Temporary fix for Lizard issue 66 (#213)

We still notice issues with
zauberzeug/lizard#66 (`Unknown Property
"level"` and `Unknown Property "active"`) until then setting them to 0
and false on p0 helps.

Depends on zauberzeug/rosys#216

field_friend/hardware/safety.py

@@ -82,23 +82,22 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
         elif isinstance(flashlight, FlashlightHardwareV2):
             lizard_code += f' {flashlight.name}_front.off(); {flashlight.name}_back.off();'
         if mower is not None:
-            lizard_code += f' m0.off();'
+            lizard_code += ' m0.off();'
         lizard_code += 'end\n'
         # implement stop call for estops and bumpers
         for name in estop.pins:
             lizard_code += f'when estop_{name}.level == 0 then stop(); end\n'
         if isinstance(bumper, rosys.hardware.BumperHardware):
             for name in bumper.pins:
-                # TODO: remove level = 0 when lizard issue 66 is fixed. https://github.com/zauberzeug/lizard/issues/66
-                lizard_code += f'bumper_{name}.level = 0\n'
                 lizard_code += f'when bumper_{name}.level == 1 then stop(); end\n'
 
         # implement stop call for "ground check" reference sensors
         if isinstance(y_axis, ChainAxisHardware):
             lizard_code += f'when {y_axis.name}_ref_t.level == 1 then {wheels.name}.speed(0, 0); end\n'
         if isinstance(z_axis, TornadoHardware):
             if isinstance(y_axis, YAxisStepperHardware) or isinstance(y_axis, YAxisCanOpenHardware):
-                lizard_code += f'when {z_axis.name}_ref_knife_ground.active == false then {wheels.name}.speed(0, 0); {y_axis.name}.stop(); end\n'
+                lizard_code += f'when {z_axis.name}_ref_knife_ground.active == false then \
+                    {wheels.name}.speed(0, 0); {y_axis.name}.stop(); end\n'
 
         # implement watchdog for rosys modules
         lizard_code += f'when core.last_message_age > 1000 then {wheels.name}.speed(0, 0); end\n'

field_friend/hardware/status_control.py

@@ -1,6 +1,7 @@
 from rosys.hardware.expander import ExpanderHardware
 from rosys.hardware.module import ModuleHardware
 from rosys.hardware.robot_brain import RobotBrain
+from rosys.helpers import remove_indentation
 
 
 class StatusControlHardware(ModuleHardware):
@@ -13,8 +14,13 @@ def __init__(self, robot_brain: RobotBrain, *,
         self.rdyp_status: bool = False
         self.vdp_status: bool = False
         self.heap: int = 0
-        lizard_code = f'rdyp_status = Input({rdyp_pin})\n'
-        lizard_code += f'vdp_status = {expander.name + "."}Input({vdp_pin})\n'
+        lizard_code = remove_indentation(f'''
+            rdyp_status = Input({rdyp_pin})
+            vdp_status = {expander.name + "."}Input({vdp_pin})
+            # TODO: remove when lizard issue 66 is fixed.
+            vdp_status.level = 0
+            vdp_status.active = false
+        ''')
         core_message_fields = [
             'rdyp_status.level',
             'vdp_status.level',

field_friend/hardware/tornado.py

@@ -138,8 +138,8 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
         self.motor_error = False
 
         lizard_code = remove_indentation(f'''
-            {name}_motor_z = {expander.name + "." if motors_on_expander and expander else ""}ODriveMotor({can.name}, {z_can_address}{', 6'if self.odrive_version == 6  else ''})
-            {name}_motor_turn = {expander.name + "." if motors_on_expander and expander else ""}ODriveMotor({can.name}, {turn_can_address}{', 6'if self.odrive_version == 6  else ''})
+            {name}_motor_z = {expander.name + "." if motors_on_expander and expander else ""}ODriveMotor({can.name}, {z_can_address}{', 6'if self.odrive_version == 6 else ''})
+            {name}_motor_turn = {expander.name + "." if motors_on_expander and expander else ""}ODriveMotor({can.name}, {turn_can_address}{', 6'if self.odrive_version == 6 else ''})
             {name}_motor_z.m_per_tick = {m_per_tick}
             {name}_motor_turn.m_per_tick = {1/12.52}
             {name}_motor_z.limits({self.speed_limit}, {self.current_limit})
@@ -158,15 +158,23 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_ref_knife_stop.inverted = false
             {name}_ref_knife_ground = {expander.name + "." if end_stops_on_expander or ref_knife_ground_pin_expander and expander else ""}Input({ref_knife_ground_pin})
             {name}_ref_knife_ground.inverted = true
-            {name}_z = {expander.name + "." if motors_on_expander and expander else ""}MotorAxis({name}_motor_z, {name + "_end_bottom" if is_z_reversed else name + "_end_top"}, {name + "_end_top" if is_z_reversed else name + "_end_bottom"})
 
-            # TODO: remove when lizard issue 66 is fixed. https://github.com/zauberzeug/lizard/issues/66
+            # TODO: remove when lizard issue 66 is fixed.
+            {name}_end_top.level = 0
+            {name}_end_top.active = false
+            {name}_end_bottom.level = 0
+            {name}_end_bottom.active = false
             {name}_ref_motor.level = 0
+            {name}_ref_motor.active = false
             {name}_ref_gear.level = 0
+            {name}_ref_gear.active = false
             {name}_ref_knife_stop.level = 0
+            {name}_ref_knife_stop.active = false
             {name}_ref_knife_ground.level = 0
             {name}_ref_knife_ground.active = false
 
+            {name}_z = {expander.name + "." if motors_on_expander and expander else ""}MotorAxis({name}_motor_z, {name + "_end_bottom" if is_z_reversed else name + "_end_top"}, {name + "_end_top" if is_z_reversed else name + "_end_bottom"})
+
             bool {name}_is_referencing = false
             bool {name}_ref_motor_enabled = false
             bool {name}_ref_gear_enabled = false

field_friend/hardware/y_axis_canopen_hardware.py

@@ -38,6 +38,11 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_end_l.inverted = {str(end_stops_inverted).lower()}
             {name}_end_r = {expander.name + "." if end_stops_on_expander and expander else ""}Input({end_r_pin})
             {name}_end_r.inverted = {str(end_stops_inverted).lower()}
+            # TODO: remove when lizard issue 66 is fixed.
+            {name}_end_l.level = 0
+            {name}_end_l.active = false
+            {name}_end_r.level = 0
+            {name}_end_r.active = false
             {name} = {expander.name + "." if motor_on_expander and expander else ""}MotorAxis({name}_motor, {name + "_end_l" if reversed_direction else name + "_end_r"}, {name + "_end_r" if reversed_direction else name + "_end_l"})
         ''')
         core_message_fields = [

requirements.txt

@@ -6,5 +6,5 @@ geopy
 shapely
 fiona
 geopandas
-rosys == v0.18.2
+rosys == v0.18.3
 uvicorn == 0.28.1