diff --git a/.gitignore b/.gitignore index b5dc798..51fc33b 100644 --- a/.gitignore +++ b/.gitignore @@ -129,6 +129,5 @@ dmypy.json .pyre/ # Binaries and executables -modal_base_process/modal module.tar.gz diff --git a/modalBase/modal b/modalBase/bin/modal old mode 100644 new mode 100755 similarity index 79% rename from modalBase/modal rename to modalBase/bin/modal index ef8f792..6c89e19 Binary files a/modalBase/modal and b/modalBase/bin/modal differ diff --git a/modalBase/go.mod b/modalBase/go.mod index 7da1f0f..fc21ac4 100644 --- a/modalBase/go.mod +++ b/modalBase/go.mod @@ -3,55 +3,46 @@ 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 + go.viam.com/rdk v0.16.0 + go.viam.com/utils v0.1.55 + golang.org/x/sys v0.15.0 ) require ( - cloud.google.com/go v0.110.0 // indirect - cloud.google.com/go/compute v1.19.1 // indirect + cloud.google.com/go v0.111.0 // indirect + cloud.google.com/go/compute v1.23.3 // 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 + cloud.google.com/go/iam v1.1.5 // indirect + cloud.google.com/go/storage v1.36.0 // indirect + git.sr.ht/~sbinet/gg v0.5.0 // 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/benbjohnson/clock v1.3.5 // 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/bufbuild/protocompile v0.7.1 // 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/davecgh/go-spew v1.1.1 // 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/golog v0.0.0-20230215213219-28954395e8d0 // indirect github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect - github.com/edaniels/zeroconf v1.0.5 // indirect + github.com/edaniels/zeroconf v1.0.10 // 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/felixge/httpsnoop v1.0.4 // indirect + github.com/fsnotify/fsnotify v1.7.0 // indirect + github.com/fullstorydev/grpcurl v1.8.9 // indirect + github.com/go-fonts/liberation v0.3.2 // indirect + github.com/go-gl/mathgl v1.1.0 // indirect + github.com/go-latex/latex v0.0.0-20231108140139-5c1ce85aa4ea // indirect + github.com/go-logr/logr v1.3.0 // indirect + github.com/go-logr/stdr v1.2.2 // indirect + github.com/go-pdf/fpdf v0.9.0 // 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 @@ -59,104 +50,97 @@ require ( 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/google/go-cmp v0.6.0 // indirect + github.com/google/s2a-go v0.1.7 // indirect + github.com/google/uuid v1.5.0 // indirect + github.com/googleapis/enterprise-certificate-proxy v0.3.2 // indirect + github.com/googleapis/gax-go/v2 v2.12.0 // indirect + github.com/gorilla/securecookie v1.1.2 // 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/grpc-ecosystem/grpc-gateway/v2 v2.18.1 // 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/jedib0t/go-pretty/v6 v6.4.9 // indirect + github.com/jhump/protoreflect v1.15.4 // indirect github.com/kellydunn/golang-geo v0.7.0 // indirect - github.com/klauspost/compress v1.16.5 // indirect + github.com/klauspost/compress v1.17.4 // 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/blackmagic v1.0.2 // 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/jwx v1.2.27 // 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/lib/pq v1.10.9 // 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/mattn/go-runewidth v0.0.15 // indirect + github.com/miekg/dns v1.1.57 // 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/montanaflynn/stats v0.7.1 // 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/dtls/v2 v2.2.8 // indirect + github.com/pion/ice/v2 v2.3.11 // indirect + github.com/pion/interceptor v0.1.25 // 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/mdns v0.0.9 // 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/rtcp v1.2.13 // indirect + github.com/pion/rtp v1.8.3 // indirect + github.com/pion/sctp v1.8.9 // 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/pion/srtp/v2 v2.0.18 // indirect + github.com/pion/stun v0.6.1 // indirect + github.com/pion/transport/v2 v2.2.4 // indirect + github.com/pion/turn/v2 v2.1.4 // indirect + github.com/pion/webrtc/v3 v3.2.24 // 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/rogpeppe/go-internal v1.9.0 // indirect + github.com/rs/cors v1.10.1 // indirect github.com/sergi/go-diff v1.3.1 // indirect - github.com/smartystreets/assertions v1.13.1 // indirect + github.com/smartystreets/assertions v1.13.0 // indirect github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect + github.com/stretchr/testify v1.8.4 // 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/zitadel/oidc v1.13.5 // 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-hep.org/x/hep v0.34.1 // indirect + go.mongodb.org/mongo-driver v1.13.1 // 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.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.46.1 // indirect + go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.46.1 // indirect + go.opentelemetry.io/otel v1.21.0 // indirect + go.opentelemetry.io/otel/metric v1.21.0 // indirect + go.opentelemetry.io/otel/trace v1.21.0 // indirect + go.uber.org/atomic v1.11.0 // indirect + go.uber.org/goleak v1.3.0 // 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.uber.org/zap v1.26.0 // indirect + go.viam.com/api v0.1.242 // 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 + golang.org/x/crypto v0.17.0 // indirect + golang.org/x/exp v0.0.0-20231219180239-dc181d75b848 // indirect + golang.org/x/image v0.14.0 // indirect + golang.org/x/mod v0.14.0 // indirect + golang.org/x/net v0.19.0 // indirect + golang.org/x/oauth2 v0.15.0 // indirect + golang.org/x/sync v0.5.0 // indirect + golang.org/x/text v0.14.0 // indirect + golang.org/x/time v0.5.0 // indirect + golang.org/x/tools v0.16.1 // indirect + golang.org/x/xerrors v0.0.0-20231012003039-104605ab7028 // indirect + gonum.org/v1/gonum v0.14.0 // indirect + gonum.org/v1/plot v0.14.0 // indirect + google.golang.org/api v0.154.0 // indirect + google.golang.org/appengine v1.6.8 // indirect + google.golang.org/genproto v0.0.0-20231212172506-995d672761c0 // indirect + google.golang.org/genproto/googleapis/api v0.0.0-20231212172506-995d672761c0 // indirect + google.golang.org/genproto/googleapis/rpc v0.0.0-20231212172506-995d672761c0 // indirect + google.golang.org/grpc v1.60.1 // indirect + google.golang.org/protobuf v1.31.1-0.20231027082548-f4a6c1f6e5c1 // 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 + nhooyr.io/websocket v1.8.10 // indirect ) diff --git a/modalBase/go.sum b/modalBase/go.sum index 1ae304b..71f053c 100644 --- a/modalBase/go.sum +++ b/modalBase/go.sum @@ -14,59 +14,23 @@ cloud.google.com/go v0.54.0/go.mod h1:1rq2OEkV3YMf6n/9ZvGWI3GWw0VoqH/1x2nd8Is/bP 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 v0.111.0 h1:YHLKNupSD1KqjDbQ3+LVdQ81h/UJbJyZG203cEfnQgM= +cloud.google.com/go v0.111.0/go.mod h1:0mibmpKP1TyOOFYQY5izo0LnT+ecvOQ0Sg3OdmMiNRU= 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 v1.5.0/go.mod h1:9SMHyhJlzhlkJqrPAc839t2BZFTSk6Jdj6mkzQJeu0M= -cloud.google.com/go/compute v1.6.0/go.mod h1:T29tfhtVbq1wvAPo0E3+7vhgmkOYeXjhFvz/FMzPu0s= -cloud.google.com/go/compute v1.6.1/go.mod h1:g85FgpzFvNULZ+S8AYq87axRKuf2Kh7deLqV/jJ3thU= -cloud.google.com/go/compute v1.7.0 h1:v/k9Eueb8aAJ0vZuxKMrgm6kPhCLZU9HxFU+AFDs9Uk= -cloud.google.com/go/compute v1.7.0/go.mod h1:435lt8av5oL9P3fv1OEzSbSUe+ybHXGMPQHHZWZxy9U= -cloud.google.com/go/compute v1.12.1 h1:gKVJMEyqV5c/UnpzjjQbo3Rjvvqpr9B1DFSbJC4OXr0= -cloud.google.com/go/compute v1.12.1/go.mod h1:e8yNOBcBONZU1vJKCvCoDw/4JQsA0dpM4x/6PIIOocU= -cloud.google.com/go/compute v1.19.1 h1:am86mquDUgjGNWxiGn+5PGLbmgiWXlE/yNWpIpNvuXY= -cloud.google.com/go/compute v1.19.1/go.mod 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golang.org/x/crypto v0.0.0-20210921155107-089bfa567519/go.mod h1:GvvjBRRGRdwPK5ydBHafDWAxML/pGHZbMvKqRZ5+Abc= -golang.org/x/crypto v0.0.0-20220131195533-30dcbda58838/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= -golang.org/x/crypto v0.0.0-20220427172511-eb4f295cb31f/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= -golang.org/x/crypto v0.0.0-20220516162934-403b01795ae8/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= golang.org/x/crypto v0.0.0-20220622213112-05595931fe9d/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= -golang.org/x/crypto v0.0.0-20220722155217-630584e8d5aa h1:zuSxTR4o9y82ebqCUJYNGJbGPo6sKVl54f/TVDObg1c= -golang.org/x/crypto v0.0.0-20220722155217-630584e8d5aa/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= -golang.org/x/crypto v0.0.0-20221010152910-d6f0a8c073c2 h1:x8vtB3zMecnlqZIwJNUUpwYKYSqCz5jXbiyv0ZJJZeI= -golang.org/x/crypto v0.0.0-20221010152910-d6f0a8c073c2/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= 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v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.4.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.4.1/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.4.2/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= -golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4 h1:6zppjxzCulZykYSLyVDYbneBfbaBIQPYMevg0bEwv2s= golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4= golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= -golang.org/x/mod v0.10.0 h1:lFO9qtOdlre5W1jxS3r/4szv2/6iXxScdzjoBMXNhYk= -golang.org/x/mod v0.10.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= +golang.org/x/mod v0.14.0 h1:dGoOF9QVLYng8IHTm7BAyWqCqSheQ5pYWGhzW00YJr0= +golang.org/x/mod v0.14.0/go.mod h1:hTbmBsO62+eylJbnUtE2MGJUyE7QWk4xUqPFrRgJ+7c= golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= @@ -1413,7 +1104,6 @@ golang.org/x/net v0.0.0-20190503192946-f4e77d36d62c/go.mod h1:t9HGtf8HONx5eT2rtn golang.org/x/net v0.0.0-20190603091049-60506f45cf65/go.mod h1:HSz+uSET+XFnRR8LxR5pz3Of3rY3CfYBVs4xY44aLks= golang.org/x/net v0.0.0-20190613194153-d28f0bde5980/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= -golang.org/x/net v0.0.0-20190628185345-da137c7871d7/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= golang.org/x/net v0.0.0-20190724013045-ca1201d0de80/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s= golang.org/x/net v0.0.0-20190813141303-74dc4d7220e7/go.mod 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h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= -gopkg.in/yaml.v2 v2.4.0 h1:D8xgwECY7CYvx+Y2n4sBz93Jn9JRvxdiyyo8CTfuKaY= gopkg.in/yaml.v2 v2.4.0/go.mod h1:RDklbk79AGWmwhnvt/jBztapEOGDOx6ZbXqjP6csGnQ= gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA= gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= +gorgonia.org/tensor v0.9.24 h1:8ahrfwO4iby+1ILObIqfjJa+wyA2RoCfJSS3LVERSRE= +gorgonia.org/vecf32 v0.9.0 h1:PClazic1r+JVJ1dEzRXgeiVl4g1/Hf/w+wUSqnco1Xg= +gorgonia.org/vecf64 v0.9.0 h1:bgZDP5x0OzBF64PjMGC3EvTdOoMEcmfAh1VCUnZFm1A= honnef.co/go/tools v0.0.0-20180728063816-88497007e858/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= honnef.co/go/tools v0.0.0-20190102054323-c2f93a96b099/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= honnef.co/go/tools v0.0.0-20190106161140-3f1c8253044a/go.mod h1:rf3lG4BRIbNafJWhAfAdb/ePZxsR/4RtNHQocxwk9r4= @@ -2064,11 +1539,9 @@ mvdan.cc/interfacer v0.0.0-20180901003855-c20040233aed/go.mod h1:Xkxe497xwlCKkIa mvdan.cc/lint v0.0.0-20170908181259-adc824a0674b/go.mod h1:2odslEg/xrtNQqCYg2/jCoyKnw3vv5biOc3JnIcYfL4= mvdan.cc/unparam v0.0.0-20210104141923-aac4ce9116a7/go.mod h1:hBpJkZE8H/sb+VRFvw2+rBpHNsTBcvSpk61hr8mzXZE= nhooyr.io/websocket v1.8.6/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0= -nhooyr.io/websocket v1.8.7 h1:usjR2uOr/zjjkVMy0lW+PPohFok7PCow5sDjLgX4P4g= -nhooyr.io/websocket v1.8.7/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0= -periph.io/x/conn/v3 v3.6.10 h1:gwU4ssmZkq1D/uz8hU91i/COo2c9DrRaS4PJZBbCd+c= +nhooyr.io/websocket v1.8.10 h1:mv4p+MnGrLDcPlBoWsvPP7XCzTYMXP9F9eIGoKbgx7Q= +nhooyr.io/websocket v1.8.10/go.mod h1:rN9OFWIUwuxg4fR5tELlYC04bXYowCP9GX47ivo2l+c= periph.io/x/conn/v3 v3.7.0 h1:f1EXLn4pkf7AEWwkol2gilCNZ0ElY+bxS4WE2PQXfrA= -periph.io/x/host/v3 v3.7.2 h1:rCAUxkzy2xrzh18HP2AoVwTL/fEKqmcJ1icsZQGM58Q= periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db h1:8+HL7DJFofYRhGoK/UdwhzvQj3I2HrKLQ6dkOC66CZY= rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8= rsc.io/pdf v0.1.1 h1:k1MczvYDUvJBe93bYd7wrZLLUEcLZAuF824/I4e5Xr4= diff --git a/modalBase/server.go b/modalBase/server.go index 68f897d..9e7bdf5 100644 --- a/modalBase/server.go +++ b/modalBase/server.go @@ -12,7 +12,6 @@ import ( "sync/atomic" "time" - "github.com/edaniels/golog" "github.com/go-daq/canbus" "github.com/golang/geo/r3" "github.com/pkg/errors" @@ -22,23 +21,29 @@ import ( "go.viam.com/rdk/components/base" _ "go.viam.com/rdk/components/generic" - "go.viam.com/rdk/config" + "go.viam.com/rdk/logging" "go.viam.com/rdk/module" - "go.viam.com/rdk/registry" "go.viam.com/rdk/resource" + "go.viam.com/rdk/spatialmath" ) // Modal limits const PEDAL_MAX = 100.0 -const STEERANGLE_MAX = 25.0 +const STEERANGLE_MAX = 55.0 const SPEED_LIMP_HOME = 20.0 // Max speed (throttle) if a limp home condition is active -var model = resource.NewModel("rdk", "builtin", "intermode") +// TODO: Make this configurable +const STEERING_OFFSET = -5.0 // Steering angle offset to account for homing error + +var model = resource.NewModel("intermode", "modal", "ackermann") func main() { - goutils.ContextualMain(mainWithArgs, golog.NewDevelopmentLogger("intermodeBaseModule")) + goutils.ContextualMain(mainWithArgs, logging.NewDebugLogger("intermodeBaseModule")) } +// Version number +var version = "2.0.0" + // ///////////// // Telemetry // // ///////////// @@ -85,18 +90,19 @@ func telemGetAll() map[string]interface{} { // ///////////// // Fail-Safe // // ///////////// +// TODO: Re-enable comms timeout after an alternative to WASD demos is available 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 +var commsTimeoutEnable = false // Enable or disable comms timeout // Presently changed based off of received command style -func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) (err error) { +func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) (err error) { registerBase() modalModule, err := module.NewModuleFromArgs(ctx, logger) if err != nil { return err } - modalModule.AddModelFromRegistry(ctx, base.Subtype, model) + modalModule.AddModelFromRegistry(ctx, base.API, model) err = modalModule.Start(ctx) defer modalModule.Close(ctx) @@ -110,22 +116,31 @@ func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) (err // 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, + resource.RegisterComponent( + base.API, model, - registry.Component{Constructor: func( + resource.Registration[resource.Resource, resource.NoNativeConfig]{Constructor: func( ctx context.Context, - deps registry.Dependencies, - config config.Component, - logger golog.Logger, - ) (interface{}, error) { - return newBase(config.Name, logger) + deps resource.Dependencies, + conf resource.Config, + logger logging.Logger, + ) (resource.Resource, error) { + return newBase(conf, 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) { +func newBase(conf resource.Config, logger logging.Logger) (base.Base, error) { + var geometries = []spatialmath.Geometry{} + if conf.Frame != nil { + frame, err := conf.Frame.ParseConfig() + if err != nil { + return nil, err + } + geometries = append(geometries, frame.Geometry()) + } + socketSend, err := canbus.New() if err != nil { return nil, err @@ -155,14 +170,16 @@ func newBase(name string, logger golog.Logger) (base.Base, error) { } cancelCtx, cancel := context.WithCancel(context.Background()) - iBase := &interModeBase{ - name: name, - headLightsOn: true, - nextCommandCh: make(chan canbus.Frame), - cancel: cancel, - logger: logger, + iBase := &intermodeBase{ + name: conf.Name, + nextCommandCh: make(chan canbus.Frame), + cancel: cancel, + logger: logger, + geometries: geometries, + Named: conf.ResourceName().AsNamed(), } iBase.isMoving.Store(false) + iBase.headLightsOn.Store(true) iBase.activeBackgroundWorkers.Add(2) viamutils.ManagedGo(func() { @@ -178,14 +195,26 @@ func newBase(name string, logger golog.Logger) (base.Base, error) { // constants from the data sheet. const ( channel = "can0" - driveId uint32 = 0x220 - lightId uint32 = 0x260 + kulCanIdCmdDrive uint32 = 0x220 + kulCanIdCmdAxleF uint32 = 0x222 + kulCanIdCmdAxleR uint32 = 0x223 + kulCanIdCmdLight uint32 = 0x260 // Telemetry telemDriveId uint32 = 0x240 telemWheelSpeedId uint32 = 0x241 telemBatteryPowerId uint32 = 0x250 telemBatteryStateId uint32 = 0x251 + + kVehicleWheelbaseMm = 680 + kVehicleTrackwidthMm = 515 + + // Wheel properties + kWheelRadiusMm float64 = 125 + kWheelCircumferenceMm float64 = 2 * math.Pi * kWheelRadiusMm + + kTelemSpeedLimitDefault = 60.0 + kLimitSpeedMaxKph = 10 // Max speed in KPH ) const ( @@ -195,11 +224,17 @@ const ( gearDrive = "drive" gearEmergencyStop = "emergency_stop" - steerModeFrontWheelDrive = "front-wheel-drive" - steerModeRearWheelDrive = "rear-wheel-drive" - steerModeFourWheelDrive = "four-wheel-drive" + steerModeFrontWheelSteer = "front-wheel-steer" + steerModeRearWheelSteer = "rear-wheel-steer" + steerModeFourWheelSteer = "four-wheel-steer" steerModeCrabSteering = "crab-steering" + driveModeFourWheelDrive = "four-wheel-drive" + driveModeFrontWheelDrive = "front-wheel-drive" + driveModeRearWheelDrive = "rear-wheel-drive" + driveModeIndAped = "independent-aped-drive" + driveModeIndKph = "independent-kph-drive" + rightTurnSignal = "right-turn-signal" leftTurnSignal = "left-turn-signal" hazards = "hazards" @@ -226,11 +261,18 @@ var ( gearEmergencyStop: 4, } steerModes = map[string]byte{ - steerModeFrontWheelDrive: 0, - steerModeRearWheelDrive: 1, - steerModeFourWheelDrive: 2, + steerModeFrontWheelSteer: 0, + steerModeRearWheelSteer: 1, + steerModeFourWheelSteer: 2, steerModeCrabSteering: 3, } + driveModes = map[string]byte{ + driveModeFourWheelDrive: 0, + driveModeFrontWheelDrive: 1, + driveModeRearWheelDrive: 2, + driveModeIndAped: 3, + driveModeIndKph: 4, + } lightBits = map[string]byte{ // the spec sheet states the right and left swap, but this appeared backwards on my modal // couldn't find a place where my logic flips these, but could be wrong. @@ -254,7 +296,7 @@ type lightCommand struct { RightTurnSignal bool LeftTurnSignal bool Hazards bool - HeadLights bool + HeadLights atomic.Bool } type driveCommand struct { @@ -262,6 +304,7 @@ type driveCommand struct { Brake float64 SteeringAngle float64 Gear byte + DriveMode byte SteerMode byte } @@ -319,12 +362,20 @@ func calculateAccelAndBrakeBytes(accelPct float64, brakePct float64) []byte { return retBytes } +type axleCommand struct { + canId uint32 + rightSpeed float64 + leftSpeed float64 + Brake float64 + SteeringAngle float64 +} + type modalCommand interface { - toFrame(logger golog.Logger) canbus.Frame + toFrame(logger logging.Logger) canbus.Frame } // toFrame convert the light command to a canbus data frame. -func (cmd *doorCommand) toFrame(logger golog.Logger) canbus.Frame { +func (cmd *doorCommand) toFrame(logger logging.Logger) canbus.Frame { frame := canbus.Frame{ ID: cmd.DoorID, Data: make([]byte, 0, 8), @@ -339,15 +390,15 @@ func (cmd *doorCommand) toFrame(logger golog.Logger) canbus.Frame { } frame.Data = append(frame.Data, cmdByte) - logger.Debugw("frame", "data", frame.Data) + // logger.Debugw("frame", "data", frame.Data) return frame } // toFrame convert the light command to a canbus data frame. -func (cmd *lightCommand) toFrame(logger golog.Logger) canbus.Frame { +func (cmd *lightCommand) toFrame(logger logging.Logger) canbus.Frame { frame := canbus.Frame{ - ID: lightId, + ID: kulCanIdCmdLight, Data: make([]byte, 0, 8), Kind: canbus.SFF, } @@ -363,44 +414,78 @@ func (cmd *lightCommand) toFrame(logger golog.Logger) canbus.Frame { if cmd.Hazards { cmdByte |= lightBits[hazards] } - if cmd.HeadLights { + if cmd.HeadLights.Load() { cmdByte |= lightBits[headLights] } frame.Data = append(frame.Data, cmdByte) - logger.Debugw("frame", "data", frame.Data) + // logger.Debugw("frame", "data", frame.Data) return frame } -// toFrame convert the drive command to a canbus data frame. -func (cmd *driveCommand) toFrame(logger golog.Logger) canbus.Frame { +/* + * Convert a drive command to a CAN frame + */ +func (cmd *driveCommand) toFrame(logger logging.Logger) canbus.Frame { frame := canbus.Frame{ - ID: driveId, + ID: kulCanIdCmdDrive, Data: make([]byte, 0, 8), Kind: canbus.SFF, } + frame.Data = append(frame.Data, calculateAccelAndBrakeBytes(cmd.Accelerator, cmd.Brake)...) frame.Data = append(frame.Data, calculateSteeringAngleBytes(cmd.SteeringAngle)...) - // is this the best place to be setting the gear to reverse? felt better than in each place that sets the forward motion. - if cmd.Accelerator < 0 { - cmd.Gear = gears[gearReverse] + frame.Data = append(frame.Data, cmd.Gear|(cmd.DriveMode<<4), cmd.SteerMode) + + // logger.Debugw("frame", "data", frame.Data) + + return frame +} + +/* + * Convert an axle command to a CAN frame + */ +func (cmd *axleCommand) toFrame(logger logging.Logger) canbus.Frame { + frame := canbus.Frame{ + ID: cmd.canId, + Data: make([]byte, 8), + Kind: canbus.SFF, } - frame.Data = append(frame.Data, cmd.Gear, cmd.SteerMode) - logger.Debugw("frame", "data", frame.Data) + // TODO: Remove magic number scalars + rightSpeedBytes := uint16(cmd.rightSpeed / 0.0078125) + leftSpeedBytes := uint16(cmd.leftSpeed / 0.0078125) + brakeBytes := uint16(cmd.Brake / 0.0625) + steeringAngleBytes := uint16(cmd.SteeringAngle / 0.0078125) + + binary.LittleEndian.PutUint16(frame.Data[0:2], rightSpeedBytes) + binary.LittleEndian.PutUint16(frame.Data[2:4], leftSpeedBytes) + binary.LittleEndian.PutUint16(frame.Data[4:6], brakeBytes) + binary.LittleEndian.PutUint16(frame.Data[6:8], steeringAngleBytes) + + // logger.Debugw("frame", "data", frame.Data) return frame } -type interModeBase struct { - name string - headLightsOn bool - isMoving atomic.Bool +type intermodeBase struct { + resource.Named + + trackWidthMm float64 + wheelCircumferenceMm float64 + gearRatioInToOut float64 + geometries []spatialmath.Geometry + + name string + logger logging.Logger + + canTxSocket canbus.Socket nextCommandCh chan canbus.Frame + isMoving atomic.Bool + headLightsOn atomic.Bool activeBackgroundWorkers sync.WaitGroup cancel func() - logger golog.Logger } // publishThread continuously sends the current drive command over the canbus. @@ -408,12 +493,13 @@ func publishThread( ctx context.Context, socket canbus.Socket, nextCommandCh chan canbus.Frame, - logger golog.Logger, + logger logging.Logger, ) { defer socket.Close() commsTimeout = time.Now().Add(commsTimeoutIntervalMs * time.Millisecond) driveFrame := (&stopCmd).toFrame(logger) + var axleFFrame, axleRFrame canbus.Frame var frame canbus.Frame for { @@ -423,10 +509,14 @@ func publishThread( select { case <-ctx.Done(): case frame = <-nextCommandCh: - if frame.ID == driveId { + if frame.ID == kulCanIdCmdDrive { // new drive command will replace the existing drive command and be sent every 10ms. driveFrame = frame commsTimeout = time.Now().Add(commsTimeoutIntervalMs * time.Millisecond) + } else if frame.ID == kulCanIdCmdAxleF { + axleFFrame = frame + } else if frame.ID == kulCanIdCmdAxleR { + axleRFrame = frame } else { // non-drive commands should be sent immediately, but retain current drive command for base heartbeating. if _, err := socket.Send(frame); err != nil { @@ -441,6 +531,12 @@ func publishThread( if _, err := socket.Send(driveFrame); err != nil { logger.Errorw("drive command send error", "error", err) } + if _, err := socket.Send(axleFFrame); err != nil { + logger.Errorw("front axle command send error", "error", err) + } + if _, err := socket.Send(axleRFrame); err != nil { + logger.Errorw("rear axle command send error", "error", err) + } } } @@ -569,7 +665,7 @@ var ( func receiveThread( ctx context.Context, socket canbus.Socket, - logger golog.Logger, + logger logging.Logger, ) { defer socket.Close() @@ -605,13 +701,14 @@ func receiveThread( */ // MoveStraight moves the base forward the given distance and speed. -func (base *interModeBase) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error { +func (base *intermodeBase) MoveStraight(ctx context.Context, distanceMm int, mmPerSec float64, extra map[string]interface{}) error { cmd := driveCommand{ Accelerator: 0.5, Brake: 0, - SteeringAngle: 0, + SteeringAngle: STEERING_OFFSET, Gear: gears[gearDrive], - SteerMode: steerModes[steerModeFourWheelDrive], + DriveMode: driveModes[driveModeFourWheelDrive], + SteerMode: steerModes[steerModeFourWheelSteer], } if mmPerSec < 0 || distanceMm < 0 { @@ -635,8 +732,36 @@ func (base *interModeBase) MoveStraight(ctx context.Context, distanceMm int, mmP return nil } +func (base *intermodeBase) calculateGearDesired(ctx context.Context, accel float64) (byte, error) { + // TODO: Only allow changes when at low speed + + // If the desired gear got corrupted, default to emergency stop. + gearDesired, ok := telemGet(telemGearDesired).(byte) + if !ok { + gearDesired = gears[gearEmergencyStop] + } else { + // A negative acceleration means to move the opposite direction of + // the current gear + if 0 > accel { + if gears[gearReverse] == gearDesired { + gearDesired = gears[gearDrive] + } else { // Default to reverse in case gearDesired is unset + gearDesired = gears[gearReverse] + } + } else { + if gears[gearDrive] == gearDesired { + gearDesired = gears[gearReverse] + } else { // Default to drive in case gearDesired is unset + gearDesired = gears[gearDrive] + } + } + } + + return gearDesired, nil +} + // Spin spins the base by the given angleDeg and degsPerSec. -func (base *interModeBase) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error { +func (base *intermodeBase) Spin(ctx context.Context, angleDeg, degsPerSec float64, extra map[string]interface{}) error { //TODO: make headlights and hazard persistent parts of the base if err := base.setNextCommand(ctx, &lightCommand{ RightTurnSignal: angleDeg < 0, @@ -647,12 +772,16 @@ func (base *interModeBase) Spin(ctx context.Context, angleDeg, degsPerSec float6 return err } + steer_angle := angleDeg + STEERING_OFFSET + steer_angle = math.Min(math.Max(steer_angle, -STEERANGLE_MAX), STEERANGLE_MAX) + if err := base.setNextCommand(ctx, &driveCommand{ Accelerator: 0.5, Brake: 0, - SteeringAngle: angleDeg, + SteeringAngle: steer_angle, Gear: gears[gearDrive], - SteerMode: steerModes[steerModeFourWheelDrive], + DriveMode: driveModes[driveModeFourWheelDrive], + SteerMode: steerModes[steerModeFourWheelSteer], }); err != nil { return err } @@ -675,8 +804,35 @@ func (base *interModeBase) Spin(ctx context.Context, angleDeg, degsPerSec float6 }) } + + // SetPower sets the linear and angular [-1, 1] drive power. -func (base *interModeBase) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { +func (base *intermodeBase) SetPower(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { + // Print received command + // Not a debug message to avoid activating all of the debug messages + base.logger.Infow("SetPower with ", + "linear.X", linear.X, + "linear.Y", linear.Y, + "linear.Z", linear.Z, + "angular.X", angular.X, + "angular.Y", angular.Y, + "angular.Z", angular.Z, + ) + + // Some vector components do not apply to a 2D base + if 0 != linear.X { + base.logger.Warnw("Linear X command non-zero and has no effect") + } + 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") + } + //TODO: make headlights and hazard persistent parts of the base if err := base.setNextCommand(ctx, &lightCommand{ RightTurnSignal: angular.Z < -0.3, @@ -689,31 +845,67 @@ func (base *interModeBase) SetPower(ctx context.Context, linear, angular r3.Vect var accel float64 = 0 var brake float64 = 0 - var ok = false + var steerAngle float64 = 0 var gearDesired byte = 0x0 - { - // If the desired gear got corrupted, default to emergency stop. - gearDesired, ok = telemGet(telemGearDesired).(byte) - if !ok { - gearDesired = gears[gearEmergencyStop] - } + + // TODO: Make dependent on both linear and angular velocity + accel = linear.Y + // TODO: Move brake to a Do command + brake = linear.X + // TODO: Properly use vectors + steerAngle = STEERANGLE_MAX * angular.Z + STEERING_OFFSET + steerAngle = math.Min(math.Max(steerAngle, -STEERANGLE_MAX), STEERANGLE_MAX) + + // TODO: Remove when there's an alternative to WASD demos + telemSet(telemSpeedLimit, kTelemSpeedLimitDefault) + + gearDesired, _ = base.calculateGearDesired(ctx, accel) + + base.isMoving.Store(telemGet(telemSpeed) != 0) + + // Convert power percentage to KPH + // Temporary until the base can handle power directly + kphDes := accel * kLimitSpeedMaxKph + + var driveCmd = driveCommand{ + Accelerator: 0, + Brake: brake, + SteeringAngle: steerAngle, + Gear: gearDesired, + DriveMode: driveModes[driveModeIndKph], + SteerMode: steerModes[steerModeFourWheelSteer], + } + var axleCmd = axleCommand{ + rightSpeed: kphDes, + leftSpeed: kphDes, + Brake: 0.0, + SteeringAngle: 0.0, + } + var frontCmd, rearCmd = axleCmd, axleCmd - accel = linear.Y - brake = linear.X + // TODO: Switch to actually using speed instead of a percentage + // Currently treating this as an Aped command at the base side + frontCmd.canId = kulCanIdCmdAxleF + rearCmd.canId = kulCanIdCmdAxleR - base.isMoving.Store(telemGet(telemSpeed) != 0) + if err := base.setNextCommand(ctx, &driveCmd); err != nil { + base.logger.Errorw("Error setting SetPower command", "error", err) + return err } - return base.setNextCommand(ctx, &driveCommand{ - Accelerator: accel, - Brake: brake, - SteeringAngle: angular.Z * STEERANGLE_MAX, - Gear: gearDesired, - SteerMode: steerModes[steerModeFourWheelDrive], - }) + if err := base.setNextCommand(ctx, &frontCmd); err != nil { + base.logger.Errorw("Error setting SetPower command", "error", err) + return err + } + if err := base.setNextCommand(ctx, &rearCmd); err != nil { + base.logger.Errorw("Error setting SetPower command", "error", err) + return err + } + + return nil } // SetVelocity sets the linear (mmPerSec) and angular (degsPerSec) velocity. -func (base *interModeBase) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { +func (base *intermodeBase) SetVelocity(ctx context.Context, linear, angular r3.Vector, extra map[string]interface{}) error { //TODO: make headlights and hazard persistent parts of the base if err := base.setNextCommand(ctx, &lightCommand{ RightTurnSignal: angular.Z < -30, @@ -726,39 +918,45 @@ func (base *interModeBase) SetVelocity(ctx context.Context, linear, angular r3.V // if any component of either vector isnt 0, we're moving! base.isMoving.Store(linear.X != 0 || linear.Y != 0 || linear.Z != 0 || angular.X != 0 || angular.Y != 0 || angular.Z != 0) + steer_angle := STEERANGLE_MAX * angular.Z + STEERING_OFFSET + steer_angle = math.Min(math.Max(steer_angle, -STEERANGLE_MAX), STEERANGLE_MAX) + return base.setNextCommand(ctx, &driveCommand{ Accelerator: linear.Y, Brake: 0, - SteeringAngle: angular.Z * STEERANGLE_MAX, + SteeringAngle: steer_angle, Gear: gears[gearDrive], - SteerMode: steerModes[steerModeFourWheelDrive], + DriveMode: driveModes[driveModeFourWheelDrive], + SteerMode: steerModes[steerModeFourWheelSteer], }) } var stopCmd = driveCommand{ Accelerator: 0, Brake: 1, - SteeringAngle: 0, + SteeringAngle: STEERING_OFFSET, Gear: gears[gearPark], - SteerMode: steerModes[steerModeFourWheelDrive], + DriveMode: driveModes[driveModeFourWheelDrive], + SteerMode: steerModes[steerModeFourWheelSteer], } var emergencyCmd = driveCommand{ Accelerator: 0, Brake: 1, - SteeringAngle: 0, + SteeringAngle: STEERING_OFFSET, Gear: gears[gearEmergencyStop], - SteerMode: steerModes[steerModeFourWheelDrive], + DriveMode: driveModes[driveModeFourWheelDrive], + SteerMode: steerModes[steerModeFourWheelSteer], } // Stop stops the base. It is assumed the base stops immediately. -func (base *interModeBase) Stop(ctx context.Context, extra map[string]interface{}) error { +func (base *intermodeBase) Stop(ctx context.Context, extra map[string]interface{}) error { base.isMoving.Store(false) return base.setNextCommand(ctx, &stopCmd) } // DoCommand executes additional commands beyond the Base{} interface. For this rover that includes door open and close commands. -func (base *interModeBase) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) { +func (base *intermodeBase) 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 { @@ -804,7 +1002,7 @@ func (base *interModeBase) DoCommand(ctx context.Context, cmd map[string]interfa return nil, errors.New("on value must be a boolean") } - base.headLightsOn = on + base.headLightsOn.Store(on) cmd := lightCommand{ RightTurnSignal: false, LeftTurnSignal: false, @@ -860,17 +1058,43 @@ func (base *interModeBase) DoCommand(ctx context.Context, cmd map[string]interfa } } -func (base *interModeBase) IsMoving(ctx context.Context) (bool, error) { +func (i *intermodeBase) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error) { + return i.geometries, nil +} + +func (i *intermodeBase) Name() resource.Name { + return resource.Name{ + API: base.API, + Remote: "test", + Name: "modal", + } +} + +func (i *intermodeBase) Reconfigure(context.Context, resource.Dependencies, resource.Config) error { + return nil +} + +func (i *intermodeBase) Properties(ctx context.Context, extra map[string]interface{}) (base.Properties, error) { + return base.Properties{ + WidthMeters: kVehicleTrackwidthMm / 1000.0, + WheelCircumferenceMeters: kWheelCircumferenceMm / 1000.0, + }, nil +} + +func (base *intermodeBase) IsMoving(ctx context.Context) (bool, error) { return base.isMoving.Load(), nil } // Close cleanly closes the base. -func (base *interModeBase) Close() { +func (base *intermodeBase) Close(ctx context.Context) error { + base.setNextCommand(ctx, &stopCmd) base.cancel() base.activeBackgroundWorkers.Wait() + + return nil } -func (base *interModeBase) setNextCommand(ctx context.Context, cmd modalCommand) error { +func (base *intermodeBase) setNextCommand(ctx context.Context, cmd modalCommand) error { if err := ctx.Err(); err != nil { return err } diff --git a/modalBase_omniDirectional/server.go b/modalBase_omniDirectional/server.go index c00fb24..52bccf9 100644 --- a/modalBase_omniDirectional/server.go +++ b/modalBase_omniDirectional/server.go @@ -36,6 +36,9 @@ func main() { goutils.ContextualMain(mainWithArgs, golog.NewDevelopmentLogger("intermodeOmniBaseModule")) } +// Version number +var version = "1.0.0" + // // ///////////// // // Telemetry // // // /////////////