diff --git a/modalBase/sampleConfig.txt b/modalBase/sampleConfig.txt index 9ec37f2..0a646ae 100644 --- a/modalBase/sampleConfig.txt +++ b/modalBase/sampleConfig.txt @@ -1,7 +1,7 @@ { "modules": [ { - "executable_path": "[PATH TO REPOSITORY]/viam/modal_base_process/modal", + "executable_path": "[PATH TO REPOSITORY]/viam/modalBase/modal", "name": "intermode-base" } ], diff --git a/modalBase_omniDirectional/.gitignore b/modalBase_omniDirectional/.gitignore new file mode 100644 index 0000000..254defd --- /dev/null +++ b/modalBase_omniDirectional/.gitignore @@ -0,0 +1 @@ +server diff --git a/modalBase_omniDirectional/Makefile b/modalBase_omniDirectional/Makefile new file mode 100644 index 0000000..734cec1 --- /dev/null +++ b/modalBase_omniDirectional/Makefile @@ -0,0 +1,13 @@ +DOCKER_CMD = docker run $(DOCKER_SSH_AGENT) $(DOCKER_NETRC_RUN) -v$(HOME)/.ssh:/home/testbot/.ssh:ro -v$(shell pwd):/host --workdir /host --rm -ti $(DOCKER_PLATFORM) ghcr.io/viamrobotics/canon:$(DOCKER_TAG) --testbot-uid $(shell id -u) --testbot-gid $(shell id -g) + +ifeq ("Darwin", "$(shell uname -s)") + # Docker has magic paths for OSX + DOCKER_SSH_AGENT = -v /run/host-services/ssh-auth.sock:/run/host-services/ssh-auth.sock -e SSH_AUTH_SOCK="/run/host-services/ssh-auth.sock" +else ifneq ("$(SSH_AUTH_SOCK)x", "x") + DOCKER_SSH_AGENT = -v "$(SSH_AUTH_SOCK):$(SSH_AUTH_SOCK)" -e SSH_AUTH_SOCK="$(SSH_AUTH_SOCK)" +endif + +linux-shell: DOCKER_PLATFORM = --platform linux/arm64 +linux-shell: DOCKER_TAG = arm64-cache +linux-shell: + $(DOCKER_CMD) bash diff --git a/modalBase_omniDirectional/go.mod b/modalBase_omniDirectional/go.mod new file mode 100644 index 0000000..7da1f0f --- /dev/null +++ b/modalBase_omniDirectional/go.mod @@ -0,0 +1,162 @@ +module modal + +go 1.18 + +require ( + github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 + github.com/go-daq/canbus v0.2.0 + github.com/golang/geo v0.0.0-20230421003525-6adc56603217 + github.com/pkg/errors v0.9.1 + go.viam.com/rdk v0.2.35 + go.viam.com/utils v0.1.19 +) + +require ( + cloud.google.com/go v0.110.0 // indirect + cloud.google.com/go/compute v1.19.1 // indirect + cloud.google.com/go/compute/metadata v0.2.3 // indirect + cloud.google.com/go/iam v1.0.0 // indirect + cloud.google.com/go/storage v1.30.1 // indirect + git.sr.ht/~sbinet/gg v0.3.1 // indirect + github.com/Masterminds/goutils v1.1.1 // indirect + github.com/Masterminds/semver v1.5.0 // indirect + github.com/Masterminds/sprig v2.22.0+incompatible // indirect + github.com/NYTimes/gziphandler v1.1.1 // indirect + github.com/a8m/envsubst v1.4.2 // indirect + github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect + github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect + github.com/benbjohnson/clock v1.3.1 // indirect + github.com/bep/debounce v1.2.1 // indirect + github.com/blackjack/webcam v0.0.0-20230411204030-32744c21431f // indirect + github.com/bufbuild/protocompile v0.5.1 // indirect + github.com/campoy/embedmd v1.0.0 // indirect + github.com/cenkalti/backoff v2.2.1+incompatible // indirect + github.com/cenkalti/backoff/v4 v4.2.1 // indirect + github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect + github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect + github.com/disintegration/imaging v1.6.2 // indirect + github.com/docker/go-units v0.5.0 // indirect + github.com/edaniels/gostream v0.0.0-20230321201259-9c06d1aeaae5 // indirect + github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect + github.com/edaniels/zeroconf v1.0.5 // indirect + github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect + github.com/fogleman/gg v1.3.0 // indirect + github.com/fsnotify/fsnotify v1.6.0 // indirect + github.com/fullstorydev/grpcurl v1.8.7 // indirect + github.com/gen2brain/malgo v0.11.10 // indirect + github.com/go-audio/audio v1.0.0 // indirect + github.com/go-audio/riff v1.0.0 // indirect + github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect + github.com/go-audio/wav v1.1.0 // indirect + github.com/go-fonts/liberation v0.3.0 // indirect + github.com/go-gl/mathgl v1.0.0 // indirect + github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect + github.com/go-pdf/fpdf v0.8.0 // indirect + github.com/goccy/go-json v0.10.2 // indirect + github.com/golang-jwt/jwt/v4 v4.5.0 // indirect + github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect + github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect + github.com/golang/protobuf v1.5.3 // indirect + github.com/golang/snappy v0.0.4 // indirect + github.com/gonuts/binary v0.2.0 // indirect + github.com/google/go-cmp v0.5.9 // indirect + github.com/google/s2a-go v0.1.2 // indirect + github.com/google/uuid v1.3.0 // indirect + github.com/googleapis/enterprise-certificate-proxy v0.2.3 // indirect + github.com/googleapis/gax-go/v2 v2.8.0 // indirect + github.com/googleapis/go-type-adapters v1.0.0 // indirect + github.com/gorilla/securecookie v1.1.1 // indirect + github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect + github.com/grpc-ecosystem/grpc-gateway/v2 v2.15.2 // indirect + github.com/huandu/xstrings v1.3.2 // indirect + github.com/imdario/mergo v0.3.12 // indirect + github.com/improbable-eng/grpc-web v0.15.0 // indirect + github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect + github.com/jhump/protoreflect v1.15.1 // indirect + github.com/kellydunn/golang-geo v0.7.0 // indirect + github.com/klauspost/compress v1.16.5 // indirect + github.com/kylelemons/go-gypsy v1.0.0 // indirect + github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect + github.com/lestrrat-go/blackmagic v1.0.1 // indirect + github.com/lestrrat-go/httpcc v1.0.1 // indirect + github.com/lestrrat-go/iter v1.0.2 // indirect + github.com/lestrrat-go/jwx v1.2.25 // indirect + github.com/lestrrat-go/option v1.0.1 // indirect + github.com/lib/pq v1.10.8 // indirect + github.com/lmittmann/ppm v1.0.2 // indirect + github.com/lucasb-eyer/go-colorful v1.2.0 // indirect + github.com/mattn/go-runewidth v0.0.14 // indirect + github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect + github.com/miekg/dns v1.1.53 // indirect + github.com/mitchellh/copystructure v1.2.0 // indirect + github.com/mitchellh/mapstructure v1.5.0 // indirect + github.com/mitchellh/reflectwalk v1.0.2 // indirect + github.com/montanaflynn/stats v0.7.0 // indirect + github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect + github.com/muesli/kmeans v0.3.1 // indirect + github.com/pion/datachannel v1.5.5 // indirect + github.com/pion/dtls/v2 v2.2.6 // indirect + github.com/pion/ice/v2 v2.3.2 // indirect + github.com/pion/interceptor v0.1.12 // indirect + github.com/pion/logging v0.2.2 // indirect + github.com/pion/mdns v0.0.7 // indirect + github.com/pion/mediadevices v0.4.1-0.20230412180714-14bfaa5dbdd3 // indirect + github.com/pion/randutil v0.1.0 // indirect + github.com/pion/rtcp v1.2.10 // indirect + github.com/pion/rtp v1.7.13 // indirect + github.com/pion/sctp v1.8.6 // indirect + github.com/pion/sdp/v3 v3.0.6 // indirect + github.com/pion/srtp/v2 v2.0.12 // indirect + github.com/pion/stun v0.4.0 // indirect + github.com/pion/transport v0.14.1 // indirect + github.com/pion/transport/v2 v2.2.0 // indirect + github.com/pion/turn/v2 v2.1.0 // indirect + github.com/pion/udp v0.1.4 // indirect + github.com/pion/udp/v2 v2.0.1 // indirect + github.com/pion/webrtc/v3 v3.1.60 // indirect + github.com/pmezard/go-difflib v1.0.0 // indirect + github.com/rivo/uniseg v0.4.4 // indirect + github.com/rs/cors v1.9.0 // indirect + github.com/sergi/go-diff v1.3.1 // indirect + github.com/smartystreets/assertions v1.13.1 // indirect + github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect + github.com/xdg-go/pbkdf2 v1.0.0 // indirect + github.com/xdg-go/scram v1.1.2 // indirect + github.com/xdg-go/stringprep v1.0.4 // indirect + github.com/xfmoulet/qoi v0.2.0 // indirect + github.com/youmark/pkcs8 v0.0.0-20201027041543-1326539a0a0a // indirect + github.com/zitadel/oidc v1.13.4 // indirect + github.com/ziutek/mymysql v1.5.4 // indirect + go-hep.org/x/hep v0.32.1 // indirect + go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 // indirect + go.opencensus.io v0.24.0 // indirect + go.uber.org/atomic v1.10.0 // indirect + go.uber.org/goleak v1.2.1 // indirect + go.uber.org/multierr v1.11.0 // indirect + go.uber.org/zap v1.24.0 // indirect + go.viam.com/api v0.1.113 // indirect + go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect + goji.io v2.0.2+incompatible // indirect + golang.org/x/crypto v0.8.0 // indirect + golang.org/x/exp v0.0.0-20230420155640-133eef4313cb // indirect + golang.org/x/image v0.7.0 // indirect + golang.org/x/mod v0.10.0 // indirect + golang.org/x/net v0.9.0 // indirect + golang.org/x/oauth2 v0.7.0 // indirect + golang.org/x/sync v0.1.0 // indirect + golang.org/x/sys v0.7.0 // indirect + golang.org/x/text v0.9.0 // indirect + golang.org/x/tools v0.8.0 // indirect + golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect + gonum.org/v1/gonum v0.12.0 // indirect + gonum.org/v1/plot v0.12.0 // indirect + google.golang.org/api v0.119.0 // indirect + google.golang.org/appengine v1.6.7 // indirect + google.golang.org/genproto v0.0.0-20230410155749-daa745c078e1 // indirect + google.golang.org/grpc v1.54.0 // indirect + google.golang.org/protobuf v1.30.0 // indirect + gopkg.in/square/go-jose.v2 v2.6.0 // indirect + gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect + gopkg.in/yaml.v3 v3.0.1 // indirect + nhooyr.io/websocket v1.8.7 // indirect +) diff --git a/modalBase_omniDirectional/go.sum b/modalBase_omniDirectional/go.sum new file mode 100644 index 0000000..1ae304b --- /dev/null +++ b/modalBase_omniDirectional/go.sum @@ -0,0 +1,2078 @@ +4d63.com/gochecknoglobals v0.0.0-20201008074935-acfc0b28355a/go.mod h1:wfdC5ZjKSPr7CybKEcgJhUOgeAQW1+7WcyK8OvUilfo= +bitbucket.org/creachadair/shell v0.0.6/go.mod h1:8Qqi/cYk7vPnsOePHroKXDJYmb5x7ENhtiFtfZq8K+M= +cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= +cloud.google.com/go v0.34.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= +cloud.google.com/go v0.38.0/go.mod h1:990N+gfupTy94rShfmMCWGDn0LpTmnzTp2qbd1dvSRU= +cloud.google.com/go v0.44.1/go.mod h1:iSa0KzasP4Uvy3f1mN/7PiObzGgflwredwwASm/v6AU= +cloud.google.com/go v0.44.2/go.mod h1:60680Gw3Yr4ikxnPRS/oxxkBccT6SA1yMk63TGekxKY= +cloud.google.com/go v0.45.1/go.mod h1:RpBamKRgapWJb87xiFSdk4g1CME7QZg3uwTez+TSTjc= +cloud.google.com/go v0.46.3/go.mod h1:a6bKKbmY7er1mI7TEI4lsAkts/mkhTSZK8w33B4RAg0= +cloud.google.com/go v0.50.0/go.mod h1:r9sluTvynVuxRIOHXQEHMFffphuXHOMZMycpNR5e6To= +cloud.google.com/go v0.52.0/go.mod h1:pXajvRH/6o3+F9jDHZWQ5PbGhn+o8w9qiu/CffaVdO4= +cloud.google.com/go v0.53.0/go.mod h1:fp/UouUEsRkN6ryDKNW/Upv/JBKnv6WDthjR6+vze6M= +cloud.google.com/go v0.54.0/go.mod h1:1rq2OEkV3YMf6n/9ZvGWI3GWw0VoqH/1x2nd8Is/bPc= +cloud.google.com/go v0.56.0/go.mod h1:jr7tqZxxKOVYizybht9+26Z/gUq7tiRzu+ACVAMbKVk= +cloud.google.com/go v0.57.0/go.mod h1:oXiQ6Rzq3RAkkY7N6t3TcE6jE+CIBBbA36lwQ1JyzZs= +cloud.google.com/go v0.60.0/go.mod h1:yw2G51M9IfRboUH61Us8GqCeF1PzPblB823Mn2q2eAU= +cloud.google.com/go v0.62.0/go.mod h1:jmCYTdRCQuc1PHIIJ/maLInMho30T/Y0M4hTdTShOYc= +cloud.google.com/go v0.65.0/go.mod h1:O5N8zS7uWy9vkA9vayVHs65eM1ubvY4h553ofrNHObY= +cloud.google.com/go v0.72.0/go.mod h1:M+5Vjvlc2wnp6tjzE102Dw08nGShTscUx2nZMufOKPI= +cloud.google.com/go v0.74.0/go.mod h1:VV1xSbzvo+9QJOxLDaJfTjx5e+MePCpCWwvftOeQmWk= +cloud.google.com/go v0.78.0/go.mod h1:QjdrLG0uq+YwhjoVOLsS1t7TW8fs36kLs4XO5R5ECHg= +cloud.google.com/go v0.79.0/go.mod h1:3bzgcEeQlzbuEAYu4mrWhKqWjmpprinYgKJLgKHnbb8= +cloud.google.com/go v0.81.0/go.mod h1:mk/AM35KwGk/Nm2YSeZbxXdrNK3KZOYHmLkOqC2V6E0= +cloud.google.com/go v0.83.0/go.mod h1:Z7MJUsANfY0pYPdw0lbnivPx4/vhy/e2FEkSkF7vAVY= +cloud.google.com/go v0.84.0/go.mod h1:RazrYuxIK6Kb7YrzzhPoLmCVzl7Sup4NrbKPg8KHSUM= +cloud.google.com/go v0.87.0/go.mod h1:TpDYlFy7vuLzZMMZ+B6iRiELaY7z/gJPaqbMx6mlWcY= +cloud.google.com/go v0.90.0/go.mod h1:kRX0mNRHe0e2rC6oNakvwQqzyDmg57xJ+SZU1eT2aDQ= +cloud.google.com/go v0.93.3/go.mod h1:8utlLll2EF5XMAV15woO4lSbWQlk8rer9aLOfLh7+YI= +cloud.google.com/go v0.94.1/go.mod h1:qAlAugsXlC+JWO+Bke5vCtc9ONxjQT3drlTTnAplMW4= +cloud.google.com/go v0.97.0/go.mod h1:GF7l59pYBVlXQIBLx3a761cZ41F9bBH3JUlihCt2Udc= +cloud.google.com/go v0.99.0/go.mod h1:w0Xx2nLzqWJPuozYQX+hFfCSI8WioryfRDzkoI/Y2ZA= +cloud.google.com/go v0.100.2/go.mod h1:4Xra9TjzAeYHrl5+oeLlzbM2k3mjVhZh4UqTZ//w99A= +cloud.google.com/go v0.102.0/go.mod h1:oWcCzKlqJ5zgHQt9YsaeTY9KzIvjyy0ArmiBUgpQ+nc= +cloud.google.com/go v0.102.1 h1:vpK6iQWv/2uUeFJth4/cBHsQAGjn1iIE6AAlxipRaA0= +cloud.google.com/go v0.102.1/go.mod h1:XZ77E9qnTEnrgEOvr4xzfdX5TRo7fB4T2F4O6+34hIU= +cloud.google.com/go v0.105.0 h1:DNtEKRBAAzeS4KyIory52wWHuClNaXJ5x1F7xa4q+5Y= +cloud.google.com/go v0.105.0/go.mod h1:PrLgOJNe5nfE9UMxKxgXj4mD3voiP+YQ6gdt6KMFOKM= +cloud.google.com/go v0.110.0 h1:Zc8gqp3+a9/Eyph2KDmcGaPtbKRIoqq4YTlL4NMD0Ys= +cloud.google.com/go v0.110.0/go.mod h1:SJnCLqQ0FCFGSZMUNUf84MV3Aia54kn7pi8st7tMzaY= +cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o= +cloud.google.com/go/bigquery v1.3.0/go.mod h1:PjpwJnslEMmckchkHFfq+HTD2DmtT67aNFKH1/VBDHE= +cloud.google.com/go/bigquery v1.4.0/go.mod h1:S8dzgnTigyfTmLBfrtrhyYhwRxG72rYxvftPBK2Dvzc= +cloud.google.com/go/bigquery v1.5.0/go.mod h1:snEHRnqQbz117VIFhE8bmtwIDY80NLUZUMb4Nv6dBIg= +cloud.google.com/go/bigquery v1.7.0/go.mod h1://okPTzCYNXSlb24MZs83e2Do+h+VXtc4gLoIoXIAPc= +cloud.google.com/go/bigquery v1.8.0/go.mod h1:J5hqkt3O0uAFnINi6JXValWIb1v0goeZM77hZzJN/fQ= +cloud.google.com/go/compute v0.1.0/go.mod h1:GAesmwr110a34z04OlxYkATPBEfVhkymfTBXtfbBFow= +cloud.google.com/go/compute v1.3.0/go.mod h1:cCZiE1NHEtai4wiufUhW8I8S1JKkAnhnQJWM7YD99wM= +cloud.google.com/go/compute 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index 0000000..f5c5f97 Binary files /dev/null and b/modalBase_omniDirectional/modal differ diff --git a/modalBase_omniDirectional/sampleConfig.txt b/modalBase_omniDirectional/sampleConfig.txt new file mode 100644 index 0000000..ec4f139 --- /dev/null +++ b/modalBase_omniDirectional/sampleConfig.txt @@ -0,0 +1,18 @@ +{ + "modules": [ + { + "executable_path": "[PATH TO REPOSITORY]/viam/modalBase_omniDirectional/modal", + "name": "intermode-base-omnidirectional" + } + ], + "components": [ + { + "attributes": {}, + "depends_on": [], + "model": "intermode", + "name": "viam-base", + "namespace": "rdk", + "type": "base" + } + ] +} diff --git a/modalBase_omniDirectional/server.go b/modalBase_omniDirectional/server.go new file mode 100644 index 0000000..af784cc --- /dev/null +++ b/modalBase_omniDirectional/server.go @@ -0,0 +1,834 @@ +// Package main is an example of a custom viam server. + +package main + +import ( + "context" + "fmt" + "math" + "sync" + "sync/atomic" + "time" + + "github.com/edaniels/golog" + "github.com/go-daq/canbus" + "github.com/golang/geo/r3" + "github.com/pkg/errors" + goutils "go.viam.com/utils" + viamutils "go.viam.com/utils" + + "go.viam.com/rdk/components/base" + _ "go.viam.com/rdk/components/generic" + "go.viam.com/rdk/config" + "go.viam.com/rdk/module" + "go.viam.com/rdk/registry" + "go.viam.com/rdk/resource" +) + +// Modal limits +const PEDAL_MAX = 100.0 +const STEERANGLE_MAX = 25.0 +const SPEED_LIMP_HOME = 20.0 // Max speed (throttle) if a limp home condition is active + +var model = resource.NewModel("rdk", "builtin", "intermode") + +func main() { + goutils.ContextualMain(mainWithArgs, golog.NewDevelopmentLogger("intermodeOmniBaseModule")) +} + +// // ///////////// +// // Telemetry // +// // ///////////// +var telemetryLock = sync.RWMutex{} + +var ( + telemetry = map[string]interface{}{ + telemGearDesired: byte(0), + telemSpeed: math.NaN(), + telemSpeedLimit: float64(-1), + telemSteerAngle: -1, + telemStateOfCharge: -1, + } +) + +func telemSet(key string, value interface{}) { + telemetryLock.Lock() + defer telemetryLock.Unlock() + telemetry[key] = value +} + +// func telemGet(key string) interface{} { +// telemetryLock.RLock() +// defer telemetryLock.RUnlock() +// return telemetry[key] +// } + +// func telemGetAll() map[string]interface{} { +// telemetryLock.RLock() +// defer telemetryLock.RUnlock() +// toReturn := map[string]interface{}{ +// telemGearDesired: byte(0), +// telemSpeed: math.NaN(), +// telemSpeedLimit: float64(-1), +// telemSteerAngle: -1, +// telemStateOfCharge: -1, +// } +// for k, v := range telemetry { +// toReturn[k] = v +// } +// return toReturn +// } + +// // ///////////// +// // Fail-Safe // +// // ///////////// +// const commsTimeoutIntervalMs = 1000 // If it has been at least this long since last command received, execute containment +// var commsTimeout time.Time +// var commsTimeoutEnable = true // Enable or disable comms timeout +// // Presently changed based off of received command style + +const ( + channel = "can0" + // channel = "vcan0" + + // Vehicle properties + kVehicleWheelbaseMm = 709.684 + kVehicleTrackwidthMm = 528.580 + kVehicleSeparation = (kVehicleWheelbaseMm + kVehicleTrackwidthMm) / 2 + + // Wheel properties + kWheelRadiusMm float64 = 77 + kWheelCircumferenceMm float64 = 2 * math.Pi * kWheelRadiusMm + kWheelEncoderBits int = 12 + kWheelTicksPerRev int = 1 << kWheelEncoderBits + + kMagnitudeMaxX float64 = 1 + kMagnitudeMaxY float64 = 1 + + // Limits and defaults + kLimitCurrentMax = 5 // Maximum motor current + kLimitSpeedMaxKph = 2.5 // Max speed in KPH + kLimitSpeedMaxRpm = kLimitSpeedMaxKph * 1000000 / kWheelCircumferenceMm / 60 // Max speed in RPM + kDefaultCurrent = kLimitCurrentMax // Used for straight and spin commands + + telemGearDesired = "desired_gear" + telemSpeed = "speed" + telemSpeedLimit = "speed_limit" + telemSteerAngle = "steer_angle" + telemStateOfCharge = "state_of_charge" + + mecanumStateDisable = "disable" + mecanumStateEnable = "enable" + mecanumStateResetErr = "resetError" + mecanumStateResetPos = "resetPosition" + mecanumStateResetCal = "resetCalibration" + mecanumStateCalSensor = "calibrateSensor" + + mecanumModeSpeed = "speed" + mecanumModeAbsolute = "absolute" + mecanumModeRelative = "relative" + mecanumModeCurrent = "current" + + kNumBitsPerByte = 8 + + kCanIdMotorFr uint32 = 0x0000022A + kCanIdMotorFl uint32 = 0x0000022B + kCanIdMotorRr uint32 = 0x0000022C + kCanIdMotorRl uint32 = 0x0000022D + + kCanIdTelemWheelSpeedId uint32 = 0x241 + kCanIdTelemBatteryPowerId uint32 = 0x250 + kCanIdTelemBatteryStateId uint32 = 0x251 +) + +var ( + mecanumStates = map[string]byte{ + mecanumStateDisable: 0x00, + mecanumStateEnable: 0x01, + mecanumStateResetErr: 0x02, + mecanumStateResetPos: 0x03, + mecanumStateResetCal: 0x04, + mecanumStateCalSensor: 0x05, + } + mecanumModes = map[string]byte{ + mecanumModeSpeed: 0x00, + mecanumModeAbsolute: 0x01, + mecanumModeRelative: 0x02, + mecanumModeCurrent: 0x03, + } + + // Constants that must be calculated at runtime + // Distance wheel tirepatch is from center of vehicle + kVehicleTirePatchRadiusMm = math.Sqrt(math.Pow(kVehicleWheelbaseMm/2, 2) + math.Pow(kVehicleTrackwidthMm/2, 2)) + // Circumference of circle with radius of tirepatch distance from center of vehicle + kVehicleTirePatchCircumferenceMm = 2 * math.Pi * kVehicleTirePatchRadiusMm + + // Wheel revolutions to vehicle rotations + kWheelRevPerVehicleRev = kVehicleTirePatchCircumferenceMm / kWheelCircumferenceMm +) + +type mecanumCommand struct { + state byte + mode byte + rpm int16 + current int16 + encoder int32 +} + +type intermodeOmniBase struct { + name string + canTxSocket canbus.Socket + isMoving atomic.Bool + activeBackgroundWorkers sync.WaitGroup + cancel func() + logger golog.Logger +} + +type modalCommand interface { + toFrame(logger golog.Logger) canbus.Frame +} + +func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) (err error) { + registerBase() + modalModule, err := module.NewModuleFromArgs(ctx, logger) + if err != nil { + return err + } + modalModule.AddModelFromRegistry(ctx, base.Subtype, model) + + err = modalModule.Start(ctx) + defer modalModule.Close(ctx) + + if err != nil { + return err + } + <-ctx.Done() + return nil +} + +// helper function to add the base's constructor and metadata to the component registry, so that we can later construct it. +func registerBase() { + registry.RegisterComponent( + base.Subtype, + model, + registry.Component{Constructor: func( + ctx context.Context, + deps registry.Dependencies, + config config.Component, + logger golog.Logger, + ) (interface{}, error) { + return newBase(config.Name, logger) + }}) +} + +// newBase creates a new base that underneath the hood sends canbus frames via +// a 10ms publishing loop. +func newBase(name string, logger golog.Logger) (base.Base, error) { + socketSend, err := canbus.New() + if err != nil { + return nil, err + } + + if err := socketSend.Bind(channel); err != nil { + return nil, err + } + + socketRecv, err := canbus.New() + if err != nil { + return nil, err + } + + // err = socketRecv.SetFilters([]unix.CanFilter{ + // {Id: kCanIdTelemWheelSpeedId, Mask: unix.CAN_SFF_MASK}, + // {Id: kCanIdTelemBatteryPowerId, Mask: unix.CAN_SFF_MASK}, + // {Id: kCanIdTelemBatteryStateId, Mask: unix.CAN_SFF_MASK}, + // }) + // if err != nil { + // return nil, err + // } + + if err := socketRecv.Bind(channel); err != nil { + return nil, err + } + + _, cancel := context.WithCancel(context.Background()) + iBase := &intermodeOmniBase{ + name: name, + canTxSocket: *socketSend, + cancel: cancel, + logger: logger, + } + iBase.isMoving.Store(false) + + // iBase.activeBackgroundWorkers.Add(2) + // viamutils.ManagedGo(func() { + // publishThread(cancelCtx, *socketSend, iBase.nextCommandCh, logger) + // }, iBase.activeBackgroundWorkers.Done) + // viamutils.ManagedGo(func() { + // receiveThread(cancelCtx, *socketRecv, logger) + // }, iBase.activeBackgroundWorkers.Done) + + return iBase, nil +} + +/* + * Convert the a mecanum command to a CAN frame + */ +func (cmd *mecanumCommand) toFrame(logger golog.Logger, canId uint32) canbus.Frame { + frame := canbus.Frame{ + ID: canId, + Data: make([]byte, 0, 8), + Kind: canbus.EFF, + } + frame.Data = append(frame.Data, (cmd.state&0x0F)|((cmd.mode&0x0F)<<4)) + frame.Data = append(frame.Data, byte(cmd.rpm&0xFF)) + frame.Data = append(frame.Data, byte((cmd.rpm>>8)&0xFF)|byte((cmd.current&0x0F)<<4)) + frame.Data = append(frame.Data, byte((cmd.current>>4)&0x0FF)) + frame.Data = append(frame.Data, byte(cmd.encoder&0xFF)) + frame.Data = append(frame.Data, byte((cmd.encoder>>8)&0xFF)) + frame.Data = append(frame.Data, byte((cmd.encoder>>16)&0xFF)) + frame.Data = append(frame.Data, byte((cmd.encoder>>24)&0xFF)) + + logger.Debugw("frame", "data", frame.Data) + + return frame +} + +// // publishThread continuously sends the current drive command over the canbus. +// func publishThread( +// ctx context.Context, +// socket canbus.Socket, +// nextCommandCh chan canbus.Frame, +// logger golog.Logger, +// ) { +// defer socket.Close() +// commsTimeout = time.Now().Add(commsTimeoutIntervalMs * time.Millisecond) + +// driveFrame := (&stopCmd).toFrame(logger) +// var frame canbus.Frame + +// for { +// if ctx.Err() != nil { +// return +// } +// select { +// case <-ctx.Done(): +// case <-time.After(10 * time.Millisecond): +// } +// if commsTimeoutEnable && time.Now().After(commsTimeout) { +// driveFrame = (&emergencyCmd).toFrame(logger) +// } +// if _, err := socket.Send(driveFrame); err != nil { +// logger.Errorw("drive command send error", "error", err) +// } +// } +// } + +/* + * The CAN RX support functions were translated from C++ by ChatGPT, so might + * be weird and not stylistically consistent + */ +func ucGetByteBitMask(byteNum uint8, bitSigLsb uint8, bitSigMsb uint8) uint8 { + /* + * Returns a bit mask for a single byte of a CAN payload + * + * Inputs: + * `byteNum` : array byte number to make a mask for + * `bitSigLsb` : least significant bit for the signal (in the CAN payload) + * `bitSigMsb` : most significant bit for the signal (in the CAN payload) + */ + var bitMaskLsb uint8 = 0 // Least significant bit for the bit mask + var bitMaskMsb uint8 = 0 // Most significant bit for the bit mask + var bitByteLsb int32 = 0 // Least significant bit for the current byte + var bitByteMsb int32 = 0 // Most significant bit for the current byte + + bitByteLsb = int32(byteNum) * kNumBitsPerByte + bitByteMsb = (int32(byteNum)+1)*kNumBitsPerByte - 1 + if int32(bitSigLsb) < bitByteLsb { + bitMaskLsb = 0 + } else { + bitMaskLsb = uint8(int32(bitSigLsb) - bitByteLsb) + } + + if int32(bitSigMsb) >= bitByteMsb { + bitMaskMsb = kNumBitsPerByte - 1 + } else { + bitMaskMsb = uint8(int32(bitSigMsb) - bitByteLsb) + } + + return uint8((math.MaxUint8 << (bitMaskMsb + 1)) ^ (math.MaxUint8 << bitMaskLsb)) +} + +/* + * CAN signal definition + */ +type CanSignal_TypeDef struct { + fScalar float32 // Scalar + fOffset float32 // Offset + ucStart uint8 // Start bit + ucLength uint8 // Length in bits + ucLittleEnd uint8 // Endianness + ucSigned uint8 // Signed +} + +// Constructor +func NewCanSignal_TypeDef(fScalar, fOffset float32, ucStart, ucLength, ucLittleEnd, ucSigned uint8) *CanSignal_TypeDef { + return &CanSignal_TypeDef{ + fScalar: fScalar, + fOffset: fOffset, + ucStart: ucStart, + ucLength: ucLength, + ucLittleEnd: ucLittleEnd, + ucSigned: ucSigned, + } +} + +/* + * Extracts a CAN signal + * + * Currently limited to 32-bit signals to avoid casting the entire data + * array to a 64 bit number to simplify switch to CAN FD (allows up to 64 + * data bytes) + * + * Caller to cast the signal result to an alternate data type if needed + * + * Inputs: + * `pucData` : CAN data array + * `xSignal` : signal configuration data + */ +func fCanExtractSignal(pucData []uint8, xSignal CanSignal_TypeDef) float32 { + var ulRet uint32 = 0 // Return value + var fRet float32 = 0 // Float-casted return value + var ucByteShift uint8 = 0 // Number of bytes to shift single signal bytes + + // Least significant signal bit + var ucBitSigLsb uint8 = xSignal.ucStart + // Most significant signal bit + // Reduced by one to account for zero indexing of bits + var ucBitSigMsb uint8 = uint8(ucBitSigLsb + xSignal.ucLength - 1) + var ucByteStart uint8 = ucBitSigLsb / kNumBitsPerByte // Start byte + var ucByteStop uint8 = ucBitSigMsb / kNumBitsPerByte // Stop byte + + for i := ucByteStart; i <= ucByteStop; i++ { + if 0 < xSignal.ucLittleEnd { + ucByteShift = uint8(i - ucByteStart) + } else { // Big Endian + ucByteShift = uint8(ucByteStop - i) + } + + ulRet += (uint32(ucGetByteBitMask(i, ucBitSigLsb, ucBitSigMsb)) & uint32(pucData[i])) << + (ucByteShift * kNumBitsPerByte) + } + + ulRet >>= ucBitSigLsb - kNumBitsPerByte*ucByteStart + + // If signed, extend the sign bit + if 0 < xSignal.ucSigned { + if int32(ulRet)&(1<<(ucBitSigMsb-ucByteStart*kNumBitsPerByte)) != 0 { + ulRet |= uint32(math.MaxUint32) << + (ucBitSigMsb - ucByteStart*kNumBitsPerByte + 1) + } + fRet = float32(int32(ulRet)) + } else { + fRet = float32(ulRet) + } + + return fRet*xSignal.fScalar + xSignal.fOffset +} + +var ( + canSignalDriveSteerAngle = *NewCanSignal_TypeDef(0.0078125, 0, 32, 16, 1, 1) + canSignalWheelSpeedFrontLeft = *NewCanSignal_TypeDef(0.0078125, 0, 0, 16, 1, 1) + canSignalWheelSpeedFrontRight = *NewCanSignal_TypeDef(0.0078125, 0, 16, 16, 1, 1) + canSignalWheelSpeedRearLeft = *NewCanSignal_TypeDef(0.0078125, 0, 32, 16, 1, 1) + canSignalWheelSpeedRearRight = *NewCanSignal_TypeDef(0.0078125, 0, 48, 16, 1, 1) + canSignalBatteryStateOfCharge = *NewCanSignal_TypeDef(0.1, 0, 0, 16, 1, 0) +) + +// receiveThread receives canbus frames and stores data when necessary. +// func receiveThread( +// ctx context.Context, +// socket canbus.Socket, +// logger golog.Logger, +// ) { +// defer socket.Close() + +// for { +// if ctx.Err() != nil { +// return +// } + +// frame, err := socket.Recv() +// if err != nil { +// logger.Errorw("CAN Rx error", "error", err) +// } + +// switch frame.ID { +// case kCanIdTelemWheelSpeedId: +// var speedFl = fCanExtractSignal(frame.Data, canSignalWheelSpeedFrontLeft) +// var speedFr = fCanExtractSignal(frame.Data, canSignalWheelSpeedFrontRight) +// var speedRl = fCanExtractSignal(frame.Data, canSignalWheelSpeedRearLeft) +// var speedRr = fCanExtractSignal(frame.Data, canSignalWheelSpeedRearRight) +// telemSet(telemSpeed, (speedFl+speedFr+speedRl+speedRr)/4) +// case kCanIdTelemBatteryStateId: +// telemSet(telemStateOfCharge, fCanExtractSignal(frame.Data, canSignalBatteryStateOfCharge)) +// } +// } +// } + +/* + InterMode Base Implementation + Every method will set the next command for the publish loop to send over the command bus forever. +*/ + +// MoveStraight moves the base forward the given distance and speed. +// TODO: Move with the correct units +func (base *intermodeOmniBase) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error { + base.isMoving.Store(true) // TODO: Replace with feedback info + + // Speed + var speedNegative = mmPerSec < 0 + var rpsDes = mmPerSec / kWheelCircumferenceMm + var rpmDesMagnitude = math.Abs(rpsDes * 60) + rpmDesMagnitude = math.Min(float64(rpmDesMagnitude), kLimitSpeedMaxRpm) + + // Distance + var distanceNegative = distanceMm < 0 + var distanceRev = float64(distanceMm) / kWheelCircumferenceMm + var encoderMagnitude = math.Abs(float64(kWheelTicksPerRev) * distanceRev) + // Add 0.5 for rounding purposes + var encoderValue = int32(encoderMagnitude + 0.5) + + if true == distanceNegative || true == speedNegative { + encoderValue *= -1 + } + + // TODO: Actually rotate degrees + var cmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeRelative], + rpm: int16(rpmDesMagnitude), + current: kDefaultCurrent, + encoder: encoderValue, + } + + var canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFr) + base.logger.Debugw("frame", "data", canFrame.Data) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("straight command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("straight command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("straight command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("straight command TX error", "error", err) + } + + if !viamutils.SelectContextOrWait(ctx, time.Duration(distanceMm/int(math.Abs(mmPerSec)))) { + return ctx.Err() + } + + return nil +} + +// Spin spins the base by the given angleDeg and degsPerSec. +// TODO: Move with the correct units +func (base *intermodeOmniBase) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error { + base.isMoving.Store(true) // TODO: Replace with feedback info + + // Speed + var speedNegative = degsPerSec < 0 + var rpmDesMagnitude = math.Abs(degsPerSec / 360 * 60 * kWheelRevPerVehicleRev) + rpmDesMagnitude = math.Min(rpmDesMagnitude, kLimitSpeedMaxRpm) + + // Angle + var angleNegative = angleDeg < 0 + var encoderMagnitude = math.Abs(angleDeg/360*kWheelRevPerVehicleRev) * float64(kWheelTicksPerRev) + var encoderValue = int32(encoderMagnitude) + + if true == speedNegative || true == angleNegative { + encoderValue *= -1 + } + + var rightCmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeRelative], + rpm: int16(rpmDesMagnitude), + current: kDefaultCurrent, + encoder: encoderValue, + } + var leftCmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeRelative], + rpm: int16(rpmDesMagnitude), + current: kDefaultCurrent, + encoder: -1 * encoderValue, + } + + var canFrame = (&rightCmd).toFrame(base.logger, kCanIdMotorFr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&rightCmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&leftCmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&leftCmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + if !viamutils.SelectContextOrWait(ctx, time.Duration(angleDeg/math.Abs(degsPerSec))) { + return ctx.Err() + } + + return nil +} + +// SetPower sets the linear and angular [-1, 1] drive power. +func (base *intermodeOmniBase) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { + base.isMoving.Store(true) // TODO: Replace with feedback info + + // Some vector components do not apply to a 2D base + if 0 != linear.Z { + base.logger.Warnw("Linear Z command non-zero and has no effect") + } + if 0 != angular.X { + base.logger.Warnw("Angular X command non-zero and has no effect") + } + if 0 != angular.Y { + base.logger.Warnw("Angular Y command non-zero and has no effect") + } + + var linearMagnitude = math.Sqrt(math.Pow(linear.X, 2) + math.Pow(linear.Y, 2)) + var linearAngle = math.Atan2(linear.Y, linear.X) + // Angular multiplied by 0.5 because that is the max single-linear-direction magnitude + var rpmDesFr = math.Min(math.Sin(linearAngle-math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude + angular.Z + var rpmDesFl = math.Min(math.Sin(linearAngle+math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude - angular.Z + var rpmDesRr = math.Min(math.Sin(linearAngle+math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude + angular.Z + var rpmDesRl = math.Min(math.Sin(linearAngle-math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude - angular.Z + var rpmMax = math.Max(math.Max(rpmDesFr, rpmDesFl), math.Max(rpmDesRr, rpmDesRl)) + + if rpmMax > 1 { + rpmDesFr /= rpmMax + rpmDesFl /= rpmMax + rpmDesRr /= rpmMax + rpmDesRl /= rpmMax + } + + var baseCmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeSpeed], + current: kDefaultCurrent, + encoder: 0, + } + var frCmd, flCmd, rrCmd, rlCmd = baseCmd, baseCmd, baseCmd, baseCmd + + frCmd.rpm = int16(rpmDesFr * kLimitSpeedMaxRpm) + flCmd.rpm = int16(rpmDesFl * kLimitSpeedMaxRpm) + rrCmd.rpm = int16(rpmDesRr * kLimitSpeedMaxRpm) + rlCmd.rpm = int16(rpmDesRl * kLimitSpeedMaxRpm) + + var canFrame = (&frCmd).toFrame(base.logger, kCanIdMotorFr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&flCmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&rrCmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&rlCmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + return nil +} + +// SetVelocity sets the linear (mmPerSec) and angular (degsPerSec) velocity. +func (base *intermodeOmniBase) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { + base.isMoving.Store(true) // TODO: Replace with feedback info + + // Some vector components do not apply to a 2D base + if 0 != linear.Z { + base.logger.Warnw("Linear Z command non-zero and has no effect") + } + if 0 != angular.X { + base.logger.Warnw("Angular X command non-zero and has no effect") + } + if 0 != angular.Y { + base.logger.Warnw("Angular Y command non-zero and has no effect") + } + + var rpmDesMagnitudeLinX = math.Abs(linear.X / kWheelCircumferenceMm * 60) + rpmDesMagnitudeLinX = math.Min(float64(rpmDesMagnitudeLinX), kLimitSpeedMaxRpm) + + var rpmDesMagnitudeLinY = math.Abs(linear.Y / kWheelCircumferenceMm * 60) + rpmDesMagnitudeLinY = math.Min(float64(rpmDesMagnitudeLinY), kLimitSpeedMaxRpm) + + var rpmDesMagnitudeAngZ = math.Abs(angular.Z / 360 * 60 * kWheelRevPerVehicleRev) + rpmDesMagnitudeAngZ = math.Min(rpmDesMagnitudeAngZ, kLimitSpeedMaxRpm) + + var linearXNormal = math.Min(rpmDesMagnitudeLinX/kLimitSpeedMaxRpm, 1) + var linearYNormal = math.Min(rpmDesMagnitudeLinY/kLimitSpeedMaxRpm, 1) + var angularZNormal = math.Min(rpmDesMagnitudeAngZ/kLimitSpeedMaxRpm, 1) + + var linearMagnitude = math.Sqrt(math.Pow(linearXNormal, 2) + math.Pow(linearYNormal, 2)) + var linearAngle = math.Atan2(linear.Y, linear.X) + var rpmDesFr = math.Min(math.Sin(linearAngle-math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude + angularZNormal + var rpmDesFl = math.Min(math.Sin(linearAngle+math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude - angularZNormal + var rpmDesRr = math.Min(math.Sin(linearAngle+math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude + angularZNormal + var rpmDesRl = math.Min(math.Sin(linearAngle-math.Pi/4)*math.Sqrt(2), 1)*linearMagnitude - angularZNormal + var rpmMax = math.Max(math.Max(rpmDesFr, rpmDesFl), math.Max(rpmDesRr, rpmDesRl)) + + if rpmMax > 1 { + rpmDesFr /= rpmMax + rpmDesFl /= rpmMax + rpmDesRr /= rpmMax + rpmDesRl /= rpmMax + } + + var baseCmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeSpeed], + current: kDefaultCurrent, + encoder: 0, + } + var frCmd, flCmd, rrCmd, rlCmd = baseCmd, baseCmd, baseCmd, baseCmd + frCmd.rpm = int16(rpmDesFr * kLimitSpeedMaxRpm) + flCmd.rpm = int16(rpmDesFl * kLimitSpeedMaxRpm) + rrCmd.rpm = int16(rpmDesRr * kLimitSpeedMaxRpm) + rlCmd.rpm = int16(rpmDesRl * kLimitSpeedMaxRpm) + + var canFrame = (&frCmd).toFrame(base.logger, kCanIdMotorFr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&flCmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&rrCmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + canFrame = (&rlCmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("spin command TX error", "error", err) + } + + return nil +} + +// Stop stops the base. It is assumed the base stops immediately. +func (base *intermodeOmniBase) Stop(ctx context.Context, extra map[string]interface{}) error { + base.isMoving.Store(false) // TODO: Replace with feedback info + + var cmd = mecanumCommand{ + state: mecanumStates[mecanumStateEnable], + mode: mecanumModes[mecanumModeSpeed], + rpm: 0, + current: kDefaultCurrent, + encoder: 0, + } + + var canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("stop command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("stop command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("stop command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("stop command TX error", "error", err) + } + + return nil +} + +// DoCommand executes additional commands beyond the Base{} interface. For this rover that includes door open and close commands. +func (base *intermodeOmniBase) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) { + // TODO: expand this function to change steering/gearing modes. + name, ok := cmd["command"] + if !ok { + return nil, errors.New("missing 'command' value") + } + switch name { + default: + return nil, fmt.Errorf("no such command: %s", name) + } +} + +func (base *intermodeOmniBase) IsMoving(ctx context.Context) (bool, error) { + return base.isMoving.Load(), nil +} + +// Close cleanly closes the base. +func (base *intermodeOmniBase) Close() { + // Disable the wheels + var cmd = mecanumCommand{ + state: mecanumStates[mecanumStateDisable], + mode: mecanumModes[mecanumModeSpeed], + rpm: 0, + current: kDefaultCurrent, + encoder: 0, + } + + var canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("close command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorFl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("close command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRr) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("close command TX error", "error", err) + } + + canFrame = (&cmd).toFrame(base.logger, kCanIdMotorRl) + if _, err := base.canTxSocket.Send(canFrame); err != nil { + base.logger.Errorw("close command TX error", "error", err) + } + + base.cancel() + base.activeBackgroundWorkers.Wait() +}