sl-firmware
d41a9dfe10
STM32 firmware: - safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active() CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch - usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags - status: status_update() +remote_estop param; both LEDs fast-blink 200ms - main.c: immediate motor cutoff highest-priority; arming gated by !safety_remote_estop_active(); motor estop auto-clear gated; telemetry 'es' field 0-4; status_update() updated to 5 args Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED, cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe. Jetson bridge: - remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s - estop_params.yaml, remote_estop.launch.py - setup.py / package.xml: register node + paho-mqtt dep - docker-compose.yml: remote-estop service - test_remote_estop.py: kill/clear/watchdog/latency unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
42 lines
1.5 KiB
Python
42 lines
1.5 KiB
Python
from setuptools import setup
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package_name = "saltybot_bridge"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
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(f"share/{package_name}", ["package.xml"]),
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(f"share/{package_name}/launch", [
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"launch/bridge.launch.py",
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"launch/cmd_vel_bridge.launch.py",
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"launch/remote_estop.launch.py",
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]),
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(f"share/{package_name}/config", [
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"config/bridge_params.yaml",
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"config/cmd_vel_bridge_params.yaml",
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"config/estop_params.yaml",
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]),
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],
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install_requires=["setuptools", "pyserial"],
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zip_safe=True,
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maintainer="sl-jetson",
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maintainer_email="sl-jetson@saltylab.local",
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description="STM32 USB CDC → ROS2 serial bridge for saltybot",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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# RX-only telemetry bridge (does not send commands)
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"serial_bridge_node = saltybot_bridge.serial_bridge_node:main",
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# Full bidirectional bridge: telemetry RX + /cmd_vel TX + heartbeat
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"saltybot_cmd_node = saltybot_bridge.saltybot_cmd_node:main",
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# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
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"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
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"remote_estop_node = saltybot_bridge.remote_estop_node:main",
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],
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},
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)
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