diff --git a/clearpath_diagnostics/CMakeLists.txt b/clearpath_diagnostics/CMakeLists.txt index 3f60ac8..1e86df9 100644 --- a/clearpath_diagnostics/CMakeLists.txt +++ b/clearpath_diagnostics/CMakeLists.txt @@ -7,14 +7,32 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) +find_package(clearpath_platform_msgs REQUIRED) +find_package(diagnostic_updater REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) -ament_python_install_package(${PROJECT_NAME}) +set(DEPENDENCIES + ament_cmake + clearpath_platform_msgs + diagnostic_updater + rclcpp + sensor_msgs +) -install(PROGRAMS - ${PROJECT_NAME}/diagnostics_updater - DESTINATION lib/${PROJECT_NAME} +add_executable(clearpath_diagnostic_updater + src/clearpath_diagnostic_updater.cpp ) +target_include_directories(clearpath_diagnostic_updater PUBLIC + $ + $) +target_compile_features(clearpath_diagnostic_updater PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 + +ament_target_dependencies(clearpath_diagnostic_updater ${DEPENDENCIES}) +target_link_libraries(clearpath_diagnostic_updater) + +install(TARGETS clearpath_diagnostic_updater + DESTINATION lib/${PROJECT_NAME}) install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME} diff --git a/clearpath_diagnostics/clearpath_diagnostics/__init__.py b/clearpath_diagnostics/clearpath_diagnostics/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/clearpath_diagnostics/clearpath_diagnostics/diagnostics_updater b/clearpath_diagnostics/clearpath_diagnostics/diagnostics_updater deleted file mode 100755 index a684619..0000000 --- a/clearpath_diagnostics/clearpath_diagnostics/diagnostics_updater +++ /dev/null @@ -1,249 +0,0 @@ -#!/usr/bin/env python3 - -# Software License Agreement (BSD) -# -# @author Roni Kreinin -# @copyright (c) 2023, 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. - -# Redistribution and use in source and binary forms, with or without -# modification, is not permitted without the express permission -# of Clearpath Robotics. - -import os - -from diagnostic_msgs.msg import DiagnosticStatus - -from diagnostic_updater import FrequencyStatusParam, HeaderlessTopicDiagnostic, Updater, DiagnosticStatusWrapper - -import rclpy -from rclpy.node import Node -from rclpy.qos import qos_profile_sensor_data - -from sensor_msgs.msg import BatteryState, Image, Imu, LaserScan, MagneticField, NavSatFix, PointCloud2 - -from clearpath_generator_common.common import BaseGenerator -from clearpath_generator_common.ros import ROS_DISTRO -from clearpath_config.common.utils.yaml import read_yaml -from clearpath_config.clearpath_config import ClearpathConfig -from clearpath_config.sensors.types.sensor import BaseSensor -from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense, FlirBlackfly -from clearpath_config.sensors.types.imu import BaseIMU, CHRoboticsUM6, Microstrain, RedshiftUM7 -from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX -from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar -from clearpath_config.sensors.types.gps import BaseGPS, SwiftNavDuro, NMEA - -from clearpath_platform_msgs.msg import Status - -from typing import List -from apt import Cache, Version - - -class ClearpathDiagnosticUpdater(Node): - def __init__(self, setup_path: str = '/etc/clearpath/'): - super().__init__('clearpath_diagnostics_updater') - self.setup_path = setup_path - - # Define paths - self.config_path = os.path.join(setup_path, 'robot.yaml') - assert os.path.exists(self.config_path) - - # # Read YAML - # self.config = read_yaml() - # Parse YAML into config - self.clearpath_config = ClearpathConfig(self.config_path) - - self.serial_number = self.clearpath_config.serial_number - self.platform_model = self.clearpath_config.platform.get_platform_model() - self.namespace = self.clearpath_config.system.namespace - - # Create updater - self.updater = Updater(self) - self.updater.setHardwareID(self.serial_number) - - # Subscribe to topics - self.status_sub = self.create_subscription( - Status, - 'platform/mcu/status', - self.status_callback, - qos_profile_sensor_data - ) - - self.camera_freq_bounds = {'min': 5, 'max': 10} - self.lidar2d_freq_bounds = {'min': 5, 'max': 10} - self.lidar3d_freq_bounds = {'min': 5, 'max': 10} - - for sensor in self.clearpath_config.sensors.get_all_sensors(): - self.add_sensor_diagnostic(sensor) - - # Check current firmware version - cache = Cache() - try: - pkg = cache[f'ros-{ROS_DISTRO}-clearpath-firmware'] - versions = pkg.versions - newest: Version = versions[0] - self.newest_firmware_version = newest.version.split('-')[0] - except KeyError: - self.get_logger().warn(f'ros-{ROS_DISTRO}-clearpath-firmware package not found') - self.newest_firmware_version = 'Not found' - - self.firmware_version = '0.0.0' - self.battery_percentage = 0.0 - self.battery_voltage = 0.0 - - # Add Diagnostic status - self.updater.add('Firmware Version', self.check_firmware_version) - - self.updater.force_update() - - def status_callback(self, msg: Status): - self.firmware_version = msg.firmware_version - self.mcu_temperature = msg.mcu_temperature - self.pcb_temperature = msg.pcb_temperature - - def check_firmware_version(self, stat: DiagnosticStatusWrapper): - if self.newest_firmware_version == 'Not found': - stat.summary(DiagnosticStatus.ERROR, f'ros-{ROS_DISTRO}-clearpath-firmware package not found') - elif self.firmware_version == self.newest_firmware_version: - stat.summary(DiagnosticStatus.OK, f'Firmware is up to date (v{self.firmware_version})') - elif self.firmware_version < self.newest_firmware_version: - stat.summary(DiagnosticStatus.WARN, f'New firmware available. (v{self.firmware_version}) -> (v{self.newest_firmware_version})') - else: - stat.summary(DiagnosticStatus.WARN, f'ros-{ROS_DISTRO}-clearpath-firmware package is outdated.') - return stat - - def get_headerless_topic_diagnostic(self, - sensor: BaseSensor, - topic: str) -> HeaderlessTopicDiagnostic: - sensor_topic = sensor.get_topic(topic, local=True) - rate = sensor.get_topic_rate(topic) - freq_bounds = FrequencyStatusParam({'min': rate, 'max': rate}) - return HeaderlessTopicDiagnostic(sensor_topic, self.updater, freq_bounds) - - def add_sensor_diagnostic(self, sensor: BaseSensor): - diagnostics: List[tuple] = [] - - if not sensor.launch_enabled: - return - - match sensor: - case IntelRealsense(): - if sensor.color_enabled: - diagnostics.append(( - Image, - sensor.get_topic(IntelRealsense.TOPICS.COLOR_IMAGE, local=True), - self.get_headerless_topic_diagnostic( - sensor, IntelRealsense.TOPICS.COLOR_IMAGE) - )) - if sensor.depth_enabled: - diagnostics.append(( - Image, - sensor.get_topic(IntelRealsense.TOPICS.DEPTH_IMAGE, local=True), - self.get_headerless_topic_diagnostic( - sensor, IntelRealsense.TOPICS.DEPTH_IMAGE) - )) - if sensor.pointcloud_enabled: - diagnostics.append(( - PointCloud2, - sensor.get_topic(IntelRealsense.TOPICS.POINTCLOUD, local=True), - self.get_headerless_topic_diagnostic( - sensor, IntelRealsense.TOPICS.POINTCLOUD) - )) - - case BaseCamera(): - diagnostics.append(( - Image, - sensor.get_topic(BaseCamera.TOPICS.COLOR_IMAGE, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseCamera.TOPICS.COLOR_IMAGE) - )) - - case BaseLidar2D(): - diagnostics.append(( - LaserScan, - sensor.get_topic(BaseLidar2D.TOPICS.SCAN, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseLidar2D.TOPICS.SCAN) - )) - - case BaseLidar3D(): - diagnostics.append(( - LaserScan, - sensor.get_topic(BaseLidar3D.TOPICS.SCAN, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseLidar3D.TOPICS.SCAN) - )) - diagnostics.append(( - PointCloud2, - sensor.get_topic(BaseLidar3D.TOPICS.POINTS, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseLidar3D.TOPICS.POINTS) - )) - - case BaseIMU(): - diagnostics.append(( - Imu, - sensor.get_topic(BaseIMU.TOPICS.DATA, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseIMU.TOPICS.DATA) - )) - diagnostics.append(( - MagneticField, - sensor.get_topic(BaseIMU.TOPICS.MAG, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseIMU.TOPICS.MAG) - )) - - case BaseGPS(): - diagnostics.append(( - NavSatFix, - sensor.get_topic(BaseGPS.TOPICS.FIX, local=True), - self.get_headerless_topic_diagnostic( - sensor, BaseGPS.TOPICS.FIX) - )) - - for d in diagnostics: - self.create_subscription( - d[0], - d[1], - lambda msg: d[2].tick(), - qos_profile_sensor_data - ) - - -def main(): - setup_path = BaseGenerator.get_args() - - rclpy.init() - - node = ClearpathDiagnosticUpdater(setup_path) - rclpy.spin(node) - - node.destroy_node() - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/clearpath_diagnostics/config/diagnostic_aggregator.yaml b/clearpath_diagnostics/config/diagnostic_aggregator.yaml new file mode 100644 index 0000000..e52c385 --- /dev/null +++ b/clearpath_diagnostics/config/diagnostic_aggregator.yaml @@ -0,0 +1,35 @@ +diagnostic_aggregator: + ros__parameters: + path: Clearpath Diagnostics + platform: + type: diagnostic_aggregator/AnalyzerGroup + path: Platform + analyzers: + mcu: + type: diagnostic_aggregator/GenericAnalyzer + path: MCU + contains: [ 'MCU' ] + sensors: + type: diagnostic_aggregator/AnalyzerGroup + path: Sensors + analyzers: + cameras: + type: diagnostic_aggregator/GenericAnalyzer + path: Cameras + contains: [ 'camera' ] + lidar2d: + type: diagnostic_aggregator/GenericAnalyzer + path: Lidar2D + contains: [ 'lidar2d' ] + lidar3d: + type: diagnostic_aggregator/GenericAnalyzer + path: Lidar3D + contains: [ 'lidar3d' ] + imu: + type: diagnostic_aggregator/GenericAnalyzer + path: IMU + contains: [ 'imu' ] + gps: + type: diagnostic_aggregator/GenericAnalyzer + path: GPS + contains: [ 'gps' ] diff --git a/clearpath_diagnostics/config/diagnostic_updater.yaml b/clearpath_diagnostics/config/diagnostic_updater.yaml new file mode 100644 index 0000000..1c01659 --- /dev/null +++ b/clearpath_diagnostics/config/diagnostic_updater.yaml @@ -0,0 +1,8 @@ +clearpath_diagnostic_updater: + ros__parameters: + serial_number: unknown + platform_model: unknown + ros_distro: unknown + latest_apt_firmware_version: unknown + installed_apt_firmware_version: unknown + topics: {} \ No newline at end of file diff --git a/clearpath_diagnostics/config/diagnostics.yaml b/clearpath_diagnostics/config/diagnostics.yaml deleted file mode 100644 index 0121fbe..0000000 --- a/clearpath_diagnostics/config/diagnostics.yaml +++ /dev/null @@ -1,36 +0,0 @@ -/**: - analyzers: - ros__parameters: - path: Clearpath Diagnostics - platform: - type: diagnostic_aggregator/AnalyzerGroup - path: Platform - analyzers: - firmware: - type: diagnostic_aggregator/GenericAnalyzer - path: Firmware - contains: [ 'Firmware' ] - sensors: - type: diagnostic_aggregator/AnalyzerGroup - path: Sensors - analyzers: - cameras: - type: diagnostic_aggregator/GenericAnalyzer - path: Cameras - contains: [ 'camera' ] - lidar2d: - type: diagnostic_aggregator/GenericAnalyzer - path: Lidar2D - contains: [ 'lidar2d' ] - lidar3d: - type: diagnostic_aggregator/GenericAnalyzer - path: Lidar3D - contains: [ 'lidar3d' ] - imu: - type: diagnostic_aggregator/GenericAnalyzer - path: IMU - contains: [ 'imu' ] - gps: - type: diagnostic_aggregator/GenericAnalyzer - path: GPS - contains: [ 'gps' ] diff --git a/clearpath_diagnostics/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp b/clearpath_diagnostics/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp new file mode 100644 index 0000000..d516b94 --- /dev/null +++ b/clearpath_diagnostics/include/clearpath_diagnostics/clearpath_diagnostic_updater.hpp @@ -0,0 +1,114 @@ +/** +Software License Agreement (BSD) + +\file clearpath_diagnostic_updater.hpp +\authors Hilary Luo +\copyright Copyright (c) 2025, 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 WAR- +RANTIES, 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, IN- +DIRECT, 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. +*/ + +#ifndef CLEARPATH_DIAGNOSTIC_UPDATER_HPP +#define CLEARPATH_DIAGNOSTIC_UPDATER_HPP + +#include +#include + +#include "diagnostic_updater/diagnostic_updater.hpp" +#include "diagnostic_updater/publisher.hpp" +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/compressed_image.hpp" +#include "sensor_msgs/msg/image.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "sensor_msgs/msg/laser_scan.hpp" +#include "sensor_msgs/msg/magnetic_field.hpp" +#include "sensor_msgs/msg/nav_sat_fix.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" + +#include "clearpath_platform_msgs/msg/status.hpp" + +namespace clearpath +{ + +class ClearpathDiagnosticUpdater : public rclcpp::Node +{ +public: + ClearpathDiagnosticUpdater(); + +private: + std::string serial_number_; + std::string platform_model_; + std::string namespace_; + + // MCU Status Info + std::string ros_distro_; // Specifically the ros distro used for the firmware apt package check + std::string latest_apt_firmware_version_; + std::string installed_apt_firmware_version_; + std::string mcu_firmware_version_; + std::string mcu_platform_model_; + double mcu_status_rate_; + int mcu_temperature_; + int pcb_temperature_; + long connection_uptime_; + long mcu_uptime_; + std::shared_ptr mcu_freq_status_; + rclcpp::Subscription::SharedPtr sub_mcu_status_; + + diagnostic_updater::Updater updater_; + std::map> topic_map_; + + // Lists to ensure all variables relating to the rate monitoring persist until spin + std::list rates_; + std::list> topic_diagnostics_; + std::list> subscriptions_; + + void mcu_callback(const clearpath_platform_msgs::msg::Status & msg); + void check_firmware_version(diagnostic_updater::DiagnosticStatusWrapper & stat); + void mcu_status_diagnostic(diagnostic_updater::DiagnosticStatusWrapper & stat); + + std::string get_mandatory_param(std::string param_name); + void setup_topic_rate_diagnostics(); + + template void add_rate_diagnostic(const std::string topic_name, const double rate) + { + // Store the rate so that it can be accessed via a pointer and is not deleted + rates_.push_back(rate); + + // Create the diagnostic task object that handles calculating and publishing rate statistics + auto topic_diagnostic = + std::make_shared( + topic_name, + updater_, + diagnostic_updater::FrequencyStatusParam(&rates_.back(), &rates_.back(), 0.1, 5)); + + // Store the diagnostic task object so that it can be accessed via a pointer and is not deleted + topic_diagnostics_.push_back(topic_diagnostic); + + auto sub = this->create_subscription( + topic_name, + rclcpp::SensorDataQoS(), + [this, topic_diagnostic] + ([[maybe_unused]] const MsgType & msg) { + topic_diagnostic->tick(); + }); + subscriptions_.push_back(std::static_pointer_cast(sub)); + } +}; + +} + +#endif // CLEARPATH_DIAGNOSTIC_UPDATER_HPP diff --git a/clearpath_diagnostics/launch/diagnostics.launch.py b/clearpath_diagnostics/launch/diagnostics.launch.py index 8726ac4..3d074e0 100644 --- a/clearpath_diagnostics/launch/diagnostics.launch.py +++ b/clearpath_diagnostics/launch/diagnostics.launch.py @@ -1,9 +1,8 @@ -#!/usr/bin/env python3 - # Software License Agreement (BSD) # # @author Roni Kreinin -# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# @author Hilary Luo +# @copyright (c) 2025, 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: @@ -28,63 +27,50 @@ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. -# Redistribution and use in source and binary forms, with or without -# modification, is not permitted without the express permission -# of Clearpath Robotics. - -from ament_index_python.packages import get_package_share_directory - -from clearpath_config.clearpath_config import ClearpathConfig -from clearpath_config.common.utils.yaml import read_yaml - from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - GroupAction, - OpaqueFunction, -) +from launch.actions import DeclareLaunchArgument, GroupAction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution -from launch_ros.actions import Node, PushRosNamespace - - -ARGUMENTS = [ - DeclareLaunchArgument( - 'setup_path', - default_value='/etc/clearpath/', - description='Clearpath setup path', - ) -] - - -def launch_setup(context, *args, **kwargs): - pkg_clearpath_diagnostics = get_package_share_directory('clearpath_diagnostics') +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare - setup_path = LaunchConfiguration('setup_path') - robot_yaml = PathJoinSubstitution( - [setup_path, 'robot.yaml'] - ) - - analyzer_params_filepath = PathJoinSubstitution( - [pkg_clearpath_diagnostics, 'config', 'diagnostics.yaml'] - ) - - # Read robot YAML - config = read_yaml(robot_yaml.perform(context)) - # Parse robot YAML into config - clearpath_config = ClearpathConfig(config) - - namespace = clearpath_config.system.namespace - diagnostics = GroupAction( +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + aggregator_parameters = LaunchConfiguration('aggregator_parameters') + updater_parameters = LaunchConfiguration('updater_parameters') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Robot namespace, applied to diagnostic nodes and topics') + + arg_aggregator_params = DeclareLaunchArgument( + 'aggregator_parameters', + default_value=PathJoinSubstitution([ + FindPackageShare('clearpath_diagnostics'), + 'config', + 'diagnostic_aggregator.yaml' + ])) + + arg_updater_params = DeclareLaunchArgument( + 'updater_parameters', + default_value=PathJoinSubstitution([ + FindPackageShare('clearpath_diagnostics'), + 'config', + 'diagnostic_updater.yaml' + ])) + + diagnostics_action = GroupAction( [ - PushRosNamespace(namespace), # Aggregator Node( package='diagnostic_aggregator', executable='aggregator_node', + name='diagnostic_aggregator', + namespace=namespace, output='screen', - parameters=[analyzer_params_filepath], + parameters=[aggregator_parameters], remappings=[ ('/diagnostics', 'diagnostics'), ('/diagnostics_agg', 'diagnostics_agg'), @@ -94,22 +80,23 @@ def launch_setup(context, *args, **kwargs): # Updater Node( package='clearpath_diagnostics', - executable='diagnostics_updater', + executable='clearpath_diagnostic_updater', + name='clearpath_diagnostic_updater', + namespace=namespace, output='screen', + parameters=[updater_parameters], remappings=[ ('/diagnostics', 'diagnostics'), ('/diagnostics_agg', 'diagnostics_agg'), ('/diagnostics_toplevel_state', 'diagnostics_toplevel_state'), ], - arguments=['-s', setup_path] ), ] ) - return [diagnostics] - - -def generate_launch_description(): - ld = LaunchDescription(ARGUMENTS) - ld.add_action(OpaqueFunction(function=launch_setup)) + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_aggregator_params) + ld.add_action(arg_updater_params) + ld.add_action(diagnostics_action) return ld diff --git a/clearpath_diagnostics/package.xml b/clearpath_diagnostics/package.xml index bb69c3d..8eb5c1a 100644 --- a/clearpath_diagnostics/package.xml +++ b/clearpath_diagnostics/package.xml @@ -2,21 +2,24 @@ clearpath_diagnostics - 2.0.4 - Clearpath Robot Diagnostics scripts - rkreinin + 2.0.0 + Clearpath Robot Diagnostics Monitor + + Hilary Luo BSD + Roni Kreinin + Hilary Luo + ament_cmake - clearpath_config - clearpath_generator_common - clearpath_platform_msgs - diagnostic_updater + clearpath_platform_msgs + diagnostic_updater + rclcpp + sensor_msgs + diagnostic_aggregator - diagnostic_msgs - sensor_msgs - rclpy + ros2launch ament_lint_auto ament_lint_common diff --git a/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp new file mode 100755 index 0000000..5cee651 --- /dev/null +++ b/clearpath_diagnostics/src/clearpath_diagnostic_updater.cpp @@ -0,0 +1,266 @@ +/** +Software License Agreement (BSD) + +\file clearpath_diagnostic_updater.cpp +\authors Hilary Luo +\copyright Copyright (c) 2025, 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 WAR- +RANTIES, 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, IN- +DIRECT, 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. +*/ + +#include "clearpath_diagnostics/clearpath_diagnostic_updater.hpp" + +#define UNKNOWN "unknown" + +namespace clearpath +{ + +ClearpathDiagnosticUpdater::ClearpathDiagnosticUpdater() +: Node( + "clearpath_diagnostic_updater", + rclcpp::NodeOptions().allow_undeclared_parameters(true). + automatically_declare_parameters_from_overrides(true)), + updater_(this) // Create the diagnostic updater object +{ + serial_number_ = this->get_mandatory_param("serial_number"); + platform_model_ = this->get_mandatory_param("platform_model"); + ros_distro_ = this->get_mandatory_param("ros_distro"); + latest_apt_firmware_version_ = this->get_mandatory_param("latest_apt_firmware_version"); + installed_apt_firmware_version_ = this->get_mandatory_param("installed_apt_firmware_version"); + + // Initialize variables that are populated in callbacks + mcu_firmware_version_ = UNKNOWN; + mcu_platform_model_ = UNKNOWN; + + // Set Hardware ID as serial number in diagnostics + updater_.setHardwareID(serial_number_); + if (latest_apt_firmware_version_ == "not_applicable") { + RCLCPP_INFO(this->get_logger(), "No MCU indicated, MCU diagnostics disabled."); + } else if (latest_apt_firmware_version_ != "simulated") { + // Publish MCU Status information as diagnostics + updater_.add("MCU Status", this, &ClearpathDiagnosticUpdater::mcu_status_diagnostic); + updater_.add("MCU Firmware Version", this, &ClearpathDiagnosticUpdater::check_firmware_version); + RCLCPP_INFO(this->get_logger(), "MCU diagnostics started."); + } + + mcu_status_rate_ = 1.0; + mcu_freq_status_ = std::make_shared( + diagnostic_updater::FrequencyStatusParam(&mcu_status_rate_, &mcu_status_rate_, 0.1, 5)); + + // subscribe to MCU status + sub_mcu_status_ = + this->create_subscription( + "platform/mcu/status", + rclcpp::SensorDataQoS(), + std::bind(&ClearpathDiagnosticUpdater::mcu_callback, this, std::placeholders::_1)); + + setup_topic_rate_diagnostics(); +} + +// get parameter from yaml and log an error if the parameter is not present +std::string ClearpathDiagnosticUpdater::get_mandatory_param(std::string param_name) +{ + try { + return this->get_parameter(param_name).as_string(); + } catch (const std::exception & e) { + RCLCPP_ERROR(this->get_logger(), "Could not retrieve parameter %s: %s", + param_name.c_str(), e.what()); + return UNKNOWN; + } +} + +void ClearpathDiagnosticUpdater::check_firmware_version( + diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + if (latest_apt_firmware_version_ == "not_found") { + stat.summaryf(diagnostic_msgs::msg::DiagnosticStatus::ERROR, + "ros-%s-clearpath-firmware package not found", + ros_distro_.c_str()); + } else if (latest_apt_firmware_version_ == UNKNOWN) { + stat.summaryf(diagnostic_msgs::msg::DiagnosticStatus::ERROR, + "ros-%s-clearpath-firmware package version not provided in config", + ros_distro_.c_str()); + } else if (mcu_firmware_version_ == UNKNOWN) { + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, + "No firmware version received from MCU"); + } else if (mcu_firmware_version_ == latest_apt_firmware_version_) { + stat.summaryf(diagnostic_msgs::msg::DiagnosticStatus::OK, + "Firmware is up to date (%s)", + mcu_firmware_version_.c_str()); + } else if (mcu_firmware_version_ < latest_apt_firmware_version_) { + stat.summaryf(diagnostic_msgs::msg::DiagnosticStatus::WARN, + "New firmware available: (%s) -> (%s)", + mcu_firmware_version_.c_str(), + latest_apt_firmware_version_.c_str()); + } else { + stat.summaryf(diagnostic_msgs::msg::DiagnosticStatus::WARN, + "ros-%s-clearpath-firmware package is outdated", + ros_distro_.c_str()); + } + stat.add("Latest Firmware Version Package", latest_apt_firmware_version_); + stat.add("Firmware Version Installed on Computer", installed_apt_firmware_version_); + stat.add("Firmware Version on MCU", mcu_firmware_version_); +} + +// save data from MCU Status messages +void ClearpathDiagnosticUpdater::mcu_callback(const clearpath_platform_msgs::msg::Status & msg) +{ + mcu_firmware_version_ = msg.firmware_version; + mcu_platform_model_ = msg.hardware_id; + mcu_uptime_ = msg.mcu_uptime.sec; + connection_uptime_ = msg.connection_uptime.sec; + mcu_temperature_ = msg.mcu_temperature; + pcb_temperature_ = msg.pcb_temperature; + mcu_freq_status_->tick(); +} + +void ClearpathDiagnosticUpdater::mcu_status_diagnostic( + diagnostic_updater::DiagnosticStatusWrapper & stat) +{ + stat.add("Firmware Version", mcu_firmware_version_); + stat.add("Platform Model", mcu_platform_model_); + stat.add("MCU Uptime", mcu_uptime_); + stat.add("Connection Uptime", connection_uptime_); + stat.add("MCU Temperature", mcu_temperature_); + stat.add("PCB Temperature", pcb_temperature_); + + mcu_freq_status_->run(stat); +} + +void ClearpathDiagnosticUpdater::setup_topic_rate_diagnostics() +{ + std::map topic_map_raw; + + // Get all parameters under the "topics" key in the yaml and store it in map format + if (!this->get_parameters("topics", topic_map_raw)) { + RCLCPP_WARN(this->get_logger(), "No topics found to monitor."); + return; + } + RCLCPP_INFO(this->get_logger(), "Retrieved %zu topic parameters.", topic_map_raw.size()); + + // Parse the raw topic map into a map of parameters per topic, stored in another map with + // the topic as the key + for (const auto & entry : topic_map_raw) { + + // Identify the topic name and parameter name in the entry key + auto key = entry.first; // Contains topic_name.param_name + auto pos = key.find("."); + auto topic_name = key.substr(0, pos); + auto param_name = key.substr(pos + 1); + + // RCLCPP_INFO(this->get_logger(), + // "Diagnostics config: Topic is %s, parameter %s = %s.", + // topic_name.c_str(), param_name.c_str(), entry.second.value_to_string().c_str()); + + // Add the parameter to the topic specific map + if (auto it = topic_map_.find(topic_name); it != topic_map_.end()) { + // Topic already exists as a key + it->second[param_name] = entry.second; + } else { + // Topic needs to be added as a new key + std::map map; + map[param_name] = entry.second; + topic_map_[topic_name] = map; + } + } + + // For each topic, create a subscription that monitors the publishing frequency + for (const auto & topic : topic_map_) { + auto topic_name = topic.first; + RCLCPP_INFO(this->get_logger(), "Diagnostics config: Topic is %s", topic_name.c_str()); + auto params_map = topic.second; + + for(const auto & param : params_map) { + RCLCPP_INFO(this->get_logger(), " Param: %s = %s", + param.first.c_str(), param.second.value_to_string().c_str()); + } + + // Get the message type + std::string type; + try { + type = params_map.at("type").as_string(); + } catch (const std::out_of_range & e) { + RCLCPP_ERROR(this->get_logger(), "No type provided for %s. This topic will not be monitored", + topic_name.c_str()); + continue; + } catch(const rclcpp::ParameterTypeException & e) { + RCLCPP_ERROR(this->get_logger(), + "Type provided for %s was not a valid string. Value is %s. \ + This topic will not be monitored", + topic_name.c_str(), params_map.at("type").value_to_string().c_str()); + continue; + } + + // Get the expected publishing rate + double rate = 0.0; + try { + rate = params_map.at("rate").as_double(); + } catch (const std::out_of_range & e) { + RCLCPP_ERROR(this->get_logger(), "No rate provided for %s. This topic will not be monitored", + topic_name.c_str()); + continue; + } catch(const rclcpp::ParameterTypeException & e) { + RCLCPP_ERROR(this->get_logger(), + "Rate provided for %s was not a valid double. Value is %s. \ + This topic will not be monitored", + topic_name.c_str(), params_map.at("rate").value_to_string().c_str()); + continue; + } + + /* + * The section below does not use a generic subscription because the generic subscription was + * observed to have significantly hgiher CPU usage seemingly related to too short of callbacks + * and allocating/releasing the memory too quickly with Fast DDS. Standard subscriptions + * perform more reliably. + */ + + // Create a subscription using the topic name and message type info from the yaml + if (type == "sensor_msgs/msg/CompressedImage") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/Image") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/Imu") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/LaserScan") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/MagneticField") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/NavSatFix") { + add_rate_diagnostic(topic_name, rate); + } else if (type == "sensor_msgs/msg/PointCloud2") { + add_rate_diagnostic(topic_name, rate); + } else { + RCLCPP_ERROR(this->get_logger(), + "Type \"%s\" of topic \"%s\" is not supported", + type.c_str(), + topic_name.c_str()); + continue; + } + + RCLCPP_INFO(this->get_logger(), "Created subscription for %s", topic_name.c_str()); + } +} +} + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py index 595c285..3c768e5 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py @@ -54,7 +54,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: self.imu_0_filter_node = LaunchFile.Node( package='imu_filter_madgwick', executable='imu_filter_madgwick_node', - name='imu_filter_node', + name='imu_filter_madgwick', namespace=self.namespace, parameters=[LaunchFile.Variable('imu_filter')], remappings=[ @@ -132,9 +132,28 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: ], ) - # Diagnostics + # Diagnostics launch args + self.diag_updater_params = LaunchFile.LaunchArg( + 'diagnostic_updater_params', + default_value=os.path.join(self.platform_params_path, 'diagnostic_updater.yaml'), + ) + self.diag_aggregator_params = LaunchFile.LaunchArg( + 'diagnostic_aggregator_params', + default_value=os.path.join(self.platform_params_path, 'diagnostic_aggregator.yaml'), + ) + + self.diagnostic_args = [ + ('namespace', self.namespace), + ('updater_parameters', LaunchFile.Variable('diagnostic_updater_params')), + ('aggregator_parameters', LaunchFile.Variable('diagnostic_aggregator_params')), + ] + + # Diagnostics launch clearpath_diagnostics_package = Package('clearpath_diagnostics') - self.diagnostics_launch = LaunchFile('diagnostics', package=clearpath_diagnostics_package) + self.diagnostics_launch = LaunchFile( + 'diagnostics', + package=clearpath_diagnostics_package, + args=self.diagnostic_args) # Battery state self.battery_state_estimator = LaunchFile.Node( @@ -294,9 +313,19 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: ] )) + # A300 Fan Control Node + self.a300_fan_control = LaunchFile.Node( + package='clearpath_hardware_interfaces', + executable='fan_control_node', + name='a300_fan_control', + namespace=self.namespace, + ) + # Components required for each platform common_platform_components = [ self.wireless_watcher_node, + self.diag_updater_params, + self.diag_aggregator_params, self.diagnostics_launch, self.battery_state_control, ] @@ -322,6 +351,7 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: self.configure_mcu, self.lighting_node, self.lynx_node, + self.a300_fan_control, ], Platform.W200: common_platform_components + [ self.imu_0_filter_node, diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py b/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py index 0f5c2e9..efb2a07 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py @@ -30,6 +30,7 @@ # modification, is not permitted without the express permission # of Clearpath Robotics. from clearpath_config.sensors.types.cameras import BaseCamera +from clearpath_config.sensors.types.imu import BaseIMU, IMUFilter from clearpath_config.sensors.types.sensor import BaseSensor from clearpath_generator_common.common import LaunchFile, Package, ParamFile @@ -50,6 +51,11 @@ class SensorLaunch(): INPUT = 'input_ns' OUTPUT = 'output_ns' CONTAINER = 'container' + # IMU filter + FILTER = 'filter' + INPUT_RAW = 'input_raw' + INPUT_MAG = 'input_mag' + OUTPUT_IMU = 'output' def __init__( self, @@ -97,6 +103,22 @@ def generate(self): (self.CONTAINER, 'image_processing_container') ] )) + # IMU Filter + if self.sensor.get_sensor_type() == BaseIMU.get_sensor_type(): + if self.sensor.imu_filter.TYPE != IMUFilter.NoFilter.TYPE: + sensor_writer.add(LaunchFile( + 'imu_filter', + package=self.CLEARPATH_SENSORS_PACKAGE, + args=[ + (self.NAMESPACE, self.namespace), + (self.PARAMETERS, self.parameters.full_path), + (self.CONTAINER, 'imu_filter_container'), + (self.FILTER, self.sensor.imu_filter.TYPE), + (self.INPUT_RAW, self.sensor.imu_filter.input_raw), + (self.INPUT_MAG, self.sensor.imu_filter.input_mag), + (self.OUTPUT_IMU, self.sensor.imu_filter.output), + ] + )) # Generate sensor launch file sensor_writer.generate_file() diff --git a/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py b/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py index 206750d..2457af6 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py +++ b/clearpath_generator_robot/clearpath_generator_robot/param/sensors.py @@ -32,6 +32,7 @@ from clearpath_config.common.utils.dictionary import merge_dict from clearpath_config.sensors.types.cameras import BaseCamera +from clearpath_config.sensors.types.imu import BaseIMU, IMUFilter from clearpath_config.sensors.types.sensor import BaseSensor from clearpath_generator_common.common import Package, ParamFile @@ -83,6 +84,18 @@ def __init__( default_parameters = merge_dict(default_parameters, republisher_file.parameters) + # IMU Filter + if self.sensor.get_sensor_type() == BaseIMU.get_sensor_type(): + if self.sensor.imu_filter.TYPE != IMUFilter.NoFilter.TYPE: + name = 'imu_filter' + imu_filter_file = ParamFile( + name=name, + package=self.clearpath_sensors_package, + parameters={} + ) + imu_filter_file.read() + default_parameters = merge_dict(default_parameters, imu_filter_file.parameters) + # Parameter file to generate self.param_file = ParamFile( name=self.sensor.name, diff --git a/clearpath_hardware_interfaces/CMakeLists.txt b/clearpath_hardware_interfaces/CMakeLists.txt index d016cf7..8cbfe6c 100644 --- a/clearpath_hardware_interfaces/CMakeLists.txt +++ b/clearpath_hardware_interfaces/CMakeLists.txt @@ -37,10 +37,10 @@ find_package(tf2_ros REQUIRED) set(LIGHTING_EXECUTABLE lighting_node) set(LIGHTING_LIB clearpath_platform_lighting) set(LIGHTING_DEPENDENCIES - clearpath_motor_msgs - clearpath_platform_msgs - sensor_msgs - rclcpp + clearpath_motor_msgs + clearpath_platform_msgs + sensor_msgs + rclcpp ) add_library( @@ -69,6 +69,27 @@ target_include_directories( include ) +# Cooling +set(FAN_CONTROL_EXECUTABLE fan_control_node) +set(FAN_CONTROL_DEPENDENCIES + clearpath_motor_msgs + clearpath_platform_msgs + sensor_msgs + rclcpp +) + +add_executable(${FAN_CONTROL_EXECUTABLE} src/a300/fan_control.cpp) + +target_include_directories( + ${FAN_CONTROL_EXECUTABLE} + PRIVATE + include +) + +target_link_libraries(${FAN_CONTROL_EXECUTABLE}) +ament_target_dependencies(${FAN_CONTROL_EXECUTABLE} ${FAN_CONTROL_DEPENDENCIES}) + + # A200 Hardware add_library( a200_hardware @@ -207,6 +228,7 @@ install( w200_hardware puma_hardware lynx_hardware + ${FAN_CONTROL_EXECUTABLE} ${LIGHTING_EXECUTABLE} ${LIGHTING_LIB} LIBRARY DESTINATION lib diff --git a/clearpath_hardware_interfaces/include/clearpath_hardware_interfaces/a300/fan_control.hpp b/clearpath_hardware_interfaces/include/clearpath_hardware_interfaces/a300/fan_control.hpp new file mode 100644 index 0000000..5e6090f --- /dev/null +++ b/clearpath_hardware_interfaces/include/clearpath_hardware_interfaces/a300/fan_control.hpp @@ -0,0 +1,194 @@ +/** +Software License Agreement (BSD) +\file fan_control.hpp +\authors Tony Baltovski +\copyright Copyright (c) 2025, 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 WAR- +RANTIES, 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, IN- +DIRECT, 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. +*/ + +#ifndef CLEARPATH_HARDWARE_INTERFACES_A300_FAN_CONTROL_HPP +#define CLEARPATH_HARDWARE_INTERFACES_A300_FAN_CONTROL_HPP + +#include +#include +#include +#include +#include +#include +#include + +namespace a300_cooling +{ +/// Fan control topic name +const std::string FAN_CONTROL_TOPIC_NAME = "platform/mcu/cmd_fans"; + +/// MCU temperature topic name +const std::string MCU_TEMPERATURE_TOPIC = "platform/mcu/status/temperature"; + +/// Motor temperature topic name +const std::string MOTOR_TEMPERATURE_TOPIC = "platform/motors/status"; + +/// Battery temperature topic name +const std::string BATTERY_TEMPERATURE_TOPIC = "platform/bms/battery_state"; + +/// Fan command for high error state, percent of maximum speed +constexpr float FAN_CMD_HIGH_ERROR = 1.0f; + +/// Fan command for high warning state, percent of maximum speed +constexpr float FAN_CMD_HIGH_WARNING = 0.75f; + +/// Fan command for low error state, percent of maximum speed +constexpr float FAN_CMD_LOW_ERROR = 0.0f; + +/// Fan command for low warning state, percent of maximum speed +constexpr float FAN_CMD_LOW_WARNING = 0.25f; + +/// Fan command for normal state, percent of maximum speed +constexpr float FAN_CMD_NORMAL = 0.5f; + +/// Initial temperature reading when no data is available, degrees Celsius +constexpr float INITIAL_READING = 30.0f; + +/// Enumeration to represent thermal status +enum class ThermalStatus +{ + Normal, ///< Thermal state is within normal range + LowError, ///< Low error thermal state + LowWarning, ///< Low warning thermal state + HighWarning, ///< High warning thermal state + HighError ///< High error thermal state +}; + +/** + * @brief Convert thermal status to string + * + * @param status The thermal status + * @return A string representing the thermal status + */ +std::string thermalStatusToString(ThermalStatus status); + +/** + * @brief Represents a thermal sensor with associated status thresholds + */ +class ThermalSensor +{ +public: + /** + * @brief Construct a new ThermalSensor object with specific threshold values + * + * @param low_error Temperature below this value is an error + * @param low_warning Temperature below this value is a warning + * @param high_warning Temperature above this value is a warning + * @param high_error Temperature above this value is an error + */ + ThermalSensor(float low_error, float low_warning, float high_warning, float high_error); + + /** + * @brief Construct a new ThermalSensor object with default values + */ + ThermalSensor(); + + /** + * @brief Set the temperature reading of the sensor + * + * @param value Temperature value to be set + */ + void setValue(float value); + + /** + * @brief Get the current thermal status of the sensor + * + * @return The current thermal status + */ + ThermalStatus getStatus() const; + +private: + float reading_; ///< Current temperature reading + float low_error_; ///< Threshold for low error + float low_warning_; ///< Threshold for low warning + float high_warning_;///< Threshold for high warning + float high_error_; ///< Threshold for high error + ThermalStatus thermal_status_; ///< Current thermal status +}; + +/** + * @brief Collection of thermal sensors in the system + */ +class ThermalSensors +{ +public: + /** + * @brief Default constructor that initializes the sensor list with default values + */ + ThermalSensors(); + + /** + * @brief Set the value of a specific sensor + * + * @param name The sensor's name + * @param value The temperature value to set + */ + void setSensorValue(const std::string &name, float value); + + /** + * @brief Get the highest thermal status from all sensors + * + * @return The highest thermal status + */ + ThermalStatus getHighestStatus() const; + +private: + std::map sensors; ///< Map of sensor names to sensor objects +}; + +/** + * @brief Main class for managing fan control based on thermal sensor readings + */ +class FanController : public rclcpp::Node +{ +public: + /** + * @brief Construct a new FanController object + */ + FanController(); + +private: + /** + * @brief Timer callback to periodically check and control the fans + */ + void timerCallback(); + + /** + * @brief Compute the fan value based on the thermal status + * + * @param status The thermal status of the highest priority sensor + * @return Computed fan value as a uint8_t (0 to 255) + */ + uint8_t computeFanValue(ThermalStatus status); + + std::mutex update_mutex_; ///< Mutex for updating thermal sensors + ThermalSensors thermal_sensors_; ///< Thermal sensor data + rclcpp::Publisher::SharedPtr fan_publisher_; ///< Fan control publisher + rclcpp::Subscription::SharedPtr temp_subscription_; ///< Temperature subscription + rclcpp::Subscription::SharedPtr battery_subscription_; ///< Battery state subscription + rclcpp::Subscription::SharedPtr motor_subscription_; ///< Motor status subscription + rclcpp::TimerBase::SharedPtr control_timer_; ///< Timer for controlling the fan +}; + +} // namespace a300_cooling + +#endif // CLEARPATH_HARDWARE_INTERFACES_A300_FAN_CONTROL_HPP diff --git a/clearpath_hardware_interfaces/src/a300/fan_control.cpp b/clearpath_hardware_interfaces/src/a300/fan_control.cpp new file mode 100644 index 0000000..8c39f9b --- /dev/null +++ b/clearpath_hardware_interfaces/src/a300/fan_control.cpp @@ -0,0 +1,204 @@ +/** +Software License Agreement (BSD) +\file fan_control.cpp +\authors Tony Baltovski +\copyright Copyright (c) 2025, 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 WAR- +RANTIES, 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, IN- +DIRECT, 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. +*/ + +#include "clearpath_hardware_interfaces/a300/fan_control.hpp" + +std::string a300_cooling::thermalStatusToString(a300_cooling::ThermalStatus status) +{ + switch (status) + { + case a300_cooling::ThermalStatus::Normal: + return "Normal"; + case a300_cooling::ThermalStatus::LowError: + return "LowError"; + case a300_cooling::ThermalStatus::LowWarning: + return "LowWarning"; + case a300_cooling::ThermalStatus::HighWarning: + return "HighWarning"; + case a300_cooling::ThermalStatus::HighError: + return "HighError"; + default: + return "Unknown"; + } +} + +a300_cooling::ThermalSensor::ThermalSensor(float low_error, float low_warning, float high_warning, float high_error) + : reading_(INITIAL_READING), low_error_(low_error), low_warning_(low_warning), high_warning_(high_warning), high_error_(high_error) {} + +a300_cooling::ThermalSensor::ThermalSensor() + : reading_(INITIAL_READING), low_error_(0.0), low_warning_(0.0), high_warning_(0.0), high_error_(0.0) {} + +void a300_cooling::ThermalSensor::setValue(float value) { this->reading_ = value; } + +a300_cooling::ThermalStatus a300_cooling::ThermalSensor::getStatus() const +{ + if (this->reading_ < this->low_error_) return a300_cooling::ThermalStatus::LowError; + if (this->reading_ < this->low_warning_) return a300_cooling::ThermalStatus::LowWarning; + if (this->reading_ > this->high_error_) return a300_cooling::ThermalStatus::HighError; + if (this->reading_ > this->high_warning_) return a300_cooling::ThermalStatus::HighWarning; + return a300_cooling::ThermalStatus::Normal; +} + +a300_cooling::ThermalSensors::ThermalSensors() +{ + sensors = + { + {"mcu", ThermalSensor{-20, 0, 60, 80}}, + {"fan1", ThermalSensor{-20, 0, 60, 80}}, + {"fan2", ThermalSensor{-20, 0, 60, 80}}, + {"fan3", ThermalSensor{-20, 0, 60, 80}}, + {"fan4", ThermalSensor{-20, 0, 60, 80}}, + {"5v_inductor", ThermalSensor{-20, 0, 60, 80}}, + {"main_gnd_lug", ThermalSensor{-20, 0, 60, 80}}, + {"dcdc_24v", ThermalSensor{-20, 0, 60, 80}}, + {"dcdc_12v", ThermalSensor{-20, 0, 60, 80}}, + {"battery", ThermalSensor{-20, 0, 55, 60}}, + {"pcb_motor1", ThermalSensor{-20, 0, 60, 80}}, + {"mcu_motor1", ThermalSensor{-20, 0, 60, 80}}, + {"pcb_motor2", ThermalSensor{-20, 0, 60, 80}}, + {"mcu_motor2", ThermalSensor{-20, 0, 60, 80}}, + {"pcb_motor3", ThermalSensor{-20, 0, 60, 80}}, + {"mcu_motor3", ThermalSensor{-20, 0, 60, 80}}, + {"pcb_motor4", ThermalSensor{-20, 0, 60, 80}}, + {"mcu_motor4", ThermalSensor{-20, 0, 60, 80}}, + }; +} + +void a300_cooling::ThermalSensors::setSensorValue(const std::string &name, float value) +{ + if (sensors.find(name) != sensors.end()) + { + sensors[name].setValue(value); + } + else + { + RCLCPP_WARN(rclcpp::get_logger("a300_fan_controller"), "Could not find thermal sensor %s", name.c_str()); + } +} + +a300_cooling::ThermalStatus a300_cooling::ThermalSensors::getHighestStatus() const +{ + a300_cooling::ThermalStatus highest_status = a300_cooling::ThermalStatus::Normal; + for (const auto &sensor : sensors) { + if (sensor.second.getStatus() > highest_status) + { + if (sensor.second.getStatus() >= a300_cooling::ThermalStatus::Normal) + { + RCLCPP_WARN(rclcpp::get_logger("a300_fan_controller"), "Thermal sensor %s has %s", + sensor.first.c_str(), thermalStatusToString(sensor.second.getStatus()).c_str()); + } + highest_status = sensor.second.getStatus(); + } + } + return highest_status; +} + +a300_cooling::FanController::FanController() : Node("a300_fan_controller") +{ + fan_publisher_ = create_publisher(FAN_CONTROL_TOPIC_NAME, rclcpp::SensorDataQoS()); + + temp_subscription_ = create_subscription( + MCU_TEMPERATURE_TOPIC, + rclcpp::SensorDataQoS(), + [this](const clearpath_platform_msgs::msg::Temperature::SharedPtr msg) + { + std::lock_guard lock(update_mutex_); + this->thermal_sensors_.setSensorValue("mcu", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_MCU]); + this->thermal_sensors_.setSensorValue("fan1", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_FAN1]); + this->thermal_sensors_.setSensorValue("fan2", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_FAN2]); + this->thermal_sensors_.setSensorValue("fan3", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_FAN3]); + this->thermal_sensors_.setSensorValue("fan4", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_FAN4]); + this->thermal_sensors_.setSensorValue("5v_inductor", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_5V_INDUCTOR]); + this->thermal_sensors_.setSensorValue("main_gnd_lug", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_MAIN_GND_LUG]); + this->thermal_sensors_.setSensorValue("dcdc_24v", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_24V_DCDC]); + this->thermal_sensors_.setSensorValue("dcdc_12v", msg->temperatures[clearpath_platform_msgs::msg::Temperature::CC01_12V_DCDC]); + }); + + motor_subscription_ = create_subscription( + MOTOR_TEMPERATURE_TOPIC, + rclcpp::SensorDataQoS(), + [this](const clearpath_motor_msgs::msg::LynxMultiStatus::SharedPtr msg) + { + std::lock_guard lock(update_mutex_); + this->thermal_sensors_.setSensorValue("pcb_motor1", msg->drivers[0].pcb_temperature); + this->thermal_sensors_.setSensorValue("mcu_motor1", msg->drivers[0].mcu_temperature); + this->thermal_sensors_.setSensorValue("pcb_motor2", msg->drivers[1].pcb_temperature); + this->thermal_sensors_.setSensorValue("mcu_motor2", msg->drivers[1].mcu_temperature); + this->thermal_sensors_.setSensorValue("pcb_motor3", msg->drivers[2].pcb_temperature); + this->thermal_sensors_.setSensorValue("mcu_motor3", msg->drivers[2].mcu_temperature); + this->thermal_sensors_.setSensorValue("pcb_motor4", msg->drivers[3].pcb_temperature); + this->thermal_sensors_.setSensorValue("mcu_motor4", msg->drivers[3].mcu_temperature); + }); + + battery_subscription_ = create_subscription( + BATTERY_TEMPERATURE_TOPIC, + rclcpp::SensorDataQoS(), + [this](const sensor_msgs::msg::BatteryState::SharedPtr msg) + { + std::lock_guard lock(update_mutex_); + this->thermal_sensors_.setSensorValue("battery", msg->temperature); + }); + + control_timer_ = create_wall_timer(std::chrono::seconds(1), std::bind(&FanController::timerCallback, this)); +} + +void a300_cooling::FanController::timerCallback() +{ + std::lock_guard lock(update_mutex_); + uint8_t fan_value = computeFanValue(thermal_sensors_.getHighestStatus()); + clearpath_platform_msgs::msg::Fans fans_msg; + fans_msg.fans = {fan_value, fan_value, fan_value, fan_value, 0, 0, 0, 0}; + fan_publisher_->publish(fans_msg); + RCLCPP_DEBUG(get_logger(), "Set all fans to: %d", fan_value); +} + +uint8_t a300_cooling::FanController::computeFanValue(a300_cooling::ThermalStatus status) +{ + float fan_fraction; + + switch (status) + { + case a300_cooling::ThermalStatus::HighError: + fan_fraction = a300_cooling::FAN_CMD_HIGH_ERROR; + break; + case a300_cooling::ThermalStatus::HighWarning: + fan_fraction = a300_cooling::FAN_CMD_HIGH_WARNING; + break; + case a300_cooling::ThermalStatus::LowError: + fan_fraction = a300_cooling::FAN_CMD_LOW_ERROR; + break; + case a300_cooling::ThermalStatus::LowWarning: + fan_fraction = a300_cooling::FAN_CMD_LOW_WARNING; + break; + default: + fan_fraction = a300_cooling::FAN_CMD_NORMAL; + break; + } + return static_cast(fan_fraction * 255.0f); +} + +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/clearpath_motor_drivers/lynx_motor_driver/bin/lynx_firmware-release-0.0.2.txt b/clearpath_motor_drivers/lynx_motor_driver/bin/lynx_firmware-release-0.0.2.txt new file mode 100644 index 0000000..0137517 --- /dev/null +++ b/clearpath_motor_drivers/lynx_motor_driver/bin/lynx_firmware-release-0.0.2.txt @@ -0,0 +1,1783 @@ + +AA 08 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 09 00 00 00 02 00 +09 00 00 00 49 00 84 45 +16 43 09 00 B0 02 22 76 A9 F5 34 40 01 50 A9 F4 34 40 A9 F5 34 40 A9 CC +FF FC 80 50 A9 F4 34 40 A9 F5 34 40 20 50 A9 F4 34 40 A9 F5 74 40 01 50 +A9 F4 74 40 1A 76 00 BE A9 BF 38 40 A8 18 FF 0F A9 BD 38 40 A8 28 70 17 +A9 F5 00 40 A9 18 7F E0 A9 F4 00 40 A9 F5 00 40 08 50 A9 F4 00 40 A8 F4 +63 40 A9 BF 38 40 A9 18 F0 FF A9 BD 38 40 A6 F4 04 40 A9 F5 00 40 A9 CC +FE FF 02 50 A9 F4 00 40 A9 F5 00 40 A9 1A 00 20 A9 F4 00 40 A9 F5 00 40 +A9 18 FB FF A9 F4 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74 01 01 E8 8E C6 AF E2 2C 05 00 E7 49 01 10 E7 25 00 -0D E8 BE B8 20 E7 69 00 14 E3 06 E0 03 E2 32 01 01 E0 34 AC AF E2 02 06 -1D E3 32 50 AF E2 34 01 03 E2 92 02 AF E2 28 02 49 76 76 2E 82 FE AF E2 -BE 06 AF E2 BE 05 AF E2 BE 04 BE 86 BE 8B 06 00 16 FE 46 1E 56 2B 03 8F -00 00 00 90 03 91 A4 0F 06 69 09 8F 8A E5 FF 02 49 76 51 42 46 06 AB 2B -AA 28 00 80 00 90 A8 18 00 C0 AB 0F 15 61 46 06 AA 28 00 40 00 90 A8 18 -00 C0 AB 0F 0D 61 46 06 00 90 A8 18 00 C0 58 FF 07 61 20 FF 02 01 09 8F -8A E5 49 76 51 42 49 76 BF 41 00 52 04 61 56 2B EF FF EC 00 22 76 05 8F -0E D2 C4 18 FD FF 1A 76 17 02 40 76 99 86 05 8F 08 D2 C4 92 03 90 53 96 -05 8F 32 D2 C4 92 02 90 55 96 46 06 03 91 A8 0E 48 1E 55 92 53 CA A9 0E -48 0F 12 61 22 76 05 8F 0E D2 C4 18 FE FF 1A 76 0C 02 40 76 99 86 46 06 -00 90 03 91 49 76 0D 2F 0B 02 40 76 99 86 01 9A 49 76 13 40 AB 2B AA 28 -00 80 46 06 00 90 A8 18 00 C0 AB 0F 09 61 46 06 AA 28 00 40 00 90 A8 18 -00 C0 AB 0F 77 60 46 06 00 9B FF 90 4A 1E AC 28 12 00 46 06 00 90 7C 91 -22 56 AC 28 18 00 3B 56 4A 98 49 99 AC 28 17 00 46 06 00 90 A8 18 80 0F -22 56 3F FF 4A 98 49 99 05 8F 14 D2 C4 06 00 9B FF 90 4C 1E C4 06 00 90 -A8 18 00 1F 4C 98 4B 99 C4 06 00 90 1F 91 4C 98 4B 99 05 8F 0E D2 C4 92 -01 90 52 96 4A 06 4C 0F 04 60 52 92 01 52 3F 61 22 76 C4 18 FE FF 1A 76 -0C 02 40 76 99 86 22 76 05 8F 14 D2 4A 06 C4 1E 05 8F 0E D2 C4 1A 01 00 -AC 28 12 00 46 06 00 90 7C 91 22 56 50 1E 01 02 50 07 39 FF 4E 1E 05 8F -16 D2 C4 92 01 90 54 96 07 6F C4 92 01 90 54 96 01 02 41 56 4E 00 54 92 -01 52 03 61 4E 06 F6 60 1A 76 46 06 00 90 03 91 42 1E 46 06 FF 90 A8 18 -FC 0F 44 1E 46 06 00 90 A8 18 00 30 49 76 5A 15 56 96 12 6F BF 56 56 01 -0F 6F 46 06 00 90 A8 18 00 C0 58 FF 09 60 22 76 05 8F 0E D2 C4 18 FE FF -1A 76 BF 56 56 01 56 92 23 61 46 CC 00 7F C7 FF 51 96 7E 52 04 60 49 76 -13 40 04 6F 02 9C 49 76 13 40 46 06 AB 2B AA 28 00 80 00 90 A8 18 00 C0 -AB 0F 07 60 22 76 05 8F 0E D2 C4 1A 02 00 1A 76 28 02 40 76 99 86 51 92 -49 76 13 40 02 6F 25 76 56 92 69 FF 96 FE 06 00 BD B2 BD AA AD 5A 86 DA -AD 08 AA 03 AD 5C AD 5D A4 08 66 FC C9 76 24 E0 80 76 8F 03 A5 08 56 FC -A4 5C 16 D0 AA 2B A5 27 A6 F7 84 24 92 1E A4 A9 C9 76 52 EB 07 F6 84 24 -00 8F 03 D0 F2 A8 AD 5C A4 08 56 FC 08 D1 A4 80 AD 5C 0A D0 BF 56 9A 09 -BF 56 92 64 A4 08 5E FC A4 5C 07 F6 84 24 AD 5C A4 08 5E FC AD 88 A4 80 -AD 5C A6 08 66 FC 92 DC A4 5D A9 28 8F 03 01 29 00 8F 00 D0 07 F6 85 24 -A6 80 AC 28 15 00 1F 76 40 03 04 D5 A9 F7 84 24 A9 BF 38 7F 46 FF 02 D4 -01 90 A9 80 A9 BF 38 7F 47 FF 01 90 A9 88 A9 BF 38 7F 22 56 01 90 A9 27 -A9 BF 38 7F 42 FF 01 90 03 56 A9 01 AB CA 03 56 A9 01 A6 CA 03 56 A9 01 -A7 CA 64 9C 02 96 20 FF 6B 60 49 76 39 38 00 D4 20 FF 00 70 05 D5 49 76 -39 38 00 D4 20 FF 01 70 05 D5 49 76 39 38 01 29 02 D4 08 D5 20 FF 00 90 -49 76 39 38 01 29 02 D4 08 D5 20 FF 01 90 49 76 39 38 01 29 02 D4 08 D5 -20 FF 02 90 49 76 39 38 01 29 02 D4 08 D5 20 FF 00 A0 49 76 39 38 01 29 -02 D4 08 D5 20 FF 01 A0 49 76 39 38 01 29 02 D4 08 D5 20 FF 02 A0 49 76 -39 38 01 29 02 D4 00 D5 20 FF 00 B0 49 76 39 38 01 29 00 D4 02 D5 20 FF -01 B0 49 76 39 38 01 29 00 D4 04 D5 20 FF 02 B0 49 76 39 38 01 29 02 D4 -00 D5 20 FF 03 B0 49 76 39 38 01 29 02 D4 01 D5 20 FF 00 C0 49 76 39 38 -01 29 00 D4 01 D5 20 FF 01 C0 49 76 39 38 01 29 00 D4 08 D5 20 FF 02 C0 -49 76 39 38 01 29 02 D4 00 D5 20 FF 03 F0 49 76 39 38 01 D1 A1 92 49 76 -72 40 A9 A8 21 61 F4 92 02 52 04 61 40 8F 00 08 03 6F 40 8F 00 04 C4 88 -42 C2 E4 C4 AB 28 FF FF AA 28 FF 1F 1F 76 40 03 44 C2 46 A9 AB A0 AB 1A -01 00 AA 1A 00 80 A9 5D 48 A9 FC 93 01 D4 49 97 00 06 49 76 15 18 01 D9 -A1 92 20 52 D8 69 20 FF E8 03 0E D5 09 8F 43 39 49 76 62 3E AD 08 56 FC -BE 86 BE 8B 06 00 00 D5 BD A0 BD A0 BD A0 BD A0 BD A0 BD A0 4F 80 A7 F3 -02 29 5E 56 5E 56 02 63 58 56 A9 8A A5 A9 52 A3 50 06 02 63 58 56 4A 1E -4C A9 A4 0F 03 60 A9 A9 A5 0F 0F 61 13 66 4A 06 13 61 AB A0 A9 A8 49 76 -21 14 42 06 44 A3 A7 4F 02 6C 58 56 8C FE 06 00 AB 28 01 00 AA 2B 00 02 -F7 6F 33 56 F8 6F 00 02 AB A8 1F F6 17 56 4C 00 A4 A9 AB A0 1F F6 17 56 -4C 00 A9 A8 E9 6F 00 D5 BD A0 BD A0 BD A0 BD A0 BD A0 BD A0 A8 80 02 29 -5E 56 5E 56 02 63 58 56 A9 8A A5 A9 52 A3 50 06 02 63 58 56 4A 1E 4C A9 -A4 0F 03 60 A9 A9 A5 0F 12 61 0E 66 4A 06 12 61 AB A0 A9 A8 49 76 21 14 -46 06 48 A3 A7 4F 02 6C 58 56 8C FE 06 00 A9 A8 AB A0 F9 6F 33 56 8C FE -06 00 00 02 AB A8 1F F6 17 56 4C 00 AB A0 1F F6 17 56 4C 00 5A FF 00 02 -EA 6F 00 D5 BD A0 BD A0 BD A0 BD A0 BD A0 BD A0 A9 8A A5 A9 50 0F 03 60 -A9 A9 52 0F 0F 61 13 68 50 06 13 61 50 06 4A 1E 52 06 4C 1E A9 A8 49 76 -21 14 42 06 44 A3 8C FE 06 00 AB 28 01 00 AA 2B 00 02 FA 6F 33 56 F8 6F -00 02 AB A8 1F F6 17 56 52 00 A4 A9 AB A0 1F F6 17 56 52 00 A9 A8 EC 6F -00 D5 BD A0 BD A0 BD A0 BD A0 BD A0 BD A0 A9 8A A5 A9 50 0F 03 60 A9 A9 -52 0F 11 61 0E 68 50 06 10 61 50 06 4A 1E 52 06 4C 1E A9 A8 49 76 21 14 -46 06 48 A3 8C FE 06 00 A9 A8 FD 6F 33 56 FB 6F 00 02 AB A8 1F F6 17 56 -52 00 AB A0 1F F6 17 56 52 00 5A FF 00 02 EF 6F 3F D0 5E 56 5E 56 0E 64 -35 56 52 56 A5 21 35 56 52 56 A8 22 A0 93 AC 9F A5 9F A0 97 A8 2A A0 56 -81 D8 A0 56 A9 8A A5 A9 4A 06 53 FF 4A 1E 5A FF 48 06 53 FF 48 1E 4C 0F -03 60 A9 A9 4E 0F 0A 68 48 06 5D 56 4E 00 54 56 4C 00 48 1E 4A A9 08 3B -03 6F 48 06 08 29 46 06 53 FF 46 1E 44 06 53 FF 44 1E A9 A8 AB A0 08 00 -DE FF 06 00 02 FE 1F 76 1D 02 AF E2 34 00 1F 76 54 03 AF E2 36 01 A1 E5 -14 AD E1 FF E4 00 AF E2 36 01 A1 E5 14 AD 69 62 1F 76 22 02 AF E2 20 01 -10 E7 0A 00 00 77 02 E8 83 14 74 E2 D0 00 00 77 00 77 00 77 00 77 88 E6 -00 00 00 77 89 E6 00 00 00 77 00 E7 19 00 02 E8 4B 02 20 E7 52 00 08 E8 -DB 7E 50 E8 12 28 01 E8 B1 DD 00 E7 98 00 08 E8 09 5B 00 E3 26 51 AF E2 -24 00 49 76 76 2E 1F 76 1D 02 02 E8 48 02 01 E8 B1 DD AF E2 36 02 08 E8 -D8 7E 00 E7 80 00 08 E8 09 5B 00 E7 08 00 00 77 A0 E5 14 AD 17 63 1F 76 -54 03 AF E2 36 01 94 E6 08 00 14 AD 18 65 1F 76 22 02 01 E8 18 E1 AF E2 -26 01 0E E8 50 B8 10 E7 40 00 00 77 03 E2 26 00 0A 6F 1F 76 22 02 AF E2 -20 00 AF E8 00 E0 00 77 03 E2 20 00 1F 76 22 02 AF E2 20 00 16 E8 A0 1D -14 AD E2 FF 82 00 67 6F 1F 76 22 02 AF E2 20 01 10 E7 0A 00 00 77 02 E8 -83 14 74 E2 D0 00 00 77 00 77 00 77 00 77 88 E6 00 00 00 77 89 E6 00 00 -00 77 00 E7 19 00 02 E8 4B 02 20 E7 52 00 08 E8 DB 7E 50 E8 12 28 01 E8 -B1 DD 00 E7 98 00 08 E8 09 5B 00 E3 26 51 AF E2 24 00 49 76 76 2E 1F 76 -1D 02 02 E8 48 02 01 E8 B1 DD AF E2 36 02 08 E8 D8 7E 00 E7 80 00 08 E8 -09 5B 00 E7 08 00 00 77 A0 E5 14 AD 17 65 1F 76 54 03 AF E2 36 01 94 E6 -08 00 14 AD 18 63 1F 76 22 02 01 E8 18 E1 AF E2 26 01 0E E8 50 B8 10 E7 -40 00 00 77 03 E2 26 00 0A 6F 1F 76 22 02 AF E2 20 00 8F E8 00 E0 00 77 -03 E2 20 00 1F 76 22 02 AF E2 20 00 12 E8 A0 1D 14 AD 1A 64 40 8F 80 88 -A5 8A 91 E5 20 D0 26 DC AF E2 C4 00 8F E8 00 C0 03 E2 95 01 03 E2 C4 00 -0B 6F 1F 76 0A 02 AF E2 24 00 AF E2 26 01 AF E2 28 02 49 76 E6 36 1F 76 -22 02 AF E2 26 00 82 FE 32 E8 00 02 03 E2 26 00 06 00 1E FE 48 1E 48 06 -17 61 2F FF 00 20 48 0F 13 61 20 FF 4C 03 09 8F 8A E5 49 76 51 42 0C 6F -BF 56 5D 02 1C 6F 5D 2B 1A 6F BF 56 5D 01 17 6F BF 56 5D 01 14 6F 62 C4 -A6 06 F3 61 01 8F 00 00 A9 A8 A6 0F F1 61 02 8F 00 00 A9 A8 A6 0F EE 61 -03 8F 00 00 A9 A8 A6 0F E7 61 EB 6F 5E 2B 48 06 05 60 05 8F 00 E7 48 A8 -04 6F 05 8F 40 E7 48 A8 64 06 00 9B FF 90 4A 1E AC 28 17 00 64 06 00 90 -A8 18 80 0F 22 56 4C 1E AC 28 12 00 64 06 00 90 7C 91 22 56 4E 1E 84 E2 -4E 00 84 E2 4C 01 8F E8 02 E0 8F E8 09 E0 84 E2 4A 00 00 E7 51 00 49 76 -08 21 03 E2 50 00 84 E2 4C 01 84 E2 4E 00 8F E8 0A E0 8F E8 00 E0 84 E2 -4A 01 00 E7 10 00 49 76 08 21 03 E2 52 00 AF E2 50 00 11 E8 00 FC 14 AD -10 64 02 E8 B0 24 03 E2 56 00 8A E6 00 00 00 77 00 77 A9 BF 12 0F 0C 19 -58 1E 18 02 5C 1E 29 6F AF E2 52 00 50 E8 00 00 00 77 90 E8 00 48 00 77 -03 E2 54 00 01 E8 01 FC 50 E8 00 B2 49 76 08 21 03 E2 56 00 AF E2 54 00 -AF E2 56 01 20 E7 08 00 00 77 8A E6 00 00 00 77 03 E2 58 00 AF E2 54 00 -8A E6 00 00 00 77 00 77 A9 BF 12 0F 30 FF 5C 1E AF E2 56 00 AF E2 50 01 -00 E7 08 00 00 77 8A E6 00 00 00 77 03 E2 5A 00 05 8F 00 E7 A9 A8 48 0F -05 60 15 9A 49 76 BF 3E 05 6F A9 28 15 01 49 76 BF 3E 48 06 49 76 44 3F -48 06 49 76 2F 3F 48 06 49 76 D7 3F 48 06 49 76 59 3F 48 06 49 76 ED 3E -5D 5C 48 06 49 76 CD 3B 5E 5C 48 06 49 76 EB 3B 58 06 42 1E 5C 06 44 1E -5A 06 46 1E 48 06 49 76 F1 25 00 8F 00 0A 48 06 49 76 5E 3A 48 06 49 76 -EB 3F 14 02 48 07 A9 8A C4 92 03 90 FB 61 14 02 48 07 A9 8A 00 BE 00 9A -C4 93 03 91 02 53 02 60 01 9A 00 52 02 61 01 BE A6 92 9E FE 06 00 06 FE -22 76 A9 F5 00 35 A9 18 EF FF A9 F4 00 35 00 02 80 76 1A 63 40 8F 2C 27 -00 8F 4D 03 A9 BD 2C 34 A9 BD 2E 34 A9 BD 30 34 A9 BD 32 34 0E 9A 55 9B -A9 BD 34 34 00 02 A9 BD 36 34 A9 BD 38 34 A9 BD 3A 34 A9 BD 40 34 A9 BD -42 34 A9 BD 44 34 A9 BD 46 34 A9 BD 48 34 A9 BD 4A 34 A9 BD 4C 34 A9 BD -4E 34 A6 BD 12 34 A5 BD 14 34 A4 BD 16 34 11 02 00 8F 88 88 A9 BD 18 34 -A9 28 20 FF A8 28 A8 A8 A9 BD 20 34 A4 BD 22 34 40 8F 78 01 00 8F 41 01 -A5 BD 0C 34 A4 BD 0E 34 00 BE 00 02 00 8F FA 50 A6 BD 0A 34 A9 BD 10 34 -FA 02 A9 BD 24 34 A9 28 AA AA A4 BD 26 34 AA 9B 40 8F 20 01 00 8F 08 01 -A6 BD 28 34 A9 BD 1C 34 C9 02 A6 BD 1E 34 20 BE A5 BD 02 34 A6 BD 08 34 -A9 BD 06 34 00 02 A4 BD 04 34 A9 BD 2A 34 1A 76 00 B6 00 BE 2A 02 00 D4 -42 C3 44 C2 46 1E 20 FF 00 34 49 76 85 2B 17 B6 17 BE 2F 02 01 D4 42 C3 -44 C2 46 1E 20 FF 00 34 49 76 85 2B 00 B6 00 BE 00 02 02 D4 42 C3 44 C2 -46 1E 20 FF 00 34 49 76 85 2B 22 76 00 02 00 8F 37 03 00 BE A9 BD 3E 34 -A4 BD 3C 34 0C 02 A9 BD 02 35 A6 BD 04 35 A9 BF 00 35 01 50 A9 BD 00 35 -0D 02 A9 BD 02 35 A6 BD 04 35 A9 BF 00 35 01 50 A9 BD 00 35 0E 02 A9 BD -02 35 A6 BD 04 35 A9 BF 00 35 01 50 A9 BD 00 35 0F 02 A9 BD 02 35 A6 BD -04 35 A9 BF 00 35 01 50 A9 BD 00 35 1A 76 00 8F 56 83 00 BE 84 80 22 76 -A6 0E 20 09 A9 BD 02 35 A7 BD 04 35 A9 BF 00 35 01 50 A9 BD 00 35 1A 76 -A6 92 01 9C A9 88 1F 52 EE 69 86 FE 06 00 BD B2 03 E2 BD 04 03 E2 BD 05 -03 E2 BD 06 02 FE 00 BE A6 92 49 76 38 31 01 DE A6 92 06 52 FA 69 1F 76 -51 03 3E 92 01 52 10 61 10 D0 00 8F C0 D4 90 E5 12 D1 91 E5 96 E5 03 E2 -94 00 14 D0 03 E2 9C 01 03 E2 94 06 11 6F 0A D0 40 8F 80 87 00 8F C0 D4 -95 06 10 D0 94 1E 18 D0 95 06 12 D0 94 1E 26 D0 95 06 14 D0 94 1E A4 83 -02 BE 1E DC 10 DD 0C B5 A6 00 AF E2 85 00 AF E2 C4 02 95 E6 00 00 CF E6 -01 00 96 E6 11 00 03 E2 84 01 02 E8 D9 12 0C E8 D1 CC 94 E6 08 00 14 AD -04 64 02 9A 49 76 91 3E 10 D0 00 8F C0 D4 40 8F 80 87 02 E8 48 02 01 E8 -B6 DD AF E2 94 03 1F 76 1D 02 34 D0 0C D1 95 06 0A D0 08 E8 D8 7E 08 E8 -0E 5B 94 1E 16 E3 38 D9 5E D0 95 C5 42 D0 95 C4 50 D0 95 06 C4 C3 46 D0 -9C C2 94 83 12 D0 02 E3 94 2A 14 D0 0B E3 94 81 0E D0 14 E0 D4 60 94 1E -16 D0 28 E3 D4 DE 22 E3 C5 91 06 E3 D5 48 71 E2 33 00 04 E0 94 01 A4 83 -18 D0 71 E2 31 00 78 E2 1B 00 03 E2 94 00 16 D0 79 E2 09 00 AF E2 94 00 -18 D0 AF E2 94 02 48 D0 94 C5 48 D0 94 C4 48 D0 95 8E 03 E2 D7 01 03 E2 -C0 03 48 D0 AF E2 C6 03 94 C4 1A D1 48 D0 95 83 04 E3 D6 D9 00 E7 09 00 -1C D0 16 E3 C5 4D 01 E3 D5 44 05 E3 36 33 02 E8 4A 02 50 E8 1C 28 08 E8 -DA 7E 20 E7 30 00 02 E8 4E 02 00 E7 15 01 08 E8 DE 7E 00 E7 F4 00 01 E8 -B6 DD 01 E8 B3 DD 08 E8 0E 5B 08 E8 0B 5B 09 E0 9C 91 0A E0 94 D8 03 E2 -E4 02 03 E2 F4 03 82 FE AF E2 BE 06 AF E2 BE 05 AF E2 BE 04 BE 8B 06 00 -0C FE 4C 7D 4B 7C 42 1E 00 02 44 1E 46 1E 48 1E 4A 1E 42 06 49 76 B8 40 -00 52 07 60 20 FF 0B 01 09 8F BC E6 49 76 51 42 20 02 50 0F 03 68 50 06 -07 60 20 FF 0C 01 09 8F BC E6 49 76 51 42 57 92 08 52 07 69 20 FF 0D 01 -09 8F BC E6 49 76 51 42 01 29 20 FF 00 01 42 07 A9 83 C5 CC 00 80 A9 88 -20 FF 00 80 A6 0F F6 61 0F 6F 2F FF 00 40 48 1E 10 6F 2F FF 00 40 48 1E -00 8F 00 12 4A A8 09 6F 00 02 48 1E 06 6F 4C 92 F1 61 03 52 F3 61 F9 6F -4B 92 01 52 14 60 01 BE 56 06 00 9B 01 90 A6 0F 05 60 54 06 A8 18 FF 1F -46 1E 52 06 A8 18 FF 1F 48 CA 47 CB A8 1A 00 C0 48 1E 1B 6F 01 BE 56 06 -00 9B 01 90 A6 0F 09 60 54 06 AC 28 12 00 3B 56 00 90 A8 18 FC 1F 46 1E -52 06 AC 28 12 00 3B 56 A8 18 FC 1F 00 90 47 CB 48 CA A8 1A 00 80 48 1E -56 06 00 90 A8 18 00 80 46 98 45 99 56 06 00 90 A8 18 00 40 46 98 45 99 -56 A3 AA 18 00 40 56 06 AB 18 00 00 00 9B 01 90 AA CB AB CA 56 A3 AB 18 -00 00 AA 18 00 80 AB CA AA CB 58 FF 03 61 4A 1A 00 10 4C 92 03 61 03 52 -05 60 0F 02 57 89 4A 98 49 99 56 06 A9 41 03 6D 4A 1A 80 00 A9 18 00 08 -00 91 4A 98 49 99 56 06 A9 18 00 04 00 91 4A 98 49 99 43 1A 20 00 43 1A -10 00 43 1A 40 00 43 1A 80 00 46 C4 20 FF 04 01 42 07 A9 8A C4 C2 48 C4 -20 FF 08 01 42 07 A9 8A C4 C2 4A C4 20 FF 0C 01 42 07 A9 8A C4 C2 50 A3 -AA 2B AB 92 FF 90 A9 27 A9 A9 44 CA 43 CB 5A FF 20 FF 00 01 42 07 A9 8A -C4 A9 8C FE 06 00 22 76 01 02 05 8F 22 D3 C4 98 CC 99 04 02 C4 98 CC 99 -08 02 C4 98 CC 99 10 02 C4 98 CC 99 20 02 C4 98 CC 99 C4 06 A9 1A 00 20 -C4 1E C4 06 A9 1A 00 40 C4 1E C4 06 01 51 C4 1E C4 06 04 51 C4 1E C4 06 -A8 1A 00 01 C4 1E 01 02 05 8F 26 D3 C4 98 CC 99 02 02 C4 98 CC 99 04 02 -C4 98 CC 99 08 02 C4 98 CC 99 10 02 C4 98 CC 99 20 02 C4 98 CC 99 40 02 -C4 98 CC 99 80 02 C4 98 CC 99 01 02 05 8F 28 D3 C4 98 CC 99 02 02 C4 98 -CC 99 04 02 C4 98 CC 99 01 02 05 8F 2A D3 C4 98 CC 99 02 02 C4 98 CC 99 -01 02 05 8F 2E D3 C4 98 CC 99 02 02 C4 98 CC 99 01 02 05 8F 30 D3 C4 98 -CC 99 02 02 C4 98 CC 99 01 02 05 8F 32 D3 C4 98 CC 99 02 02 C4 98 CC 99 -01 02 05 8F 34 D3 C4 98 CC 99 02 02 C4 98 CC 99 01 02 05 8F 36 D3 C4 98 -CC 99 10 02 C4 98 CC 99 01 02 05 8F 3C D3 C4 98 CC 99 02 02 C4 98 CC 99 -04 02 C4 98 CC 99 01 02 05 8F 3E D3 C4 98 CC 99 02 02 C4 98 CC 99 04 02 -C4 98 CC 99 08 02 C4 98 CC 99 05 8F 42 D3 C4 06 01 51 C4 1E C4 06 02 51 -C4 1E 01 02 05 8F 44 D3 C4 98 CC 99 02 02 C4 98 CC 99 04 02 C4 98 CC 99 -08 02 C4 98 CC 99 01 02 05 8F 46 D3 C4 98 CC 99 02 02 C4 98 CC 99 01 02 -05 8F 48 D3 C4 98 CC 99 02 02 C4 98 CC 99 01 02 05 8F 4A D3 C4 98 CC 99 -05 8F 4C D3 C4 98 CC 99 02 02 C4 98 CC 99 01 02 05 8F 54 D3 C4 98 CC 99 -05 8F 56 D3 C4 98 CC 99 05 8F 58 D3 C4 98 CC 99 1A 76 06 00 06 FE 22 76 -A9 F5 00 31 A9 18 EF FF A9 F4 00 31 00 02 00 31 00 B6 00 BE 40 8F 78 01 -A9 BD 2C 30 00 8F 41 01 A9 BD 2E 30 A9 BD 30 30 A9 BD 32 30 0E 9A 55 9B -A9 BD 34 30 00 02 A9 BD 36 30 A9 BD 38 30 A9 BD 3A 30 A9 BD 40 30 A9 BD -42 30 A9 BD 44 30 A9 BD 46 30 A9 BD 48 30 A9 BD 4A 30 A9 BD 4C 30 A9 BD -4E 30 AB BD 12 30 A7 BD 14 30 A6 BD 16 30 A9 BD 18 30 A6 BD 20 30 A9 BD -22 30 A5 BD 0C 30 A4 BD 0E 30 00 8F FA 50 A6 BD 0A 30 A9 BD 10 30 FA 02 -A9 BD 24 30 A9 28 AA AA A4 BD 26 30 AA 9B 40 8F 20 01 00 8F 08 01 A6 BD -28 30 A9 BD 1C 30 C9 02 A6 BD 1E 30 20 BE A5 BD 02 30 A6 BD 08 30 A9 BD -06 30 00 02 A4 BD 04 30 A9 BD 2A 30 1A 76 00 BE 33 02 42 C3 00 D4 44 C2 -46 1E 20 FF 00 30 49 76 85 2B 17 B6 17 BE 2F 02 01 D4 42 C3 44 C2 46 1E -20 FF 00 30 49 76 85 2B 00 B6 00 BE 00 02 02 D4 42 C3 44 C2 46 1E 20 FF -00 30 49 76 85 2B 22 76 00 02 00 BE A9 BD 3E 30 A9 BD 3C 30 0C 02 A9 BD -02 31 A6 BD 04 31 A9 BF 00 31 01 50 A9 BD 00 31 0D 02 A9 BD 02 31 A6 BD -04 31 A9 BF 00 31 01 50 A9 BD 00 31 0E 02 A9 BD 02 31 A6 BD 04 31 A9 BF -00 31 01 50 A9 BD 00 31 0F 02 A9 BD 02 31 A6 BD 04 31 A9 BF 00 31 01 50 -A9 BD 00 31 1A 76 00 8F 84 82 00 BE 84 80 22 76 A6 0E 20 09 A9 BD 02 31 -A7 BD 04 31 A9 BF 00 31 01 50 A9 BD 00 31 1A 76 A6 92 01 9C A9 88 1F 52 -EE 69 86 FE 06 00 1F 76 22 02 2A 42 BD B2 06 6C 00 9A 00 8F 2A D5 49 76 -FC 41 40 8D 2A D5 A1 8A 49 76 54 42 04 52 0E 62 04 52 22 61 00 52 E1 FF -A0 00 01 52 7D 61 02 52 63 61 03 52 2B 61 EF FF AD 00 05 52 11 61 06 52 -E1 FF 8B 00 07 52 E0 FF A5 00 28 06 E0 FF A2 00 1F 76 50 03 01 02 12 2B -A9 BD 0A 7F 7B 6F 28 06 61 60 EF FF 97 00 00 8F A8 88 C4 06 5B 60 D4 44 -EC FF 90 00 49 76 83 3F 1F 76 50 03 01 02 A9 BD 0A 7F 12 2B 05 9A EF FF -82 00 28 06 4B 60 1F 76 1D 02 2E 92 08 60 49 76 83 3F 1F 76 50 03 BF 56 -0C 01 13 6F 49 76 8F 3B 02 02 2A 98 1F 76 1D 02 BF 56 2D 01 1F 76 50 03 -0C 2B 1F 76 1D 02 03 E2 32 00 1F 76 22 02 2B 99 1F 76 22 02 2A 06 A9 40 -60 6C 2A 41 5E 6C 1F 76 0A 02 2F FF 00 02 AF E2 24 00 AF E2 26 01 AF E2 -28 02 A9 BD 04 7F 49 76 E6 36 04 9A 4B 6F 00 8F A8 88 C4 06 10 60 D4 06 -A9 40 0B 6D 1F 76 51 03 12 92 43 60 49 76 83 3F 02 9A 49 76 D8 40 3D 6F -03 9A 38 6F 1F 76 51 03 12 2B 06 9A 33 6F 28 06 04 61 01 02 28 0F FA 60 -2A 43 0D 6D 1F 76 51 03 3E 92 01 52 03 60 49 76 7C 25 1F 76 22 02 00 92 -04 52 23 60 49 76 30 3B A1 8A 02 9A 1C 6F 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30 D4 C9 76 CC E3 05 BE 0B F6 84 24 09 B5 A6 00 AD 5C -A4 08 36 FF A5 8E A4 80 0C DD 0B F6 80 24 00 77 AD 08 30 FF BE 86 06 00 -02 FE 42 1E 49 76 B8 40 00 52 06 60 09 8F BC E6 D1 02 49 76 51 42 01 29 -20 FF 00 80 46 0F 0B 61 46 06 04 61 20 02 46 0F 06 67 09 8F BC E6 D3 02 -49 76 51 42 00 8F 00 80 A9 A8 46 0F 04 60 42 8A E4 92 23 6F 20 FF 00 01 -42 07 A9 83 C5 CC 00 80 A9 88 A9 A8 A6 0F F7 61 46 A3 AB 92 FF 90 A9 27 -20 FF 00 01 42 07 A9 8A AA 2B AA 1A 08 00 C4 A9 01 29 20 FF 00 01 42 07 -A9 83 C5 CC 00 80 A9 88 20 FF 00 80 A6 0F F6 61 82 FE 06 00 04 FE 43 2B -00 02 42 1E 44 2B 20 FF D0 07 40 76 99 86 45 8F 30 D2 20 FF FF 01 C5 0F -0A 67 05 8F 30 D2 C4 06 01 51 C4 1E 20 FF FF 01 C5 0F FA 68 05 8F 30 D2 -A9 28 FF 07 C4 54 14 61 01 02 42 07 42 1E 26 8F A0 25 A9 A8 42 0F 06 67 -43 92 03 52 09 60 44 2B 07 6F 05 8F 30 D2 A9 28 FF 07 C4 54 EE 60 43 92 -03 52 09 60 05 8F 30 D2 A9 28 FF 07 C4 54 03 60 BF 56 44 01 43 0A 00 02 -42 1E 43 92 04 52 CA 68 44 92 84 FE 06 00 1B 76 F0 FF 05 00 BD AB BD 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28 41 00 9A 00 D4 49 76 -96 40 01 9A 49 76 96 40 02 9A 49 76 96 40 03 9A 49 76 96 40 04 D5 20 FF -20 4E 09 8F 78 35 49 76 62 3E 01 29 05 D5 20 FF 50 C3 09 8F 04 25 49 76 -62 3E B0 FE 06 00 BD B2 02 FE A9 2D 00 8F 80 87 0E 9A A9 36 01 56 A4 00 -E4 58 D4 83 0C D1 AF E2 9C 00 A0 E5 95 92 14 AD 2A 56 EC 05 1B 65 A9 0E -C4 E2 EC 01 A9 BD 1E 0F 00 77 0C D0 AF E2 94 00 CF E8 02 E0 8B E6 1B 00 -00 E7 40 00 00 E7 99 00 00 77 10 E7 40 00 00 77 8E E6 00 00 00 77 13 E2 -EC 00 08 D0 C4 E2 EC 00 AF E2 94 01 00 E3 F4 43 0A D0 10 E7 C0 00 82 FE -03 E2 94 00 BE 8B 06 00 1B 76 F0 FF 05 00 BD AB BD A8 BD A0 BD C2 BD C3 -00 E2 BD 00 03 E2 BD 00 03 E2 BD 01 03 E2 BD 02 03 E2 BD 03 30 E6 00 06 -69 FF 42 29 16 56 01 9A A9 F4 E1 0C 49 76 A8 3E 1F 76 51 03 3E 92 01 52 -09 60 92 D0 00 8F C0 D3 94 92 B0 56 A0 90 B0 56 94 01 AF E2 BE 03 AF E2 -BE 02 AF E2 BE 01 AF E2 BE 00 80 E2 BE 00 BE C5 BE C4 BE 83 BE 8A BE 87 -03 00 30 3B F1 FF 17 76 02 76 49 76 6D 41 26 76 00 00 2F 76 00 00 00 9A -A9 F4 E2 0C A9 F4 E4 0C A9 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00 D4 15 02 49 76 48 27 82 FE 06 00 24 FE AD 5C 92 DC A4 5C C9 76 -40 EB 11 F6 84 24 AD 5C 52 96 92 DC A4 80 AD 5C 4C 28 00 40 4B 28 1C 46 -03 E2 4A 00 A4 DC 42 97 A4 5C 00 52 11 F6 84 24 0E 61 01 52 15 60 5A 28 -29 7A 59 28 3A 48 58 28 C9 C6 57 28 9A 43 BF 56 55 01 0A 6F 5A 28 E0 DA -59 28 68 49 58 28 B8 5E 57 28 35 43 55 2B 54 92 49 76 28 41 AD 5C A6 06 -A4 DC A4 80 03 61 11 F6 86 24 A4 FE 06 00 04 FE 42 1E 07 8F 00 80 A9 A8 -42 0F 08 66 48 06 07 8F 00 8C 30 FF 42 07 A4 0F 27 69 08 8F 00 00 A9 A8 -42 0F 08 66 48 06 0B 8F 00 00 30 FF 42 07 A4 0F 1B 69 2F FF 10 02 42 0F -0A 66 48 06 AB 28 00 60 AA 28 08 01 30 FF 42 07 AB 0F 0E 69 2C FF 71 10 -42 0F 0D 66 48 06 AB 28 80 11 AA 28 07 01 30 FF 42 07 AB 0F 04 66 BF 56 -43 01 02 6F 43 2B 43 92 84 FE 06 00 12 FE 03 E2 4E 00 AD 5D 20 FF 00 10 -4E 80 0A 8F 00 10 4D 88 50 28 FF FF 4F 28 FF FF 8C DD 52 7F 51 7E A5 5D -49 76 0E 24 00 52 13 61 06 9A 0A 8F 00 10 49 76 16 22 49 76 45 41 02 52 -FD 60 AD 5D 20 FF 00 10 0A 8F 00 10 8C DD A5 5D 49 76 0E 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62 02 52 F1 61 00 52 E9 61 01 52 EA 61 F5 6F 03 52 ED 61 -04 52 EE 61 F0 6F 44 92 07 61 20 FF 00 79 44 5C 42 5D 49 76 6D 39 84 FE -06 00 08 FE 42 1E A8 0E 1A FF 1F 00 44 1E 01 29 42 06 47 FF 00 9B FF 90 -48 1E 48 2D 03 02 3B 56 46 1E 22 76 44 8A 55 FF C4 C0 CC C1 1A 02 44 07 -A9 8A 48 2D 46 06 55 FF C4 CE CC CF A6 1E 42 06 41 FF 00 9B 03 90 3B 56 -5A FF A6 06 AB CA AA CB A6 1E 1A 02 44 07 A9 8A C4 C2 48 2D 42 06 44 8A -00 9B 03 90 3B 56 C4 98 CC 99 1A 76 88 FE 06 00 0A FE 49 7C 42 1E 49 76 -FF 3F 00 52 07 60 20 FF 24 01 09 8F 24 E6 49 76 51 42 42 06 01 29 44 FF -34 FF 30 FF 1A FF 1F 00 44 1E 42 06 00 9B 0F 90 30 FF 48 1E 42 06 00 9B -1F 90 43 FF 01 09 46 1E 22 76 48 2D 46 06 30 FF 44 07 A9 8A 03 02 3B 56 -55 FF C4 C0 CC C1 46 06 30 FF 44 07 A9 8A 48 2D 49 0E 3B 56 C4 98 CC 99 -1A 76 8A FE 06 00 1B 76 F0 FF 05 00 BD AB BD A8 BD A0 BD C2 BD C3 00 E2 -BD 00 03 E2 BD 00 03 E2 BD 01 03 E2 BD 02 03 E2 BD 03 30 E6 00 06 02 FE -69 FF 42 29 16 56 08 02 1F 76 21 02 42 1E 14 06 49 76 AE 35 20 9A 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E7 10 00 0A 6F 1F 76 53 03 -AF E2 00 00 05 6F 1F 76 4E 03 AF E2 3C 00 A8 28 00 70 49 76 42 35 01 D9 -A1 92 03 52 D1 68 BE 8B 06 00 02 FE 42 1E 49 76 4D 40 00 52 06 60 09 8F -EC E7 F9 02 49 76 51 42 46 06 A9 41 07 6C 42 8A C4 18 7F FF 42 8A C4 1A -80 00 46 06 A9 40 06 6C 02 02 42 07 A9 8A C4 1A 80 00 46 06 A9 43 06 6C -0A 02 42 07 A9 8A C4 1A 40 00 46 06 A9 42 06 6C 0B 02 42 07 A9 8A C4 1A -40 00 46 06 A9 44 06 6C 0B 02 42 07 A9 8A C4 1A 00 40 82 FE 06 00 1E FE -AD 5C 03 E2 42 00 8B DC A4 5C AD 5D C9 76 12 E0 8B DD 08 F6 84 24 4B 28 -02 B0 A5 80 AD 5C 94 DC A4 5C 08 F6 84 24 AD 5C 01 29 42 92 FF 90 94 DC -A4 80 53 96 AD 5C AD 88 AC 28 18 00 42 06 9D DC 47 FF FF 90 A4 5D 52 96 -41 92 FF 90 51 96 42 06 22 56 50 96 9D DE 00 8F 88 D3 08 F6 85 24 A6 5D -49 76 FF 3D 9E FE 06 00 02 FE 1F 76 22 02 AF E2 14 00 AF E2 16 01 AF E2 -12 02 49 76 76 2E 1F 76 22 02 AF E2 0E 00 AF E2 0C 01 94 E6 01 00 14 AD -0C 65 AF E2 12 01 94 E6 01 00 14 AD 16 64 AF E2 10 00 20 E7 08 00 0E 6F -AF E2 12 01 94 E6 01 00 14 AD 0B 62 AF E2 12 00 AF E2 10 01 10 E7 40 00 -00 77 03 E2 12 00 04 6F 18 2B BF 56 19 01 82 FE 06 00 CF E6 02 00 02 E8 -99 12 01 E8 A8 FD 1F 76 54 03 95 E6 12 00 09 E8 A1 99 08 E8 98 27 00 9A -97 E6 0A 00 00 E7 80 00 03 E2 20 02 CF E6 01 00 03 E2 22 00 AF E6 09 00 -49 76 7E 1D 1F 76 54 03 01 9A AF E2 22 00 CF E6 01 00 AF E6 09 00 49 76 -7E 1D 1F 76 54 03 02 9A AF E2 22 00 CF E6 01 00 AF E6 09 00 49 76 7E 1D -06 00 0C FE 48 1E 46 A8 4B 2B 46 06 4A 1E 05 8F 00 F8 44 A8 44 06 4A 0F -04 61 4A A8 4B 28 04 02 48 92 1F 76 1D 02 3F 96 4A 06 3A 1E 4A 8A C4 CC -00 0F C7 FF 3E 96 00 8F 00 02 A9 A8 4A 07 A9 8A C4 92 C3 FF A9 CC C0 01 -C2 FF 3C 96 00 8F 00 02 A9 A8 4A 07 A9 8A C4 CC 80 03 C3 FF C2 FF 3D 96 -4B 92 8C FE 06 00 02 FE 1F 76 54 03 3F 92 2C 61 1F 76 51 03 3E 92 28 61 -00 8F 2A D5 49 76 54 42 02 52 22 60 80 76 80 87 00 B6 A7 92 49 76 38 31 -0A D0 AF E2 96 01 CF E6 08 00 95 E6 00 00 11 E8 00 FC 14 AD 11 63 01 DF -AF E2 F6 00 A7 92 20 E7 40 00 02 52 03 E2 F6 00 0E DE E8 69 01 02 1F 76 -22 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60 20 FF 94 01 09 8F -A2 E4 49 76 51 42 22 76 20 FF 80 01 42 07 A9 8A C4 06 A9 18 FE FF C4 1E -1A 76 82 FE 06 00 02 FE 42 1E 49 76 E8 40 00 52 07 60 20 FF B2 01 09 8F -A2 E4 49 76 51 42 22 76 20 FF 80 01 42 07 A9 8A 02 02 C4 98 CC 99 1A 76 -82 FE 06 00 02 FE 42 1E 49 76 E8 40 00 52 07 60 20 FF 76 01 09 8F A2 E4 -49 76 51 42 22 76 20 FF 80 01 42 07 A9 8A 01 02 C4 98 CC 99 1A 76 82 FE -06 00 02 FE 42 1E 49 76 F8 40 00 52 07 60 20 FF EE 01 09 8F A2 E4 49 76 -51 42 22 76 42 8A C4 06 A9 18 F0 FF 0A 50 C4 1E 1A 76 82 FE 06 00 22 76 -17 FF 03 00 A9 8A C4 06 A9 18 FE FF C4 1E 1A 76 07 F6 00 77 69 FF 06 00 -22 76 17 FF 03 00 A9 8A 01 02 C4 98 CC 99 1A 76 07 F6 00 77 69 FF 06 00 -01 19 C3 56 FF FF 06 00 -25 00 09 00 60 42 22 E3 C4 11 A0 28 0A 00 04 E3 D4 41 AF E2 94 03 00 E7 -8A 00 AF E2 E4 01 00 E7 D2 00 00 77 10 E7 8B 00 A0 28 08 00 16 E0 E4 03 -91 E5 8F E8 0A E0 AF E2 F4 03 9D E6 98 02 AF E2 94 03 9C E6 98 02 A0 28 -0A 00 03 E2 94 02 06 00 -00 00 - \ No newline at end of file diff --git a/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_driver.cpp b/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_driver.cpp index bd3b284..c8b3c88 100644 --- a/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_driver.cpp +++ b/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_driver.cpp @@ -541,7 +541,7 @@ void LynxMotorDriver::send(const uint32_t id, const DataT value) std::copy(std::begin(data), std::end(data), std::begin(frame.data)); // Send frame to CAN interface - can_interface_->queue(frame); + can_interface_->send(frame); } /** @@ -558,7 +558,7 @@ void LynxMotorDriver::send(const uint32_t id) frame.is_extended = true; // Send frame to CAN interface - can_interface_->queue(frame); + can_interface_->send(frame); } /** @@ -589,7 +589,7 @@ void LynxMotorDriver::send(const uint32_t id, uint8_t * data, uint8_t length) std::copy(std::begin(buffer), std::end(buffer), std::begin(frame.data)); // Send frame to CAN interface - can_interface_->queue(frame); + can_interface_->send(frame); } /** diff --git a/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_node.cpp b/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_node.cpp index 158d3b4..ee7af86 100644 --- a/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_node.cpp +++ b/clearpath_motor_drivers/lynx_motor_driver/src/lynx_motor_node.cpp @@ -93,9 +93,6 @@ LynxMotorNode::LynxMotorNode(const std::string node_name) : can_bus_, node_handle_, std::bind(&LynxMotorNode::canRxCallback, this, std::placeholders::_1))); - - // Send every 1ms - can_interface_->startSendTimer(1); // Initialise drivers for (uint8_t i = 0; i < joint_names_.size(); i++) diff --git a/clearpath_motor_drivers/lynx_motor_driver/src/update_action.cpp b/clearpath_motor_drivers/lynx_motor_driver/src/update_action.cpp index 3ac1635..ed89d1a 100644 --- a/clearpath_motor_drivers/lynx_motor_driver/src/update_action.cpp +++ b/clearpath_motor_drivers/lynx_motor_driver/src/update_action.cpp @@ -28,6 +28,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI #include #include #include +#include // Binary files will have 15 reserved bytes that should be ignored static constexpr uint8_t BINARY_FILE_RESERVED_BYTE_START_INDEX = 3; @@ -108,8 +109,25 @@ rclcpp_action::GoalResponse LynxMotorNode::handleUpdateGoal( // Find default binary in lynx_motor_driver package std::filesystem::path dir(ament_index_cpp::get_package_share_directory("lynx_motor_driver")); std::filesystem::path folder("bin"); - std::filesystem::path file("lynx_firmware-release.txt"); + std::filesystem::path file("lynx_firmware-release-*.txt"); filename = dir / folder / file; + + // Find file name from wildcard + glob_t globResult; + int globStatus = glob(filename.c_str(), 0, nullptr, &globResult); + + if (globStatus == 0) + { + // Use first file + filename = std::string(globResult.gl_pathv[0]); + globfree(&globResult); + } + else + { + // Can't find default binary + RCLCPP_ERROR(this->get_logger(), "Default binary file not found"); + return rclcpp_action::GoalResponse::REJECT; + } } app = readBinaryFile(filename); diff --git a/clearpath_robot/scripts/install b/clearpath_robot/scripts/install index 20e22cf..b4d9ef7 100755 --- a/clearpath_robot/scripts/install +++ b/clearpath_robot/scripts/install @@ -27,6 +27,7 @@ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. +import pwd import robot_upstart from clearpath_config.clearpath_config import ClearpathConfig @@ -263,6 +264,23 @@ manipulators_service_launch = os.path.join( setup_path, 'manipulators/launch/manipulators-service.launch.py') +# Read YAML +config = read_yaml(config_path) +# Parse YAML into config +clearpath_config = ClearpathConfig(config) +rmw = clearpath_config.system.middleware.rmw_implementation +domain_id = clearpath_config.system.domain_id + +# Check that user exists +try: + pwd.getpwnam(clearpath_config.system.username) +except: + print( + f'Error. User "{clearpath_config.system.username}" does not exist.\n' + f'Modify the "robot.yaml" system.username entry to match an existing user.' + ) + exit(1) + # Create Dummy Launch if not os.path.isfile(platform_service_launch): os.makedirs(os.path.dirname(platform_service_launch), exist_ok=True) @@ -274,13 +292,6 @@ if not os.path.isfile(manipulators_service_launch): os.makedirs(os.path.dirname(manipulators_service_launch), exist_ok=True) open(manipulators_service_launch, 'w+').close() -# Read YAML -config = read_yaml(config_path) -# Parse YAML into config -clearpath_config = ClearpathConfig(config) -rmw = clearpath_config.system.middleware.rmw_implementation -domain_id = clearpath_config.system.domain_id - # Platform platform = robot_upstart.Job( name='clearpath-platform', diff --git a/clearpath_sensors/config/imu_filter.yaml b/clearpath_sensors/config/imu_filter.yaml index c2aed31..34fbed6 100644 --- a/clearpath_sensors/config/imu_filter.yaml +++ b/clearpath_sensors/config/imu_filter.yaml @@ -1,4 +1,4 @@ -imu_filter_node: +imu_filter_madgwick: ros__parameters: use_sim_time: False stateless: false diff --git a/clearpath_sensors/launch/axis_camera.launch.py b/clearpath_sensors/launch/axis_camera.launch.py index 8a9782b..7e0d7f1 100644 --- a/clearpath_sensors/launch/axis_camera.launch.py +++ b/clearpath_sensors/launch/axis_camera.launch.py @@ -64,7 +64,8 @@ def generate_launch_description(): parameters=[parameters], output='screen', remappings=[ - ('image_raw/compressed', 'image/compressed'), + ('image_raw/compressed', 'color/image/compressed'), + ('camera_info', 'color/camera_info'), ('joint_states', PathJoinSubstitution(['/', robot_namespace, 'platform', 'joint_states'])), ] diff --git a/clearpath_sensors/launch/imu_filter.launch.py b/clearpath_sensors/launch/imu_filter.launch.py new file mode 100644 index 0000000..c56dfc4 --- /dev/null +++ b/clearpath_sensors/launch/imu_filter.launch.py @@ -0,0 +1,138 @@ +# Software License Agreement (BSD) +# +# @author Luis Camero +# @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 launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import ( + EqualsSubstitution, + LaunchConfiguration, + NotEqualsSubstitution, + PathJoinSubstitution, + PythonExpression +) +from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes +from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + parameters = LaunchConfiguration('parameters') + namespace = LaunchConfiguration('namespace') + container = LaunchConfiguration('container') + imu_filter = LaunchConfiguration('filter') + input_mag = LaunchConfiguration('input_mag') + input_raw = LaunchConfiguration('input_raw') + output = LaunchConfiguration('output') + + arg_parameters = DeclareLaunchArgument( + 'parameters', + default_value=PathJoinSubstitution([ + FindPackageShare('clearpath_sensors'), + 'config', + 'imu_filter.yaml' + ]) + ) + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='sensors/imu_0' + ) + + arg_container = DeclareLaunchArgument( + 'container', + default_value='' + ) + + arg_filter = DeclareLaunchArgument( + 'filter', + choices=['none', 'madgwick'], + default_value='none' + ) + + arg_input_mag = DeclareLaunchArgument( + 'input_mag', + default_value='mag', + ) + + arg_input_raw = DeclareLaunchArgument( + 'input_raw', + default_value='data_raw' + ) + + arg_output = DeclareLaunchArgument( + 'output', + default_value='data' + ) + + # Filters + composable_nodes = [ + ComposableNode( + package='imu_filter_madgwick', + plugin='ImuFilterMadgwickRos', + name='imu_filter_madgwick', + namespace=namespace, + parameters=[parameters], + condition=IfCondition(EqualsSubstitution(imu_filter, 'madgwick')), + remappings=[ + ('imu/data', output), + ('imu/data_raw', input_raw), + ('imu/mag', input_mag), + ('/tf', 'tf') + ] + ) + ] + + # Create container + imu_filter_container = ComposableNodeContainer( + condition=IfCondition(EqualsSubstitution(container, '')), + name='imu_filter_container', + namespace=namespace, + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=composable_nodes, + output='screen' + ) + + # Use container launched by IMU + load_composable_nodes = LoadComposableNodes( + condition=IfCondition(NotEqualsSubstitution(container, '')), + composable_node_descriptions=composable_nodes, + target_container=PythonExpression(["'", namespace, '/', container, "'"]) + ) + + ld = LaunchDescription() + ld.add_action(arg_parameters) + ld.add_action(arg_namespace) + ld.add_action(arg_container) + ld.add_action(arg_filter) + ld.add_action(arg_input_mag) + ld.add_action(arg_input_raw) + ld.add_action(arg_output) + ld.add_action(imu_filter_container) + ld.add_action(load_composable_nodes) + return ld diff --git a/clearpath_sensors/launch/phidgets_spatial.launch.py b/clearpath_sensors/launch/phidgets_spatial.launch.py index 64fc657..e3d295d 100644 --- a/clearpath_sensors/launch/phidgets_spatial.launch.py +++ b/clearpath_sensors/launch/phidgets_spatial.launch.py @@ -63,8 +63,8 @@ def generate_launch_description(): ] ) - imu_processing_container = ComposableNodeContainer( - name='imu_processing_container', + imu_filter_container = ComposableNodeContainer( + name='imu_filter_container', namespace=namespace, package='rclcpp_components', executable='component_container', @@ -77,5 +77,5 @@ def generate_launch_description(): ld = LaunchDescription() ld.add_action(arg_namespace) ld.add_action(arg_parameters) - ld.add_action(imu_processing_container) + ld.add_action(imu_filter_container) return ld