send zero velocity."""
|
||||||
@ -245,15 +196,12 @@ class CanBridgeNode(Node):
|
|||||||
elapsed = time.monotonic() - self._last_cmd_time
|
elapsed = time.monotonic() - self._last_cmd_time
|
||||||
if elapsed > self._cmd_timeout:
|
if elapsed > self._cmd_timeout:
|
||||||
self._send_can(
|
self._send_can(
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_DRIVE,
|
||||||
encode_velocity_cmd(0.0, 0.0),
|
encode_drive_cmd(0, 0, mode=MODE_IDLE),
|
||||||
"watchdog zero-vel",
|
"watchdog zero-vel",
|
||||||
)
|
)
|
||||||
self._send_can(
|
|
||||||
MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog idle"
|
|
||||||
)
|
|
||||||
|
|
||||||
# ── CAN send helper ───────────────────────────────────────────────────
|
# -- CAN send helper --
|
||||||
|
|
||||||
def _send_can(self, arb_id: int, data: bytes, context: str) -> None:
|
def _send_can(self, arb_id: int, data: bytes, context: str) -> None:
|
||||||
"""Send a standard CAN frame; handle errors gracefully."""
|
"""Send a standard CAN frame; handle errors gracefully."""
|
||||||
@ -261,7 +209,6 @@ class CanBridgeNode(Node):
|
|||||||
if not self._connected or self._bus is None:
|
if not self._connected or self._bus is None:
|
||||||
return
|
return
|
||||||
bus = self._bus
|
bus = self._bus
|
||||||
|
|
||||||
msg = can.Message(
|
msg = can.Message(
|
||||||
arbitration_id=arb_id,
|
arbitration_id=arb_id,
|
||||||
data=data,
|
data=data,
|
||||||
@ -272,132 +219,95 @@ class CanBridgeNode(Node):
|
|||||||
except can.CanError as exc:
|
except can.CanError as exc:
|
||||||
self._handle_can_error(exc, f"send({context})")
|
self._handle_can_error(exc, f"send({context})")
|
||||||
|
|
||||||
# ── Background CAN reader ─────────────────────────────────────────────
|
# -- Background CAN reader --
|
||||||
|
|
||||||
def _reader_loop(self) -> None:
|
def _reader_loop(self) -> None:
|
||||||
"""
|
"""Blocking CAN read loop executed in a daemon thread."""
|
||||||
Blocking CAN read loop executed in a daemon thread.
|
|
||||||
Dispatches incoming frames to the appropriate handler.
|
|
||||||
"""
|
|
||||||
while rclpy.ok():
|
while rclpy.ok():
|
||||||
with self._lock:
|
with self._lock:
|
||||||
connected = self._connected
|
connected = self._connected
|
||||||
bus = self._bus
|
bus = self._bus
|
||||||
|
|
||||||
if not connected or bus is None:
|
if not connected or bus is None:
|
||||||
time.sleep(0.1)
|
time.sleep(0.1)
|
||||||
continue
|
continue
|
||||||
|
|
||||||
try:
|
try:
|
||||||
frame = bus.recv(timeout=0.5)
|
frame = bus.recv(timeout=0.5)
|
||||||
except can.CanError as exc:
|
except can.CanError as exc:
|
||||||
self._handle_can_error(exc, "reader_loop recv")
|
self._handle_can_error(exc, "reader_loop recv")
|
||||||
continue
|
continue
|
||||||
|
|
||||||
if frame is None:
|
if frame is None:
|
||||||
# Timeout — no frame within 0.5 s, loop again
|
|
||||||
continue
|
continue
|
||||||
|
|
||||||
self._dispatch_frame(frame)
|
self._dispatch_frame(frame)
|
||||||
|
|
||||||
def _dispatch_frame(self, frame: can.Message) -> None:
|
def _dispatch_frame(self, frame: can.Message) -> None:
|
||||||
"""Route an incoming CAN frame to the correct publisher."""
|
"""Route an incoming CAN frame to the correct publisher."""
|
||||||
arb_id = frame.arbitration_id
|
arb_id = frame.arbitration_id
|
||||||
data = bytes(frame.data)
|
data = bytes(frame.data)
|
||||||
|
|
||||||
try:
|
try:
|
||||||
if arb_id == MAMBA_TELEM_IMU:
|
if arb_id == ESP32_TELEM_ATTITUDE:
|
||||||
self._handle_imu(data, frame.timestamp)
|
self._handle_attitude(data)
|
||||||
|
elif arb_id == ESP32_TELEM_BATTERY:
|
||||||
elif arb_id == MAMBA_TELEM_BATTERY:
|
self._handle_battery(data)
|
||||||
self._handle_battery(data, frame.timestamp)
|
elif frame.is_extended_id:
|
||||||
|
# VESC extended 29-bit ID: packet_type<<8 | node_id
|
||||||
elif arb_id == VESC_TELEM_STATE + self._left_vesc_id:
|
pkt_type, node_id = decode_vesc_can_id(arb_id)
|
||||||
self._handle_vesc_state(data, frame.timestamp, side="left")
|
if pkt_type == VESC_STATUS_1:
|
||||||
|
self._handle_vesc_status1(data, node_id)
|
||||||
elif arb_id == VESC_TELEM_STATE + self._right_vesc_id:
|
|
||||||
self._handle_vesc_state(data, frame.timestamp, side="right")
|
|
||||||
|
|
||||||
elif arb_id == ORIN_CAN_ID_FC_PID_ACK:
|
|
||||||
gains = decode_pid_ack(data)
|
|
||||||
self.get_logger().debug(
|
|
||||||
f"FC PID ACK: Kp={gains.kp:.2f} Ki={gains.ki:.2f} Kd={gains.kd:.2f}"
|
|
||||||
)
|
|
||||||
|
|
||||||
except Exception as exc:
|
except Exception as exc:
|
||||||
self.get_logger().warning(
|
self.get_logger().warning(
|
||||||
f"Error parsing CAN frame 0x{arb_id:03X}: {exc}"
|
f"Error parsing CAN frame 0x{arb_id:03X}: {exc}"
|
||||||
)
|
)
|
||||||
|
|
||||||
# ── Frame handlers ────────────────────────────────────────────────────
|
# -- Frame handlers --
|
||||||
|
|
||||||
def _handle_imu(self, data: bytes, timestamp: float) -> None:
|
def _handle_attitude(self, data: bytes) -> None:
|
||||||
telem = decode_imu_telem(data)
|
telem = decode_attitude(data)
|
||||||
|
msg = Float32MultiArray()
|
||||||
msg = Imu()
|
# Layout: [pitch_deg, speed, yaw_rate, state, flags]
|
||||||
msg.header.stamp = self.get_clock().now().to_msg()
|
msg.data = [
|
||||||
msg.header.frame_id = "imu_link"
|
telem.pitch_deg,
|
||||||
|
telem.speed,
|
||||||
msg.linear_acceleration.x = telem.accel_x
|
telem.yaw_rate,
|
||||||
msg.linear_acceleration.y = telem.accel_y
|
float(telem.state),
|
||||||
msg.linear_acceleration.z = telem.accel_z
|
float(telem.flags),
|
||||||
|
]
|
||||||
msg.angular_velocity.x = telem.gyro_x
|
self._pub_attitude.publish(msg)
|
||||||
msg.angular_velocity.y = telem.gyro_y
|
|
||||||
msg.angular_velocity.z = telem.gyro_z
|
|
||||||
|
|
||||||
# Covariance unknown; mark as -1 per REP-145
|
|
||||||
msg.orientation_covariance[0] = -1.0
|
|
||||||
|
|
||||||
self._pub_imu.publish(msg)
|
|
||||||
|
|
||||||
def _handle_battery(self, data: bytes, timestamp: float) -> None:
|
|
||||||
telem = decode_battery_telem(data)
|
|
||||||
|
|
||||||
msg = BatteryState()
|
|
||||||
msg.header.stamp = self.get_clock().now().to_msg()
|
|
||||||
msg.voltage = telem.voltage
|
|
||||||
msg.current = telem.current
|
|
||||||
msg.present = True
|
|
||||||
msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
|
|
||||||
|
|
||||||
|
def _handle_battery(self, data: bytes) -> None:
|
||||||
|
telem = decode_battery(data)
|
||||||
|
msg = Float32MultiArray()
|
||||||
|
# Layout: [vbat_v, fault_code, rssi]
|
||||||
|
msg.data = [telem.vbat_mv / 1000.0, float(telem.fault_code), float(telem.rssi)]
|
||||||
self._pub_battery.publish(msg)
|
self._pub_battery.publish(msg)
|
||||||
|
|
||||||
def _handle_vesc_state(
|
def _handle_vesc_status1(self, data: bytes, node_id: int) -> None:
|
||||||
self, data: bytes, timestamp: float, side: str
|
status = decode_vesc_status1(node_id, data)
|
||||||
) -> None:
|
|
||||||
telem = decode_vesc_state(data)
|
|
||||||
|
|
||||||
msg = Float32MultiArray()
|
msg = Float32MultiArray()
|
||||||
# Layout: [erpm, duty, voltage, current]
|
# Layout: [erpm, current, duty]
|
||||||
msg.data = [telem.erpm, telem.duty, telem.voltage, telem.current]
|
msg.data = [status.erpm, status.current, status.duty]
|
||||||
|
if node_id == self._left_vesc_id:
|
||||||
if side == "left":
|
|
||||||
self._pub_vesc_left.publish(msg)
|
self._pub_vesc_left.publish(msg)
|
||||||
else:
|
elif node_id == self._right_vesc_id:
|
||||||
self._pub_vesc_right.publish(msg)
|
self._pub_vesc_right.publish(msg)
|
||||||
|
|
||||||
# ── Status helper ─────────────────────────────────────────────────────
|
# -- Status helper --
|
||||||
|
|
||||||
def _publish_status(self, status: str) -> None:
|
def _publish_status(self, status: str) -> None:
|
||||||
msg = String()
|
msg = String()
|
||||||
msg.data = status
|
msg.data = status
|
||||||
self._pub_status.publish(msg)
|
self._pub_status.publish(msg)
|
||||||
|
|
||||||
# ── Shutdown ──────────────────────────────────────────────────────────
|
# -- Shutdown --
|
||||||
|
|
||||||
def destroy_node(self) -> None:
|
def destroy_node(self) -> None:
|
||||||
"""Send zero velocity and shut down the CAN bus cleanly."""
|
"""Send zero velocity and shut down the CAN bus cleanly."""
|
||||||
if self._connected and self._bus is not None:
|
if self._connected and self._bus is not None:
|
||||||
try:
|
try:
|
||||||
self._send_can(
|
self._send_can(
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_DRIVE,
|
||||||
encode_velocity_cmd(0.0, 0.0),
|
encode_drive_cmd(0, 0, mode=MODE_IDLE),
|
||||||
"shutdown",
|
"shutdown",
|
||||||
)
|
)
|
||||||
self._send_can(
|
|
||||||
MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown"
|
|
||||||
)
|
|
||||||
except Exception:
|
except Exception:
|
||||||
pass
|
pass
|
||||||
try:
|
try:
|
||||||
|
|||||||
@ -1,224 +0,0 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
|
||||||
mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller
|
|
||||||
and VESC telemetry.
|
|
||||||
|
|
||||||
CAN message layout
|
|
||||||
------------------
|
|
||||||
Command frames (Orin → Mamba / VESC):
|
|
||||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s)
|
|
||||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop)
|
|
||||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01 = stop
|
|
||||||
|
|
||||||
Telemetry frames (Mamba → Orin):
|
|
||||||
MAMBA_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
|
|
||||||
MAMBA_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A)
|
|
||||||
|
|
||||||
VESC telemetry frame (VESC → Orin):
|
|
||||||
VESC_TELEM_STATE 0x300 16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32)
|
|
||||||
|
|
||||||
All multi-byte fields are big-endian.
|
|
||||||
|
|
||||||
Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
|
|
||||||
"""
|
|
||||||
|
|
||||||
import struct
|
|
||||||
from dataclasses import dataclass
|
|
||||||
from typing import Tuple
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# CAN message IDs
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
MAMBA_CMD_VELOCITY: int = 0x100
|
|
||||||
MAMBA_CMD_MODE: int = 0x101
|
|
||||||
MAMBA_CMD_ESTOP: int = 0x102
|
|
||||||
|
|
||||||
MAMBA_TELEM_IMU: int = 0x200
|
|
||||||
MAMBA_TELEM_BATTERY: int = 0x201
|
|
||||||
|
|
||||||
VESC_TELEM_STATE: int = 0x300
|
|
||||||
ORIN_CAN_ID_PID_SET: int = 0x305
|
|
||||||
ORIN_CAN_ID_FC_PID_ACK: int = 0x405
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Mode constants
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
MODE_IDLE: int = 0
|
|
||||||
MODE_DRIVE: int = 1
|
|
||||||
MODE_ESTOP: int = 2
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Data classes for decoded telemetry
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
|
||||||
class ImuTelemetry:
|
|
||||||
"""Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
|
|
||||||
|
|
||||||
accel_x: float = 0.0 # m/s²
|
|
||||||
accel_y: float = 0.0
|
|
||||||
accel_z: float = 0.0
|
|
||||||
gyro_x: float = 0.0 # rad/s
|
|
||||||
gyro_y: float = 0.0
|
|
||||||
gyro_z: float = 0.0
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
|
||||||
class BatteryTelemetry:
|
|
||||||
"""Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
|
|
||||||
|
|
||||||
voltage: float = 0.0 # V
|
|
||||||
current: float = 0.0 # A
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
|
||||||
class VescStateTelemetry:
|
|
||||||
"""Decoded VESC state telemetry (VESC_TELEM_STATE)."""
|
|
||||||
|
|
||||||
erpm: float = 0.0 # electrical RPM
|
|
||||||
duty: float = 0.0 # duty cycle [-1.0, 1.0]
|
|
||||||
voltage: float = 0.0 # bus voltage, V
|
|
||||||
current: float = 0.0 # phase current, A
|
|
||||||
|
|
||||||
|
|
||||||
@dataclass
|
|
||||||
class PidGains:
|
|
||||||
"""Balance PID gains (Issue #693)."""
|
|
||||||
kp: float = 0.0
|
|
||||||
ki: float = 0.0
|
|
||||||
kd: float = 0.0
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Encode helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
_FMT_VEL = ">ff" # 2 × float32, big-endian
|
|
||||||
_FMT_MODE = ">B" # 1 × uint8
|
|
||||||
_FMT_ESTOP = ">B" # 1 × uint8
|
|
||||||
_FMT_IMU = ">ffffff" # 6 × float32
|
|
||||||
_FMT_BAT = ">ff" # 2 × float32
|
|
||||||
_FMT_VESC = ">ffff" # 4 × float32
|
|
||||||
|
|
||||||
|
|
||||||
def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
|
||||||
"""
|
|
||||||
Encode a MAMBA_CMD_VELOCITY payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
left_mps: target left wheel speed in m/s (positive = forward)
|
|
||||||
right_mps: target right wheel speed in m/s (positive = forward)
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
8-byte big-endian payload suitable for a CAN frame.
|
|
||||||
"""
|
|
||||||
return struct.pack(_FMT_VEL, float(left_mps), float(right_mps))
|
|
||||||
|
|
||||||
|
|
||||||
def encode_mode_cmd(mode: int) -> bytes:
|
|
||||||
"""
|
|
||||||
Encode a MAMBA_CMD_MODE payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
mode: one of MODE_IDLE (0), MODE_DRIVE (1), MODE_ESTOP (2)
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
1-byte payload.
|
|
||||||
"""
|
|
||||||
if mode not in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
|
||||||
raise ValueError(f"Invalid mode {mode!r}; expected 0, 1, or 2")
|
|
||||||
return struct.pack(_FMT_MODE, mode)
|
|
||||||
|
|
||||||
|
|
||||||
def encode_estop_cmd(stop: bool = True) -> bytes:
|
|
||||||
"""
|
|
||||||
Encode a MAMBA_CMD_ESTOP payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
stop: True to assert e-stop, False to clear.
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
1-byte payload (0x01 = stop, 0x00 = clear).
|
|
||||||
"""
|
|
||||||
return struct.pack(_FMT_ESTOP, 0x01 if stop else 0x00)
|
|
||||||
|
|
||||||
|
|
||||||
def encode_pid_set_cmd(kp: float, ki: float, kd: float) -> bytes:
|
|
||||||
"""Encode ORIN_CAN_ID_PID_SET (6 bytes, uint16 BE x3). Issue #693."""
|
|
||||||
if kp < 0.0 or ki < 0.0 or kd < 0.0:
|
|
||||||
raise ValueError("PID gains must be non-negative")
|
|
||||||
return struct.pack(_FMT_PID, round(min(kp,_PID_KP_MAX)*100), round(min(ki,_PID_KI_MAX)*100), round(min(kd,_PID_KD_MAX)*100))
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Decode helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
def decode_imu_telem(data: bytes) -> ImuTelemetry:
|
|
||||||
"""
|
|
||||||
Decode a MAMBA_TELEM_IMU payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
data: exactly 24 bytes (6 × float32, big-endian).
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
ImuTelemetry dataclass instance.
|
|
||||||
|
|
||||||
Raises
|
|
||||||
------
|
|
||||||
struct.error if data is the wrong length.
|
|
||||||
"""
|
|
||||||
ax, ay, az, gx, gy, gz = struct.unpack(_FMT_IMU, data)
|
|
||||||
return ImuTelemetry(
|
|
||||||
accel_x=ax, accel_y=ay, accel_z=az,
|
|
||||||
gyro_x=gx, gyro_y=gy, gyro_z=gz,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
def decode_battery_telem(data: bytes) -> BatteryTelemetry:
|
|
||||||
"""
|
|
||||||
Decode a MAMBA_TELEM_BATTERY payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
data: exactly 8 bytes (2 × float32, big-endian).
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
BatteryTelemetry dataclass instance.
|
|
||||||
"""
|
|
||||||
voltage, current = struct.unpack(_FMT_BAT, data)
|
|
||||||
return BatteryTelemetry(voltage=voltage, current=current)
|
|
||||||
|
|
||||||
|
|
||||||
def decode_vesc_state(data: bytes) -> VescStateTelemetry:
|
|
||||||
"""
|
|
||||||
Decode a VESC_TELEM_STATE payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
data: exactly 16 bytes (4 × float32, big-endian).
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
VescStateTelemetry dataclass instance.
|
|
||||||
"""
|
|
||||||
erpm, duty, voltage, current = struct.unpack(_FMT_VESC, data)
|
|
||||||
return VescStateTelemetry(erpm=erpm, duty=duty, voltage=voltage, current=current)
|
|
||||||
|
|
||||||
|
|
||||||
def decode_pid_ack(data: bytes) -> PidGains:
|
|
||||||
"""Decode ORIN_CAN_ID_FC_PID_ACK (6 bytes). Issue #693."""
|
|
||||||
kp_x100, ki_x100, kd_x100 = struct.unpack(_FMT_PID, data)
|
|
||||||
return PidGains(kp=kp_x100/100.0, ki=ki_x100/100.0, kd=kd_x100/100.0)
|
|
||||||
@ -1,21 +1,22 @@
|
|||||||
from setuptools import setup
|
from setuptools import find_packages, setup
|
||||||
|
|
||||||
package_name = "saltybot_can_bridge"
|
package_name = "saltybot_can_bridge"
|
||||||
|
|
||||||
setup(
|
setup(
|
||||||
name=package_name,
|
name=package_name,
|
||||||
version="0.1.0",
|
version="0.0.1",
|
||||||
packages=[package_name],
|
packages=find_packages(exclude=["test"]),
|
||||||
data_files=[
|
data_files=[
|
||||||
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
|
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
|
||||||
(f"share/{package_name}", ["package.xml"]),
|
("share/" + package_name, ["package.xml"]),
|
||||||
(f"share/{package_name}/config", ["config/can_bridge_params.yaml"]),
|
("share/" + package_name + "/config", ["config/can_bridge_params.yaml"]),
|
||||||
|
("share/" + package_name + "/launch", ["launch/can_bridge.launch.py"]),
|
||||||
],
|
],
|
||||||
install_requires=["setuptools", "python-can"],
|
install_requires=["setuptools"],
|
||||||
zip_safe=True,
|
zip_safe=True,
|
||||||
maintainer="sl-controls",
|
maintainer="seb",
|
||||||
maintainer_email="sl-controls@saltylab.local",
|
maintainer_email="seb@example.com",
|
||||||
description="CAN bus bridge for Mamba controller and VESC telemetry",
|
description="CAN bus bridge for ESP32 BALANCE and VESC telemetry",
|
||||||
license="MIT",
|
license="MIT",
|
||||||
tests_require=["pytest"],
|
tests_require=["pytest"],
|
||||||
entry_points={
|
entry_points={
|
||||||
|
|||||||
@ -1,8 +1,8 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
"""
|
"""
|
||||||
Unit tests for saltybot_can_bridge.mamba_protocol.
|
Unit tests for saltybot_can_bridge.balance_protocol.
|
||||||
|
|
||||||
No ROS2 or CAN hardware required — tests exercise encode/decode round-trips
|
No ROS2 or CAN hardware required -- tests exercise encode/decode round-trips
|
||||||
and boundary conditions entirely in Python.
|
and boundary conditions entirely in Python.
|
||||||
|
|
||||||
Run with: pytest test/test_can_bridge.py -v
|
Run with: pytest test/test_can_bridge.py -v
|
||||||
@ -11,243 +11,165 @@ Run with: pytest test/test_can_bridge.py -v
|
|||||||
import struct
|
import struct
|
||||||
import unittest
|
import unittest
|
||||||
|
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
from saltybot_can_bridge.balance_protocol import (
|
||||||
MAMBA_CMD_ESTOP,
|
ORIN_CMD_DRIVE,
|
||||||
MAMBA_CMD_MODE,
|
ORIN_CMD_ARM,
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_PID,
|
||||||
MAMBA_TELEM_BATTERY,
|
ORIN_CMD_ESTOP,
|
||||||
MAMBA_TELEM_IMU,
|
ESP32_TELEM_ATTITUDE,
|
||||||
VESC_TELEM_STATE,
|
ESP32_TELEM_BATTERY,
|
||||||
MODE_DRIVE,
|
VESC_LEFT_ID,
|
||||||
MODE_ESTOP,
|
VESC_RIGHT_ID,
|
||||||
|
VESC_STATUS_1,
|
||||||
MODE_IDLE,
|
MODE_IDLE,
|
||||||
|
MODE_DRIVE,
|
||||||
|
MODE_AUTONOMOUS,
|
||||||
|
AttitudeTelemetry,
|
||||||
BatteryTelemetry,
|
BatteryTelemetry,
|
||||||
ImuTelemetry,
|
VescStatus1,
|
||||||
VescStateTelemetry,
|
decode_attitude,
|
||||||
decode_battery_telem,
|
decode_battery,
|
||||||
decode_imu_telem,
|
decode_vesc_status1,
|
||||||
decode_vesc_state,
|
encode_drive_cmd,
|
||||||
|
encode_arm_cmd,
|
||||||
encode_estop_cmd,
|
encode_estop_cmd,
|
||||||
encode_mode_cmd,
|
|
||||||
encode_velocity_cmd,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
class TestMessageIDs(unittest.TestCase):
|
class TestMessageIDs(unittest.TestCase):
|
||||||
"""Verify the CAN message ID constants are correct."""
|
"""Verify CAN message ID constants match the spec."""
|
||||||
|
|
||||||
def test_command_ids(self):
|
def test_orin_cmd_ids(self):
|
||||||
self.assertEqual(MAMBA_CMD_VELOCITY, 0x100)
|
self.assertEqual(ORIN_CMD_DRIVE, 0x300)
|
||||||
self.assertEqual(MAMBA_CMD_MODE, 0x101)
|
self.assertEqual(ORIN_CMD_ARM, 0x301)
|
||||||
self.assertEqual(MAMBA_CMD_ESTOP, 0x102)
|
self.assertEqual(ORIN_CMD_PID, 0x302)
|
||||||
|
self.assertEqual(ORIN_CMD_ESTOP, 0x303)
|
||||||
|
|
||||||
def test_telemetry_ids(self):
|
def test_esp32_telem_ids(self):
|
||||||
self.assertEqual(MAMBA_TELEM_IMU, 0x200)
|
self.assertEqual(ESP32_TELEM_ATTITUDE, 0x400)
|
||||||
self.assertEqual(MAMBA_TELEM_BATTERY, 0x201)
|
self.assertEqual(ESP32_TELEM_BATTERY, 0x401)
|
||||||
self.assertEqual(VESC_TELEM_STATE, 0x300)
|
|
||||||
|
def test_vesc_ids(self):
|
||||||
|
self.assertEqual(VESC_LEFT_ID, 56)
|
||||||
|
self.assertEqual(VESC_RIGHT_ID, 68)
|
||||||
|
self.assertEqual(VESC_STATUS_1, 9)
|
||||||
|
|
||||||
|
|
||||||
class TestVelocityEncode(unittest.TestCase):
|
class TestDriveEncode(unittest.TestCase):
|
||||||
"""Tests for encode_velocity_cmd."""
|
"""Tests for encode_drive_cmd."""
|
||||||
|
|
||||||
def test_zero_velocity(self):
|
def test_zero_velocity(self):
|
||||||
payload = encode_velocity_cmd(0.0, 0.0)
|
payload = encode_drive_cmd(0, 0)
|
||||||
self.assertEqual(len(payload), 8)
|
self.assertEqual(len(payload), 8)
|
||||||
left, right = struct.unpack(">ff", payload)
|
speed, steer, mode, flags, pad = struct.unpack(">hhBBH", payload)
|
||||||
self.assertAlmostEqual(left, 0.0, places=5)
|
self.assertEqual(speed, 0)
|
||||||
self.assertAlmostEqual(right, 0.0, places=5)
|
self.assertEqual(steer, 0)
|
||||||
|
self.assertEqual(mode, MODE_DRIVE)
|
||||||
|
|
||||||
def test_forward_velocity(self):
|
def test_forward(self):
|
||||||
payload = encode_velocity_cmd(1.5, 1.5)
|
payload = encode_drive_cmd(500, 0)
|
||||||
left, right = struct.unpack(">ff", payload)
|
speed, steer, mode, flags, pad = struct.unpack(">hhBBH", payload)
|
||||||
self.assertAlmostEqual(left, 1.5, places=5)
|
self.assertEqual(speed, 500)
|
||||||
self.assertAlmostEqual(right, 1.5, places=5)
|
self.assertEqual(steer, 0)
|
||||||
|
|
||||||
def test_differential_velocity(self):
|
def test_clamping_high(self):
|
||||||
payload = encode_velocity_cmd(-0.5, 0.5)
|
payload = encode_drive_cmd(9999, 9999)
|
||||||
left, right = struct.unpack(">ff", payload)
|
speed, steer, mode, flags, pad = struct.unpack(">hhBBH", payload)
|
||||||
self.assertAlmostEqual(left, -0.5, places=5)
|
self.assertEqual(speed, 1000)
|
||||||
self.assertAlmostEqual(right, 0.5, places=5)
|
self.assertEqual(steer, 1000)
|
||||||
|
|
||||||
def test_large_velocity(self):
|
def test_clamping_low(self):
|
||||||
# No clamping at the protocol layer — values are sent as-is
|
payload = encode_drive_cmd(-9999, -9999)
|
||||||
payload = encode_velocity_cmd(10.0, -10.0)
|
speed, steer, mode, flags, pad = struct.unpack(">hhBBH", payload)
|
||||||
left, right = struct.unpack(">ff", payload)
|
self.assertEqual(speed, -1000)
|
||||||
self.assertAlmostEqual(left, 10.0, places=3)
|
self.assertEqual(steer, -1000)
|
||||||
self.assertAlmostEqual(right, -10.0, places=3)
|
|
||||||
|
|
||||||
def test_payload_is_big_endian(self):
|
def test_mode_idle(self):
|
||||||
# Sanity check: first 4 bytes encode left speed
|
payload = encode_drive_cmd(0, 0, mode=MODE_IDLE)
|
||||||
payload = encode_velocity_cmd(1.0, 0.0)
|
speed, steer, mode_byte, flags, pad = struct.unpack(">hhBBH", payload)
|
||||||
(left,) = struct.unpack(">f", payload[:4])
|
self.assertEqual(mode_byte, MODE_IDLE)
|
||||||
self.assertAlmostEqual(left, 1.0, places=5)
|
|
||||||
|
|
||||||
|
|
||||||
class TestModeEncode(unittest.TestCase):
|
class TestArmEncode(unittest.TestCase):
|
||||||
"""Tests for encode_mode_cmd."""
|
"""Tests for encode_arm_cmd."""
|
||||||
|
|
||||||
def test_idle_mode(self):
|
def test_arm(self):
|
||||||
payload = encode_mode_cmd(MODE_IDLE)
|
payload = encode_arm_cmd(True)
|
||||||
self.assertEqual(payload, b"\x00")
|
self.assertEqual(len(payload), 1)
|
||||||
|
self.assertEqual(payload[0], 0x01)
|
||||||
|
|
||||||
def test_drive_mode(self):
|
def test_disarm(self):
|
||||||
payload = encode_mode_cmd(MODE_DRIVE)
|
payload = encode_arm_cmd(False)
|
||||||
self.assertEqual(payload, b"\x01")
|
self.assertEqual(len(payload), 1)
|
||||||
|
self.assertEqual(payload[0], 0x00)
|
||||||
def test_estop_mode(self):
|
|
||||||
payload = encode_mode_cmd(MODE_ESTOP)
|
|
||||||
self.assertEqual(payload, b"\x02")
|
|
||||||
|
|
||||||
def test_invalid_mode_raises(self):
|
|
||||||
with self.assertRaises(ValueError):
|
|
||||||
encode_mode_cmd(99)
|
|
||||||
|
|
||||||
def test_invalid_mode_negative_raises(self):
|
|
||||||
with self.assertRaises(ValueError):
|
|
||||||
encode_mode_cmd(-1)
|
|
||||||
|
|
||||||
|
|
||||||
class TestEstopEncode(unittest.TestCase):
|
class TestEstopEncode(unittest.TestCase):
|
||||||
"""Tests for encode_estop_cmd."""
|
"""Tests for encode_estop_cmd."""
|
||||||
|
|
||||||
def test_estop_assert(self):
|
def test_estop_magic_byte(self):
|
||||||
self.assertEqual(encode_estop_cmd(True), b"\x01")
|
payload = encode_estop_cmd()
|
||||||
|
self.assertEqual(len(payload), 1)
|
||||||
def test_estop_clear(self):
|
self.assertEqual(payload[0], 0xE5)
|
||||||
self.assertEqual(encode_estop_cmd(False), b"\x00")
|
|
||||||
|
|
||||||
def test_estop_default_is_stop(self):
|
|
||||||
self.assertEqual(encode_estop_cmd(), b"\x01")
|
|
||||||
|
|
||||||
|
|
||||||
class TestImuDecodeRoundTrip(unittest.TestCase):
|
class TestAttitudeDecode(unittest.TestCase):
|
||||||
"""Round-trip tests for IMU telemetry."""
|
"""Tests for decode_attitude (0x400)."""
|
||||||
|
|
||||||
def _encode_imu(self, ax, ay, az, gx, gy, gz) -> bytes:
|
def test_roundtrip(self):
|
||||||
return struct.pack(">ffffff", ax, ay, az, gx, gy, gz)
|
import struct as _s
|
||||||
|
# Encode a known attitude: pitch=12.5, speed=1.5, yaw_rate=-0.5, state=1, flags=0
|
||||||
|
fmt = ">eeeBB"
|
||||||
|
raw = _s.pack(fmt, 12.5, 1.5, -0.5, 1, 0) + b"\x00" # pad to 8 bytes
|
||||||
|
att = decode_attitude(raw)
|
||||||
|
self.assertAlmostEqual(att.pitch_deg, 12.5, places=1)
|
||||||
|
self.assertAlmostEqual(att.speed, 1.5, places=1)
|
||||||
|
self.assertEqual(att.state, 1)
|
||||||
|
|
||||||
def test_zero_imu(self):
|
def test_too_short_raises(self):
|
||||||
data = self._encode_imu(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
|
with self.assertRaises(ValueError):
|
||||||
telem = decode_imu_telem(data)
|
decode_attitude(b"\x00" * 3)
|
||||||
self.assertIsInstance(telem, ImuTelemetry)
|
|
||||||
self.assertAlmostEqual(telem.accel_x, 0.0, places=5)
|
|
||||||
self.assertAlmostEqual(telem.gyro_z, 0.0, places=5)
|
|
||||||
|
|
||||||
def test_nominal_imu(self):
|
|
||||||
data = self._encode_imu(0.1, -0.2, 9.81, 0.01, -0.02, 0.03)
|
|
||||||
telem = decode_imu_telem(data)
|
|
||||||
self.assertAlmostEqual(telem.accel_x, 0.1, places=4)
|
|
||||||
self.assertAlmostEqual(telem.accel_y, -0.2, places=4)
|
|
||||||
self.assertAlmostEqual(telem.accel_z, 9.81, places=3)
|
|
||||||
self.assertAlmostEqual(telem.gyro_x, 0.01, places=5)
|
|
||||||
self.assertAlmostEqual(telem.gyro_y, -0.02, places=5)
|
|
||||||
self.assertAlmostEqual(telem.gyro_z, 0.03, places=5)
|
|
||||||
|
|
||||||
def test_imu_bad_length_raises(self):
|
|
||||||
with self.assertRaises(struct.error):
|
|
||||||
decode_imu_telem(b"\x00" * 10) # too short
|
|
||||||
|
|
||||||
|
|
||||||
class TestBatteryDecodeRoundTrip(unittest.TestCase):
|
class TestBatteryDecode(unittest.TestCase):
|
||||||
"""Round-trip tests for battery telemetry."""
|
"""Tests for decode_battery (0x401)."""
|
||||||
|
|
||||||
def _encode_bat(self, voltage, current) -> bytes:
|
def test_roundtrip(self):
|
||||||
return struct.pack(">ff", voltage, current)
|
import struct as _s
|
||||||
|
raw = _s.pack(">HBb", 24000, 0, -65)
|
||||||
|
bat = decode_battery(raw)
|
||||||
|
self.assertEqual(bat.vbat_mv, 24000)
|
||||||
|
self.assertEqual(bat.fault_code, 0)
|
||||||
|
self.assertEqual(bat.rssi, -65)
|
||||||
|
|
||||||
def test_nominal_battery(self):
|
def test_too_short_raises(self):
|
||||||
data = self._encode_bat(24.6, 3.2)
|
with self.assertRaises(ValueError):
|
||||||
telem = decode_battery_telem(data)
|
decode_battery(b"\x00" * 2)
|
||||||
self.assertIsInstance(telem, BatteryTelemetry)
|
|
||||||
self.assertAlmostEqual(telem.voltage, 24.6, places=3)
|
|
||||||
self.assertAlmostEqual(telem.current, 3.2, places=4)
|
|
||||||
|
|
||||||
def test_zero_battery(self):
|
|
||||||
data = self._encode_bat(0.0, 0.0)
|
|
||||||
telem = decode_battery_telem(data)
|
|
||||||
self.assertAlmostEqual(telem.voltage, 0.0, places=5)
|
|
||||||
self.assertAlmostEqual(telem.current, 0.0, places=5)
|
|
||||||
|
|
||||||
def test_max_voltage(self):
|
|
||||||
# 6S LiPo max ~25.2 V; test with a high value
|
|
||||||
data = self._encode_bat(25.2, 0.0)
|
|
||||||
telem = decode_battery_telem(data)
|
|
||||||
self.assertAlmostEqual(telem.voltage, 25.2, places=3)
|
|
||||||
|
|
||||||
def test_battery_bad_length_raises(self):
|
|
||||||
with self.assertRaises(struct.error):
|
|
||||||
decode_battery_telem(b"\x00" * 4) # too short
|
|
||||||
|
|
||||||
|
|
||||||
class TestVescStateDecodeRoundTrip(unittest.TestCase):
|
class TestVescStatus1Decode(unittest.TestCase):
|
||||||
"""Round-trip tests for VESC state telemetry."""
|
"""Tests for decode_vesc_status1."""
|
||||||
|
|
||||||
def _encode_vesc(self, erpm, duty, voltage, current) -> bytes:
|
def test_roundtrip(self):
|
||||||
return struct.pack(">ffff", erpm, duty, voltage, current)
|
import struct as _s
|
||||||
|
erpm = 12000
|
||||||
def test_nominal_vesc(self):
|
cur_x10 = 35 # 3.5 A
|
||||||
data = self._encode_vesc(3000.0, 0.25, 24.0, 5.5)
|
duty_x1000 = 450 # 0.45
|
||||||
telem = decode_vesc_state(data)
|
raw = _s.pack(">ihh", erpm, cur_x10, duty_x1000)
|
||||||
self.assertIsInstance(telem, VescStateTelemetry)
|
st = decode_vesc_status1(VESC_LEFT_ID, raw)
|
||||||
self.assertAlmostEqual(telem.erpm, 3000.0, places=2)
|
self.assertEqual(st.node_id, VESC_LEFT_ID)
|
||||||
self.assertAlmostEqual(telem.duty, 0.25, places=5)
|
self.assertAlmostEqual(st.erpm, 12000.0, places=1)
|
||||||
self.assertAlmostEqual(telem.voltage, 24.0, places=4)
|
self.assertAlmostEqual(st.current, 3.5, places=3)
|
||||||
self.assertAlmostEqual(telem.current, 5.5, places=4)
|
self.assertAlmostEqual(st.duty, 0.45, places=3)
|
||||||
|
|
||||||
def test_zero_vesc(self):
|
|
||||||
data = self._encode_vesc(0.0, 0.0, 0.0, 0.0)
|
|
||||||
telem = decode_vesc_state(data)
|
|
||||||
self.assertAlmostEqual(telem.erpm, 0.0)
|
|
||||||
self.assertAlmostEqual(telem.duty, 0.0)
|
|
||||||
|
|
||||||
def test_reverse_erpm(self):
|
|
||||||
data = self._encode_vesc(-1500.0, -0.15, 23.0, 2.0)
|
|
||||||
telem = decode_vesc_state(data)
|
|
||||||
self.assertAlmostEqual(telem.erpm, -1500.0, places=2)
|
|
||||||
self.assertAlmostEqual(telem.duty, -0.15, places=5)
|
|
||||||
|
|
||||||
def test_vesc_bad_length_raises(self):
|
|
||||||
with self.assertRaises(struct.error):
|
|
||||||
decode_vesc_state(b"\x00" * 8) # too short (need 16)
|
|
||||||
|
|
||||||
|
|
||||||
class TestEncodeDecodeIdentity(unittest.TestCase):
|
class TestModeConstants(unittest.TestCase):
|
||||||
"""Cross-module identity tests: encode then decode must be identity."""
|
"""Tests for mode byte constants."""
|
||||||
|
|
||||||
def test_velocity_identity(self):
|
def test_mode_values(self):
|
||||||
"""encode_velocity_cmd raw bytes must decode to the same floats."""
|
self.assertEqual(MODE_IDLE, 0)
|
||||||
left, right = 0.75, -0.3
|
self.assertEqual(MODE_DRIVE, 1)
|
||||||
payload = encode_velocity_cmd(left, right)
|
self.assertEqual(MODE_AUTONOMOUS, 2)
|
||||||
decoded_l, decoded_r = struct.unpack(">ff", payload)
|
|
||||||
self.assertAlmostEqual(decoded_l, left, places=5)
|
|
||||||
self.assertAlmostEqual(decoded_r, right, places=5)
|
|
||||||
|
|
||||||
def test_imu_identity(self):
|
|
||||||
accel = (0.5, -0.5, 9.8)
|
|
||||||
gyro = (0.1, -0.1, 0.2)
|
|
||||||
raw = struct.pack(">ffffff", *accel, *gyro)
|
|
||||||
telem = decode_imu_telem(raw)
|
|
||||||
self.assertAlmostEqual(telem.accel_x, accel[0], places=4)
|
|
||||||
self.assertAlmostEqual(telem.accel_y, accel[1], places=4)
|
|
||||||
self.assertAlmostEqual(telem.accel_z, accel[2], places=3)
|
|
||||||
self.assertAlmostEqual(telem.gyro_x, gyro[0], places=5)
|
|
||||||
self.assertAlmostEqual(telem.gyro_y, gyro[1], places=5)
|
|
||||||
self.assertAlmostEqual(telem.gyro_z, gyro[2], places=5)
|
|
||||||
|
|
||||||
def test_battery_identity(self):
|
|
||||||
voltage, current = 22.4, 8.1
|
|
||||||
raw = struct.pack(">ff", voltage, current)
|
|
||||||
telem = decode_battery_telem(raw)
|
|
||||||
self.assertAlmostEqual(telem.voltage, voltage, places=3)
|
|
||||||
self.assertAlmostEqual(telem.current, current, places=4)
|
|
||||||
|
|
||||||
def test_vesc_identity(self):
|
|
||||||
erpm, duty, voltage, current = 5000.0, 0.5, 24.5, 10.0
|
|
||||||
raw = struct.pack(">ffff", erpm, duty, voltage, current)
|
|
||||||
telem = decode_vesc_state(raw)
|
|
||||||
self.assertAlmostEqual(telem.erpm, erpm, places=2)
|
|
||||||
self.assertAlmostEqual(telem.duty, duty, places=5)
|
|
||||||
self.assertAlmostEqual(telem.voltage, voltage, places=3)
|
|
||||||
self.assertAlmostEqual(telem.current, current, places=4)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
if __name__ == "__main__":
|
||||||
|
|||||||
@ -1,69 +1,56 @@
|
|||||||
#!/usr/bin/env python3
|
#!/usr/bin/env python3
|
||||||
"""
|
"""
|
||||||
protocol_defs.py — CAN message ID constants and frame builders/parsers for the
|
protocol_defs.py — CAN message ID constants and frame builders/parsers for the
|
||||||
Orin↔Mamba↔VESC integration test suite.
|
Orin <-> ESP32 BALANCE <-> VESC integration test suite.
|
||||||
|
|
||||||
All IDs and payload formats are derived from:
|
All IDs and payload formats are derived from:
|
||||||
include/orin_can.h — Orin↔FC (Mamba) protocol
|
saltybot_can_bridge/balance_protocol.py — canonical codec
|
||||||
include/vesc_can.h — VESC CAN protocol
|
|
||||||
saltybot_can_bridge/mamba_protocol.py — existing bridge constants
|
|
||||||
|
|
||||||
CAN IDs used in tests
|
CAN IDs used in tests
|
||||||
---------------------
|
---------------------
|
||||||
Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h):
|
Orin → ESP32 BALANCE commands (standard 11-bit):
|
||||||
ORIN_CMD_HEARTBEAT 0x300
|
ORIN_CMD_DRIVE 0x300 left_mps (f32 LE) | right_mps (f32 LE)
|
||||||
ORIN_CMD_DRIVE 0x301 int16 speed (−1000..+1000), int16 steer (−1000..+1000)
|
ORIN_CMD_MODE 0x301 uint8 mode (0=idle, 1=drive, 2=estop)
|
||||||
ORIN_CMD_MODE 0x302 uint8 mode byte
|
ORIN_CMD_ESTOP 0x302 uint8 flags (bit0=stop, bit1=clear)
|
||||||
ORIN_CMD_ESTOP 0x303 uint8 action (1=ESTOP, 0=CLEAR)
|
ORIN_CMD_LED 0x303 uint8 pattern | r | g | b
|
||||||
|
|
||||||
FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h):
|
ESP32 BALANCE → Orin telemetry (standard 11-bit):
|
||||||
FC_STATUS 0x400 8 bytes (see orin_can_fc_status_t)
|
FC_STATUS 0x400 8 bytes (pitch_x10 i16 | motor_cmd u16 | vbat_mv u16 | state u8 | flags u8)
|
||||||
FC_VESC 0x401 8 bytes (see orin_can_fc_vesc_t)
|
FC_VESC 0x401 8 bytes (l_rpm_x10 i16 | r_rpm_x10 i16 | l_cur_x10 i16 | r_cur_x10 i16)
|
||||||
FC_IMU 0x402 8 bytes
|
|
||||||
FC_BARO 0x403 8 bytes
|
|
||||||
|
|
||||||
Mamba ↔ VESC internal commands (matching mamba_protocol.py):
|
VESC STATUS (extended 29-bit):
|
||||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian
|
arb_id = (VESC_STATUS_1 << 8) | vesc_node_id = (9 << 8) | node_id
|
||||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop)
|
Payload: int32 ERPM (BE), int16 current×10 (BE), int16 duty×1000 (BE)
|
||||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01=stop
|
|
||||||
|
|
||||||
VESC STATUS (extended 29-bit, matching vesc_can.h):
|
|
||||||
arb_id = (VESC_PKT_STATUS << 8) | vesc_node_id = (9 << 8) | node_id
|
|
||||||
Payload: int32 RPM (BE), int16 current×10 (BE), int16 duty×1000 (BE)
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import struct
|
import struct
|
||||||
from typing import Tuple
|
from typing import Tuple
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Orin → FC (Mamba) command IDs (from orin_can.h)
|
# Orin → ESP32 BALANCE command IDs
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
ORIN_CMD_HEARTBEAT: int = 0x300
|
ORIN_CMD_DRIVE: int = 0x300
|
||||||
ORIN_CMD_DRIVE: int = 0x301
|
ORIN_CMD_MODE: int = 0x301
|
||||||
ORIN_CMD_MODE: int = 0x302
|
ORIN_CMD_ESTOP: int = 0x302
|
||||||
ORIN_CMD_ESTOP: int = 0x303
|
ORIN_CMD_LED: int = 0x303
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# FC (Mamba) → Orin telemetry IDs (from orin_can.h)
|
# ESP32 BALANCE → Orin telemetry IDs
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
FC_STATUS: int = 0x400
|
FC_STATUS: int = 0x400
|
||||||
FC_VESC: int = 0x401
|
FC_VESC: int = 0x401
|
||||||
FC_IMU: int = 0x402
|
|
||||||
FC_BARO: int = 0x403
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Mamba → VESC internal command IDs (from mamba_protocol.py)
|
# VESC constants
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
MAMBA_CMD_VELOCITY: int = 0x100
|
VESC_STATUS_1: int = 9 # STATUS_1 packet type (upper byte of arb_id)
|
||||||
MAMBA_CMD_MODE: int = 0x101
|
VESC_CMD_SET_RPM: int = 3
|
||||||
MAMBA_CMD_ESTOP: int = 0x102
|
|
||||||
|
|
||||||
MAMBA_TELEM_IMU: int = 0x200
|
VESC_CAN_ID_LEFT: int = 56
|
||||||
MAMBA_TELEM_BATTERY: int = 0x201
|
VESC_CAN_ID_RIGHT: int = 68
|
||||||
VESC_TELEM_STATE: int = 0x300
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Mode constants
|
# Mode constants
|
||||||
@ -73,242 +60,111 @@ MODE_IDLE: int = 0
|
|||||||
MODE_DRIVE: int = 1
|
MODE_DRIVE: int = 1
|
||||||
MODE_ESTOP: int = 2
|
MODE_ESTOP: int = 2
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# VESC protocol constants (from vesc_can.h)
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
VESC_PKT_STATUS: int = 9 # STATUS packet type (upper byte of arb_id)
|
def VESC_STATUS1_ID(vesc_node_id: int) -> int:
|
||||||
VESC_PKT_SET_RPM: int = 3 # SET_RPM packet type
|
"""Return the 29-bit extended arbitration ID for a VESC STATUS_1 frame."""
|
||||||
|
return (VESC_STATUS_1 << 8) | vesc_node_id
|
||||||
VESC_CAN_ID_LEFT: int = 56
|
|
||||||
VESC_CAN_ID_RIGHT: int = 68
|
|
||||||
|
|
||||||
|
|
||||||
def VESC_STATUS_ID(vesc_node_id: int) -> int:
|
|
||||||
"""
|
|
||||||
Return the 29-bit extended arbitration ID for a VESC STATUS frame.
|
|
||||||
|
|
||||||
Formula (from vesc_can.h): arb_id = (VESC_PKT_STATUS << 8) | vesc_node_id
|
|
||||||
= (9 << 8) | vesc_node_id
|
|
||||||
"""
|
|
||||||
return (VESC_PKT_STATUS << 8) | vesc_node_id
|
|
||||||
|
|
||||||
|
|
||||||
def VESC_SET_RPM_ID(vesc_node_id: int) -> int:
|
|
||||||
"""
|
|
||||||
Return the 29-bit extended arbitration ID for a VESC SET_RPM command.
|
|
||||||
|
|
||||||
Formula: arb_id = (VESC_PKT_SET_RPM << 8) | vesc_node_id
|
|
||||||
= (3 << 8) | vesc_node_id
|
|
||||||
"""
|
|
||||||
return (VESC_PKT_SET_RPM << 8) | vesc_node_id
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Frame builders — Orin → FC
|
# Frame builders — Orin → ESP32 BALANCE
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
def build_heartbeat(seq: int = 0) -> bytes:
|
def build_drive_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||||
"""Build a HEARTBEAT payload: uint32 sequence counter (big-endian, 4 bytes)."""
|
"""Build ORIN_CMD_DRIVE payload (8 bytes, 2 × float32 little-endian)."""
|
||||||
return struct.pack(">I", seq & 0xFFFFFFFF)
|
return struct.pack("<ff", float(left_mps), float(right_mps))
|
||||||
|
|
||||||
|
|
||||||
def build_drive_cmd(speed: int, steer: int) -> bytes:
|
|
||||||
"""
|
|
||||||
Build an ORIN_CMD_DRIVE payload.
|
|
||||||
|
|
||||||
Parameters
|
|
||||||
----------
|
|
||||||
speed: int, −1000..+1000 (mapped directly to int16)
|
|
||||||
steer: int, −1000..+1000
|
|
||||||
"""
|
|
||||||
return struct.pack(">hh", int(speed), int(steer))
|
|
||||||
|
|
||||||
|
|
||||||
def build_mode_cmd(mode: int) -> bytes:
|
def build_mode_cmd(mode: int) -> bytes:
|
||||||
"""Build an ORIN_CMD_MODE payload (1 byte)."""
|
"""Build ORIN_CMD_MODE payload (1 byte)."""
|
||||||
return struct.pack(">B", mode & 0xFF)
|
return struct.pack("B", mode & 0xFF)
|
||||||
|
|
||||||
|
|
||||||
def build_estop_cmd(action: int = 1) -> bytes:
|
def build_estop_cmd(stop: bool = True, clear: bool = False) -> bytes:
|
||||||
"""Build an ORIN_CMD_ESTOP payload. action=1 → ESTOP, 0 → CLEAR."""
|
"""Build ORIN_CMD_ESTOP payload (1 byte flags)."""
|
||||||
return struct.pack(">B", action & 0xFF)
|
return struct.pack("B", (0x01 if stop else 0) | (0x02 if clear else 0))
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Frame builders — Mamba velocity commands (mamba_protocol.py encoding)
|
# Frame builders — ESP32 BALANCE → Orin telemetry
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
|
||||||
"""
|
|
||||||
Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
|
|
||||||
|
|
||||||
Matches encode_velocity_cmd() in mamba_protocol.py.
|
|
||||||
"""
|
|
||||||
return struct.pack(">ff", float(left_mps), float(right_mps))
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Frame builders — FC → Orin telemetry
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
def build_fc_status(
|
def build_fc_status(
|
||||||
pitch_x10: int = 0,
|
pitch_x10: int = 0,
|
||||||
motor_cmd: int = 0,
|
motor_cmd: int = 0,
|
||||||
vbat_mv: int = 24000,
|
vbat_mv: int = 24000,
|
||||||
balance_state: int = 1,
|
state: int = 1,
|
||||||
flags: int = 0,
|
flags: int = 0,
|
||||||
) -> bytes:
|
) -> bytes:
|
||||||
"""
|
"""Build FC_STATUS (0x400) payload (8 bytes, big-endian)."""
|
||||||
Build an FC_STATUS (0x400) payload.
|
|
||||||
|
|
||||||
Layout (orin_can_fc_status_t, 8 bytes, big-endian):
|
|
||||||
int16 pitch_x10
|
|
||||||
int16 motor_cmd
|
|
||||||
uint16 vbat_mv
|
|
||||||
uint8 balance_state
|
|
||||||
uint8 flags [bit0=estop_active, bit1=armed]
|
|
||||||
"""
|
|
||||||
return struct.pack(
|
return struct.pack(
|
||||||
">hhHBB",
|
">hHHBB",
|
||||||
int(pitch_x10),
|
int(pitch_x10),
|
||||||
int(motor_cmd),
|
int(motor_cmd) & 0xFFFF,
|
||||||
int(vbat_mv) & 0xFFFF,
|
int(vbat_mv) & 0xFFFF,
|
||||||
int(balance_state) & 0xFF,
|
int(state) & 0xFF,
|
||||||
int(flags) & 0xFF,
|
int(flags) & 0xFF,
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
def build_fc_vesc(
|
def build_fc_vesc(
|
||||||
left_rpm_x10: int = 0,
|
l_rpm_x10: int = 0,
|
||||||
right_rpm_x10: int = 0,
|
r_rpm_x10: int = 0,
|
||||||
left_current_x10: int = 0,
|
l_cur_x10: int = 0,
|
||||||
right_current_x10: int = 0,
|
r_cur_x10: int = 0,
|
||||||
) -> bytes:
|
) -> bytes:
|
||||||
"""
|
"""Build FC_VESC (0x401) payload (8 bytes, big-endian)."""
|
||||||
Build an FC_VESC (0x401) payload.
|
|
||||||
|
|
||||||
Layout (orin_can_fc_vesc_t, 8 bytes, big-endian):
|
|
||||||
int16 left_rpm_x10
|
|
||||||
int16 right_rpm_x10
|
|
||||||
int16 left_current_x10
|
|
||||||
int16 right_current_x10
|
|
||||||
|
|
||||||
RPM values are RPM / 10 (e.g. 3000 RPM → 300).
|
|
||||||
Current values are A × 10 (e.g. 5.5 A → 55).
|
|
||||||
"""
|
|
||||||
return struct.pack(
|
return struct.pack(
|
||||||
">hhhh",
|
">hhhh",
|
||||||
int(left_rpm_x10),
|
int(l_rpm_x10),
|
||||||
int(right_rpm_x10),
|
int(r_rpm_x10),
|
||||||
int(left_current_x10),
|
int(l_cur_x10),
|
||||||
int(right_current_x10),
|
int(r_cur_x10),
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
def build_vesc_status(
|
def build_vesc_status1(
|
||||||
rpm: int = 0,
|
erpm: int = 0,
|
||||||
current_x10: int = 0,
|
current_x10: int = 0,
|
||||||
duty_x1000: int = 0,
|
duty_x1000: int = 0,
|
||||||
) -> bytes:
|
) -> bytes:
|
||||||
"""
|
"""Build VESC STATUS_1 payload (8 bytes, big-endian)."""
|
||||||
Build a VESC STATUS (packet type 9) payload.
|
return struct.pack(">ihh", int(erpm), int(current_x10), int(duty_x1000))
|
||||||
|
|
||||||
Layout (from vesc_can.h / VESC FW 6.x, big-endian):
|
|
||||||
int32 rpm
|
|
||||||
int16 current × 10
|
|
||||||
int16 duty × 1000
|
|
||||||
Total: 8 bytes.
|
|
||||||
"""
|
|
||||||
return struct.pack(
|
|
||||||
">ihh",
|
|
||||||
int(rpm),
|
|
||||||
int(current_x10),
|
|
||||||
int(duty_x1000),
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
# Frame parsers
|
# Frame parsers
|
||||||
# ---------------------------------------------------------------------------
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
def parse_fc_status(data: bytes):
|
def parse_drive_cmd(data: bytes) -> Tuple[float, float]:
|
||||||
"""
|
"""Parse ORIN_CMD_DRIVE payload → (left_mps, right_mps)."""
|
||||||
Parse an FC_STATUS (0x400) payload.
|
if len(data) < 8:
|
||||||
|
raise ValueError(f"ORIN_CMD_DRIVE needs 8 bytes, got {len(data)}")
|
||||||
|
return struct.unpack("<ff", data[:8])
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
def parse_fc_status(data: bytes):
|
||||||
dict with keys: pitch_x10, motor_cmd, vbat_mv, balance_state, flags,
|
"""Parse FC_STATUS (0x400) payload."""
|
||||||
estop_active (bool), armed (bool)
|
|
||||||
"""
|
|
||||||
if len(data) < 8:
|
if len(data) < 8:
|
||||||
raise ValueError(f"FC_STATUS needs 8 bytes, got {len(data)}")
|
raise ValueError(f"FC_STATUS needs 8 bytes, got {len(data)}")
|
||||||
pitch_x10, motor_cmd, vbat_mv, balance_state, flags = struct.unpack(
|
pitch_x10, motor_cmd, vbat_mv, state, flags = struct.unpack(">hHHBB", data[:8])
|
||||||
">hhHBB", data[:8]
|
|
||||||
)
|
|
||||||
return {
|
return {
|
||||||
"pitch_x10": pitch_x10,
|
"pitch_x10": pitch_x10,
|
||||||
|
"pitch_deg": pitch_x10 / 10.0,
|
||||||
"motor_cmd": motor_cmd,
|
"motor_cmd": motor_cmd,
|
||||||
"vbat_mv": vbat_mv,
|
"vbat_mv": vbat_mv,
|
||||||
"balance_state": balance_state,
|
"state": state,
|
||||||
"flags": flags,
|
"flags": flags,
|
||||||
"estop_active": bool(flags & 0x01),
|
|
||||||
"armed": bool(flags & 0x02),
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
def parse_fc_vesc(data: bytes):
|
def parse_vesc_status1(data: bytes):
|
||||||
"""
|
"""Parse VESC STATUS_1 payload."""
|
||||||
Parse an FC_VESC (0x401) payload.
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
dict with keys: left_rpm_x10, right_rpm_x10, left_current_x10,
|
|
||||||
right_current_x10, left_rpm (float), right_rpm (float)
|
|
||||||
"""
|
|
||||||
if len(data) < 8:
|
if len(data) < 8:
|
||||||
raise ValueError(f"FC_VESC needs 8 bytes, got {len(data)}")
|
raise ValueError(f"VESC STATUS_1 needs 8 bytes, got {len(data)}")
|
||||||
left_rpm_x10, right_rpm_x10, left_cur_x10, right_cur_x10 = struct.unpack(
|
erpm, cur_x10, duty_x1000 = struct.unpack(">ihh", data[:8])
|
||||||
">hhhh", data[:8]
|
|
||||||
)
|
|
||||||
return {
|
return {
|
||||||
"left_rpm_x10": left_rpm_x10,
|
"erpm": erpm,
|
||||||
"right_rpm_x10": right_rpm_x10,
|
"current": cur_x10 / 10.0,
|
||||||
"left_current_x10": left_cur_x10,
|
|
||||||
"right_current_x10": right_cur_x10,
|
|
||||||
"left_rpm": left_rpm_x10 * 10.0,
|
|
||||||
"right_rpm": right_rpm_x10 * 10.0,
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
def parse_vesc_status(data: bytes):
|
|
||||||
"""
|
|
||||||
Parse a VESC STATUS (packet type 9) payload.
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
dict with keys: rpm, current_x10, duty_x1000, current (float), duty (float)
|
|
||||||
"""
|
|
||||||
if len(data) < 8:
|
|
||||||
raise ValueError(f"VESC STATUS needs 8 bytes, got {len(data)}")
|
|
||||||
rpm, current_x10, duty_x1000 = struct.unpack(">ihh", data[:8])
|
|
||||||
return {
|
|
||||||
"rpm": rpm,
|
|
||||||
"current_x10": current_x10,
|
|
||||||
"duty_x1000": duty_x1000,
|
|
||||||
"current": current_x10 / 10.0,
|
|
||||||
"duty": duty_x1000 / 1000.0,
|
"duty": duty_x1000 / 1000.0,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
def parse_velocity_cmd(data: bytes) -> Tuple[float, float]:
|
|
||||||
"""
|
|
||||||
Parse a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
|
|
||||||
|
|
||||||
Returns
|
|
||||||
-------
|
|
||||||
(left_mps, right_mps)
|
|
||||||
"""
|
|
||||||
if len(data) < 8:
|
|
||||||
raise ValueError(f"MAMBA_CMD_VELOCITY needs 8 bytes, got {len(data)}")
|
|
||||||
return struct.unpack(">ff", data[:8])
|
|
||||||
|
|||||||
@ -1,20 +1,20 @@
|
|||||||
from setuptools import setup
|
from setuptools import find_packages, setup
|
||||||
|
|
||||||
package_name = "saltybot_can_e2e_test"
|
package_name = "saltybot_can_e2e_test"
|
||||||
|
|
||||||
setup(
|
setup(
|
||||||
name=package_name,
|
name=package_name,
|
||||||
version="0.1.0",
|
version="0.0.1",
|
||||||
packages=[package_name],
|
packages=find_packages(exclude=["test"]),
|
||||||
data_files=[
|
data_files=[
|
||||||
("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
|
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
|
||||||
(f"share/{package_name}", ["package.xml"]),
|
("share/" + package_name, ["package.xml"]),
|
||||||
],
|
],
|
||||||
install_requires=["setuptools"],
|
install_requires=["setuptools"],
|
||||||
zip_safe=True,
|
zip_safe=True,
|
||||||
maintainer="sl-jetson",
|
maintainer="seb",
|
||||||
maintainer_email="sl-jetson@saltylab.local",
|
maintainer_email="seb@example.com",
|
||||||
description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop",
|
description="Orin <-> ESP32 BALANCE <-> VESC end-to-end CAN integration tests",
|
||||||
license="MIT",
|
license="MIT",
|
||||||
tests_require=["pytest"],
|
tests_require=["pytest"],
|
||||||
entry_points={
|
entry_points={
|
||||||
|
|||||||
@ -1,93 +1,27 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
conftest.py — pytest fixtures for the saltybot_can_e2e_test suite.
|
conftest.py — shared pytest fixtures for saltybot CAN end-to-end tests.
|
||||||
|
|
||||||
No ROS2 node infrastructure is started; all tests run purely in Python.
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import sys
|
|
||||||
import os
|
|
||||||
|
|
||||||
# Ensure the package root is on sys.path so relative imports work when running
|
|
||||||
# pytest directly from the saltybot_can_e2e_test/ directory.
|
|
||||||
_pkg_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
|
|
||||||
if _pkg_root not in sys.path:
|
|
||||||
sys.path.insert(0, _pkg_root)
|
|
||||||
|
|
||||||
# Also add the saltybot_can_bridge package so we can import mamba_protocol.
|
|
||||||
_bridge_pkg = os.path.join(
|
|
||||||
os.path.dirname(_pkg_root), "saltybot_can_bridge"
|
|
||||||
)
|
|
||||||
if _bridge_pkg not in sys.path:
|
|
||||||
sys.path.insert(0, _bridge_pkg)
|
|
||||||
|
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
from saltybot_can_bridge.balance_protocol import (
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
encode_drive_cmd,
|
||||||
VESC_CAN_ID_LEFT,
|
|
||||||
VESC_CAN_ID_RIGHT,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Core fixtures
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.fixture(scope="function")
|
|
||||||
def mock_can_bus():
|
|
||||||
"""
|
|
||||||
Provide a fresh MockCANBus instance per test function.
|
|
||||||
The bus is automatically shut down after each test.
|
|
||||||
"""
|
|
||||||
bus = MockCANBus(loopback=False)
|
|
||||||
yield bus
|
|
||||||
bus.shutdown()
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.fixture(scope="function")
|
|
||||||
def loopback_can_bus():
|
|
||||||
"""
|
|
||||||
MockCANBus in loopback mode — sent frames are also queued for recv.
|
|
||||||
Useful for testing round-trip behaviour without a second node.
|
|
||||||
"""
|
|
||||||
bus = MockCANBus(loopback=True)
|
|
||||||
yield bus
|
|
||||||
bus.shutdown()
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.fixture(scope="function")
|
|
||||||
def bridge_components():
|
|
||||||
"""
|
|
||||||
Return the mamba_protocol encode/decode callables and a fresh mock bus.
|
|
||||||
|
|
||||||
Yields a dict with keys:
|
|
||||||
bus — MockCANBus instance
|
|
||||||
encode_vel — encode_velocity_cmd(left, right) → bytes
|
|
||||||
encode_mode — encode_mode_cmd(mode) → bytes
|
|
||||||
encode_estop — encode_estop_cmd(stop) → bytes
|
|
||||||
decode_vesc — decode_vesc_state(data) → VescStateTelemetry
|
|
||||||
"""
|
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
encode_velocity_cmd,
|
|
||||||
encode_mode_cmd,
|
encode_mode_cmd,
|
||||||
encode_estop_cmd,
|
encode_estop_cmd,
|
||||||
decode_vesc_state,
|
decode_fc_status,
|
||||||
decode_battery_telem,
|
decode_fc_vesc,
|
||||||
decode_imu_telem,
|
decode_vesc_status1,
|
||||||
)
|
)
|
||||||
|
|
||||||
bus = MockCANBus(loopback=False)
|
|
||||||
|
@pytest.fixture
|
||||||
|
def bridge_components():
|
||||||
|
"""Return a dict of encode/decode helpers from balance_protocol."""
|
||||||
yield {
|
yield {
|
||||||
"bus": bus,
|
"encode_drive": encode_drive_cmd,
|
||||||
"encode_vel": encode_velocity_cmd,
|
|
||||||
"encode_mode": encode_mode_cmd,
|
"encode_mode": encode_mode_cmd,
|
||||||
"encode_estop": encode_estop_cmd,
|
"encode_estop": encode_estop_cmd,
|
||||||
"decode_vesc": decode_vesc_state,
|
"decode_fc_status": decode_fc_status,
|
||||||
"decode_battery": decode_battery_telem,
|
"decode_fc_vesc": decode_fc_vesc,
|
||||||
"decode_imu": decode_imu_telem,
|
"decode_vesc": decode_vesc_status1,
|
||||||
"left_vesc_id": VESC_CAN_ID_LEFT,
|
|
||||||
"right_vesc_id": VESC_CAN_ID_RIGHT,
|
|
||||||
}
|
}
|
||||||
bus.shutdown()
|
|
||||||
|
|||||||
@ -1,193 +1,47 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
test_drive_command.py — Integration tests for the drive command path.
|
test_drive_command.py — E2E tests for ORIN_CMD_DRIVE (0x300) encoding.
|
||||||
|
|
||||||
Tests verify:
|
|
||||||
DRIVE cmd → Mamba receives velocity command frame → mock VESC status response
|
|
||||||
→ FC_VESC broadcast contains correct RPMs.
|
|
||||||
|
|
||||||
All tests run without real hardware or a running ROS2 system.
|
|
||||||
Run with: python -m pytest test/test_drive_command.py -v
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import struct
|
import struct
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
from saltybot_can_e2e_test.protocol_defs import (
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_DRIVE,
|
||||||
MAMBA_CMD_MODE,
|
build_drive_cmd,
|
||||||
FC_VESC,
|
parse_drive_cmd,
|
||||||
MODE_DRIVE,
|
|
||||||
MODE_IDLE,
|
MODE_IDLE,
|
||||||
VESC_CAN_ID_LEFT,
|
MODE_DRIVE,
|
||||||
VESC_CAN_ID_RIGHT,
|
|
||||||
VESC_STATUS_ID,
|
|
||||||
build_velocity_cmd,
|
|
||||||
build_fc_vesc,
|
|
||||||
build_vesc_status,
|
|
||||||
parse_velocity_cmd,
|
|
||||||
parse_fc_vesc,
|
|
||||||
)
|
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
encode_velocity_cmd,
|
|
||||||
encode_mode_cmd,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
class TestDriveCommandEncoding:
|
||||||
# Helper
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
def _send_drive(bus, left_mps: float, right_mps: float) -> None:
|
def test_frame_id(self):
|
||||||
"""Simulate the bridge encoding and sending a velocity command."""
|
assert ORIN_CMD_DRIVE == 0x300
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
|
||||||
|
|
||||||
payload = encode_velocity_cmd(left_mps, right_mps)
|
def test_zero_drive(self):
|
||||||
# Create a minimal message object compatible with our mock
|
payload = build_drive_cmd(0.0, 0.0)
|
||||||
class _Msg:
|
left, right = parse_drive_cmd(payload)
|
||||||
def __init__(self, arb_id, data):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = False
|
|
||||||
|
|
||||||
bus.send(_Msg(MAMBA_CMD_VELOCITY, payload))
|
|
||||||
bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Tests
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class TestDriveForward:
|
|
||||||
def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives
|
|
||||||
a MAMBA_CMD_VELOCITY frame with correct payload.
|
|
||||||
"""
|
|
||||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 1, "Expected exactly one velocity command frame"
|
|
||||||
|
|
||||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
|
||||||
assert abs(left - 1.0) < 1e-4, f"Left speed {left} != 1.0"
|
|
||||||
assert abs(right - 1.0) < 1e-4, f"Right speed {right} != 1.0"
|
|
||||||
|
|
||||||
def test_drive_forward_mode_drive_sent(self, mock_can_bus):
|
|
||||||
"""After a drive command, a MODE=drive frame must accompany it."""
|
|
||||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert len(mode_frames) >= 1, "Expected at least one MODE frame"
|
|
||||||
assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])
|
|
||||||
|
|
||||||
def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
|
|
||||||
(In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.)
|
|
||||||
This test checks the FC_VESC frame format and parser.
|
|
||||||
"""
|
|
||||||
# Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
|
|
||||||
fc_payload = build_fc_vesc(
|
|
||||||
left_rpm_x10=300, right_rpm_x10=300,
|
|
||||||
left_current_x10=50, right_current_x10=50,
|
|
||||||
)
|
|
||||||
mock_can_bus.inject(FC_VESC, fc_payload)
|
|
||||||
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
assert frame is not None, "FC_VESC frame not received"
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
assert parsed["left_rpm_x10"] == 300
|
|
||||||
assert parsed["right_rpm_x10"] == 300
|
|
||||||
assert abs(parsed["left_rpm"] - 3000.0) < 0.1
|
|
||||||
|
|
||||||
|
|
||||||
class TestDriveTurn:
|
|
||||||
def test_drive_turn_differential_rpm(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
DRIVE cmd (0.5, −0.5) → verify differential RPM in velocity command.
|
|
||||||
"""
|
|
||||||
_send_drive(mock_can_bus, 0.5, -0.5)
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 1
|
|
||||||
|
|
||||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
|
||||||
assert abs(left - 0.5) < 1e-4, f"Left speed {left} != 0.5"
|
|
||||||
assert abs(right - (-0.5)) < 1e-4, f"Right speed {right} != -0.5"
|
|
||||||
# Signs must be opposite for a zero-radius spin
|
|
||||||
assert left > 0 and right < 0
|
|
||||||
|
|
||||||
def test_drive_turn_fc_vesc_differential(self, mock_can_bus):
|
|
||||||
"""Simulated FC_VESC for a turn has opposite-sign RPMs."""
|
|
||||||
fc_payload = build_fc_vesc(
|
|
||||||
left_rpm_x10=150, right_rpm_x10=-150,
|
|
||||||
left_current_x10=30, right_current_x10=30,
|
|
||||||
)
|
|
||||||
mock_can_bus.inject(FC_VESC, fc_payload)
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
assert parsed["left_rpm_x10"] > 0
|
|
||||||
assert parsed["right_rpm_x10"] < 0
|
|
||||||
|
|
||||||
|
|
||||||
class TestDriveZero:
|
|
||||||
def test_drive_zero_stops_motors(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After a non-zero drive cmd, sending zero velocity must result in
|
|
||||||
RPM=0 being commanded to both VESCs.
|
|
||||||
"""
|
|
||||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
|
||||||
mock_can_bus.reset() # clear prior frames
|
|
||||||
|
|
||||||
_send_drive(mock_can_bus, 0.0, 0.0)
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 1
|
|
||||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
|
||||||
assert abs(left) < 1e-5, "Left motor not stopped"
|
|
||||||
assert abs(right) < 1e-5, "Right motor not stopped"
|
|
||||||
|
|
||||||
|
|
||||||
class TestDriveCmdTimeout:
|
|
||||||
def test_drive_cmd_timeout_sends_zero(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Simulate the watchdog behaviour: if no DRIVE cmd arrives for >500 ms,
|
|
||||||
zero velocity is sent. We test the encoding directly (without timers).
|
|
||||||
"""
|
|
||||||
# The watchdog in CanBridgeNode calls encode_velocity_cmd(0.0, 0.0) and
|
|
||||||
# sends it on MAMBA_CMD_VELOCITY. Replicate that here.
|
|
||||||
zero_payload = encode_velocity_cmd(0.0, 0.0)
|
|
||||||
|
|
||||||
class _Msg:
|
|
||||||
def __init__(self, arb_id, data):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = False
|
|
||||||
|
|
||||||
mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, zero_payload))
|
|
||||||
mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 1
|
|
||||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
|
||||||
assert abs(left) < 1e-5
|
assert abs(left) < 1e-5
|
||||||
assert abs(right) < 1e-5
|
assert abs(right) < 1e-5
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
def test_forward(self):
|
||||||
assert len(mode_frames) == 1
|
payload = build_drive_cmd(1.5, 1.5)
|
||||||
assert bytes(mode_frames[0].data) == bytes([MODE_IDLE])
|
left, right = parse_drive_cmd(payload)
|
||||||
|
assert abs(left - 1.5) < 1e-4
|
||||||
|
assert abs(right - 1.5) < 1e-4
|
||||||
|
|
||||||
|
def test_differential(self):
|
||||||
|
payload = build_drive_cmd(-0.5, 0.5)
|
||||||
|
left, right = parse_drive_cmd(payload)
|
||||||
|
assert abs(left - (-0.5)) < 1e-4
|
||||||
|
assert abs(right - 0.5) < 1e-4
|
||||||
|
|
||||||
@pytest.mark.parametrize("left_mps,right_mps", [
|
def test_payload_is_little_endian(self):
|
||||||
(0.5, 0.5),
|
# First 4 bytes encode left speed in LE float32
|
||||||
(1.0, 0.0),
|
payload = build_drive_cmd(1.0, 0.0)
|
||||||
(0.0, -1.0),
|
(left,) = struct.unpack("<f", payload[:4])
|
||||||
(-0.5, -0.5),
|
assert abs(left - 1.0) < 1e-5
|
||||||
])
|
|
||||||
def test_drive_cmd_payload_roundtrip(mock_can_bus, left_mps, right_mps):
|
def test_payload_length(self):
|
||||||
"""Parametrized: encode then decode must recover original velocities."""
|
assert len(build_drive_cmd(1.0, -1.0)) == 8
|
||||||
payload = encode_velocity_cmd(left_mps, right_mps)
|
|
||||||
l, r = parse_velocity_cmd(payload)
|
|
||||||
assert abs(l - left_mps) < 1e-4
|
|
||||||
assert abs(r - right_mps) < 1e-4
|
|
||||||
|
|||||||
@ -1,264 +1,52 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
test_estop.py — E-stop command integration tests.
|
test_estop.py — E2E tests for ORIN_CMD_ESTOP (0x302) and FC_STATUS flags.
|
||||||
|
|
||||||
Covers:
|
|
||||||
- ESTOP command halts motors immediately
|
|
||||||
- ESTOP persists: DRIVE commands ignored while ESTOP is active
|
|
||||||
- ESTOP clear restores normal drive operation
|
|
||||||
- Firmware-side estop via FC_STATUS flags is detected correctly
|
|
||||||
|
|
||||||
No ROS2 or real CAN hardware required.
|
|
||||||
Run with: python -m pytest test/test_estop.py -v
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import struct
|
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
from saltybot_can_e2e_test.protocol_defs import (
|
||||||
MAMBA_CMD_VELOCITY,
|
|
||||||
MAMBA_CMD_MODE,
|
|
||||||
MAMBA_CMD_ESTOP,
|
|
||||||
ORIN_CMD_ESTOP,
|
ORIN_CMD_ESTOP,
|
||||||
FC_STATUS,
|
FC_STATUS,
|
||||||
MODE_IDLE,
|
|
||||||
MODE_DRIVE,
|
|
||||||
MODE_ESTOP,
|
|
||||||
build_estop_cmd,
|
build_estop_cmd,
|
||||||
build_mode_cmd,
|
|
||||||
build_velocity_cmd,
|
|
||||||
build_fc_status,
|
build_fc_status,
|
||||||
parse_velocity_cmd,
|
|
||||||
parse_fc_status,
|
parse_fc_status,
|
||||||
)
|
)
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
encode_velocity_cmd,
|
|
||||||
encode_mode_cmd,
|
|
||||||
encode_estop_cmd,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
class TestEstopAssert:
|
||||||
# Helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class _Msg:
|
def test_frame_id(self):
|
||||||
"""Minimal CAN message stand-in."""
|
assert ORIN_CMD_ESTOP == 0x302
|
||||||
def __init__(self, arb_id: int, data: bytes, is_extended_id: bool = False):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = is_extended_id
|
|
||||||
|
|
||||||
|
def test_stop_bit_set(self):
|
||||||
|
payload = build_estop_cmd(stop=True, clear=False)
|
||||||
|
assert payload[0] & 0x01 == 0x01
|
||||||
|
|
||||||
class EstopStateMachine:
|
def test_stop_bit_clear_not_set(self):
|
||||||
"""
|
payload = build_estop_cmd(stop=True, clear=False)
|
||||||
Lightweight state machine that mirrors the bridge estop logic.
|
assert payload[0] & 0x02 == 0x00
|
||||||
|
|
||||||
Tracks whether ESTOP is active and gates velocity commands accordingly.
|
|
||||||
Sends frames to the supplied MockCANBus.
|
|
||||||
"""
|
|
||||||
|
|
||||||
def __init__(self, bus: MockCANBus):
|
|
||||||
self._bus = bus
|
|
||||||
self._estop_active = False
|
|
||||||
self._mode = MODE_IDLE
|
|
||||||
|
|
||||||
def assert_estop(self) -> None:
|
|
||||||
"""Send ESTOP and transition to estop mode."""
|
|
||||||
self._estop_active = True
|
|
||||||
self._mode = MODE_ESTOP
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
|
||||||
|
|
||||||
def clear_estop(self) -> None:
|
|
||||||
"""Clear ESTOP and return to IDLE mode."""
|
|
||||||
self._estop_active = False
|
|
||||||
self._mode = MODE_IDLE
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
|
||||||
|
|
||||||
def send_drive(self, left_mps: float, right_mps: float) -> None:
|
|
||||||
"""Send velocity command only if ESTOP is not active."""
|
|
||||||
if self._estop_active:
|
|
||||||
# Bridge silently drops commands while estopped
|
|
||||||
return
|
|
||||||
self._mode = MODE_DRIVE
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
|
||||||
|
|
||||||
@property
|
|
||||||
def estop_active(self) -> bool:
|
|
||||||
return self._estop_active
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Tests
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class TestEstopHaltsMotors:
|
|
||||||
def test_estop_command_halts_motors(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After injecting ESTOP, zero velocity must be commanded immediately.
|
|
||||||
"""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) >= 1, "No velocity frame after ESTOP"
|
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
|
||||||
assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
|
|
||||||
assert abs(r) < 1e-5, f"Right motor {r} not zero after ESTOP"
|
|
||||||
|
|
||||||
def test_estop_mode_frame_sent(self, mock_can_bus):
|
|
||||||
"""ESTOP mode byte must be broadcast on CAN."""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert any(
|
|
||||||
bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
|
|
||||||
), "MODE=ESTOP not found in sent frames"
|
|
||||||
|
|
||||||
def test_estop_flag_byte_is_0x01(self, mock_can_bus):
|
|
||||||
"""MAMBA_CMD_ESTOP payload must be 0x01 when asserting e-stop."""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
|
|
||||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
|
||||||
assert len(estop_frames) >= 1
|
|
||||||
assert bytes(estop_frames[-1].data) == b"\x01", \
|
|
||||||
f"ESTOP payload {estop_frames[-1].data!r} != 0x01"
|
|
||||||
|
|
||||||
|
|
||||||
class TestEstopPersists:
|
|
||||||
def test_estop_persists_after_drive_cmd(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After ESTOP, injecting a DRIVE command must NOT forward velocity to the bus.
|
|
||||||
"""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
mock_can_bus.reset() # start fresh after initial ESTOP frames
|
|
||||||
|
|
||||||
sm.send_drive(1.0, 1.0) # should be suppressed
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 0, \
|
|
||||||
"Velocity command was forwarded while ESTOP is active"
|
|
||||||
|
|
||||||
def test_estop_mode_unchanged_after_drive_attempt(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After ESTOP, attempting DRIVE must not change the mode to DRIVE.
|
|
||||||
"""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
sm.send_drive(0.5, 0.5)
|
|
||||||
|
|
||||||
# No mode frames should have been emitted (drive was suppressed)
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert all(
|
|
||||||
bytes(f.data) != bytes([MODE_DRIVE]) for f in mode_frames
|
|
||||||
), "MODE=DRIVE was set despite active ESTOP"
|
|
||||||
|
|
||||||
|
|
||||||
class TestEstopClear:
|
class TestEstopClear:
|
||||||
def test_estop_clear_restores_drive(self, mock_can_bus):
|
|
||||||
"""After ESTOP_CLEAR, drive commands must be accepted again."""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
sm.clear_estop()
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
sm.send_drive(0.8, 0.8)
|
def test_clear_bit_set(self):
|
||||||
|
payload = build_estop_cmd(stop=False, clear=True)
|
||||||
|
assert payload[0] & 0x02 == 0x02
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
def test_stop_not_set_on_clear(self):
|
||||||
assert len(vel_frames) == 1, "Velocity command not sent after ESTOP clear"
|
payload = build_estop_cmd(stop=False, clear=True)
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
|
assert payload[0] & 0x01 == 0x00
|
||||||
assert abs(l - 0.8) < 1e-4
|
|
||||||
assert abs(r - 0.8) < 1e-4
|
|
||||||
|
|
||||||
def test_estop_clear_flag_byte_is_0x00(self, mock_can_bus):
|
|
||||||
"""MAMBA_CMD_ESTOP payload must be 0x00 when clearing e-stop."""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
sm.clear_estop()
|
|
||||||
|
|
||||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
|
||||||
assert len(estop_frames) >= 2
|
|
||||||
# Last ESTOP frame should be the clear
|
|
||||||
assert bytes(estop_frames[-1].data) == b"\x00", \
|
|
||||||
f"ESTOP clear payload {estop_frames[-1].data!r} != 0x00"
|
|
||||||
|
|
||||||
def test_estop_clear_mode_returns_to_idle(self, mock_can_bus):
|
|
||||||
"""After clearing ESTOP, the mode frame must be MODE_IDLE."""
|
|
||||||
sm = EstopStateMachine(mock_can_bus)
|
|
||||||
sm.assert_estop()
|
|
||||||
sm.clear_estop()
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
last_mode = bytes(mode_frames[-1].data)
|
|
||||||
assert last_mode == bytes([MODE_IDLE]), \
|
|
||||||
f"Mode after ESTOP clear is {last_mode!r}, expected MODE_IDLE"
|
|
||||||
|
|
||||||
|
|
||||||
class TestFirmwareSideEstop:
|
class TestAttitudeEstopFlag:
|
||||||
def test_fc_status_estop_flag_detected(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Simulate firmware sending estop via FC_STATUS flags (bit0=estop_active).
|
|
||||||
Verify the Orin bridge side correctly parses the flag.
|
|
||||||
"""
|
|
||||||
# Build FC_STATUS with estop_active bit set (flags=0x01)
|
|
||||||
payload = build_fc_status(
|
|
||||||
pitch_x10=0,
|
|
||||||
motor_cmd=0,
|
|
||||||
vbat_mv=24000,
|
|
||||||
balance_state=2, # TILT_FAULT
|
|
||||||
flags=0x01, # bit0 = estop_active
|
|
||||||
)
|
|
||||||
mock_can_bus.inject(FC_STATUS, payload)
|
|
||||||
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
def test_estop_active_flag_in_fc_status(self):
|
||||||
assert frame is not None, "FC_STATUS frame not received"
|
# FC_STATUS flags bit0 = estop active
|
||||||
parsed = parse_fc_status(bytes(frame.data))
|
raw = build_fc_status(flags=0x01)
|
||||||
assert parsed["estop_active"] is True, \
|
status = parse_fc_status(raw)
|
||||||
"estop_active flag not set in FC_STATUS"
|
assert status["flags"] & 0x01 == 0x01
|
||||||
assert parsed["balance_state"] == 2
|
|
||||||
|
|
||||||
def test_fc_status_no_estop_flag(self, mock_can_bus):
|
def test_no_estop_flag(self):
|
||||||
"""FC_STATUS with flags=0x00 must NOT set estop_active."""
|
raw = build_fc_status(flags=0x00)
|
||||||
payload = build_fc_status(flags=0x00)
|
status = parse_fc_status(raw)
|
||||||
mock_can_bus.inject(FC_STATUS, payload)
|
assert status["flags"] & 0x01 == 0x00
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
parsed = parse_fc_status(bytes(frame.data))
|
|
||||||
assert parsed["estop_active"] is False
|
|
||||||
|
|
||||||
def test_fc_status_armed_flag_detected(self, mock_can_bus):
|
|
||||||
"""FC_STATUS flags bit1=armed must parse correctly."""
|
|
||||||
payload = build_fc_status(flags=0x02) # bit1 = armed
|
|
||||||
mock_can_bus.inject(FC_STATUS, payload)
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
parsed = parse_fc_status(bytes(frame.data))
|
|
||||||
assert parsed["armed"] is True
|
|
||||||
assert parsed["estop_active"] is False
|
|
||||||
|
|
||||||
def test_fc_status_roundtrip(self, mock_can_bus):
|
|
||||||
"""build_fc_status → inject → recv → parse_fc_status must be identity."""
|
|
||||||
payload = build_fc_status(
|
|
||||||
pitch_x10=150,
|
|
||||||
motor_cmd=-200,
|
|
||||||
vbat_mv=23800,
|
|
||||||
balance_state=1,
|
|
||||||
flags=0x03,
|
|
||||||
)
|
|
||||||
mock_can_bus.inject(FC_STATUS, payload)
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
parsed = parse_fc_status(bytes(frame.data))
|
|
||||||
assert parsed["pitch_x10"] == 150
|
|
||||||
assert parsed["motor_cmd"] == -200
|
|
||||||
assert parsed["vbat_mv"] == 23800
|
|
||||||
assert parsed["balance_state"] == 1
|
|
||||||
assert parsed["estop_active"] is True
|
|
||||||
assert parsed["armed"] is True
|
|
||||||
|
|||||||
@ -1,315 +1,78 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
test_fc_vesc_broadcast.py — FC_VESC broadcast and VESC STATUS integration tests.
|
test_fc_vesc_broadcast.py — E2E tests for ESP32 BALANCE telemetry parsing.
|
||||||
|
|
||||||
Covers:
|
Covers:
|
||||||
- VESC STATUS extended frame for left VESC (ID 56) triggers FC_VESC broadcast
|
- VESC STATUS_1 extended frames (arb_id = (9 << 8) | node_id)
|
||||||
- Both left (56) and right (68) VESC STATUS combined in FC_VESC
|
- FC_STATUS (0x400) attitude/battery frame
|
||||||
- FC_VESC broadcast rate (~10 Hz)
|
- FC_VESC (0x401) VESC RPM/current broadcast frame
|
||||||
- current_x10 scaling matches protocol spec
|
|
||||||
|
|
||||||
No ROS2 or real CAN hardware required.
|
|
||||||
Run with: python -m pytest test/test_fc_vesc_broadcast.py -v
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import struct
|
import struct
|
||||||
import time
|
|
||||||
import threading
|
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
from saltybot_can_e2e_test.protocol_defs import (
|
||||||
|
FC_STATUS,
|
||||||
FC_VESC,
|
FC_VESC,
|
||||||
VESC_CAN_ID_LEFT,
|
VESC_CAN_ID_LEFT,
|
||||||
VESC_CAN_ID_RIGHT,
|
VESC_CAN_ID_RIGHT,
|
||||||
VESC_STATUS_ID,
|
VESC_STATUS1_ID,
|
||||||
VESC_SET_RPM_ID,
|
build_fc_status,
|
||||||
VESC_TELEM_STATE,
|
|
||||||
build_vesc_status,
|
|
||||||
build_fc_vesc,
|
build_fc_vesc,
|
||||||
parse_fc_vesc,
|
build_vesc_status1,
|
||||||
parse_vesc_status,
|
parse_fc_status,
|
||||||
)
|
parse_vesc_status1,
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
VESC_TELEM_STATE as BRIDGE_VESC_TELEM_STATE,
|
|
||||||
decode_vesc_state,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
class TestVescStatusParsing:
|
||||||
# Helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class VescStatusAggregator:
|
def test_status1_id_left(self):
|
||||||
"""
|
arb_id = VESC_STATUS1_ID(VESC_CAN_ID_LEFT)
|
||||||
Simulates the firmware logic that:
|
assert arb_id == (9 << 8) | 56
|
||||||
1. Receives VESC STATUS extended frames from left/right VESCs
|
|
||||||
2. Builds an FC_VESC broadcast payload
|
|
||||||
3. Injects the FC_VESC frame onto the mock bus
|
|
||||||
|
|
||||||
This represents the Mamba → Orin telemetry path.
|
def test_status1_id_right(self):
|
||||||
"""
|
arb_id = VESC_STATUS1_ID(VESC_CAN_ID_RIGHT)
|
||||||
|
assert arb_id == (9 << 8) | 68
|
||||||
|
|
||||||
def __init__(self, bus: MockCANBus):
|
def test_parse_vesc_status1_nominal(self):
|
||||||
self._bus = bus
|
raw = build_vesc_status1(erpm=3000, current_x10=55, duty_x1000=250)
|
||||||
self._left_rpm_x10 = 0
|
result = parse_vesc_status1(raw)
|
||||||
self._right_rpm_x10 = 0
|
assert abs(result["erpm"] - 3000) < 1
|
||||||
self._left_current_x10 = 0
|
assert abs(result["current"] - 5.5) < 0.01
|
||||||
self._right_current_x10 = 0
|
assert abs(result["duty"] - 0.25) < 0.001
|
||||||
self._left_seen = False
|
|
||||||
self._right_seen = False
|
|
||||||
|
|
||||||
def process_vesc_status(self, arb_id: int, data: bytes) -> None:
|
def test_parse_vesc_status1_reverse(self):
|
||||||
"""
|
raw = build_vesc_status1(erpm=-1500, current_x10=-20, duty_x1000=-150)
|
||||||
Process an incoming VESC STATUS frame (extended 29-bit ID).
|
result = parse_vesc_status1(raw)
|
||||||
Updates internal state; broadcasts FC_VESC when at least one side is known.
|
assert result["erpm"] == -1500
|
||||||
"""
|
assert abs(result["duty"] - (-0.15)) < 0.001
|
||||||
node_id = arb_id & 0xFF
|
|
||||||
parsed = parse_vesc_status(data)
|
|
||||||
rpm_x10 = parsed["rpm"] // 10 # convert full RPM to RPM/10
|
|
||||||
|
|
||||||
if node_id == VESC_CAN_ID_LEFT:
|
|
||||||
self._left_rpm_x10 = rpm_x10
|
|
||||||
self._left_current_x10 = parsed["current_x10"]
|
|
||||||
self._left_seen = True
|
|
||||||
elif node_id == VESC_CAN_ID_RIGHT:
|
|
||||||
self._right_rpm_x10 = rpm_x10
|
|
||||||
self._right_current_x10 = parsed["current_x10"]
|
|
||||||
self._right_seen = True
|
|
||||||
|
|
||||||
# Broadcast FC_VESC whenever we receive any update
|
|
||||||
self._broadcast_fc_vesc()
|
|
||||||
|
|
||||||
def _broadcast_fc_vesc(self) -> None:
|
|
||||||
payload = build_fc_vesc(
|
|
||||||
left_rpm_x10=self._left_rpm_x10,
|
|
||||||
right_rpm_x10=self._right_rpm_x10,
|
|
||||||
left_current_x10=self._left_current_x10,
|
|
||||||
right_current_x10=self._right_current_x10,
|
|
||||||
)
|
|
||||||
self._bus.inject(FC_VESC, payload)
|
|
||||||
|
|
||||||
|
|
||||||
def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int,
|
class TestFcStatusTelemetry:
|
||||||
current_x10: int = 50, duty_x1000: int = 250) -> None:
|
|
||||||
"""Inject a VESC STATUS extended frame for the given node ID."""
|
def test_frame_id(self):
|
||||||
arb_id = VESC_STATUS_ID(vesc_id)
|
assert FC_STATUS == 0x400
|
||||||
payload = build_vesc_status(rpm=rpm, current_x10=current_x10, duty_x1000=duty_x1000)
|
|
||||||
bus.inject(arb_id, payload, is_extended_id=True)
|
def test_nominal(self):
|
||||||
|
raw = build_fc_status(pitch_x10=125, motor_cmd=300, vbat_mv=24000, state=1, flags=0)
|
||||||
|
status = parse_fc_status(raw)
|
||||||
|
assert abs(status["pitch_deg"] - 12.5) < 0.01
|
||||||
|
assert status["vbat_mv"] == 24000
|
||||||
|
assert status["state"] == 1
|
||||||
|
|
||||||
|
def test_zero(self):
|
||||||
|
raw = build_fc_status(pitch_x10=0, motor_cmd=0, vbat_mv=0, state=0, flags=0)
|
||||||
|
status = parse_fc_status(raw)
|
||||||
|
assert status["pitch_x10"] == 0
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
class TestFcVescTelemetry:
|
||||||
# Tests
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class TestVescStatusToFcVesc:
|
def test_frame_id(self):
|
||||||
def test_left_vesc_status_triggers_broadcast(self, mock_can_bus):
|
assert FC_VESC == 0x401
|
||||||
"""
|
|
||||||
Inject VESC STATUS for left VESC (ID 56) → verify FC_VESC contains
|
|
||||||
the correct left RPM (rpm / 10).
|
|
||||||
"""
|
|
||||||
agg = VescStatusAggregator(mock_can_bus)
|
|
||||||
|
|
||||||
# Left VESC: 3000 RPM → rpm_x10 = 300
|
def test_nominal(self):
|
||||||
arb_id = VESC_STATUS_ID(VESC_CAN_ID_LEFT)
|
raw = build_fc_vesc(l_rpm_x10=300, r_rpm_x10=-300, l_cur_x10=55, r_cur_x10=-55)
|
||||||
payload = build_vesc_status(rpm=3000, current_x10=55)
|
l_rpm, r_rpm, l_cur, r_cur = struct.unpack(">hhhh", raw)
|
||||||
agg.process_vesc_status(arb_id, payload)
|
assert l_rpm == 300
|
||||||
|
assert r_rpm == -300
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
assert frame is not None, "No FC_VESC broadcast after left VESC STATUS"
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
assert parsed["left_rpm_x10"] == 300, \
|
|
||||||
f"left_rpm_x10 {parsed['left_rpm_x10']} != 300"
|
|
||||||
assert abs(parsed["left_rpm"] - 3000.0) < 1.0
|
|
||||||
|
|
||||||
def test_right_vesc_status_triggers_broadcast(self, mock_can_bus):
|
|
||||||
"""Inject VESC STATUS for right VESC (ID 68) → verify right RPM in FC_VESC."""
|
|
||||||
agg = VescStatusAggregator(mock_can_bus)
|
|
||||||
|
|
||||||
arb_id = VESC_STATUS_ID(VESC_CAN_ID_RIGHT)
|
|
||||||
payload = build_vesc_status(rpm=2000, current_x10=40)
|
|
||||||
agg.process_vesc_status(arb_id, payload)
|
|
||||||
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
assert frame is not None
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
assert parsed["right_rpm_x10"] == 200
|
|
||||||
|
|
||||||
def test_left_vesc_id_matches_constant(self):
|
|
||||||
"""VESC_STATUS_ID(56) must equal (9 << 8) | 56 = 0x938."""
|
|
||||||
assert VESC_STATUS_ID(VESC_CAN_ID_LEFT) == (9 << 8) | 56
|
|
||||||
assert VESC_STATUS_ID(VESC_CAN_ID_LEFT) == 0x938
|
|
||||||
|
|
||||||
def test_right_vesc_id_matches_constant(self):
|
|
||||||
"""VESC_STATUS_ID(68) must equal (9 << 8) | 68 = 0x944."""
|
|
||||||
assert VESC_STATUS_ID(VESC_CAN_ID_RIGHT) == (9 << 8) | 68
|
|
||||||
assert VESC_STATUS_ID(VESC_CAN_ID_RIGHT) == 0x944
|
|
||||||
|
|
||||||
|
|
||||||
class TestBothVescStatusCombined:
|
|
||||||
def test_both_vesc_status_combined_in_fc_vesc(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Inject both left (56) and right (68) VESC STATUS frames.
|
|
||||||
Final FC_VESC must contain both RPMs.
|
|
||||||
"""
|
|
||||||
agg = VescStatusAggregator(mock_can_bus)
|
|
||||||
|
|
||||||
# Left: 3000 RPM
|
|
||||||
agg.process_vesc_status(
|
|
||||||
VESC_STATUS_ID(VESC_CAN_ID_LEFT),
|
|
||||||
build_vesc_status(rpm=3000, current_x10=50),
|
|
||||||
)
|
|
||||||
# Right: -1500 RPM (reverse)
|
|
||||||
agg.process_vesc_status(
|
|
||||||
VESC_STATUS_ID(VESC_CAN_ID_RIGHT),
|
|
||||||
build_vesc_status(rpm=-1500, current_x10=30),
|
|
||||||
)
|
|
||||||
|
|
||||||
# Drain two FC_VESC frames (one per update), check the latest
|
|
||||||
frames = []
|
|
||||||
while True:
|
|
||||||
f = mock_can_bus.recv(timeout=0.05)
|
|
||||||
if f is None:
|
|
||||||
break
|
|
||||||
frames.append(f)
|
|
||||||
|
|
||||||
assert len(frames) >= 2, "Expected at least 2 FC_VESC frames"
|
|
||||||
# Last frame must have both sides
|
|
||||||
last = parse_fc_vesc(bytes(frames[-1].data))
|
|
||||||
assert last["left_rpm_x10"] == 300, \
|
|
||||||
f"left_rpm_x10 {last['left_rpm_x10']} != 300"
|
|
||||||
assert last["right_rpm_x10"] == -150, \
|
|
||||||
f"right_rpm_x10 {last['right_rpm_x10']} != -150"
|
|
||||||
|
|
||||||
def test_both_vesc_currents_combined(self, mock_can_bus):
|
|
||||||
"""Both current values must appear in FC_VESC after two STATUS frames."""
|
|
||||||
agg = VescStatusAggregator(mock_can_bus)
|
|
||||||
agg.process_vesc_status(
|
|
||||||
VESC_STATUS_ID(VESC_CAN_ID_LEFT),
|
|
||||||
build_vesc_status(rpm=1000, current_x10=55),
|
|
||||||
)
|
|
||||||
agg.process_vesc_status(
|
|
||||||
VESC_STATUS_ID(VESC_CAN_ID_RIGHT),
|
|
||||||
build_vesc_status(rpm=1000, current_x10=42),
|
|
||||||
)
|
|
||||||
frames = []
|
|
||||||
while True:
|
|
||||||
f = mock_can_bus.recv(timeout=0.05)
|
|
||||||
if f is None:
|
|
||||||
break
|
|
||||||
frames.append(f)
|
|
||||||
last = parse_fc_vesc(bytes(frames[-1].data))
|
|
||||||
assert last["left_current_x10"] == 55
|
|
||||||
assert last["right_current_x10"] == 42
|
|
||||||
|
|
||||||
|
|
||||||
class TestVescBroadcastRate:
|
|
||||||
def test_fc_vesc_broadcast_at_10hz(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Simulate FC_VESC broadcasts at ~10 Hz and verify the rate.
|
|
||||||
We inject 12 frames over ~120 ms, then verify count and average interval.
|
|
||||||
"""
|
|
||||||
_FC_VESC_HZ = 10
|
|
||||||
_interval = 1.0 / _FC_VESC_HZ
|
|
||||||
|
|
||||||
timestamps = []
|
|
||||||
stop_event = threading.Event()
|
|
||||||
|
|
||||||
def broadcaster():
|
|
||||||
while not stop_event.is_set():
|
|
||||||
t = time.monotonic()
|
|
||||||
mock_can_bus.inject(
|
|
||||||
FC_VESC,
|
|
||||||
build_fc_vesc(100, -100, 30, 30),
|
|
||||||
timestamp=t,
|
|
||||||
)
|
|
||||||
timestamps.append(t)
|
|
||||||
time.sleep(_interval)
|
|
||||||
|
|
||||||
t = threading.Thread(target=broadcaster, daemon=True)
|
|
||||||
t.start()
|
|
||||||
time.sleep(0.15) # collect ~1.5 broadcasts
|
|
||||||
stop_event.set()
|
|
||||||
t.join(timeout=0.2)
|
|
||||||
|
|
||||||
assert len(timestamps) >= 1, "No FC_VESC broadcasts in 150 ms window"
|
|
||||||
|
|
||||||
if len(timestamps) >= 2:
|
|
||||||
intervals = [timestamps[i+1] - timestamps[i] for i in range(len(timestamps)-1)]
|
|
||||||
avg = sum(intervals) / len(intervals)
|
|
||||||
# ±40 ms tolerance for OS scheduling
|
|
||||||
assert 0.06 <= avg <= 0.14, \
|
|
||||||
f"FC_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms"
|
|
||||||
|
|
||||||
def test_fc_vesc_frame_is_8_bytes(self):
|
|
||||||
"""FC_VESC payload must always be exactly 8 bytes."""
|
|
||||||
payload = build_fc_vesc(300, -150, 55, 42)
|
|
||||||
assert len(payload) == 8
|
|
||||||
|
|
||||||
|
|
||||||
class TestVescCurrentScaling:
|
|
||||||
def test_current_x10_scaling(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Verify current_x10 scaling: 5.5 A → current_x10=55.
|
|
||||||
build_vesc_status stores current_x10 directly; parse_vesc_status
|
|
||||||
returns current = current_x10 / 10.
|
|
||||||
"""
|
|
||||||
payload = build_vesc_status(rpm=1000, current_x10=55, duty_x1000=250)
|
|
||||||
parsed = parse_vesc_status(payload)
|
|
||||||
assert parsed["current_x10"] == 55
|
|
||||||
assert abs(parsed["current"] - 5.5) < 0.01
|
|
||||||
|
|
||||||
def test_current_negative_scaling(self, mock_can_bus):
|
|
||||||
"""Negative current (regen) must scale correctly."""
|
|
||||||
payload = build_vesc_status(rpm=-500, current_x10=-30)
|
|
||||||
parsed = parse_vesc_status(payload)
|
|
||||||
assert parsed["current_x10"] == -30
|
|
||||||
assert abs(parsed["current"] - (-3.0)) < 0.01
|
|
||||||
|
|
||||||
def test_fc_vesc_current_x10_roundtrip(self, mock_can_bus):
|
|
||||||
"""build_fc_vesc → inject → recv → parse must preserve current_x10."""
|
|
||||||
payload = build_fc_vesc(
|
|
||||||
left_rpm_x10=200,
|
|
||||||
right_rpm_x10=200,
|
|
||||||
left_current_x10=55,
|
|
||||||
right_current_x10=42,
|
|
||||||
)
|
|
||||||
mock_can_bus.inject(FC_VESC, payload)
|
|
||||||
frame = mock_can_bus.recv(timeout=0.1)
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
assert parsed["left_current_x10"] == 55
|
|
||||||
assert parsed["right_current_x10"] == 42
|
|
||||||
|
|
||||||
@pytest.mark.parametrize("vesc_id", [VESC_CAN_ID_LEFT, VESC_CAN_ID_RIGHT])
|
|
||||||
def test_vesc_status_id_both_nodes(self, vesc_id, mock_can_bus):
|
|
||||||
"""
|
|
||||||
VESC_STATUS_ID(vesc_id) must produce the correct 29-bit extended arb_id
|
|
||||||
for both the left (56) and right (68) node IDs.
|
|
||||||
"""
|
|
||||||
expected = (9 << 8) | vesc_id
|
|
||||||
assert VESC_STATUS_ID(vesc_id) == expected
|
|
||||||
|
|
||||||
@pytest.mark.parametrize("vesc_id,rpm,expected_rpm_x10", [
|
|
||||||
(VESC_CAN_ID_LEFT, 3000, 300),
|
|
||||||
(VESC_CAN_ID_LEFT, -1500, -150),
|
|
||||||
(VESC_CAN_ID_RIGHT, 2000, 200),
|
|
||||||
(VESC_CAN_ID_RIGHT, 0, 0),
|
|
||||||
])
|
|
||||||
def test_rpm_x10_conversion_parametrized(
|
|
||||||
self, mock_can_bus, vesc_id, rpm, expected_rpm_x10
|
|
||||||
):
|
|
||||||
"""Parametrized: verify rpm → rpm_x10 conversion for both VESCs."""
|
|
||||||
agg = VescStatusAggregator(mock_can_bus)
|
|
||||||
agg.process_vesc_status(
|
|
||||||
VESC_STATUS_ID(vesc_id),
|
|
||||||
build_vesc_status(rpm=rpm),
|
|
||||||
)
|
|
||||||
frame = mock_can_bus.recv(timeout=0.05)
|
|
||||||
assert frame is not None
|
|
||||||
parsed = parse_fc_vesc(bytes(frame.data))
|
|
||||||
if vesc_id == VESC_CAN_ID_LEFT:
|
|
||||||
assert parsed["left_rpm_x10"] == expected_rpm_x10, \
|
|
||||||
f"left_rpm_x10={parsed['left_rpm_x10']} expected {expected_rpm_x10}"
|
|
||||||
else:
|
|
||||||
assert parsed["right_rpm_x10"] == expected_rpm_x10, \
|
|
||||||
f"right_rpm_x10={parsed['right_rpm_x10']} expected {expected_rpm_x10}"
|
|
||||||
|
|||||||
@ -1,238 +1,51 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
test_heartbeat_timeout.py — Tests for heartbeat loss and recovery.
|
test_heartbeat_timeout.py — E2E tests for watchdog / heartbeat timeout behavior.
|
||||||
|
|
||||||
Covers:
|
When no drive command is received within the timeout period, the bridge should
|
||||||
- Heartbeat loss triggers e-stop escalation (timeout logic)
|
send zero-velocity ORIN_CMD_DRIVE with MODE_IDLE.
|
||||||
- Heartbeat recovery restores previous mode
|
|
||||||
- Heartbeat interval is sent at ~100 ms
|
|
||||||
|
|
||||||
No ROS2 or real CAN hardware required.
|
|
||||||
Run with: python -m pytest test/test_heartbeat_timeout.py -v
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import time
|
|
||||||
import struct
|
import struct
|
||||||
import threading
|
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
from saltybot_can_e2e_test.protocol_defs import (
|
||||||
ORIN_CMD_HEARTBEAT,
|
ORIN_CMD_DRIVE,
|
||||||
ORIN_CMD_ESTOP,
|
|
||||||
ORIN_CMD_MODE,
|
ORIN_CMD_MODE,
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_ESTOP,
|
||||||
MAMBA_CMD_MODE,
|
|
||||||
MAMBA_CMD_ESTOP,
|
|
||||||
MODE_IDLE,
|
MODE_IDLE,
|
||||||
MODE_DRIVE,
|
build_drive_cmd,
|
||||||
MODE_ESTOP,
|
|
||||||
build_heartbeat,
|
|
||||||
build_estop_cmd,
|
|
||||||
build_mode_cmd,
|
build_mode_cmd,
|
||||||
build_velocity_cmd,
|
parse_drive_cmd,
|
||||||
parse_velocity_cmd,
|
|
||||||
)
|
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
encode_velocity_cmd,
|
|
||||||
encode_mode_cmd,
|
|
||||||
encode_estop_cmd,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
# Heartbeat timeout from orin_can.h: 500 ms
|
|
||||||
ORIN_HB_TIMEOUT_MS = 500
|
|
||||||
ORIN_HB_TIMEOUT_S = ORIN_HB_TIMEOUT_MS / 1000.0
|
|
||||||
|
|
||||||
# Expected heartbeat interval
|
class TestWatchdogZeroVelocity:
|
||||||
HB_INTERVAL_MS = 100
|
|
||||||
HB_INTERVAL_S = HB_INTERVAL_MS / 1000.0
|
def test_watchdog_sends_zero_drive(self):
|
||||||
|
"""Watchdog must send zero-velocity drive command."""
|
||||||
|
payload = build_drive_cmd(0.0, 0.0)
|
||||||
|
left, right = parse_drive_cmd(payload)
|
||||||
|
assert abs(left) < 1e-5
|
||||||
|
assert abs(right) < 1e-5
|
||||||
|
assert len(payload) == 8
|
||||||
|
|
||||||
|
def test_watchdog_drive_id(self):
|
||||||
|
assert ORIN_CMD_DRIVE == 0x300
|
||||||
|
|
||||||
|
def test_watchdog_mode_idle(self):
|
||||||
|
payload = build_mode_cmd(MODE_IDLE)
|
||||||
|
assert payload == b"\x00"
|
||||||
|
|
||||||
|
def test_watchdog_mode_id(self):
|
||||||
|
assert ORIN_CMD_MODE == 0x301
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
class TestEstopOnTimeout:
|
||||||
# Helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class HeartbeatSimulator:
|
def test_estop_frame_id(self):
|
||||||
"""
|
assert ORIN_CMD_ESTOP == 0x302
|
||||||
Simulate periodic heartbeat injection into a MockCANBus.
|
|
||||||
|
|
||||||
Call start() to begin sending heartbeats every interval_s.
|
def test_estop_stop_flag(self):
|
||||||
Call stop() to cease — after ORIN_HB_TIMEOUT_S the firmware would declare
|
from saltybot_can_e2e_test.protocol_defs import build_estop_cmd
|
||||||
Orin offline.
|
payload = build_estop_cmd(stop=True, clear=False)
|
||||||
"""
|
assert payload[0] & 0x01 == 0x01
|
||||||
|
|
||||||
def __init__(self, bus: MockCANBus, interval_s: float = HB_INTERVAL_S):
|
|
||||||
self._bus = bus
|
|
||||||
self._interval_s = interval_s
|
|
||||||
self._seq = 0
|
|
||||||
self._running = False
|
|
||||||
self._thread: threading.Thread | None = None
|
|
||||||
|
|
||||||
def start(self):
|
|
||||||
self._running = True
|
|
||||||
self._thread = threading.Thread(target=self._run, daemon=True)
|
|
||||||
self._thread.start()
|
|
||||||
|
|
||||||
def stop(self):
|
|
||||||
self._running = False
|
|
||||||
|
|
||||||
def _run(self):
|
|
||||||
while self._running:
|
|
||||||
self._bus.inject(
|
|
||||||
ORIN_CMD_HEARTBEAT,
|
|
||||||
build_heartbeat(self._seq),
|
|
||||||
is_extended_id=False,
|
|
||||||
)
|
|
||||||
self._seq += 1
|
|
||||||
time.sleep(self._interval_s)
|
|
||||||
|
|
||||||
|
|
||||||
def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
|
|
||||||
"""
|
|
||||||
Simulate the firmware-side logic: when heartbeat timeout expires,
|
|
||||||
the FC sends an e-stop command by setting estop mode on the Mamba bus.
|
|
||||||
We model this as the bridge sending zero velocity + ESTOP mode.
|
|
||||||
"""
|
|
||||||
|
|
||||||
class _Msg:
|
|
||||||
def __init__(self, arb_id, data):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = False
|
|
||||||
|
|
||||||
bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
|
||||||
bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
|
||||||
bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Tests
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class TestHeartbeatLoss:
|
|
||||||
def test_heartbeat_loss_triggers_estop(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After heartbeat ceases, the bridge must command zero velocity and
|
|
||||||
set ESTOP mode. We simulate this directly using _simulate_estop_on_timeout.
|
|
||||||
"""
|
|
||||||
# First confirm the bus is clean
|
|
||||||
assert len(mock_can_bus.get_sent_frames()) == 0
|
|
||||||
|
|
||||||
# Simulate bridge detecting timeout and escalating
|
|
||||||
_simulate_estop_on_timeout(mock_can_bus)
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) >= 1, "Zero velocity not sent after timeout"
|
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
|
||||||
assert abs(l) < 1e-5, "Left not zero on timeout"
|
|
||||||
assert abs(r) < 1e-5, "Right not zero on timeout"
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert any(
|
|
||||||
bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
|
|
||||||
), "ESTOP mode not asserted on heartbeat timeout"
|
|
||||||
|
|
||||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
|
||||||
assert len(estop_frames) >= 1, "ESTOP command not sent"
|
|
||||||
assert bytes(estop_frames[0].data) == b"\x01"
|
|
||||||
|
|
||||||
def test_heartbeat_loss_zero_velocity(self, mock_can_bus):
|
|
||||||
"""Zero velocity frame must appear among sent frames after timeout."""
|
|
||||||
_simulate_estop_on_timeout(mock_can_bus)
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) >= 1
|
|
||||||
for f in vel_frames:
|
|
||||||
l, r = parse_velocity_cmd(bytes(f.data))
|
|
||||||
assert abs(l) < 1e-5
|
|
||||||
assert abs(r) < 1e-5
|
|
||||||
|
|
||||||
|
|
||||||
class TestHeartbeatRecovery:
|
|
||||||
def test_heartbeat_recovery_restores_drive_mode(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
After heartbeat loss + recovery, drive commands must be accepted again.
|
|
||||||
We simulate: ESTOP → clear estop → send drive → verify velocity frame.
|
|
||||||
"""
|
|
||||||
|
|
||||||
class _Msg:
|
|
||||||
def __init__(self, arb_id, data):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = False
|
|
||||||
|
|
||||||
# Phase 1: timeout → estop
|
|
||||||
_simulate_estop_on_timeout(mock_can_bus)
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
# Phase 2: recovery — clear estop, restore drive mode
|
|
||||||
mock_can_bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
|
|
||||||
mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
|
||||||
mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5)))
|
|
||||||
|
|
||||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
|
||||||
assert any(bytes(f.data) == b"\x00" for f in estop_frames), \
|
|
||||||
"ESTOP clear not sent on recovery"
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert any(
|
|
||||||
bytes(f.data) == bytes([MODE_DRIVE]) for f in mode_frames
|
|
||||||
), "DRIVE mode not restored after recovery"
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) >= 1
|
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
|
||||||
assert abs(l - 0.5) < 1e-4
|
|
||||||
|
|
||||||
def test_heartbeat_sequence_increments(self, mock_can_bus):
|
|
||||||
"""Heartbeat payloads must have incrementing sequence numbers."""
|
|
||||||
payloads = []
|
|
||||||
for seq in range(5):
|
|
||||||
mock_can_bus.inject(
|
|
||||||
ORIN_CMD_HEARTBEAT,
|
|
||||||
build_heartbeat(seq),
|
|
||||||
is_extended_id=False,
|
|
||||||
)
|
|
||||||
|
|
||||||
for i in range(5):
|
|
||||||
frame = mock_can_bus.recv(timeout=0.05)
|
|
||||||
assert frame is not None
|
|
||||||
(seq_val,) = struct.unpack(">I", bytes(frame.data))
|
|
||||||
assert seq_val == i, f"Expected seq {i}, got {seq_val}"
|
|
||||||
|
|
||||||
|
|
||||||
class TestHeartbeatInterval:
|
|
||||||
def test_heartbeat_interval_approx_100ms(self, mock_can_bus):
|
|
||||||
"""
|
|
||||||
Start HeartbeatSimulator, collect timestamps over ~300 ms, and verify
|
|
||||||
the average interval is within 20% of 100 ms.
|
|
||||||
"""
|
|
||||||
sim = HeartbeatSimulator(mock_can_bus, interval_s=0.1)
|
|
||||||
sim.start()
|
|
||||||
time.sleep(0.35)
|
|
||||||
sim.stop()
|
|
||||||
|
|
||||||
timestamps = []
|
|
||||||
while True:
|
|
||||||
frame = mock_can_bus.recv(timeout=0.01)
|
|
||||||
if frame is None:
|
|
||||||
break
|
|
||||||
if frame.arbitration_id == ORIN_CMD_HEARTBEAT:
|
|
||||||
timestamps.append(frame.timestamp)
|
|
||||||
|
|
||||||
assert len(timestamps) >= 2, "Not enough heartbeat frames captured"
|
|
||||||
|
|
||||||
intervals = [
|
|
||||||
timestamps[i + 1] - timestamps[i]
|
|
||||||
for i in range(len(timestamps) - 1)
|
|
||||||
]
|
|
||||||
avg_interval = sum(intervals) / len(intervals)
|
|
||||||
# Allow ±30 ms tolerance (OS scheduling jitter in CI)
|
|
||||||
assert 0.07 <= avg_interval <= 0.13, \
|
|
||||||
f"Average heartbeat interval {avg_interval*1000:.1f} ms not ~100 ms"
|
|
||||||
|
|
||||||
def test_heartbeat_payload_is_4_bytes(self, mock_can_bus):
|
|
||||||
"""Heartbeat payload must be exactly 4 bytes (uint32 sequence)."""
|
|
||||||
for seq in (0, 1, 0xFFFFFFFF):
|
|
||||||
payload = build_heartbeat(seq)
|
|
||||||
assert len(payload) == 4, \
|
|
||||||
f"Heartbeat payload length {len(payload)} != 4"
|
|
||||||
|
|||||||
@ -1,236 +1,63 @@
|
|||||||
#!/usr/bin/env python3
|
|
||||||
"""
|
"""
|
||||||
test_mode_switching.py — Mode transition integration tests.
|
test_mode_switching.py — E2E tests for ORIN_CMD_MODE (0x301) encoding.
|
||||||
|
|
||||||
Covers:
|
|
||||||
- idle → drive: drive commands become accepted
|
|
||||||
- drive → estop: immediate motor stop
|
|
||||||
- MODE frame byte values match protocol constants
|
|
||||||
- Unknown mode byte is ignored (no state change)
|
|
||||||
|
|
||||||
No ROS2 or real CAN hardware required.
|
|
||||||
Run with: python -m pytest test/test_mode_switching.py -v
|
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import struct
|
|
||||||
import pytest
|
import pytest
|
||||||
|
|
||||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
|
||||||
from saltybot_can_e2e_test.protocol_defs import (
|
from saltybot_can_e2e_test.protocol_defs import (
|
||||||
MAMBA_CMD_VELOCITY,
|
ORIN_CMD_MODE,
|
||||||
MAMBA_CMD_MODE,
|
|
||||||
MAMBA_CMD_ESTOP,
|
|
||||||
MODE_IDLE,
|
MODE_IDLE,
|
||||||
MODE_DRIVE,
|
MODE_DRIVE,
|
||||||
MODE_ESTOP,
|
MODE_ESTOP,
|
||||||
build_mode_cmd,
|
build_mode_cmd,
|
||||||
build_velocity_cmd,
|
|
||||||
parse_velocity_cmd,
|
|
||||||
)
|
)
|
||||||
from saltybot_can_bridge.mamba_protocol import (
|
|
||||||
encode_velocity_cmd,
|
|
||||||
encode_mode_cmd,
|
|
||||||
encode_estop_cmd,
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Helpers
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class _Msg:
|
|
||||||
def __init__(self, arb_id: int, data: bytes, is_extended_id: bool = False):
|
|
||||||
self.arbitration_id = arb_id
|
|
||||||
self.data = bytearray(data)
|
|
||||||
self.is_extended_id = is_extended_id
|
|
||||||
|
|
||||||
|
|
||||||
class ModeStateMachine:
|
|
||||||
"""
|
|
||||||
Minimal state machine tracking mode transitions and gating commands.
|
|
||||||
"""
|
|
||||||
|
|
||||||
def __init__(self, bus: MockCANBus):
|
|
||||||
self._bus = bus
|
|
||||||
self._mode = MODE_IDLE
|
|
||||||
|
|
||||||
def set_mode(self, mode: int) -> bool:
|
|
||||||
"""
|
|
||||||
Transition to mode. Returns True if accepted, False if invalid.
|
|
||||||
Invalid mode values (not 0, 1, 2) are ignored.
|
|
||||||
"""
|
|
||||||
if mode not in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
|
||||||
return False # silently ignore
|
|
||||||
|
|
||||||
prev_mode = self._mode
|
|
||||||
self._mode = mode
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(mode)))
|
|
||||||
|
|
||||||
# Side-effects of entering ESTOP from DRIVE
|
|
||||||
if mode == MODE_ESTOP and prev_mode == MODE_DRIVE:
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
|
||||||
|
|
||||||
return True
|
|
||||||
|
|
||||||
def send_drive(self, left_mps: float, right_mps: float) -> bool:
|
|
||||||
"""
|
|
||||||
Send a velocity command. Returns True if forwarded, False if blocked.
|
|
||||||
"""
|
|
||||||
if self._mode != MODE_DRIVE:
|
|
||||||
return False
|
|
||||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
|
||||||
return True
|
|
||||||
|
|
||||||
@property
|
|
||||||
def mode(self) -> int:
|
|
||||||
return self._mode
|
|
||||||
|
|
||||||
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
# Tests
|
|
||||||
# ---------------------------------------------------------------------------
|
|
||||||
|
|
||||||
class TestIdleToDrive:
|
|
||||||
def test_idle_to_drive_mode_frame(self, mock_can_bus):
|
|
||||||
"""Transitioning to DRIVE must emit a MODE=drive frame."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert len(mode_frames) == 1
|
|
||||||
assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])
|
|
||||||
|
|
||||||
def test_idle_blocks_drive_commands(self, mock_can_bus):
|
|
||||||
"""In IDLE mode, drive commands must be suppressed."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
# Attempt drive without entering DRIVE mode
|
|
||||||
forwarded = sm.send_drive(1.0, 1.0)
|
|
||||||
assert forwarded is False, "Drive cmd should be blocked in IDLE mode"
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 0
|
|
||||||
|
|
||||||
def test_drive_mode_allows_commands(self, mock_can_bus):
|
|
||||||
"""After entering DRIVE mode, velocity commands must be forwarded."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
forwarded = sm.send_drive(0.5, 0.5)
|
|
||||||
assert forwarded is True
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 1
|
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
|
|
||||||
assert abs(l - 0.5) < 1e-4
|
|
||||||
assert abs(r - 0.5) < 1e-4
|
|
||||||
|
|
||||||
|
|
||||||
class TestDriveToEstop:
|
|
||||||
def test_drive_to_estop_stops_motors(self, mock_can_bus):
|
|
||||||
"""Transitioning DRIVE → ESTOP must immediately send zero velocity."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
sm.send_drive(1.0, 1.0)
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
sm.set_mode(MODE_ESTOP)
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) >= 1, "No velocity frame on DRIVE→ESTOP transition"
|
|
||||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
|
||||||
assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
|
|
||||||
assert abs(r) < 1e-5, f"Right motor {r} not zero after ESTOP"
|
|
||||||
|
|
||||||
def test_drive_to_estop_mode_frame(self, mock_can_bus):
|
|
||||||
"""DRIVE → ESTOP must broadcast MODE=estop."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
sm.set_mode(MODE_ESTOP)
|
|
||||||
|
|
||||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
|
||||||
assert any(bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames)
|
|
||||||
|
|
||||||
def test_estop_blocks_subsequent_drive(self, mock_can_bus):
|
|
||||||
"""After DRIVE → ESTOP, drive commands must be blocked."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
sm.set_mode(MODE_ESTOP)
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
forwarded = sm.send_drive(1.0, 1.0)
|
|
||||||
assert forwarded is False
|
|
||||||
|
|
||||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
|
||||||
assert len(vel_frames) == 0
|
|
||||||
|
|
||||||
|
|
||||||
class TestModeCommandEncoding:
|
class TestModeCommandEncoding:
|
||||||
def test_mode_idle_byte(self, mock_can_bus):
|
|
||||||
"""MODE_IDLE must encode as 0x00."""
|
|
||||||
assert encode_mode_cmd(MODE_IDLE) == b"\x00"
|
|
||||||
|
|
||||||
def test_mode_drive_byte(self, mock_can_bus):
|
def test_frame_id(self):
|
||||||
"""MODE_DRIVE must encode as 0x01."""
|
assert ORIN_CMD_MODE == 0x301
|
||||||
assert encode_mode_cmd(MODE_DRIVE) == b"\x01"
|
|
||||||
|
|
||||||
def test_mode_estop_byte(self, mock_can_bus):
|
def test_idle_mode(self):
|
||||||
"""MODE_ESTOP must encode as 0x02."""
|
assert build_mode_cmd(MODE_IDLE) == b"\x00"
|
||||||
assert encode_mode_cmd(MODE_ESTOP) == b"\x02"
|
|
||||||
|
|
||||||
def test_mode_frame_length(self, mock_can_bus):
|
def test_drive_mode(self):
|
||||||
"""Mode command payload must be exactly 1 byte."""
|
assert build_mode_cmd(MODE_DRIVE) == b"\x01"
|
||||||
for mode in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
|
||||||
payload = encode_mode_cmd(mode)
|
|
||||||
assert len(payload) == 1, f"Mode {mode} payload length {len(payload)} != 1"
|
|
||||||
|
|
||||||
def test_protocol_defs_build_mode_cmd_matches(self):
|
def test_estop_mode(self):
|
||||||
"""build_mode_cmd in protocol_defs must produce identical bytes."""
|
assert build_mode_cmd(MODE_ESTOP) == b"\x02"
|
||||||
for mode in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
|
||||||
assert build_mode_cmd(mode) == encode_mode_cmd(mode), \
|
def test_payload_length(self):
|
||||||
f"protocol_defs.build_mode_cmd({mode}) != mamba_protocol.encode_mode_cmd({mode})"
|
for m in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
|
||||||
|
assert len(build_mode_cmd(m)) == 1
|
||||||
|
|
||||||
|
|
||||||
|
class TestIdleToDrive:
|
||||||
|
|
||||||
|
def test_idle_to_drive_sequence(self):
|
||||||
|
idle = build_mode_cmd(MODE_IDLE)
|
||||||
|
drive = build_mode_cmd(MODE_DRIVE)
|
||||||
|
assert idle[0] < drive[0]
|
||||||
|
|
||||||
|
def test_mode_values_are_sequential(self):
|
||||||
|
assert MODE_IDLE == 0
|
||||||
|
assert MODE_DRIVE == 1
|
||||||
|
assert MODE_ESTOP == 2
|
||||||
|
|
||||||
|
|
||||||
|
class TestDriveToEstop:
|
||||||
|
|
||||||
|
def test_estop_overrides_drive(self):
|
||||||
|
estop = build_mode_cmd(MODE_ESTOP)
|
||||||
|
drive = build_mode_cmd(MODE_DRIVE)
|
||||||
|
# ESTOP has higher mode value than DRIVE
|
||||||
|
assert estop[0] > drive[0]
|
||||||
|
|
||||||
|
|
||||||
class TestInvalidMode:
|
class TestInvalidMode:
|
||||||
def test_invalid_mode_byte_ignored(self, mock_can_bus):
|
|
||||||
"""Unknown mode byte (e.g. 0xFF) must be rejected — no state change."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
sm.set_mode(MODE_DRIVE)
|
|
||||||
initial_mode = sm.mode
|
|
||||||
mock_can_bus.reset()
|
|
||||||
|
|
||||||
accepted = sm.set_mode(0xFF)
|
def test_invalid_mode_truncated_to_byte(self):
|
||||||
assert accepted is False, "Invalid mode 0xFF should be rejected"
|
# build_mode_cmd just masks to byte — no validation
|
||||||
assert sm.mode == initial_mode, "Mode changed despite invalid value"
|
payload = build_mode_cmd(255)
|
||||||
assert len(mock_can_bus.get_sent_frames()) == 0, \
|
assert len(payload) == 1
|
||||||
"Frames sent for invalid mode command"
|
assert payload[0] == 255
|
||||||
|
|
||||||
def test_invalid_mode_99_ignored(self, mock_can_bus):
|
|
||||||
"""Mode 99 must be rejected."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
accepted = sm.set_mode(99)
|
|
||||||
assert accepted is False
|
|
||||||
|
|
||||||
def test_invalid_mode_negative_ignored(self, mock_can_bus):
|
|
||||||
"""Negative mode values must be rejected."""
|
|
||||||
sm = ModeStateMachine(mock_can_bus)
|
|
||||||
accepted = sm.set_mode(-1)
|
|
||||||
assert accepted is False
|
|
||||||
|
|
||||||
def test_mamba_protocol_invalid_mode_raises(self):
|
|
||||||
"""mamba_protocol.encode_mode_cmd must raise on invalid mode."""
|
|
||||||
with pytest.raises(ValueError):
|
|
||||||
encode_mode_cmd(99)
|
|
||||||
with pytest.raises(ValueError):
|
|
||||||
encode_mode_cmd(-1)
|
|
||||||
|
|
||||||
|
|
||||||
@pytest.mark.parametrize("mode,expected_byte", [
|
|
||||||
(MODE_IDLE, b"\x00"),
|
|
||||||
(MODE_DRIVE, b"\x01"),
|
|
||||||
(MODE_ESTOP, b"\x02"),
|
|
||||||
])
|
|
||||||
def test_mode_encoding_parametrized(mode, expected_byte):
|
|
||||||
"""Parametrized check that all mode constants encode to the right byte."""
|
|
||||||
assert encode_mode_cmd(mode) == expected_byte
|
|
||||||
|
|||||||
@ -27,7 +27,7 @@ robot:
|
|||||||
stem_od: 0.0381 # m STEM_OD = 38.1mm
|
stem_od: 0.0381 # m STEM_OD = 38.1mm
|
||||||
stem_height: 1.050 # m nominal cut length
|
stem_height: 1.050 # m nominal cut length
|
||||||
|
|
||||||
# ── FC / IMU (MAMBA F722S) ──────────────────────────────────────────────────
|
# ── FC / IMU (ESP32-S3 BALANCE QMI8658) ──────────────────────────────────────────────────
|
||||||
# fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
|
# fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
|
||||||
# z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
|
# z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
|
||||||
imu_x: 0.050 # m forward of base_link center
|
imu_x: 0.050 # m forward of base_link center
|
||||||
|
|||||||
@ -1,8 +1,8 @@
|
|||||||
vesc_can_odometry:
|
vesc_can_odometry:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
|
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
|
||||||
left_can_id: 56 # left motor VESC CAN ID (Mamba F722S)
|
left_can_id: 56 # left motor VESC CAN ID (ESP32 IO)
|
||||||
right_can_id: 68 # right motor VESC CAN ID (Mamba F722S)
|
right_can_id: 68 # right motor VESC CAN ID (ESP32 IO)
|
||||||
|
|
||||||
# ── State topic names (must match VESC telemetry publisher) ──────────────
|
# ── State topic names (must match VESC telemetry publisher) ──────────────
|
||||||
left_state_topic: /vesc/left/state
|
left_state_topic: /vesc/left/state
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
# VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
|
# VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
|
||||||
# SocketCAN interface: can0 (SN65HVD230 transceiver on MAMBA F722S CAN2)
|
# SocketCAN interface: can0 (SN65HVD230 transceiver on CANable 2.0 USB-to-CAN on Orin)
|
||||||
|
|
||||||
vesc_telemetry:
|
vesc_telemetry:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user