[Backport] Add CAN to ROS 2 Bridges

clearpath_config/platform/can.py

@@ -0,0 +1,157 @@
+# 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.list import ListConfig
+from typing import List
+
+
+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
+
+    @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"
+
+
+class CANBridgeListConfig(ListConfig[CANBridge, str]):
+    def __init__(self) -> None:
+        super().__init__(
+            uid=lambda obj: obj.interface,
+            obj_type=CANBridge,
+            uid_type=str
+        )
+
+
+class CANBridgeConfig:
+    def __init__(
+            self,
+            config: dict = {}
+            ) -> None:
+        self._can_bridges = CANBridgeListConfig()
+        self.config = config
+
+    def __add__(self, other):
+        self._can_bridges.extend(other.get_all())
+        return self
+
+    def get_all(self) -> List[CANBridge]:
+        return self._can_bridges.get_all()
+
+    @property
+    def config(self):
+        return [a.to_dict() for a in self.get_all()]
+
+    @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)

clearpath_config/platform/platform.py

@@ -33,6 +33,7 @@
 from clearpath_config.platform.extras import ExtrasConfig
 from clearpath_config.platform.attachments.config import AttachmentsConfig
 from clearpath_config.platform.attachments.mux import AttachmentsConfigMux
+from clearpath_config.platform.can import CANBridgeConfig
 
 
 class DescriptionPackagePath(PackagePath):
@@ -89,6 +90,7 @@ class PlatformConfig(BaseConfig):
 
     CONTROLLER = "controller"
     ATTACHMENTS = "attachments"
+    CAN_BRIDGES = "can_bridges"
     # Extras
     EXTRAS = "extras"
     # Generic Robot
@@ -104,6 +106,7 @@ class PlatformConfig(BaseConfig):
         PLATFORM: {
             CONTROLLER: CONTROLLER,
             ATTACHMENTS: ATTACHMENTS,
+            CAN_BRIDGES: CAN_BRIDGES,
             EXTRAS: EXTRAS,
             DESCRIPTION: DESCRIPTION,
             LAUNCH: LAUNCH,
@@ -119,6 +122,7 @@ class PlatformConfig(BaseConfig):
         # PLATFORM
         CONTROLLER: PS4,
         ATTACHMENTS: {},
+        CAN_BRIDGES: {},
         EXTRAS: ExtrasConfig.DEFAULTS,
         DESCRIPTION: "",
         LAUNCH: "",
@@ -131,7 +135,8 @@ def __init__(
             self,
             config: dict = {},
             controller: str = DEFAULTS[CONTROLLER],
-            attachments: str = DEFAULTS[ATTACHMENTS],
+            attachments: dict = DEFAULTS[ATTACHMENTS],
+            can_bridges: dict = DEFAULTS[CAN_BRIDGES],
             battery: dict = DEFAULTS[BATTERY],
             extras: dict = DEFAULTS[EXTRAS],
             wheel: dict = DEFAULTS[WHEEL],
@@ -140,6 +145,7 @@ def __init__(
         self._config = {}
         self.controller = controller
         self.attachments = attachments
+        self.can_bridges = can_bridges
         self._battery = BatteryConfig(battery)
         self._extras = ExtrasConfig(extras)
         self.description = self.DEFAULTS[self.DESCRIPTION]
@@ -150,6 +156,7 @@ def __init__(
         setters = {
             self.KEYS[self.CONTROLLER]: PlatformConfig.controller,
             self.KEYS[self.ATTACHMENTS]: PlatformConfig.attachments,
+            self.KEYS[self.CAN_BRIDGES]: PlatformConfig.can_bridges,
             self.KEYS[self.BATTERY]: PlatformConfig.battery,
             self.KEYS[self.EXTRAS]: PlatformConfig.extras,
             self.KEYS[self.WHEEL]: PlatformConfig.wheel,
@@ -215,6 +222,18 @@ def attachments(self, value: dict) -> None:
         self._attachments = AttachmentsConfigMux(
             self.get_platform_model(), value)
 
+    @property
+    def can_bridges(self) -> CANBridgeConfig:
+        self.set_config_param(
+            key=self.KEYS[self.CAN_BRIDGES],
+            value=self._can_bridges.config
+        )
+        return self._can_bridges
+
+    @can_bridges.setter
+    def can_bridges(self, value: dict) -> None:
+        self._can_bridges = CANBridgeConfig(value)
+
     @property
     def extras(self) -> ExtrasConfig:
         self.set_config_param(