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Cherry-pick enable_ekf support from Jazzy #108

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merged 2 commits into from
Dec 19, 2024
Merged

Cherry-pick enable_ekf support from Jazzy #108

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9481cbc
Add enable_ekf property to platform (#106)
civerachb-cpr Dec 17, 2024
7046fcf
Re-add newline lost during merge conflict resolution
civerachb-cpr Dec 18, 2024
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22 changes: 21 additions & 1 deletion clearpath_config/platform/platform.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,7 @@ def parameters(self, value: dict) -> None:
class PlatformConfig(BaseConfig):

PLATFORM = "platform"

# Controllers
PS4 = "ps4"
LOGITECH = "logitech"
Expand All @@ -101,6 +102,8 @@ class PlatformConfig(BaseConfig):
BATTERY = "battery"
# Wheel
WHEEL = "wheel"
# Enable/disable EKF
ENABLE_EKF = 'enable_ekf'

TEMPLATE = {
PLATFORM: {
Expand All @@ -113,6 +116,7 @@ class PlatformConfig(BaseConfig):
CONTROL: CONTROL,
BATTERY: BATTERY,
WHEEL: WHEEL,
ENABLE_EKF: ENABLE_EKF
}
}

Expand All @@ -129,6 +133,7 @@ class PlatformConfig(BaseConfig):
CONTROL: "",
BATTERY: BatteryConfig.DEFAULTS,
WHEEL: "default",
ENABLE_EKF: True,
}

def __init__(
Expand All @@ -140,6 +145,7 @@ def __init__(
battery: dict = DEFAULTS[BATTERY],
extras: dict = DEFAULTS[EXTRAS],
wheel: dict = DEFAULTS[WHEEL],
enable_ekf: bool = DEFAULTS[ENABLE_EKF],
) -> None:
# Initialization
self._config = {}
Expand All @@ -151,7 +157,8 @@ def __init__(
self.description = self.DEFAULTS[self.DESCRIPTION]
self.launch = self.DEFAULTS[self.LAUNCH]
self.control = self.DEFAULTS[self.CONTROL]
self.wheel = self.DEFAULTS[self.WHEEL]
self.wheel = wheel
self.enable_ekf = enable_ekf
# Setter Template
setters = {
self.KEYS[self.CONTROLLER]: PlatformConfig.controller,
Expand All @@ -160,6 +167,7 @@ def __init__(
self.KEYS[self.BATTERY]: PlatformConfig.battery,
self.KEYS[self.EXTRAS]: PlatformConfig.extras,
self.KEYS[self.WHEEL]: PlatformConfig.wheel,
self.KEYS[self.ENABLE_EKF]: PlatformConfig.enable_ekf
}
super().__init__(setters, config, self.PLATFORM)

Expand Down Expand Up @@ -334,3 +342,15 @@ def wheel(self) -> str:
@wheel.setter
def wheel(self, value: str) -> None:
self._wheel = value

@property
def enable_ekf(self) -> bool:
self.set_config_param(
key=self.KEYS[self.ENABLE_EKF],
value=self._enable_ekf
)
return self._enable_ekf

@enable_ekf.setter
def enable_ekf(self, value: bool) -> None:
self._enable_ekf = value