sl-jetson
30be0d8cd3
Add stm32_protocol.py — pure-Python binary frame codec: - Frame: STX(0x02)+TYPE+LEN+PAYLOAD+CRC16-CCITT(BE)+ETX(0x03) - CRC covers TYPE+LEN+PAYLOAD; polynomial 0x1021, init 0xFFFF - Encoders: HEARTBEAT, SPEED_STEER(-1000..+1000 int16), ARM, SET_MODE, PID_UPDATE - Telemetry decoders: ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame - FrameParser: streaming byte-by-byte state machine, resync on corrupt data Add stm32_cmd_node.py — ROS2 bidirectional bridge node: - /cmd_vel → SPEED_STEER at up to 50 Hz - HEARTBEAT timer (default 200ms); STM32 watchdog fires at 500ms - Jetson-side watchdog: no /cmd_vel for 500ms → send SPEED_STEER(0,0) - /saltybot/arm service (SetBool) → ARM frame - /saltybot/pid_update topic → PID_UPDATE frame - Telemetry RX: IMU→/saltybot/imu, BATTERY→/saltybot/telemetry/battery, MOTOR_RPM→/saltybot/telemetry/motor_rpm, ARM_STATE→/saltybot/arm_state, ERROR→/saltybot/error - Auto-reconnect on USB disconnect (serial.SerialException caught) - Zero-speed + disarm sent on node shutdown - /diagnostics with serial health, frame counts, last cmd age Add test_stm32_protocol.py (60+ tests): - CRC16-CCITT correctness, known test vectors - All encoder output structures and payload values - FrameParser: all telemetry types, bad CRC, bad ETX, resync, streaming, oversized payload, frame counters, reset Add test_stm32_cmd_node.py (30+ tests): - MockSerial: TX/RX byte-level testing without hardware - Speed/steer clamping, scaling, frame structure - Watchdog fires/doesn't fire relative to timeout - CRC error counted, resync after garbage Add stm32_cmd_params.yaml, stm32_cmd.launch.py. Update package.xml (add std_srvs, geometry_msgs deps). Update setup.py (add stm32_cmd_node entry point + new config/launch). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>