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Merge pull request #91 from clearpathrobotics/humble-1.0RC
Humble 1.0 RC
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| # Software License Agreement (BSD) | ||
| # | ||
| # @author Luis Camero <[email protected]> | ||
| # @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # * Redistributions of source code must retain the above copyright notice, | ||
| # this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # * Neither the name of Clearpath Robotics nor the names of its contributors | ||
| # may be used to endorse or promote products derived from this software | ||
| # without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
| from clearpath_config.common.types.config import BaseConfig | ||
| from clearpath_config.common.types.list import ListConfig | ||
| from clearpath_config.common.types.platform import Platform | ||
| from typing import List | ||
|
|
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|
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| class CANBridge: | ||
| INTERFACE = "interface" | ||
| ENABLE_CAN_FD = "enable_can_fd" | ||
| INTERVAL = "interval" | ||
| USE_BUS_TIME = "use_bus_time" | ||
| FILTERS = "filters" | ||
| AUTO_CONFIGURE = "auto_configure" | ||
| AUTO_ACTIVATE = "auto_activate" | ||
| TOPIC_RX = "topic_rx" | ||
| TOPIC_TX = "topic_tx" | ||
|
|
||
| DEFAULTS = { | ||
| INTERFACE: "can0", | ||
| ENABLE_CAN_FD: False, | ||
| INTERVAL: 0.01, | ||
| USE_BUS_TIME: False, | ||
| FILTERS: "0:0", | ||
| AUTO_CONFIGURE: True, | ||
| AUTO_ACTIVATE: True, | ||
| TOPIC_RX: "can0/rx", | ||
| TOPIC_TX: "can0/tx" | ||
| } | ||
|
|
||
| def __init__( | ||
| self, | ||
| interface: str = DEFAULTS[INTERFACE], | ||
| enable_can_fd: bool = DEFAULTS[ENABLE_CAN_FD], | ||
| interval: float = DEFAULTS[INTERVAL], | ||
| use_bus_time: bool = DEFAULTS[USE_BUS_TIME], | ||
| filters: str = DEFAULTS[FILTERS], | ||
| auto_configure: bool = DEFAULTS[AUTO_CONFIGURE], | ||
| auto_activate: bool = DEFAULTS[AUTO_ACTIVATE], | ||
| topic_rx: str = DEFAULTS[TOPIC_RX], | ||
| topic_tx: str = DEFAULTS[TOPIC_TX], | ||
| ) -> None: | ||
| self.topic_rx = topic_rx | ||
| self.topic_tx = topic_tx | ||
| self.interface = interface | ||
| self.enaled_can_fd = enable_can_fd | ||
| self.interval = interval | ||
| self.use_bus_time = use_bus_time | ||
| self.filters = filters | ||
| self.auto_configure = auto_configure | ||
| self.auto_activate = auto_activate | ||
|
|
||
| def to_dict(self) -> dict: | ||
| d = dict() | ||
| d[self.INTERFACE] = self.interface | ||
| d[self.ENABLE_CAN_FD] = self.enaled_can_fd | ||
| d[self.INTERVAL] = self.interval | ||
| d[self.USE_BUS_TIME] = self.use_bus_time | ||
| d[self.FILTERS] = self.filters | ||
| d[self.AUTO_CONFIGURE] = self.auto_configure | ||
| d[self.AUTO_ACTIVATE] = self.auto_activate | ||
| d[self.TOPIC_RX] = self.topic_rx | ||
| d[self.TOPIC_TX] = self.topic_tx | ||
| return d | ||
|
|
||
| def from_dict(self, d: dict) -> None: | ||
| if self.INTERFACE in d: | ||
| self.interface = d[self.INTERFACE] | ||
| if self.ENABLE_CAN_FD in d: | ||
| self.enaled_can_fd = d[self.ENABLE_CAN_FD] | ||
| if self.INTERVAL in d: | ||
| self.interval = d[self.INTERVAL] | ||
| if self.USE_BUS_TIME in d: | ||
| self.use_bus_time = d[self.USE_BUS_TIME] | ||
| if self.FILTERS in d: | ||
| self.filters = d[self.FILTERS] | ||
| if self.AUTO_CONFIGURE in d: | ||
| self.auto_configure = d[self.AUTO_CONFIGURE] | ||
| if self.AUTO_ACTIVATE in d: | ||
| self.auto_activate = d[self.AUTO_ACTIVATE] | ||
| if self.TOPIC_RX in d: | ||
| self.topic_rx = d[self.TOPIC_RX] | ||
| if self.TOPIC_TX in d: | ||
| self.topic_tx = d[self.TOPIC_TX] | ||
|
|
||
| @property | ||
| def interface(self) -> str: | ||
| return self._interface | ||
|
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| @interface.setter | ||
| def interface(self, interface: str) -> None: | ||
| self._interface = interface | ||
| if self.topic_rx == self.DEFAULTS[self.TOPIC_RX]: | ||
| self.topic_rx = f"{interface}/rx" | ||
| if self.topic_tx == self.DEFAULTS[self.TOPIC_TX]: | ||
| self.topic_tx = f"{interface}/tx" | ||
|
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|
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| class CANBridgeListConfig(ListConfig[CANBridge, str]): | ||
| def __init__(self) -> None: | ||
| super().__init__( | ||
| uid=lambda obj: obj.interface, | ||
| obj_type=CANBridge, | ||
| uid_type=str | ||
| ) | ||
|
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|
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| class CANBridgeConfig: | ||
| SINGLE_VCAN_DEFAULT = [ | ||
| { | ||
| CANBridge.INTERFACE: "vcan0", | ||
| CANBridge.ENABLE_CAN_FD: False, | ||
| CANBridge.INTERVAL: 0.01, | ||
| CANBridge.USE_BUS_TIME: False, | ||
| CANBridge.FILTERS: "0:0", | ||
| CANBridge.AUTO_CONFIGURE: True, | ||
| CANBridge.AUTO_ACTIVATE: True, | ||
| } | ||
| ] | ||
|
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||
| DEFAULTS = { | ||
| Platform.A200: [], | ||
| Platform.DD100: SINGLE_VCAN_DEFAULT, | ||
| Platform.DD150: SINGLE_VCAN_DEFAULT, | ||
| Platform.DO100: SINGLE_VCAN_DEFAULT, | ||
| Platform.DO150: SINGLE_VCAN_DEFAULT, | ||
| Platform.GENERIC: [], | ||
| Platform.J100: [], | ||
| Platform.R100: SINGLE_VCAN_DEFAULT, | ||
| Platform.W200: [], | ||
| } | ||
|
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||
| def __init__( | ||
| self, | ||
| config: dict = {} | ||
| ) -> None: | ||
| self._can_bridges = CANBridgeListConfig() | ||
| self.config = config | ||
|
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| def __add__(self, other): | ||
| self._can_bridges.extend(other.get_all()) | ||
| return self | ||
|
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| def get_all(self) -> List[CANBridge]: | ||
| return self._can_bridges.get_all() | ||
|
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| @property | ||
| def config(self): | ||
| return [a.to_dict() for a in self.get_all()] | ||
|
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| @config.setter | ||
| def config(self, can_bridges: list): | ||
| self._can_bridges.remove_all() | ||
| for b in can_bridges: | ||
| bridge = CANBridge() | ||
| bridge.from_dict(b) | ||
| self._can_bridges.add(bridge) | ||
|
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| def update(self, serial_number: bool = False) -> None: | ||
| if serial_number: | ||
| self.config = self.DEFAULTS[BaseConfig.get_platform_model()] |
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