diff --git a/.github/ISSUE_TEMPLATE/navigator.yaml b/.github/ISSUE_TEMPLATE/navigator.yaml index 8e528b706..a3617fae6 100644 --- a/.github/ISSUE_TEMPLATE/navigator.yaml +++ b/.github/ISSUE_TEMPLATE/navigator.yaml @@ -7,26 +7,6 @@ body: attributes: value: | Hey, thanks for taking the time to add this software issue! - - type: input - id: assignee - attributes: - label: Assignee - description: > - Does this issue need to be completed by a specific person on the team? - If so, mention them below. - placeholder: ex. @torvalds is already working on this task! - validations: - required: false - - type: input - id: deadline - attributes: - label: Deadline - description: > - Does this task need a deadline? _If this task is related to a competition, - it should have a deadline._ - placeholder: ex. 2023-12-25 - validations: - required: false - type: textarea id: description attributes: diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 00d167c3d..120b30531 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -9,9 +9,9 @@ ## Related Issues - + -* #XXX +\- Closes #XXX ## Testing diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 7fef146b8..a99604c0e 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -37,43 +37,36 @@ jobs: submodules: recursive path: catkin_ws/src/mil - name: Setup ROS Noetic - uses: ros-tooling/setup-ros@v0.3 + uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: noetic - name: Install pip dependencies run: | cd $GITHUB_WORKSPACE/catkin_ws/src/mil - pip install -r requirements.txt - - name: Install system dependencies - # GH-803: This should not need continue-on-error: true - continue-on-error: true - run: | - cd $GITHUB_WORKSPACE/catkin_ws/src/mil - ./scripts/install.sh + pip3 install -r requirements.txt + # We want to run a full test suite in CI - this includes the BlueView + # tests! - name: Install BlueView Sonar SDK run: | cd $GITHUB_WORKSPACE/catkin_ws/src/mil ./scripts/hardware_installers/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }} ls mil_common/drivers/mil_blueview_driver echo $PWD - - name: Run catkin_make - run: | - export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts - cd $GITHUB_WORKSPACE/catkin_ws - ls src/mil/mil_common/drivers/mil_blueview_driver - source /opt/ros/noetic/setup.bash - rm -rf build devel - catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \ - -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \ - -j6 - # We want to run a full test suite in CI - this includes the BlueView - # tests! - - name: Run pylint + - name: Install system dependencies run: | + # Needed for /etc/update-manager/release-upgrades + sudo apt-get install -y ubuntu-release-upgrader-core cd $GITHUB_WORKSPACE/catkin_ws/src/mil - source /opt/ros/noetic/setup.bash - source ../../devel/setup.bash - pylint $(git ls-files "*.py") --jobs=0 + rm -rf build devel + export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts + ./scripts/install.sh + # - name: Run catkin_make + # run: | + # cd $GITHUB_WORKSPACE/catkin_ws + # source /opt/ros/noetic/setup.bash + # catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \ + # -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \ + # -j6 - name: Run catkin_make tests run: | export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts @@ -127,7 +120,7 @@ jobs: # We need to install rsync for GitHub Pages deploy action - name: Install rsync run: | - sudo apt-get upgrade && sudo apt-get update && sudo apt-get install -y rsync + sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync # Publish the artifact to the GitHub Pages branch - name: Push docs to GitHub Pages diff --git a/.github/workflows/gh_pages.yaml b/.github/workflows/gh_pages.yaml index a228bba5e..b54342c28 100644 --- a/.github/workflows/gh_pages.yaml +++ b/.github/workflows/gh_pages.yaml @@ -50,7 +50,7 @@ jobs: # We need to install rsync for GitHub Pages deploy action - name: Install rsync run: | - sudo apt-get upgrade && sudo apt-get update && sudo apt-get install -y rsync + sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync - name: Move folders if: github.event.action != 'closed' diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 0caed0303..7751457af 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -8,62 +8,48 @@ ci: autofix_prs: false autoupdate_commit_msg: 'Update pre-commit hooks to latest versions' autoupdate_schedule: monthly - skip: [pylint] repos: - - repo: https://github.com/pycqa/isort - rev: 5.12.0 - hooks: - - id: isort - name: isort (python) - args: ['--profile', 'black'] - repo: https://github.com/adrienverge/yamllint.git - rev: v1.29.0 + rev: v1.32.0 hooks: - id: yamllint - repo: https://github.com/psf/black - rev: 23.1.0 + rev: 23.9.1 hooks: - id: black - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v15.0.7 + rev: v16.0.6 hooks: - id: clang-format - repo: https://github.com/PyCQA/autoflake - rev: v2.0.1 + rev: v2.2.1 hooks: - id: autoflake args: [--remove-all-unused-imports, --ignore-init-module-imports] - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.2 + rev: v0.9.0.6 hooks: - id: shellcheck exclude: ^docker|deprecated|NaviGator/simulation/VRX args: [--severity=warning, --exclude=SC1090] - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-1 + rev: v3.7.0-1 hooks: - id: shfmt exclude: ^docker|deprecated|NaviGator/simulation/VRX - - repo: local - hooks: - - id: pylint - name: pylint - entry: pylint - language: system - types: [python] - args: [--jobs=0] - - repo: https://github.com/asottile/pyupgrade - rev: v3.3.1 + - repo: https://github.com/astral-sh/ruff-pre-commit + # Ruff version. + rev: 'v0.0.292' hooks: - - id: pyupgrade - args: [--py38-plus] + - id: ruff + args: [--fix, --exit-non-zero-on-fix] - repo: https://github.com/codespell-project/codespell - rev: v2.2.2 + rev: v2.2.5 hooks: - id: codespell args: - - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd + - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd,wronly - --skip="./.*,*.csv,*.json" - --quiet-level=2 exclude_types: [csv, json] diff --git a/NaviGator/docs/CMakeLists.txt b/NaviGator/docs/CMakeLists.txt index 42980fdc2..5d136b8e6 100644 --- a/NaviGator/docs/CMakeLists.txt +++ b/NaviGator/docs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_documentation) find_package(catkin REQUIRED) catkin_package() diff --git a/NaviGator/gnc/navigator_controller/CMakeLists.txt b/NaviGator/gnc/navigator_controller/CMakeLists.txt index bc63634b0..d35d4931c 100644 --- a/NaviGator/gnc/navigator_controller/CMakeLists.txt +++ b/NaviGator/gnc/navigator_controller/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_controller) find_package(catkin REQUIRED diff --git a/NaviGator/gnc/navigator_controller/nodes/mrac_controller.py b/NaviGator/gnc/navigator_controller/nodes/mrac_controller.py index fbb4453a5..07819b9f5 100755 --- a/NaviGator/gnc/navigator_controller/nodes/mrac_controller.py +++ b/NaviGator/gnc/navigator_controller/nodes/mrac_controller.py @@ -33,7 +33,9 @@ def __init__(self): # Yaw error threshold for long trajectory to be satisfied self.yaw_thresh = rospy.get_param("yaw_thresh", 0.02) self.task_info_sub = rospy.Subscriber( - "/vrx/task/info", Task, self.taskinfoSubscriber + "/vrx/task/info", + Task, + self.taskinfoSubscriber, ) self.thresholds_changed = False # Initial disturbance estimate @@ -64,10 +66,12 @@ def __init__(self): # REFERENCE MODEL (note that this is not the adaptively estimated TRUE model; rather, # these parameters will govern the trajectory we want to achieve). self.mass_ref = rospy.get_param( - "~mass", 500 + "~mass", + 500, ) # kg, determined to be larger than boat in practice due to water mass ## might change to lowe number (350kg) self.inertia_ref = rospy.get_param( - "~izz", 400 + "~izz", + 400, ) # kg*m^2, determined to be larger than boat in practice due to water mass self.thrust_max = 220 # N @@ -78,7 +82,7 @@ def __init__(self): [-1.9000, -1.0000, -0.0123], [1.6000, 0.6000, -0.0123], [1.6000, -0.6000, -0.0123], - ] + ], ) # back-left, back-right, front-left, front-right thruster directions in radians @@ -88,7 +92,7 @@ def __init__(self): [0.7071, -0.7071, 0.0000], [0.7071, -0.7071, 0.0000], [0.7071, 0.7071, 0.0000], - ] + ], ) self.lever_arms = np.cross(self.thruster_positions, self.thruster_directions) self.B_body = np.concatenate((self.thruster_directions.T, self.lever_arms.T)) @@ -98,16 +102,16 @@ def __init__(self): self.D_body_positive = ( abs( np.array( - [self.Fx_max_body[0], self.Fy_max_body[1], self.Mz_max_body[5]] - ) + [self.Fx_max_body[0], self.Fy_max_body[1], self.Mz_max_body[5]], + ), ) / self.vel_max_body_positive**2 ) self.D_body_negative = ( abs( np.array( - [self.Fx_max_body[0], self.Fy_max_body[1], self.Mz_max_body[5]] - ) + [self.Fx_max_body[0], self.Fy_max_body[1], self.Mz_max_body[5]], + ), ) / self.vel_max_body_negative**2 ) @@ -153,7 +157,9 @@ def __init__(self): rospy.Subscriber("/wrench/selected", String, self.set_learning) # Publishers self.wrench_pub = rospy.Publisher( - "/wrench/autonomous", WrenchStamped, queue_size=0 + "/wrench/autonomous", + WrenchStamped, + queue_size=0, ) self.pose_ref_pub = rospy.Publisher("pose_ref", PoseStamped, queue_size=0) self.adaptation_pub = rospy.Publisher("adaptation", WrenchStamped, queue_size=0) @@ -181,7 +187,7 @@ def set_traj(self, msg: PoseTwistStamped) -> None: the subscriber. """ self.p_ref = np.array( - [msg.posetwist.pose.position.x, msg.posetwist.pose.position.y] + [msg.posetwist.pose.position.x, msg.posetwist.pose.position.y], ) self.q_ref = np.array( [ @@ -189,7 +195,7 @@ def set_traj(self, msg: PoseTwistStamped) -> None: msg.posetwist.pose.orientation.y, msg.posetwist.pose.orientation.z, msg.posetwist.pose.orientation.w, - ] + ], ) R = trns.quaternion_matrix(self.q_ref)[:3, :3] @@ -200,8 +206,8 @@ def set_traj(self, msg: PoseTwistStamped) -> None: msg.posetwist.twist.linear.x, msg.posetwist.twist.linear.y, msg.posetwist.twist.linear.z, - ] - ) + ], + ), )[:2] self.w_ref = R.dot( np.array( @@ -209,8 +215,8 @@ def set_traj(self, msg: PoseTwistStamped) -> None: msg.posetwist.twist.angular.x, msg.posetwist.twist.angular.y, msg.posetwist.twist.angular.z, - ] - ) + ], + ), )[2] self.a_ref = R.dot( @@ -219,8 +225,8 @@ def set_traj(self, msg: PoseTwistStamped) -> None: msg.posetwist.acceleration.linear.x, msg.posetwist.acceleration.linear.y, msg.posetwist.acceleration.linear.z, - ] - ) + ], + ), )[:2] self.aa_ref = R.dot( np.array( @@ -228,8 +234,8 @@ def set_traj(self, msg: PoseTwistStamped) -> None: msg.posetwist.acceleration.angular.x, msg.posetwist.acceleration.angular.y, msg.posetwist.acceleration.angular.z, - ] - ) + ], + ), )[2] def set_traj_from_odom_msg(self, msg: Odometry) -> None: @@ -258,7 +264,7 @@ def set_traj_from_odom_msg(self, msg: Odometry) -> None: msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w, - ] + ], ) self.old_p_ref = self.p_ref @@ -272,8 +278,8 @@ def set_traj_from_odom_msg(self, msg: Odometry) -> None: msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z, - ] - ) + ], + ), )[:2] self.w_ref = R.dot( np.array( @@ -281,8 +287,8 @@ def set_traj_from_odom_msg(self, msg: Odometry) -> None: msg.twist.twist.angular.x, msg.twist.twist.angular.y, msg.twist.twist.angular.z, - ] - ) + ], + ), )[2] self.a_ref = np.array([0, 0]) @@ -300,7 +306,7 @@ def set_waypoint(self, msg) -> None: msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w, - ] + ], ) R = trns.quaternion_matrix(self.q_ref)[:3, :3] @@ -311,8 +317,8 @@ def set_waypoint(self, msg) -> None: msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.linear.z, - ] - ) + ], + ), )[:2] self.w_ref = R.dot( np.array( @@ -320,8 +326,8 @@ def set_waypoint(self, msg) -> None: msg.twist.twist.angular.x, msg.twist.twist.angular.y, msg.twist.twist.angular.z, - ] - ) + ], + ), )[2] self.a_ref = np.array([0, 0]) @@ -360,7 +366,7 @@ def get_command(self, msg: Odometry) -> None: # ROS unpack self.position = np.array([position.x, position.y]) self.orientation = np.array( - [orientation.x, orientation.y, orientation.z, orientation.w] + [orientation.x, orientation.y, orientation.z, orientation.w], ) # Frame management quantities @@ -370,10 +376,10 @@ def get_command(self, msg: Odometry) -> None: # More ROS unpacking, converting body frame twist to world frame lin_vel and ang_vel self.lin_vel = R.dot( - np.array([lin_vel_body.x, lin_vel_body.y, lin_vel_body.z]) + np.array([lin_vel_body.x, lin_vel_body.y, lin_vel_body.z]), )[:2] self.ang_vel = R.dot( - np.array([ang_vel_body.x, ang_vel_body.y, ang_vel_body.z]) + np.array([ang_vel_body.x, ang_vel_body.y, ang_vel_body.z]), )[2] # Convert body PD gains to world frame @@ -384,8 +390,9 @@ def get_command(self, msg: Odometry) -> None: p_err = self.p_ref - self.position y_err = trns.euler_from_quaternion( trns.quaternion_multiply( - self.q_ref, trns.quaternion_inverse(self.orientation) - ) + self.q_ref, + trns.quaternion_inverse(self.orientation), + ), )[2] v_err = self.v_ref - self.lin_vel w_err = self.w_ref - self.ang_vel @@ -444,7 +451,7 @@ def get_command(self, msg: Odometry) -> None: -self.lin_vel[0] * np.cos(y) - self.lin_vel[1] * np.sin(y), self.ang_vel, ], - ] + ], ) # wrench = PD + feedforward + I + adaptation @@ -454,7 +461,9 @@ def get_command(self, msg: Odometry) -> None: self.dist_est = [0, 0, 0] else: self.drag_effort = np.clip( - drag_regressor.dot(self.drag_est), -self.drag_limit, self.drag_limit + drag_regressor.dot(self.drag_est), + -self.drag_limit, + self.drag_limit, ) wrench = ( (kp.dot(err)) @@ -506,7 +515,7 @@ def get_command(self, msg: Odometry) -> None: position=Point(self.p_ref[0], self.p_ref[1], 0), orientation=Quaternion(*self.q_ref), ), - ) + ), ) # Publish adaptation (Y*theta) for plotting @@ -540,14 +549,18 @@ def increment_reference(self) -> None: w_err = -self.w_ref if npl.norm(p_err) <= self.heading_threshold: q_err = trns.quaternion_multiply( - self.q_des, trns.quaternion_inverse(self.q_ref) + self.q_des, + trns.quaternion_inverse(self.q_ref), ) else: q_direct = trns.quaternion_from_euler( - 0, 0, np.angle(p_err[0] + (1j * p_err[1])) + 0, + 0, + np.angle(p_err[0] + (1j * p_err[1])), ) q_err = trns.quaternion_multiply( - q_direct, trns.quaternion_inverse(self.q_ref) + q_direct, + trns.quaternion_inverse(self.q_ref), ) y_err = trns.euler_from_quaternion(q_err)[2] @@ -558,7 +571,7 @@ def increment_reference(self) -> None: # Compute world frame thruster matrix (B) from thruster geometry, and then map wrench to thrusts B = np.concatenate( - (R_ref.dot(self.thruster_directions.T), R_ref.dot(self.lever_arms.T)) + (R_ref.dot(self.thruster_directions.T), R_ref.dot(self.lever_arms.T)), ) B_3dof = np.concatenate((B[:2, :], [B[5, :]])) command = self.thruster_mapper(wrench, B_3dof) @@ -579,7 +592,9 @@ def increment_reference(self) -> None: self.aa_ref = (wrench_saturated[5] - drag_ref[2]) / self.inertia_ref self.p_ref = self.p_ref + (self.v_ref * self.timestep) self.q_ref = trns.quaternion_from_euler( - 0, 0, y_ref + (self.w_ref * self.timestep) + 0, + 0, + y_ref + (self.w_ref * self.timestep), ) self.v_ref = self.v_ref + (self.a_ref * self.timestep) self.w_ref = self.w_ref + (self.aa_ref * self.timestep) diff --git a/NaviGator/gnc/navigator_controller/nodes/run_nn_controller.py b/NaviGator/gnc/navigator_controller/nodes/run_nn_controller.py index 383d0dfb5..9cb9f073b 100755 --- a/NaviGator/gnc/navigator_controller/nodes/run_nn_controller.py +++ b/NaviGator/gnc/navigator_controller/nodes/run_nn_controller.py @@ -16,7 +16,9 @@ def odom_callback(odom_msg: Odometry) -> None: callback by the subscriber. """ controller.give_new_state( - odom_msg.pose.pose, odom_msg.twist.twist, odom_msg.header.stamp.to_sec() + odom_msg.pose.pose, + odom_msg.twist.twist, + odom_msg.header.stamp.to_sec(), ) @@ -30,7 +32,7 @@ def reference_callback(ref_msg: PoseTwistStamped) -> None: to the callback by the subscriber. """ pose_ref_pub.publish( - PoseStamped(header=ref_msg.header, pose=ref_msg.posetwist.pose) + PoseStamped(header=ref_msg.header, pose=ref_msg.posetwist.pose), ) controller.give_new_reference(ref_msg.posetwist.pose, ref_msg.posetwist.twist) diff --git a/NaviGator/gnc/navigator_msg_multiplexer/CMakeLists.txt b/NaviGator/gnc/navigator_msg_multiplexer/CMakeLists.txt index 1bda4c417..12624bfee 100644 --- a/NaviGator/gnc/navigator_msg_multiplexer/CMakeLists.txt +++ b/NaviGator/gnc/navigator_msg_multiplexer/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_msg_multiplexer) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py b/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py index a57edda6b..eb425ec7a 100755 --- a/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py +++ b/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py @@ -17,8 +17,10 @@ from navigator_path_planner import params from std_srvs.srv import Trigger + # Wow what a concept -fprint = lambda *args, **kwargs: _fprint(title="OGRID_ARB", *args, **kwargs) +def fprint(*args, **kwargs): + return _fprint(*args, title="OGRID_ARB", **kwargs) def make_ogrid_transform(ogrid: OccupancyGrid) -> np.array: @@ -42,7 +44,7 @@ def make_ogrid_transform(ogrid: OccupancyGrid) -> np.array: [1 / resolution, 0, -origin[0] / resolution], [0, 1 / resolution, -origin[1] / resolution], [0, 0, 1], - ] + ], ) return t @@ -104,7 +106,9 @@ def transform_ogrid_to_enu(grid_points: List[int], grid: OccupancyGrid) -> np.nd def transform_between_ogrids( - grid1_points: List[int], grid1: OccupancyGrid, grid2: OccupancyGrid + grid1_points: List[int], + grid1: OccupancyGrid, + grid2: OccupancyGrid, ) -> np.ndarray: """ ??? @@ -161,7 +165,10 @@ def __init__(self, topic: str, replace: bool = False, frame_id: str = "enu"): self.np_map = None # Numpy version of last received OccupancyGrid message self.replace = replace self.subscriber = rospy.Subscriber( - topic, OccupancyGrid, self.subscriber_callback, queue_size=1 + topic, + OccupancyGrid, + self.subscriber_callback, + queue_size=1, ) @property @@ -214,7 +221,7 @@ def __init__( # Default to centering the ogrid position = np.array( - [-(map_size * resolution) / 2, -(map_size * resolution) / 2, 0] + [-(map_size * resolution) / 2, -(map_size * resolution) / 2, 0], ) quaternion = np.array([0, 0, 0, 1]) @@ -349,7 +356,7 @@ def dynamic_config_callback(self, config: dict, _) -> dict: -(map_size[1] * self.resolution) / 2, -(map_size[0] * self.resolution) / 2, 0, - ] + ], ) quaternion = np.array([0, 0, 0, 1]) self.origin = mil_tools.numpy_quat_pair_to_pose(position, quaternion) @@ -419,7 +426,8 @@ def publish(self, timer_event): g_h, g_w = global_ogrid.info.height, global_ogrid.info.width if l_h > g_h or l_w > g_w: fprint( - "Proactively preventing errors in ogrid size.", msg_color="red" + "Proactively preventing errors in ogrid size.", + msg_color="red", ) new_size = max(l_w, g_w, l_h, g_h) self.global_ogrid = self.create_grid((new_size, new_size)) @@ -428,7 +436,9 @@ def publish(self, timer_event): corners = get_enu_corners(ogrid.nav_ogrid) index_limits = transform_enu_to_ogrid(corners, ogrid.nav_ogrid) index_limits = transform_between_ogrids( - index_limits, ogrid.nav_ogrid, global_ogrid + index_limits, + ogrid.nav_ogrid, + global_ogrid, )[:, :2] l_x_min = index_limits[0][0] @@ -444,7 +454,9 @@ def publish(self, timer_event): # Should be indices l_ogrid_start = transform_between_ogrids( - [start_x, start_y, 1], global_ogrid, ogrid.nav_ogrid + [start_x, start_y, 1], + global_ogrid, + ogrid.nav_ogrid, ) # fprint("ROI {},{} {},{}".format(start_x, start_y, end_x, end_y)) @@ -456,7 +468,8 @@ def publish(self, timer_event): # fprint("Ogrid size: {}, {}".format(ogrid.nav_ogrid.info.height, ogrid.nav_ogrid.info.width)) to_add = ogrid.np_map[ - l_ogrid_start[1] : index_height, l_ogrid_start[0] : index_width + l_ogrid_start[1] : index_height, + l_ogrid_start[0] : index_width, ] # fprint("to_add shape: {}".format(to_add.shape)) @@ -480,15 +493,13 @@ def publish(self, timer_event): ) print(e) fprint( - "w: {}, h: {}".format( - global_ogrid.info.width, global_ogrid.info.height - ), + f"w: {global_ogrid.info.width}, h: {global_ogrid.info.height}", msg_color="red", ) if self.draw_bounds and self.enforce_bounds: ogrid_bounds = transform_enu_to_ogrid(self.enu_bounds, global_ogrid).astype( - np.int32 + np.int32, ) for i, point in enumerate(ogrid_bounds[:, :2]): if i == 0: diff --git a/NaviGator/gnc/navigator_path_planner/CMakeLists.txt b/NaviGator/gnc/navigator_path_planner/CMakeLists.txt index ecb509cf9..d3e11b41f 100644 --- a/NaviGator/gnc/navigator_path_planner/CMakeLists.txt +++ b/NaviGator/gnc/navigator_path_planner/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_path_planner) find_package(catkin REQUIRED diff --git a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/boat.py b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/boat.py index f46c58e69..fb644104c 100644 --- a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/boat.py +++ b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/boat.py @@ -40,7 +40,7 @@ def dynamics(x: np.ndarray, u: np.ndarray, dt): """ # Rotation matrix (orientation, converts body to world) R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) # Construct drag coefficients based on our motion signs @@ -86,7 +86,7 @@ def lqr(x: np.ndarray, u: np.ndarray): Returns cost-to-go matrix S and policy matrix K given local state x and effort u. """ R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) K = np.hstack((kp.dot(R.T), kd)) return (S, K) @@ -118,7 +118,10 @@ def gen_ss(seed: np.ndarray, goal: np.ndarray, buff: List[float] = [ss_start] * constraints = lqrrt.Constraints( - nstates=nstates, ncontrols=ncontrols, goal_buffer=goal_buffer, is_feasible=unset + nstates=nstates, + ncontrols=ncontrols, + goal_buffer=goal_buffer, + is_feasible=unset, ) planner = lqrrt.Planner( diff --git a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/car.py b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/car.py index 521f972ed..57437d161 100644 --- a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/car.py +++ b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/car.py @@ -41,7 +41,7 @@ def dynamics(x, u, dt): """ # Rotation matrix (orientation, converts body to world) R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) # Construct drag coefficients based on our motion signs @@ -92,7 +92,7 @@ def lqr(x, u): """ R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) K = np.hstack((kp.dot(R.T), kd)) return (S, K) @@ -106,7 +106,9 @@ def lqr(x, u): def gen_ss( - seed: np.ndarray, goal: np.ndarray, buff: List[int] = [ss_start] * 4 + seed: np.ndarray, + goal: np.ndarray, + buff: List[int] = [ss_start] * 4, ) -> List[Tuple[float, float]]: """ Returns a sample space given a seed state, goal state, and buffer. @@ -125,7 +127,10 @@ def gen_ss( constraints = lqrrt.Constraints( - nstates=nstates, ncontrols=ncontrols, goal_buffer=goal_buffer, is_feasible=unset + nstates=nstates, + ncontrols=ncontrols, + goal_buffer=goal_buffer, + is_feasible=unset, ) planner = lqrrt.Planner( diff --git a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/escape.py b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/escape.py index da7244a24..1505f6312 100644 --- a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/escape.py +++ b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/escape.py @@ -35,7 +35,7 @@ def dynamics(x, u, dt): """ # Rotation matrix (orientation, converts body to world) R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) # Construct drag coefficients based on our motion signs @@ -73,7 +73,7 @@ def lqr(x, u): """ R = np.array( - [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]] + [[np.cos(x[2]), -np.sin(x[2]), 0], [np.sin(x[2]), np.cos(x[2]), 0], [0, 0, 1]], ) K = np.hstack((kp.dot(R.T), kd)) return (S, K) @@ -105,7 +105,10 @@ def gen_ss(seed, goal, buff=40): constraints = lqrrt.Constraints( - nstates=nstates, ncontrols=ncontrols, goal_buffer=goal_buffer, is_feasible=unset + nstates=nstates, + ncontrols=ncontrols, + goal_buffer=goal_buffer, + is_feasible=unset, ) planner = lqrrt.Planner( diff --git a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/params.py b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/params.py index 7ed976910..af4b3d42e 100644 --- a/NaviGator/gnc/navigator_path_planner/navigator_path_planner/params.py +++ b/NaviGator/gnc/navigator_path_planner/navigator_path_planner/params.py @@ -38,7 +38,7 @@ # INERTIA m = 350 # kg -I = 400 # kg*m^2 +I = 400 # kg*m^2 # noqa invM = np.array([1 / m, 1 / m, 1 / I]) # SPEED AND THRUST LIMITS @@ -56,7 +56,7 @@ [-1.9000, -1.0000, -0.0123], [1.6000, 0.6000, -0.0123], [1.6000, -0.6000, -0.0123], - ] + ], ) # Thruster heading vectors, [back-left, back-right, front-left front-right] (m) @@ -66,7 +66,7 @@ [0.7071, -0.7071, 0.0000], [0.7071, -0.7071, 0.0000], [0.7071, 0.7071, 0.0000], - ] + ], ) # Fresh sprinkles diff --git a/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py b/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py index 7052d26d0..ba33ca850 100755 --- a/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py +++ b/NaviGator/gnc/navigator_path_planner/nodes/path_planner.py @@ -131,13 +131,18 @@ def __init__( self.focus_pub = rospy.Publisher(focus_topic, PointStamped, queue_size=3) self.eff_pub = rospy.Publisher(effort_topic, WrenchStamped, queue_size=3) self.sampspace_pub = rospy.Publisher( - sampspace_topic, PolygonStamped, queue_size=3 + sampspace_topic, + PolygonStamped, + queue_size=3, ) self.guide_pub = rospy.Publisher(guide_topic, PointStamped, queue_size=3) # Actions self.move_server = actionlib.SimpleActionServer( - move_topic, MoveAction, execute_cb=self.move_cb, auto_start=False + move_topic, + MoveAction, + execute_cb=self.move_cb, + auto_start=False, ) self.move_server.start() rospy.sleep(1) @@ -277,7 +282,7 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: if msg.focus.z == 0: boat.focus = None self.focus_pub.publish( - self.pack_pointstamped([1e6, 1e6, 1e6], rospy.Time.now()) + self.pack_pointstamped([1e6, 1e6, 1e6], rospy.Time.now()), ) else: boat.focus = np.array([msg.focus.x, msg.focus.y, 0]) @@ -286,7 +291,7 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: focus_goal[2] = np.arctan2(focus_vec[1], focus_vec[0]) self.set_goal(focus_goal) self.focus_pub.publish( - self.pack_pointstamped(boat.focus, rospy.Time.now()) + self.pack_pointstamped(boat.focus, rospy.Time.now()), ) print(f"Focused on: {boat.focus[:2]}") elif self.move_type == MoveGoal.SPIRAL: @@ -301,7 +306,7 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: else: boat.focus = None self.focus_pub.publish( - self.pack_pointstamped([1e6, 1e6, 1e6], rospy.Time.now()) + self.pack_pointstamped([1e6, 1e6, 1e6], rospy.Time.now()), ) # Store the initial planning time, if specified @@ -315,7 +320,7 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: pass elif len(msg.speed_factor) not in [1, 3]: print( - "(WARNING: expected speed_factor to be a scalar or in the form [x, y, h])" + "(WARNING: expected speed_factor to be a scalar or in the form [x, y, h])", ) else: for i, sf in enumerate(msg.speed_factor): @@ -384,7 +389,9 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: and self.move_type != MoveGoal.DRIVE_SMOOTH ): x_seq_rot, T_rot, rot_success, u_seq_rot = self.rotation_move( - self.state, h_goal, params.pointshoot_tol + self.state, + h_goal, + params.pointshoot_tol, ) print(f"\nRotating towards goal (duration: {np.round(T_rot, 2)})") if not rot_success: @@ -410,7 +417,9 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: fill_value=u_seq_rot[-1][:], ) self.next_runtime = np.clip( - T_rot, params.basic_duration, 2 * np.pi / params.velmax_pos[2] + T_rot, + params.basic_duration, + 2 * np.pi / params.velmax_pos[2], ) self.next_seed = np.copy(x_seq_rot[-1]) else: @@ -446,8 +455,8 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]: print(f"Behavior: {self.enroute_behavior.__name__[10:]}") print( "Reached goal region: {}".format( - self.enroute_behavior.planner.plan_reached_goal - ) + self.enroute_behavior.planner.plan_reached_goal, + ), ) print(f"Goal bias: {np.round(self.goal_bias, 2)}") print(f"Tree size: {self.tree.size}") @@ -512,7 +521,7 @@ def tree_chain(self): ): self.next_runtime = params.basic_duration self.next_seed = self.get_ref( - self.next_runtime + self.rostime() - self.last_update_time + self.next_runtime + self.rostime() - self.last_update_time, ) elif self.stuck: self.next_runtime = None @@ -528,7 +537,7 @@ def tree_chain(self): elif self.time_till_issue > 2 * params.basic_duration: self.next_runtime = params.basic_duration self.next_seed = self.get_ref( - self.next_runtime + self.rostime() - self.last_update_time + self.next_runtime + self.rostime() - self.last_update_time, ) self.behavior = self.select_behavior() ( @@ -685,7 +694,7 @@ def select_exploration( if self.ogrid is not None and not self.blind and self.next_seed is not None: # Get opencv-ready image from current ogrid (255 is occupied, 0 is clear) occ_img = 255 * np.greater(self.ogrid, self.ogrid_threshold).astype( - np.uint8 + np.uint8, ) # Dilate the image @@ -696,10 +705,10 @@ def select_exploration( # Construct the initial sample space and get bounds in pixel coordinates ss = self.behavior.gen_ss(self.next_seed, self.goal) pmin = self.intup( - self.ogrid_cpm * ([ss[0][0], ss[1][0]] - self.ogrid_origin) + self.ogrid_cpm * ([ss[0][0], ss[1][0]] - self.ogrid_origin), ) pmax = self.intup( - self.ogrid_cpm * ([ss[0][1], ss[1][1]] - self.ogrid_origin) + self.ogrid_cpm * ([ss[0][1], ss[1][1]] - self.ogrid_origin), ) # Other quantities in pixel coordinates @@ -805,8 +814,9 @@ def select_exploration( offset_y = (pmin[1] - push[2], pmax[1] + push[3]) ss_img = np.copy( occ_img_dial[ - offset_y[0] : offset_y[1], offset_x[0] : offset_x[1] - ] + offset_y[0] : offset_y[1], + offset_x[0] : offset_x[1], + ], ) if np.any(np.equal(ss_img.shape, 0)): print("\nOccupancy grid analysis failed... Please report this!") @@ -822,7 +832,8 @@ def select_exploration( cv2.floodFill( test_flood, np.zeros( - (test_flood.shape[0] + 2, test_flood.shape[1] + 2), np.uint8 + (test_flood.shape[0] + 2, test_flood.shape[1] + 2), + np.uint8, ), ss_goal, 69, @@ -830,7 +841,8 @@ def select_exploration( if test_flood[ss_seed[1], ss_seed[0]] == 69: gs[:2] = ( np.add( - [col, row], [last_offsets[0], last_offsets[1]] + [col, row], + [last_offsets[0], last_offsets[1]], ).astype(np.float64) / self.ogrid_cpm ) + self.ogrid_origin @@ -859,7 +871,9 @@ def select_exploration( if npush > 0: push += params.boat_length ss = self.behavior.gen_ss( - self.next_seed, self.goal, push + [params.ss_start] * 4 + self.next_seed, + self.goal, + push + [params.ss_start] * 4, ) # Select bias based on density of ogrid in sample space @@ -996,9 +1010,9 @@ def reevaluate_plan(self) -> None: len(x_seq), int(iters_passed + (params.reeval_time / self.dt)), params.reeval_limit, - ] + ], ) - ] + ], ) if len(p_seq): p_seq[:, 3:] = 0 @@ -1014,8 +1028,8 @@ def reevaluate_plan(self) -> None: else: print( "\nFound collision on current path!\nTime till collision: {}".format( - time_till_collision - ) + time_till_collision, + ), ) self.time_till_issue = time_till_collision for behavior in self.behaviors_list: @@ -1085,10 +1099,11 @@ def action_check(self, _: rospy.timer.TimerEvent) -> None: 0, self.tracking, self.erf( - self.goal, self.get_ref(self.rostime() - last_update_time) + self.goal, + self.get_ref(self.rostime() - last_update_time), )[:3], time_till_next_branch, - ) + ), ) elif ( self.enroute_behavior is not None @@ -1101,10 +1116,11 @@ def action_check(self, _: rospy.timer.TimerEvent) -> None: self.tree.size, self.tracking, self.erf( - self.goal, self.get_ref(self.rostime() - last_update_time) + self.goal, + self.get_ref(self.rostime() - last_update_time), )[:3], time_till_next_branch, - ) + ), ) # LIL MATH DOERS @@ -1139,7 +1155,8 @@ def rotation_move(self, x: List[float], h: float, tol: float): while not rospy.is_shutdown(): # Stop if pose is infeasible if not self.is_feasible( - np.concatenate((x[:3], np.zeros(3))), np.zeros(3) + np.concatenate((x[:3], np.zeros(3))), + np.zeros(3), ) and len(x_seq): portion = params.FPR * len(x_seq) return ( @@ -1164,7 +1181,12 @@ def rotation_move(self, x: List[float], h: float, tol: float): i += 1 def spiral_move( - self, x: List[float], c: List[float], N: int, direc: int, mpr: float + self, + x: List[float], + c: List[float], + N: int, + direc: int, + mpr: float, ): """ Generates a movement pattern for a spiral movement. @@ -1325,7 +1347,7 @@ def boundary_analysis(self, img, seed, goal): right_cands = np.hstack((right_cands + 1, col_max * np.ones_like(right_cands))) top_cands = np.hstack((row_min * np.ones_like(top_cands), top_cands + 2)) bottom_cands = np.hstack( - (row_max * np.ones_like(bottom_cands), bottom_cands + 2) + (row_max * np.ones_like(bottom_cands), bottom_cands + 2), ) cands = np.vstack((left_cands, right_cands, top_cands, bottom_cands)) @@ -1354,7 +1376,7 @@ def set_goal(self, x: np.ndarray) -> None: # Publish goal to the goal publisher self.goal_pub.publish( - self.pack_posestamped(np.copy(self.goal), rospy.Time.now()) + self.pack_posestamped(np.copy(self.goal), rospy.Time.now()), ) def publish_ref(self, *args) -> None: @@ -1378,7 +1400,7 @@ def publish_ref(self, *args) -> None: # Not really necessary, but for fun-and-profit also publish the planner's effort wrench if self.get_eff is not None: self.eff_pub.publish( - self.pack_wrenchstamped(self.get_eff(time_since), stamp) + self.pack_wrenchstamped(self.get_eff(time_since), stamp), ) def publish_path(self) -> None: @@ -1459,7 +1481,7 @@ def ogrid_cb(self, msg: OccupancyGrid) -> None: start = self.rostime() self.ogrid = np.array(msg.data).reshape((msg.info.height, msg.info.width)) self.ogrid_origin = np.array( - [msg.info.origin.position.x, msg.info.origin.position.y] + [msg.info.origin.position.x, msg.info.origin.position.y], ) self.ogrid_cpm = 1 / msg.info.resolution @@ -1474,8 +1496,8 @@ def ogrid_cb(self, msg: OccupancyGrid) -> None: if elapsed > 1: print( "\n(WARNING: ogrid callback is taking {} seconds)\n".format( - np.round(elapsed, 2) - ) + np.round(elapsed, 2), + ), ) def odom_cb(self, msg: Odometry) -> None: @@ -1497,7 +1519,7 @@ def odom_cb(self, msg: Odometry) -> None: # Calculate error between the goal and state and tell if tracking is successful if self.get_ref is not None and last_update_time is not None: error = np.abs( - self.erf(self.get_ref(self.rostime() - last_update_time), self.state) + self.erf(self.get_ref(self.rostime() - last_update_time), self.state), ) if np.all(error < 2 * np.array(params.real_tol)): self.tracking = True @@ -1518,7 +1540,7 @@ def unpack_pose(self, msg: Pose) -> np.ndarray: """ q = [msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w] return np.array( - [msg.position.x, msg.position.y, trns.euler_from_quaternion(q)[2], 0, 0, 0] + [msg.position.x, msg.position.y, trns.euler_from_quaternion(q)[2], 0, 0, 0], ) def unpack_odom(self, msg: Odometry) -> np.ndarray: @@ -1546,7 +1568,7 @@ def unpack_odom(self, msg: Odometry) -> np.ndarray: msg.twist.twist.linear.x, msg.twist.twist.linear.y, msg.twist.twist.angular.z, - ] + ], ) def pack_pose(self, state: List[float]) -> Pose: @@ -1644,7 +1666,9 @@ def pack_pointstamped(self, point: List[float], stamp: rospy.Time) -> PointStamp return msg def pack_wrenchstamped( - self, effort: List[float], stamp: rospy.Time + self, + effort: List[float], + stamp: rospy.Time, ) -> WrenchStamped: """ Converts an effort vector into a WrenchStamped message diff --git a/NaviGator/gnc/navigator_path_planner/setup.py b/NaviGator/gnc/navigator_path_planner/setup.py index 7b99f5620..89fa6cfe7 100755 --- a/NaviGator/gnc/navigator_path_planner/setup.py +++ b/NaviGator/gnc/navigator_path_planner/setup.py @@ -6,7 +6,8 @@ # Fetch values from package.xml setup_args = generate_distutils_setup( - packages=["navigator_path_planner", "lqrrt"], package_dir={"lqrrt": "lqRRT/lqrrt"} + packages=["navigator_path_planner", "lqrrt"], + package_dir={"lqrrt": "lqRRT/lqrrt"}, ) setup(**setup_args) diff --git a/NaviGator/gnc/navigator_thrust_mapper/CMakeLists.txt b/NaviGator/gnc/navigator_thrust_mapper/CMakeLists.txt index 769cdbb62..f356e9320 100644 --- a/NaviGator/gnc/navigator_thrust_mapper/CMakeLists.txt +++ b/NaviGator/gnc/navigator_thrust_mapper/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_thrust_mapper) find_package(catkin REQUIRED) diff --git a/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py b/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py index d994c728a..2fc19700a 100644 --- a/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py +++ b/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py @@ -27,7 +27,7 @@ def vrx_force_to_command_scalar(force): # -0.113122 log(-154.285 (0.99 - (1.88948x10^12)/(199.13 + x)^5.34)) elif force < 0: return -0.113122 * np.log( - -154.285 * (0.99 - ((1.88948 * 10**12) / ((199.13 + force) ** 5.34))) + -154.285 * (0.99 - ((1.88948 * 10**12) / ((199.13 + force) ** 5.34))), ) else: # approx broken range as strait line with 0.01cmd/3.2N @@ -109,7 +109,7 @@ def __init__( # returns a matrix made of the thruster columns self.thruster_matrix = np.hstack(thruster_matrix) self.thruster_matrix_inv = np.linalg.pinv( - self.thruster_matrix + self.thruster_matrix, ) # Magical numpy pseudoinverse @classmethod @@ -127,7 +127,10 @@ def from_vrx_urdf(cls, urdf_string: str): name = link.name[:find] try: trans = buff.lookup_transform( - "wamv/base_link", link.name, rospy.Time(), rospy.Duration(10) + "wamv/base_link", + link.name, + rospy.Time(), + rospy.Duration(10), ) except tf2_ros.TransformException as e: raise Exception(e) @@ -141,7 +144,9 @@ def from_vrx_urdf(cls, urdf_string: str): @classmethod def from_urdf( - cls, urdf_string: str, transmission_suffix: str = "_thruster_transmission" + cls, + urdf_string: str, + transmission_suffix: str = "_thruster_transmission", ): """ Load from an URDF string. Expects each thruster to be connected a transmission ending in the specified suffix. @@ -161,15 +166,11 @@ def from_urdf( if find != -1 and find + len(transmission_suffix) == len(transmission.name): if len(transmission.joints) != 1: raise Exception( - "Transmission {} does not have 1 joint".format( - transmission.name - ) + f"Transmission {transmission.name} does not have 1 joint", ) if len(transmission.actuators) != 1: raise Exception( - "Transmission {} does not have 1 actuator".format( - transmission.name - ) + f"Transmission {transmission.name} does not have 1 actuator", ) t_ratio = transmission.actuators[0].mechanicalReduction @@ -177,8 +178,9 @@ def from_urdf( if t_ratio < 0: raise Exception( "Thruster mapper does not allow mechanical reduction of {} for {}.".format( - t_ratio, transmission.name - ) + t_ratio, + transmission.name, + ), ) ratio[i] = t_ratio @@ -189,13 +191,14 @@ def from_urdf( joint = t_joint if joint is None: rospy.logerr( - "Transmission joint {} not found".format( - transmission.joints[0].name - ) + f"Transmission joint {transmission.joints[0].name} not found", ) try: trans = buff.lookup_transform( - "wamv/base_link", joint.child, rospy.Time(), rospy.Duration(10) + "wamv/base_link", + joint.child, + rospy.Time(), + rospy.Duration(10), ) except tf2_ros.TransformException as e: raise Exception(e) @@ -208,9 +211,7 @@ def from_urdf( joints.append(joint.name) if limit != -1 and joint.limit.effort != limit: raise Exception( - "Thruster {} had a different limit, cannot proceed".format( - joint.name - ) + f"Thruster {joint.name} had a different limit, cannot proceed", ) limit = joint.limit.effort limit_tuple = (limit, -limit) @@ -231,10 +232,10 @@ def thrusts_to_wrench(self, thrusts): returns: wrench (x, y, torque about z) force/torque applied to boat """ raise Exception( - "Unimplemented. Please file an issue if you encounter this error" + "Unimplemented. Please file an issue if you encounter this error", ) return self.effort_to_force( - np.linalg.lstsq(self.thruster_matrix_inv, thrusts)[0] + np.linalg.lstsq(self.thruster_matrix_inv, thrusts)[0], ) def wrench_to_thrusts(self, wrench: np.ndarray): @@ -247,7 +248,7 @@ def wrench_to_thrusts(self, wrench: np.ndarray): returns: wrench (x, y, torque) force/torque applied to boat """ return self.force_to_command( - np.linalg.lstsq(self.thruster_matrix, wrench, rcond=-1)[0] + np.linalg.lstsq(self.thruster_matrix, wrench, rcond=-1)[0], ) def force_to_command(self, force): @@ -255,7 +256,7 @@ def force_to_command(self, force): Maps a list of thruster forces to their corposponding effort units """ return self._force_to_command( - np.clip(force, self.force_limit[1], self.force_limit[0]) + np.clip(force, self.force_limit[1], self.force_limit[0]), ) def effort_to_force(self, effort): @@ -265,6 +266,6 @@ def effort_to_force(self, effort): Maps a list of thrusts in effort units to the corresponding force in newtons. """ raise Exception( - "Unimplemented. Please file an issue if you encounter this error" + "Unimplemented. Please file an issue if you encounter this error", ) return effort / self.effort_ratio diff --git a/NaviGator/gnc/navigator_thrust_mapper/nodes/thrust_mapper.py b/NaviGator/gnc/navigator_thrust_mapper/nodes/thrust_mapper.py index aaaff9235..b1c4014d1 100755 --- a/NaviGator/gnc/navigator_thrust_mapper/nodes/thrust_mapper.py +++ b/NaviGator/gnc/navigator_thrust_mapper/nodes/thrust_mapper.py @@ -5,7 +5,7 @@ from navigator_thrust_mapper import ThrusterMap from roboteq_msgs.msg import Command from ros_alarms import AlarmListener -from ros_alarms.msg import Alarm +from ros_alarms_msgs.msg import Alarm from sensor_msgs.msg import JointState from std_msgs.msg import Float32 @@ -61,7 +61,9 @@ def __init__(self): # TODO(ironmig): if not self.is_vrx and not self.is_sim: self.joint_state_pub = rospy.Publisher( - "/thruster_states", JointState, queue_size=1 + "/thruster_states", + JointState, + queue_size=1, ) self.joint_state_msg = JointState() for name in self.thruster_map.joints: diff --git a/NaviGator/hardware_drivers/navigator_kill_board/CMakeLists.txt b/NaviGator/hardware_drivers/navigator_kill_board/CMakeLists.txt index 7d824e4f3..acc56e994 100644 --- a/NaviGator/hardware_drivers/navigator_kill_board/CMakeLists.txt +++ b/NaviGator/hardware_drivers/navigator_kill_board/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_kill_board) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/hardware_drivers/navigator_kill_board/nodes/kill_board_driver.py b/NaviGator/hardware_drivers/navigator_kill_board/nodes/kill_board_driver.py index 223318a65..fa1e029fe 100755 --- a/NaviGator/hardware_drivers/navigator_kill_board/nodes/kill_board_driver.py +++ b/NaviGator/hardware_drivers/navigator_kill_board/nodes/kill_board_driver.py @@ -41,11 +41,14 @@ class KillInterface: def __init__(self): self.port = rospy.get_param( - "~port", "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A104OWRY-if00-port0" + "~port", + "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A104OWRY-if00-port0", ) self.connected = False self.diagnostics_pub = rospy.Publisher( - "/diagnostics", DiagnosticArray, queue_size=3 + "/diagnostics", + DiagnosticArray, + queue_size=3, ) while not self.connected and not rospy.is_shutdown(): try: @@ -95,7 +98,8 @@ def __init__(self): self.kill_broadcaster = AlarmBroadcaster("kill") self.kill_broadcaster.wait_for_server() self._network_kill_listener = AlarmListener( - "network-loss", self.network_kill_alarm_cb + "network-loss", + self.network_kill_alarm_cb, ) self._hw_kill_listener.wait_for_server() self._kill_listener.wait_for_server() @@ -105,7 +109,8 @@ def __init__(self): def connect(self): if rospy.get_param( - "/is_simulation", False + "/is_simulation", + False, ): # If in Gazebo, run fake serial class following board's protocol from navigator_kill_board import SimulatedKillBoard @@ -151,7 +156,7 @@ def handle_byte(self, msg): self.ctrl_msg_received = False self.ctrl_msg_count = 0 rospy.logwarn( - "Timeout receiving controller message. Please disconnect controller." + "Timeout receiving controller message. Please disconnect controller.", ) if ( self.ctrl_msg_count > 2 @@ -180,7 +185,8 @@ def handle_byte(self, msg): self.buttons ): # Each of the 16 bits represents a button on/off state button_check = int( - constants["CTRL_BUTTONS_VALUES"][button].encode("hex"), 16 + constants["CTRL_BUTTONS_VALUES"][button].encode("hex"), + 16, ) self.buttons[button] = ( self.buttons_temp & button_check diff --git a/NaviGator/hardware_drivers/navigator_kill_board/test/kill_board_test_1.py b/NaviGator/hardware_drivers/navigator_kill_board/test/kill_board_test_1.py index 6c5cc3743..09e3134a6 100755 --- a/NaviGator/hardware_drivers/navigator_kill_board/test/kill_board_test_1.py +++ b/NaviGator/hardware_drivers/navigator_kill_board/test/kill_board_test_1.py @@ -102,7 +102,8 @@ def test_1_initial_state(self): # test the initial state of kill signal pub.publish(Header()) self.reset_update() alarm = self.wait_for_kill_update( - timeout=rospy.Duration(10.0), ver=1 + timeout=rospy.Duration(10.0), + ver=1, ) # Allow lots of time for initial alarm setup if (alarm[0] and alarm[0].raised) or (alarm[1] and alarm[1].raised): self.assertTrue(True) diff --git a/NaviGator/mission_control/navigator_alarm/CMakeLists.txt b/NaviGator/mission_control/navigator_alarm/CMakeLists.txt index 5238f15f8..7594cbea8 100644 --- a/NaviGator/mission_control/navigator_alarm/CMakeLists.txt +++ b/NaviGator/mission_control/navigator_alarm/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_alarm) find_package(catkin REQUIRED diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py index dffa4d1d4..6c25b9169 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py @@ -11,7 +11,10 @@ def __init__(self): self.low_threshold = rospy.get_param("~battery-voltage/low") self.critical_threshold = rospy.get_param("~battery-voltage/critical") self.voltage_sub = rospy.Subscriber( - "/battery_monitor", Float32, self._check_voltage, queue_size=3 + "/battery_monitor", + Float32, + self._check_voltage, + queue_size=3, ) self._raised = False self._severity = 0 diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py index 1982c3885..547c56fa8 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py @@ -28,9 +28,7 @@ def _online_bagger_cb(self, status, result): rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}") else: rospy.logwarn( - "KILL BAG {}, status: {}".format( - TerminalState.to_string(status), result.status - ) + f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}", ) def _kill_task_cb(self, status, result): @@ -38,9 +36,7 @@ def _kill_task_cb(self, status, result): rospy.loginfo("Killed task success!") return rospy.logwarn( - "Killed task failed ({}): {}".format( - TerminalState.to_string(status), result.result - ) + f"Killed task failed ({TerminalState.to_string(status)}): {result.result}", ) def raised(self, alarm): @@ -52,7 +48,7 @@ def raised(self, alarm): rospy.logwarn("BAG_ALWAYS or BAG_KILL not set. Not making kill bag.") else: goal = BagOnlineGoal(bag_name="kill.bag") - goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["bag_kill"] + goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["BAG_KILL"] self.bag_client.send_goal(goal, done_cb=self._online_bagger_cb) self.task_client.run_mission("Killed", done_cb=self._kill_task_cb) diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/network_loss.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/network_loss.py index e72d2dd95..0b8b359cf 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/network_loss.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/network_loss.py @@ -5,7 +5,11 @@ class NetworkLoss(HandlerBase): def __init__(self, alarm_name="network-loss"): self.hm = HeartbeatMonitor( - alarm_name, "/network", Header, node_name="alarm_server", prd=1.0 + alarm_name, + "/network", + Header, + node_name="alarm_server", + prd=1.0, ) def raised(self, alarm): diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py index ed309c57b..2bc5e6c43 100755 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py @@ -52,7 +52,7 @@ def check_continuity(self, odom): rospy.logwarn("ODOM DISCONTINUITY DETECTED") self.ab.raise_alarm( problem_description="ODOM DISCONTINUITY DETECTED. JUMPED {} METERS".format( - jump + jump, ), severity=5, ) diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py index 68a08c1f2..82e11ccdd 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py @@ -16,8 +16,9 @@ def _client_cb(self, terminal_state, result): if terminal_state != 3: rospy.logwarn( "Station hold goal failed (Status={}, Result={})".format( - TerminalState.to_string(terminal_state), result.result - ) + TerminalState.to_string(terminal_state), + result.result, + ), ) return rospy.loginfo("Station holding!") diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py index 080eae5da..ce89ac3a0 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py @@ -65,9 +65,7 @@ def _check_faults(self, msg, topic): return self.broadcaster.raise_alarm( severity=5, - problem_description="{} thrusters have faults".format( - len(self._raised_alarms) - ), + problem_description=f"{len(self._raised_alarms)} thrusters have faults", parameters={ t: self._get_fault_codes(k) for t, k in self._raised_alarms.items() }, diff --git a/NaviGator/mission_control/navigator_launch/CMakeLists.txt b/NaviGator/mission_control/navigator_launch/CMakeLists.txt index 860cbf1e4..e8e210e14 100644 --- a/NaviGator/mission_control/navigator_launch/CMakeLists.txt +++ b/NaviGator/mission_control/navigator_launch/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_launch) find_package(catkin REQUIRED roslaunch) roslaunch_add_file_check(launch) diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch index 944df5bfa..377f824de 100644 --- a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch +++ b/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch @@ -7,6 +7,7 @@ + @@ -30,5 +31,4 @@ - diff --git a/NaviGator/mission_control/navigator_missions/CMakeLists.txt b/NaviGator/mission_control/navigator_missions/CMakeLists.txt index 313be5322..2bf459c68 100644 --- a/NaviGator/mission_control/navigator_missions/CMakeLists.txt +++ b/NaviGator/mission_control/navigator_missions/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_missions) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py b/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py index af687be80..3d29fcf60 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/__init__.py @@ -1,11 +1,5 @@ import mil_missions_core -from .navigator import NaviGatorMission - -ChainWithTimeout = mil_missions_core.MakeChainWithTimeout(NaviGatorMission) -Wait = mil_missions_core.MakeWait(NaviGatorMission) -del mil_missions_core - from . import pose_editor from .back_and_forth import BackAndForth from .circle import Circle @@ -30,6 +24,7 @@ from .killed import Killed from .move import Move from .navigation import Navigation +from .navigator import NaviGatorMission from .obstacle_avoid import ObstacleAvoid from .pinger import PingerMission from .pinger_andy import PingerAndy @@ -37,7 +32,7 @@ from .reload_launcher import ReloadLauncher from .retract_thrusters import RetractThrusters from .ring_recovery import RingRecovery -from .scan_the_code import ScanTheCode +from .scan_the_code import ScanTheCodeMission from .shoot_balls import ShootBalls from .station_hold import StationHold @@ -47,3 +42,7 @@ # Currently breaks mission server, TODO: fix or delete # from .track_target import TrackTarget + +ChainWithTimeout = mil_missions_core.MakeChainWithTimeout(NaviGatorMission) +Wait = mil_missions_core.MakeWait(NaviGatorMission) +del mil_missions_core diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/back_and_forth.py b/NaviGator/mission_control/navigator_missions/navigator_missions/back_and_forth.py index bb2425dae..a2cc183e2 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/back_and_forth.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/back_and_forth.py @@ -17,7 +17,7 @@ async def run(self, parameters): while True: # forward, left, yaw_left amts = np.random.random(3) * np.array([60, 60, 6.28]) - np.array( - [30, 30, 3.14] + [30, 30, 3.14], ) rand = home.forward(amts[0]).left(amts[1]).yaw_left(amts[2]) await rand.go() diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/circle_tower.py b/NaviGator/mission_control/navigator_missions/navigator_missions/circle_tower.py index 2f26db1c0..84b62cb6c 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/circle_tower.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/circle_tower.py @@ -37,11 +37,11 @@ async def run(self, parameters): elif val == "B": colors[i] = "BLUE" self.send_feedback( - "Colors specified, running {}".format(" ".join(colors)) + "Colors specified, running {}".format(" ".join(colors)), ) else: self.send_feedback( - "No colors Specified, defaulting to {}".format(" ".join(colors)) + "No colors Specified, defaulting to {}".format(" ".join(colors)), ) else: # Make sure they are valid colors @@ -56,7 +56,9 @@ async def run(self, parameters): targets = [] for color in colors: res = await self.get_sorted_objects( - "totem_" + color.lower(), n=1, throw=False + "totem_" + color.lower(), + n=1, + throw=False, ) if res is None: self.send_feedback(f"Totem {color} not found") @@ -89,16 +91,15 @@ async def run(self, parameters): ) # Rotate for faster rotate - if direction == "cw": - move = move.yaw_left(1.57) - else: - move = move.yaw_right(1.57) + move = move.yaw_left(1.57) if direction == "cw" else move.yaw_right(1.57) await move.go() self.send_feedback("Circling!") await self.nh.sleep(0.1) res = await self.move.circle_point( - position, direction=direction, revolutions=1.3 + position, + direction=direction, + revolutions=1.3, ).go() self.send_feedback("Done circling") await self.nh.sleep(0.1) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py b/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py index c9a5a503b..5ae078c90 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py @@ -61,7 +61,7 @@ def decode_parameters(cls, parameters): if not isinstance(parsed, list) or len(parsed) != 3: raise err for i in range(3): - if not (isinstance(parsed[i], int) or isinstance(parsed[i], float)): + if not (isinstance(parsed[i], (int, float))): raise err return parsed diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/coral_survey.py b/NaviGator/mission_control/navigator_missions/navigator_missions/coral_survey.py index 7db6a5585..666d9c37e 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/coral_survey.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/coral_survey.py @@ -32,15 +32,13 @@ async def run(self, parameters): totem = await self.database_query("all") # Get the closest totem object to the boat - totems_np = map( - lambda obj: mil_tools.rosmsg_to_numpy(obj.position), totem.objects - ) - dist = map( - lambda totem_np: np.linalg.norm( + totems_np = (mil_tools.rosmsg_to_numpy(obj.position) for obj in totem.objects) + dist = ( + np.linalg.norm( totem_np - - mil_tools.rosmsg_to_numpy(est_coral_survey.objects[0].position) - ), - totems_np, + - mil_tools.rosmsg_to_numpy(est_coral_survey.objects[0].position), + ) + for totem_np in totems_np ) middle_point = totems_np[np.argmin(dist)] @@ -54,7 +52,7 @@ async def run(self, parameters): ogrid = OgridFactory(middle_point, draw_borders=True) msg = ogrid.get_message() latched = asyncio.create_task( - self.latching_publisher("/mission_ogrid", OccupancyGrid, msg) + self.latching_publisher("/mission_ogrid", OccupancyGrid, msg), ) # Construct waypoint list along NSEW directions then rotate 45 degrees to get a good spot to go to. @@ -100,7 +98,8 @@ def make_ogrid_transform(self): origin_x = self.center[0] - 30 origin_y = self.center[1] - 30 self.origin = mil_tools.numpy_quat_pair_to_pose( - [origin_x, origin_y, 0], [0, 0, 0, 1] + [origin_x, origin_y, 0], + [0, 0, 0, 1], ) # The grid needs to have it's axes swapped since its row major @@ -114,7 +113,7 @@ def make_ogrid_transform(self): [1 / self.resolution, 0, -origin_x / self.resolution], [0, 1 / self.resolution, -origin_y / self.resolution], [0, 0, 1], - ] + ], ) self.transform = lambda point: self.t.dot(np.append(point[:2], 1))[:2] diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py index eb26b3cde..6c53d35a4 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py @@ -49,7 +49,7 @@ async def run(self, parameters): if not parameters.pcodar: print(1) self.send_feedback( - "Please click between the end tower of the navigation pass." + "Please click between the end tower of the navigation pass.", ) target_point = await self.rviz_point.get_next_message() target_point = rosmsg_to_numpy(target_point.point) @@ -60,7 +60,7 @@ async def run(self, parameters): for i in range(parameters.num_moves): self.send_feedback(f"Doing move {i + 1}/{parameters.num_moves}") await self.move.look_at(target_point).forward(distance_per_move).go( - blind=True + blind=True, ) return True else: @@ -77,7 +77,7 @@ async def run(self, parameters): # Start a little behind the entrance await self.move.set_position(begin_midpoint).backward( - self.START_MARGIN_METERS + self.START_MARGIN_METERS, ).go() _, closest_reds = await self.get_sorted_objects("red_cylinder", 2) @@ -92,7 +92,7 @@ async def run(self, parameters): # Then move a little passed the exit await self.move.look_at(end_midpoint).set_position(end_midpoint).forward( - self.END_MARGIN_METERS + self.END_MARGIN_METERS, ).go() print("GO NAVIGATOR") return True diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver.py b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver.py index 0ff1ef6c2..695eca964 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver.py @@ -14,7 +14,7 @@ async def setup(cls): async def run(self, args): self.send_feedback("Starting detect deliver") await self.detect_deiliver_find.run( - self.detect_deiliver_find.decode_parameters(args) + self.detect_deiliver_find.decode_parameters(args), ) await self.track_target.run(self.track_target.decode_parameters(args)) self.send_feedback("Done with detect deliver") diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py index 9df3fb2bd..28c3ac4d9 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py @@ -45,16 +45,22 @@ async def setup(cls): cls.shooter_pose_sub = cls.nh.subscribe("/shooter_pose", PoseStamped) await cls.shooter_pose_sub.setup() cls.cameraLidarTransformer = cls.nh.get_service_client( - "/camera_to_lidar/right_right_cam", CameraToLidarTransform + "/camera_to_lidar/right_right_cam", + CameraToLidarTransform, ) cls.shooterLoad = axros.action.ActionClient( - cls.nh, "/shooter/load", ShooterDoAction + cls.nh, + "/shooter/load", + ShooterDoAction, ) cls.shooterFire = axros.action.ActionClient( - cls.nh, "/shooter/fire", ShooterDoAction + cls.nh, + "/shooter/fire", + ShooterDoAction, ) cls.shooter_baselink_tf = await cls.tf_listener.get_transform( - "/base_link", "/shooter" + "/base_link", + "/shooter", ) @classmethod @@ -85,10 +91,13 @@ async def get_waypoint(self): res = await self.database_query("shooter") if not res.found: fprint( - "shooter waypoint not found", title="DETECT DELIVER", msg_color="red" + "shooter waypoint not found", + title="DETECT DELIVER", + msg_color="red", ) raise MissingPerceptionObject( - "shooter", "Detect Deliver Waypoint not found" + "shooter", + "Detect Deliver Waypoint not found", ) self.waypoint_res = res @@ -99,7 +108,9 @@ async def get_any_shape(self): normal_res = await self.get_normal(shape) if normal_res.success: enu_cam_tf = await self.tf_listener.get_transform( - "/enu", "/" + shape.header.frame_id, shape.header.stamp + "/enu", + "/" + shape.header.frame_id, + shape.header.stamp, ) self.update_shape(shape, normal_res, enu_cam_tf) return ( @@ -123,14 +134,15 @@ async def get_any_shape(self): async def circle_search(self): platform_np = mil_tools.rosmsg_to_numpy(self.waypoint_res.objects[0].position) await self.move.look_at(platform_np).set_position(platform_np).backward( - self.circle_radius + self.circle_radius, ).yaw_left(90, unit="deg").go(move_type="drive") done_circle = False async def do_circle(): await self.move.circle_point( - platform_np, direction=self.circle_direction + platform_np, + direction=self.circle_direction, ).go() done_circle = True # noqa flake8 can't see that it is defined above @@ -142,7 +154,7 @@ async def do_circle(): continue fprint( "Shape ({}found, using normal to look at other 3 shapes if needed".format( - res[0] + res[0], ), title="DETECT DELIVER", msg_color="green", @@ -180,7 +192,7 @@ async def do_circle(): ) await self.search_sides( - (move_right_or_whatever, move_opposite_side, move_left_or_whatever) + (move_right_or_whatever, move_opposite_side, move_left_or_whatever), ) return fprint( @@ -192,7 +204,8 @@ async def do_circle(): def update_shape(self, shape_res, normal_res, tf): self.identified_shapes[(shape_res.Shape, shape_res.Color)] = self.get_shape_pos( - normal_res, tf + normal_res, + tf, ) def correct_shape(self, tup): @@ -217,7 +230,9 @@ async def search_sides(self, moves): res = await self.search_side() if res is False: fprint( - "No shape found on side", title="DETECT DELIVER", msg_color="red" + "No shape found on side", + title="DETECT DELIVER", + msg_color="red", ) continue shape_color, found_pose = res @@ -225,9 +240,7 @@ async def search_sides(self, moves): self.shape_pose = found_pose return fprint( - "Saw (Shape={}, Color={}) on this side".format( - shape_color[0], shape_color[1] - ), + f"Saw (Shape={shape_color[0]}, Color={shape_color[1]}) on this side", title="DETECT DELIVER", msg_color="green", ) @@ -239,7 +252,9 @@ async def search_shape(self): normal_res = await self.get_normal(shape) if normal_res.success: enu_cam_tf = await self.tf_listener.get_transform( - "/enu", "/" + shape.header.frame_id, shape.header.stamp + "/enu", + "/" + shape.header.frame_id, + shape.header.stamp, ) if self.correct_shape(shape): self.shape_pose = self.get_shape_pos(normal_res, enu_cam_tf) @@ -247,7 +262,7 @@ async def search_shape(self): self.update_shape(shape, normal_res, enu_cam_tf) else: - if not self.last_lidar_error == normal_res.error: + if self.last_lidar_error != normal_res.error: fprint( f"Normal not found Error={normal_res.error}", title="DETECT DELIVER", @@ -255,7 +270,7 @@ async def search_shape(self): ) self.last_lidar_error = normal_res.error else: - if not self.last_shape_error == shapes.error: + if self.last_shape_error != shapes.error: fprint( f"shape not found Error={shapes.error}", title="DETECT DELIVER", @@ -269,9 +284,7 @@ def select_backup_shape(self): self.shape_pose = point_normal if self.Shape == shape or self.Color == color: fprint( - "Correct shape not found, resorting to shape={} color={}".format( - shape, color - ), + f"Correct shape not found, resorting to shape={shape} color={color}", title="DETECT DELIVER", msg_color="yellow", ) @@ -288,7 +301,8 @@ async def align_to_target(self): if self.shape_pose is None: self.select_backup_shape() goal_point, goal_orientation = self.get_aligned_pose( - self.shape_pose[0], self.shape_pose[1] + self.shape_pose[0], + self.shape_pose[1], ) move = ( self.move.set_position(goal_point) @@ -297,7 +311,7 @@ async def align_to_target(self): ) # Adjust for location of shooter move = move.left(-self.shooter_baselink_tf._p[1]).forward( - -self.shooter_baselink_tf._p[0] + -self.shooter_baselink_tf._p[0], ) fprint( f"Aligning to shoot at {move}", @@ -316,16 +330,18 @@ def get_aligned_pose(self, enupoint, enunormal): ) # moves x meters away angle = np.arctan2(-enunormal[0], enunormal[1]) aligned_orientation = trns.quaternion_from_euler( - 0, 0, angle + 0, + 0, + angle, ) # Align perpendicular return (aligned_position, aligned_orientation) def get_shape_pos(self, normal_res, enu_cam_tf): enunormal = enu_cam_tf.transform_vector( - mil_tools.rosmsg_to_numpy(normal_res.normal) + mil_tools.rosmsg_to_numpy(normal_res.normal), ) enupoint = enu_cam_tf.transform_point( - mil_tools.rosmsg_to_numpy(normal_res.closest) + mil_tools.rosmsg_to_numpy(normal_res.closest), ) return (enupoint, enunormal) @@ -382,7 +398,7 @@ async def continuously_align(self): shooter_pose.orientation.y, shooter_pose.orientation.z, shooter_pose.orientation.w, - ] + ], )[2] q = trns.quaternion_from_euler(0, 0, yaw) p = np.append(cen, 0) @@ -396,7 +412,7 @@ async def continuously_align(self): # Adjust move for location of launcher move = move.left(-self.shooter_baselink_tf._p[1]).forward( - -self.shooter_baselink_tf._p[0] + -self.shooter_baselink_tf._p[0], ) # Move away a fixed distance to make the shot @@ -408,9 +424,7 @@ async def shoot_and_align_forest(self): move = await self.align_to_target() if move.failure_reason != "": fprint( - "Error Aligning with target = {}. Ending mission :(".format( - move.failure_reason - ), + f"Error Aligning with target = {move.failure_reason}. Ending mission :(", title="DETECT DELIVER", msg_color="red", ) @@ -423,7 +437,7 @@ async def shoot_and_align_forest(self): align_defer = self.continuously_align() fprint( "Sleeping for {} seconds to allow for alignment", - title=f"DETECT DELIVER", + title="DETECT DELIVER", msg_color="green", ) await self.nh.sleep(self.FOREST_SLEEP) @@ -457,9 +471,7 @@ async def shoot_and_align(self): move = await self.align_to_target() if move.failure_reason != "": fprint( - "Error Aligning with target = {}. Ending mission :(".format( - move.failure_reason - ), + f"Error Aligning with target = {move.failure_reason}. Ending mission :(", title="DETECT DELIVER", msg_color="red", ) @@ -473,12 +485,9 @@ async def shoot_and_align(self): async def setup_mission(self): stc_color = await self.mission_params["scan_the_code_color3"].get( - raise_exception=False + raise_exception=False, ) - if stc_color is False: - color = "ANY" - else: - color = stc_color + color = "ANY" if stc_color is False else stc_color # color = "ANY" shape = "ANY" fprint( diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_find.py b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_find.py index a105933de..c6d0bccd7 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_find.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_find.py @@ -15,7 +15,7 @@ class DetectDeliverFind(NaviGatorMission): DOCK_SIZE_SHORT = 8.0 CIRCLE_DISTANCE = 8.0 + math.sqrt( - (DOCK_SIZE_SHORT / 2) ** 2 + (DOCK_SIZE_LONG / 2) ** 2 + (DOCK_SIZE_SHORT / 2) ** 2 + (DOCK_SIZE_LONG / 2) ** 2, ) @classmethod @@ -31,10 +31,16 @@ async def setup(cls): \'""", ) parser.add_argument( - "-l", "--longscan", action="store_true", help="set to scan the long side" + "-l", + "--longscan", + action="store_true", + help="set to scan the long side", ) parser.add_argument( - "-s", "--shortscan", action="store_true", help="set to scan the short side" + "-s", + "--shortscan", + action="store_true", + help="set to scan the short side", ) parser.add_argument( "-o", @@ -97,11 +103,11 @@ async def run(self, args): # If extra scanning circle is enabled, circle if pre_circle: start_vect = (boat_pose - self.dock_position) / np.linalg.norm( - boat_pose - self.dock_position + boat_pose - self.dock_position, ) start_pt = self.dock_position + start_vect * self.CIRCLE_DISTANCE await self.move.set_position(start_pt).look_at( - self.dock_position + self.dock_position, ).yaw_right(1.57).go() await self.move.circle_point(self.dock_position).go() @@ -133,7 +139,7 @@ async def run(self, args): for i in range(closest_scan, len(self.scans)) + range(0, closest_scan): # await self.move.set_position(self.scans[i][0]).look_at(self.scans[i][1]).go() await self.move.set_position(self.scans[i][0]).look_at( - self.dock_position + self.dock_position, ).go() correct = await self.scan_image() if correct: @@ -157,7 +163,7 @@ async def run(self, args): math.sin(angle) * (dist + self.dock_scale[1] / 2) + self.dock_position[1], self.dock_position[2], - ] + ], ) if look_in: lpt = self.dock_position @@ -203,7 +209,7 @@ def build_scan_positions(self, scan_dist, boat_pose): math.sin(angle) * (scan_dist + self.dock_scale[1] / 2) + self.dock_position[1], self.dock_position[2], - ] + ], ) lpt = pt + np.array([math.sin(angle), -math.cos(angle), 0]) @@ -231,7 +237,6 @@ async def scan_image(self): if self.long_scan: self.docking_scan = msg.name return True - elif self.short_scan: - if self.docking_scan is msg.name: - return True + elif self.short_scan and self.docking_scan is msg.name: + return True return False diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/docking.py b/NaviGator/mission_control/navigator_missions/navigator_missions/docking.py index eaf26998d..1f9b561d3 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/docking.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/docking.py @@ -28,7 +28,8 @@ async def setup(cls): cls.bboxsub = cls.nh.subscribe("/bbox_pub", ObjectsInImage) await cls.bboxsub.setup() cls.camera_lidar_tf = cls.nh.get_service_client( - "/camera_to_lidar/front_right_cam", CameraToLidarTransform + "/camera_to_lidar/front_right_cam", + CameraToLidarTransform, ) @classmethod @@ -121,7 +122,8 @@ async def get_target_pt(self, center_frame): pose_offset = await self.camera_lidar_tf(msg) cam_to_enu = await self.tf_listener.get_transform( - "enu", center_frame[1].header.frame_id + "enu", + center_frame[1].header.frame_id, ) normal = rosmsg_to_numpy(pose_offset.normal) normal = cam_to_enu.transform_vector(normal) @@ -139,7 +141,7 @@ async def get_target_pt(self, center_frame): # Which is closer boat_pos = (self.tx_pose)[0] if np.linalg.norm(found_pt_1 - boat_pos) > np.linalg.norm( - found_pt_2 - boat_pos + found_pt_2 - boat_pos, ): found_pt = found_pt_2 else: diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate.py b/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate.py index 3f8e1aa72..745265016 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate.py @@ -92,7 +92,8 @@ def __eq__(self, other): cls.parser = parser cls.net_service_call = cls.nh.get_service_client( - "/entrance_exit_gate_message", MessageEntranceExitGate + "/entrance_exit_gate_message", + MessageEntranceExitGate, ) async def run(self, args): @@ -145,7 +146,7 @@ async def run(self, args): # Go through the gate self.send_feedback("Navigating through gate") await self.move.set_position(traversal_points[0]).look_at( - traversal_points[1] + traversal_points[1], ).go() await self.move.set_position(traversal_points[1]).go() self.send_feedback("Done with start gate!") @@ -159,10 +160,12 @@ async def run_dual_scan(self, args): # Calculate scan points scan_points_0 = await self.get_perpendicular_points( - self.gate_totems[1], scan_dist + self.gate_totems[1], + scan_dist, ) scan_points_1 = await self.get_perpendicular_points( - self.gate_totems[2], scan_dist + self.gate_totems[2], + scan_dist, ) scan_point_0 = scan_points_0[0] scan_lookat_0 = scan_points_0[1] @@ -245,7 +248,7 @@ async def run_dual_scan(self, args): self.send_feedback( "Multilaterating Method has confidence of " - + str(multilateration_confidence) + + str(multilateration_confidence), ) else: intersect_results = self.calculate_intersect() @@ -253,7 +256,7 @@ async def run_dual_scan(self, args): intersect_confidence = intersect_results[1] self.send_feedback( - "Intersecting Method has confidence of " + str(intersect_confidence) + "Intersecting Method has confidence of " + str(intersect_confidence), ) async def run_pass_scan(self, args): @@ -264,13 +267,16 @@ async def run_pass_scan(self, args): # Calculate scan points scan_points_0 = await self.get_perpendicular_points( - self.gate_centers[0], scan_dist + self.gate_centers[0], + scan_dist, ) scan_points_1 = await self.get_perpendicular_points( - self.gate_centers[2], scan_dist + self.gate_centers[2], + scan_dist, ) scan_points_2 = await self.get_perpendicular_points( - self.gate_totems[3], scan_dist + self.gate_totems[3], + scan_dist, ) scan_point_0 = scan_points_0[0] scan_lookat_0 = scan_points_1[0] @@ -299,7 +305,7 @@ async def run_pass_scan(self, args): self.send_feedback("Navigating to scan end point") await self.move.set_position(scan_point_1).look_at(scan_lookat_1).go( - speed_factor=speed + speed_factor=speed, ) if uses_multilateration: @@ -317,7 +323,7 @@ async def run_pass_scan(self, args): self.send_feedback( "Multilaterating Method has confidence of " - + str(multilateration_confidence) + + str(multilateration_confidence), ) else: intersect_results = self.calculate_intersect() @@ -325,7 +331,7 @@ async def run_pass_scan(self, args): intersect_confidence = intersect_results[1] self.send_feedback( - "Intersecting Method has confidence of " + str(intersect_confidence) + "Intersecting Method has confidence of " + str(intersect_confidence), ) """ @@ -345,7 +351,7 @@ def calculate_intersect(self): [ gate_vector[1] - gate_vector[0], pinger_vector[0] - pinger_vector[1], - ] + ], ).T, pinger_vector[0] - gate_vector[0], ) @@ -394,7 +400,8 @@ async def ping_recv(self, p_message): try: # Transform the ping into enu hydrophones_to_enu = await self.tf_listener.get_transform( - "enu", p_message.header.frame_id + "enu", + p_message.header.frame_id, ) hydrophones_origin = hydrophones_to_enu._p[0:2] heading = rosmsg_to_numpy(p_message.vector) @@ -403,7 +410,7 @@ async def ping_recv(self, p_message): # Track the ping self.intersect_vectors.append( - (hydrophones_origin[0:2], hydrophones_origin[0:2] + heading_enu[0:2]) + (hydrophones_origin[0:2], hydrophones_origin[0:2] + heading_enu[0:2]), ) except tf2_ros.TransformException as e: self.send_feedback(f"TF Exception: {e}") @@ -424,7 +431,7 @@ async def get_multilateration_closest(self): for gate_center in self.gate_centers: distances.append( (gate_center[0] - pinger_pos[0]) ** 2 - + (gate_center[1] - pinger_pos[1]) ** 2 + + (gate_center[1] - pinger_pos[1]) ** 2, ) # Determine which gate is closest @@ -515,7 +522,10 @@ async def find_gates(self): """ async def get_perpendicular_points( - self, center_point, offset_distance, boat_pose=None + self, + center_point, + offset_distance, + boat_pose=None, ): # Find the perpendicular line perpendicular_vector = self.perpendicular(self.gates_line) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate2.py b/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate2.py index 1adfe9ca5..a025b9b69 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate2.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/entrance_gate2.py @@ -39,13 +39,14 @@ async def run(self, args): # Calculate traversal points traversal_points = await self.get_perpendicular_points( - self.gate_centers[self.pinger_gate], self.traversal_distance + self.gate_centers[self.pinger_gate], + self.traversal_distance, ) # Go through the gate self.send_feedback("Navigating through gate") await self.move.set_position(traversal_points[0]).look_at( - traversal_points[1] + traversal_points[1], ).go() await self.move.set_position(traversal_points[1]).go() @@ -68,14 +69,19 @@ async def run(self, args): # Rotate around buoy print("beginning spiral movement") - points = await self.move.d_spiral_point( - buoy, circle_radius, 4, 0.75, circle_direction, yaw_offset + await self.move.d_spiral_point( + buoy, + circle_radius, + 4, + 0.75, + circle_direction, + yaw_offset, ) # Go back through start gate self.send_feedback("Navigating through gate") await self.move.set_position(traversal_points[1]).look_at( - traversal_points[0] + traversal_points[0], ).go() await self.move.set_position(traversal_points[0]).go() @@ -141,7 +147,7 @@ async def find_gates(self): p = pose[0] q_mat = quaternion_matrix(pose[1]) positions_local = np.array( - [(q_mat.T.dot(position - p)) for position in buoys[1]] + [(q_mat.T.dot(position - p)) for position in buoys[1]], ) positions_local_x = np.array(positions_local[:, 0]) # positive is forward positions_local_y = np.array(positions_local[:, 1]) # positive is to the left @@ -158,28 +164,28 @@ async def find_gates(self): try: t4 = await self.get_sorted_objects("green_cylinder", n=1) t4 = t4[1][0][:2] - except: + except Exception: t4 = buoys[1][buoy_index][:2] await self.pcodar_label(buoys[0][buoy_index].id, "green_cylinder") elif i == 1: try: white_totems = await self.get_sorted_objects("white_cylinder", n=2) t3 = white_totems[1][0][:2] - except: + except Exception: t3 = buoys[1][buoy_index][:2] await self.pcodar_label(buoys[0][buoy_index].id, "white_cylinder") elif i == 2: try: white_totems = await self.get_sorted_objects("white_cylinder", n=2) t2 = white_totems[1][1][:2] - except: + except Exception: t2 = buoys[1][buoy_index][:2] await self.pcodar_label(buoys[0][buoy_index].id, "white_cylinder") elif i == 3: try: t1 = await self.get_sorted_objects("red_cylinder", n=1) t1 = t1[1][0][:2] - except: + except Exception: t1 = buoys[1][buoy_index][:2] await self.pcodar_label(buoys[0][buoy_index].id, "red_cylinder") @@ -218,7 +224,10 @@ async def find_gates(self): """ async def get_perpendicular_points( - self, center_point, offset_distance, boat_pose=None + self, + center_point, + offset_distance, + boat_pose=None, ): # Find the perpendicular line perpendicular_vector = self.perpendicular(self.gates_line) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/explore.py b/NaviGator/mission_control/navigator_missions/navigator_missions/explore.py index 010f876ca..7b1f6fd1d 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/explore.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/explore.py @@ -12,12 +12,11 @@ def get_closest_objects(position, objects, max_len: int = 3, max_dist: int = 30) if num < max_len: idx = num objects = sorted( - objects, key=lambda x: np.linalg.norm(position - rosmsg_to_numpy(x.position)) + objects, + key=lambda x: np.linalg.norm(position - rosmsg_to_numpy(x.position)), ) objects = objects[:idx] - dists = map( - lambda x: np.linalg.norm(position - rosmsg_to_numpy(x.position)), objects - ) + dists = (np.linalg.norm(position - rosmsg_to_numpy(x.position)) for x in objects) final_objs = [] for i, d in enumerate(dists): if d < max_dist: @@ -55,7 +54,7 @@ async def myfunc(navigator, looking_for, center_marker): center_marker = await navigator.database_query(object_name=center_marker.name) center_marker = center_marker.objects[0] print(center_marker.name) - except: + except Exception: fprint("A marker has not been set", msg_color="red") return False diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/explore_towers.py b/NaviGator/mission_control/navigator_missions/navigator_missions/explore_towers.py index e6226b4ec..396752049 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/explore_towers.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/explore_towers.py @@ -25,7 +25,11 @@ async def setup(cls): help="number of unclassified objects to attempt", ) parser.add_argument( - "-d", "--dist", type=float, default=30.0, help="distance to limit checks to" + "-d", + "--dist", + type=float, + default=30.0, + help="distance to limit checks to", ) parser.add_argument( "-b", @@ -35,7 +39,11 @@ async def setup(cls): help="distance to limit checks to", ) parser.add_argument( - "-w", "--wait", type=float, default=8.0, help="distance to limit checks to" + "-w", + "--wait", + type=float, + default=8.0, + help="distance to limit checks to", ) cls.parser = parser @@ -43,7 +51,9 @@ async def run(self, args): initial_boat_pose = (self.tx_pose)[0] closest_unclassified = await self.get_sorted_objects( - "UNKNOWN", n=args.count, throw=False + "UNKNOWN", + n=args.count, + throw=False, ) closest_unclassified = closest_unclassified[1] @@ -56,7 +66,7 @@ async def run(self, args): continue self.send_feedback("Exploring object") await self.move.look_at(unclass_obj).set_position(unclass_obj).backward( - args.backup + args.backup, ).go() await self.nh.sleep(args.wait) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/ghetto_explore.py b/NaviGator/mission_control/navigator_missions/navigator_missions/ghetto_explore.py index d1ae8209e..eaf9869c0 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/ghetto_explore.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/ghetto_explore.py @@ -19,7 +19,7 @@ async def myfunc(navigator: NaviGatorMission, **kwargs): await navigator.move.set_position(pos).go() nt.fprint(o.name, msg_color="green") - except: + except Exception: nt.fprint("Missing Marker", msg_color="red") diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/go_to_poi.py b/NaviGator/mission_control/navigator_missions/navigator_missions/go_to_poi.py index 45dcd27d5..92083bc45 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/go_to_poi.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/go_to_poi.py @@ -28,7 +28,7 @@ async def run(self, poi): euler += np.array([0, 0, math.pi]) orientation = quaternion_from_euler(*euler) self.send_feedback( - f"Moving to {poi} at {position[0:2]} with orientation {orientation}" + f"Moving to {poi} at {position[0:2]} with orientation {orientation}", ) await self.change_wrench("autonomous") await self.move.to_pose(Pose(Point(*position), Quaternion(*orientation))).go() diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/gps_points.py b/NaviGator/mission_control/navigator_missions/navigator_missions/gps_points.py index 99a63424c..4a1986bb6 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/gps_points.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/gps_points.py @@ -13,7 +13,7 @@ class GPSWaypoints(NaviGatorMission): [29.534801, -82.303917], [29.534660, -82.304180], [29.534554, -82.304366], - ] + ], ) def verify_parameters(self, parameters): diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py b/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py index ebd9055f8..6d2203826 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py @@ -44,13 +44,16 @@ class IdentifyDockMission: def __init__(self, navigator): self.navigator = navigator self.ogrid_activation_client = self.navigator.nh.get_service_client( - "/identify_dock/active", SetBool + "/identify_dock/active", + SetBool, ) self.get_bays = self.navigator.nh.get_service_client( - "/identify_dock/get_bays", GetDockBays + "/identify_dock/get_bays", + GetDockBays, ) self.cameraLidarTransformer = self.navigator.nh.get_service_client( - "/camera_to_lidar/front_right_cam", CameraToLidarTransform + "/camera_to_lidar/front_right_cam", + CameraToLidarTransform, ) self.identified_shapes = {} @@ -69,8 +72,11 @@ async def get_target_bays(self): self.bay_2 = (bay_2_shape, bay_2_color) print_good( "Docking in Bay (Shape={}, Color={}) then (Shape={}, Color={})".format( - bay_1_shape, bay_1_color, bay_2_shape, bay_2_color - ) + bay_1_shape, + bay_1_color, + bay_2_shape, + bay_2_color, + ), ) async def get_waypoint(self): @@ -89,7 +95,7 @@ async def circle_dock_bays(self): async def circle_bay(): await self.navigator.move.look_at(self.dock_pose).set_position( - self.dock_pose + self.dock_pose, ).backward(self.CIRCLE_RADIUS).look_at(self.dock_pose).go() await self.navigator.move.circle_point(self.dock_pose, direction="ccw").go() done_circle = True # noqa flake8 doesn't see that it is defined above @@ -129,13 +135,13 @@ async def check_bays(self): """ for pose in self.bay_poses: move = self.navigator.move.set_position( - pose + self.bay_normal * self.LOOK_AT_DISTANCE + pose + self.bay_normal * self.LOOK_AT_DISTANCE, ).look_at(pose) print_good("Moving in front of bay for observation") await move.go() start_time = self.navigator.nh.get_time() while self.navigator.nh.get_time() - start_time < genpy.Duration( - self.LOOK_SHAPE_TIMEOUT + self.LOOK_SHAPE_TIMEOUT, ): if await self.search_shape_vision_only(): return @@ -144,12 +150,11 @@ async def check_bays(self): def update_shape(self, shape_res, normal_res, tf): print_good( - "Found (Shape={}, Color={} in a bay".format( - shape_res.Shape, shape_res.Color - ) + f"Found (Shape={shape_res.Shape}, Color={shape_res.Color} in a bay", ) self.identified_shapes[(shape_res.Shape, shape_res.Color)] = self.get_shape_pos( - normal_res, tf + normal_res, + tf, ) def done_searching(self): @@ -163,14 +168,17 @@ def done_searching(self): async def search_shape_vision_only(self): shapes = await self.navigator.vision_proxies["get_shape_front"].get_response( - Shape="ANY", Color="ANY" + Shape="ANY", + Color="ANY", ) if shapes.found: for shape in shapes.shapes.list: normal_res = await self.get_normal(shape) if normal_res.success: enu_cam_tf = await self.navigator.tf_listener.get_transform( - "/enu", "/" + shape.header.frame_id, shape.header.stamp + "/enu", + "/" + shape.header.frame_id, + shape.header.stamp, ) self.update_shape(shape, normal_res, enu_cam_tf) if self.done_searching(): @@ -192,7 +200,7 @@ async def circle_dock_vision_only(self): async def circle_bay(): await self.navigator.move.set_position(self.dock_pose).backward( - self.CIRCLE_RADIUS + self.CIRCLE_RADIUS, ).look_at(self.dock_pose).go() await self.navigator.move.circle_point(self.dock_pose, direction="ccw").go() done_circle = True # noqa flake8 can't see that it is defined above @@ -228,10 +236,10 @@ async def get_normal(self, shape): def get_shape_pos(self, normal_res, enu_cam_tf): enunormal = enu_cam_tf.transform_vector( - mil_tools.rosmsg_to_numpy(normal_res.normal) + mil_tools.rosmsg_to_numpy(normal_res.normal), ) enupoint = enu_cam_tf.transform_point( - mil_tools.rosmsg_to_numpy(normal_res.closest) + mil_tools.rosmsg_to_numpy(normal_res.closest), ) return (enupoint, enunormal) @@ -254,7 +262,7 @@ async def dock_in_found_bays(self): del incorrect_shapes[0] else: print_bad( - "First bay not found and no other bays found, moving on to second" + "First bay not found and no other bays found, moving on to second", ) else: print_good("Docking in first desired bay") @@ -274,10 +282,10 @@ async def dock_in_found_bays(self): async def dock_in_bay_blind(self, tup): point, normal = tup move_front = self.navigator.move.set_position( - point + normal * self.LOOK_AT_DISTANCE + point + normal * self.LOOK_AT_DISTANCE, ).look_at(point) move_in = self.navigator.move.set_position( - point + normal * self.DOCK_DISTANCE + point + normal * self.DOCK_DISTANCE, ).look_at(point) await move_front.go(move_type="skid") await move_in.go(move_type="skid", speed_factor=[0.5, 0.5, 0.5], blind=True) @@ -287,10 +295,10 @@ async def dock_in_bay_blind(self, tup): async def dock_in_bay_using_ogrid(self, tup): point, normal = tup move_front = self.navigator.move.set_position( - point + normal * self.LOOK_AT_DISTANCE + point + normal * self.LOOK_AT_DISTANCE, ).look_at(point) move_in = self.navigator.move.set_position( - point + normal * self.DOCK_DISTANCE + point + normal * self.DOCK_DISTANCE, ).look_at(point) await move_front.go(move_type="skid") await self.start_ogrid() @@ -308,11 +316,11 @@ async def get_dock_search_markers(self): search_line_vector = right_pose - left_pose search_line_vector_normal = search_line_vector / np.linalg.norm( - search_line_vector + search_line_vector, ) if np.isnan(search_line_vector_normal[0]): raise Exception( - "Gate Edge Markers are not in a line. Perhaps they were not placed" + "Gate Edge Markers are not in a line. Perhaps they were not placed", ) rot_right = np.array([[0, 1, 0], [-1, 0, 0], [0, 0, 0]]) search_line_rot = rot_right.dot(search_line_vector_normal) @@ -328,7 +336,7 @@ async def get_dock_search_markers(self): [ np.linalg.norm(pose - move_left.position[:2]), np.linalg.norm(pose - move_right.position[:2]), - ] + ], ) if np.argmin(distance_test) == 0: self.search_moves = (move_left, move_right) @@ -373,20 +381,14 @@ async def find_and_dock(self): async def setup_mission(navigator): stc_1 = await navigator.mission_params["scan_the_code_color1"].get( - raise_exception=False + raise_exception=False, ) - if stc_1 is False: - bay_1_color = "ANY" - else: - bay_1_color = stc_1 + bay_1_color = "ANY" if stc_1 is False else stc_1 stc_2 = await navigator.mission_params["scan_the_code_color2"].get( - raise_exception=False + raise_exception=False, ) - if stc_2 is False: - bay_2_color = "ANY" - else: - bay_2_color = stc_2 + bay_2_color = "ANY" if stc_2 is False else stc_2 bay_1_shape = "ANY" bay_2_shape = "ANY" diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/move.py b/NaviGator/mission_control/navigator_missions/navigator_missions/move.py index d70c3f61a..8ae428057 100755 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/move.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/move.py @@ -22,7 +22,10 @@ async def setup(cls): forward 1 (moves forward 1 meter) \n\t backward 2ft (moves backward 2 feet)", ) parser.add_argument( - "commands", type=str, nargs="*", help="Pose editor command to run" + "commands", + type=str, + nargs="*", + help="Pose editor command to run", ) parser.add_argument( "-m", @@ -107,14 +110,17 @@ async def run(self, args): self.send_feedback(f"Moving with the command: {argument}") res = await eval( "self.move.{}.go(move_type='{move_type}')".format( - argument, **action_kwargs - ) + argument, + **action_kwargs, + ), ) elif command == "rviz": self.send_feedback("Select a 2D Nav Goal in RVIZ") target_pose = await util.wrap_time_notice( - self.rviz_goal.get_next_message(), 2, "Rviz goal" + self.rviz_goal.get_next_message(), + 2, + "Rviz goal", ) self.send_feedback("RVIZ pose received!") res = await self.move.to_pose(target_pose).go(**action_kwargs) @@ -122,13 +128,16 @@ async def run(self, args): elif command == "circle": self.send_feedback("Select a Publish Point in RVIZ") target_point = await util.wrap_time_notice( - self.rviz_point.get_next_message(), 2, "Rviz point" + self.rviz_point.get_next_message(), + 2, + "Rviz point", ) self.send_feedback("RVIZ point received!") target_point = rosmsg_to_numpy(target_point.point) direction = "cw" if argument == "-1" else "ccw" res = await self.move.circle_point( - target_point, direction=direction + target_point, + direction=direction, ).go(**action_kwargs) else: @@ -140,9 +149,7 @@ async def run(self, args): "yl": "yaw_left", "yr": "yaw_right", } - command = ( - command if command not in shorthand.keys() else shorthand[command] - ) + command = command if command not in shorthand else shorthand[command] movement = getattr(self.move, command) trans_move = command[:3] != "yaw" diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py index 9df38f601..7812e5108 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py @@ -66,12 +66,12 @@ def get_gate(one, two, position): [ np.linalg.norm((center + perp_vec) - position), np.linalg.norm((center - perp_vec) - position), - ] + ], ) if np.argmin(distances) == 0: perp_vec = -perp_vec return np.array([center[0], center[1], 0.0]), np.array( - [perp_vec[0], perp_vec[1], 0.0] + [perp_vec[0], perp_vec[1], 0.0], ) async def go_thru_gate(self, gate, BEFORE=5.0, AFTER=4.0): @@ -91,12 +91,16 @@ def filter_and_sort(objects, positions): # filter out buoys more than filter_distance behind boat filter_distance = -5 positions_local = np.array( - [(q_mat.T.dot(position - p)) for position in positions] + [(q_mat.T.dot(position - p)) for position in positions], ) positions_local_x = np.array(positions_local[:, 0]) forward_indices = np.argwhere(positions_local_x > filter_distance).flatten() forward_indices = np.array( - [i for i in forward_indices if objects[i].id not in self.objects_passed] + [ + i + for i in forward_indices + if objects[i].id not in self.objects_passed + ], ) distances = np.linalg.norm(positions_local[forward_indices], axis=1) indices = forward_indices[np.argsort(distances).flatten()].tolist() @@ -107,11 +111,13 @@ def filter_and_sort(objects, positions): def is_done(objects, positions): try: left_index = self.get_index_of_type( - objects, ("red_cylinder", "white_cylinder") + objects, + ("red_cylinder", "white_cylinder"), ) if objects[left_index].labeled_classification != "white_cylinder": right_index = self.get_index_of_type( - objects, ("green_cylinder", "white_cylinder") + objects, + ("green_cylinder", "white_cylinder"), ) else: indices = self.get_indices_of_type(objects, "white_cylinder") @@ -130,12 +136,14 @@ def is_done(objects, positions): ) left, left_obj, right, right_obj, end = await self.explore_closest_until( - is_done, filter_and_sort + is_done, + filter_and_sort, ) self.send_feedback( "Going through gate of objects {} and {}".format( - left_obj.labeled_classification, right_obj.labeled_classification - ) + left_obj.labeled_classification, + right_obj.labeled_classification, + ), ) gate = self.get_gate(left, right, p) await self.go_thru_gate(gate) @@ -154,12 +162,9 @@ async def explore_closest_until(self, is_done, filter_and_sort): @object_filter func filters and sorts """ move_id_tuple = None - previous_index = None - previous_cone = None init_boat_pos = self.pose[0] cone_buoys_investigated = 0 # max will be 2 service_req = None - fl = None investigated = set() move_task = None while True: @@ -177,13 +182,12 @@ async def explore_closest_until(self, is_done, filter_and_sort): service_req = None objects_msg = result classification_index = self.object_classified( - objects_msg.objects, move_id_tuple[1] + objects_msg.objects, + move_id_tuple[1], ) if classification_index != -1: self.send_feedback( - "{} identified. Canceling investigation".format( - move_id_tuple[1] - ) + f"{move_id_tuple[1]} identified. Canceling investigation", ) move_task.cancel() @@ -200,9 +204,8 @@ async def explore_closest_until(self, is_done, filter_and_sort): classification_index ].labeled_classification ): - previous_cone = previous_index init_boat_pos = rosmsg_to_numpy( - objects_msg.objects[classification_index].pose.position + objects_msg.objects[classification_index].pose.position, ) print(init_boat_pos) cone_buoys_investigated += 1 @@ -238,12 +241,9 @@ async def explore_closest_until(self, is_done, filter_and_sort): objects_msg = await self.database_query(name="all") objects = objects_msg.objects positions = np.array( - [rosmsg_to_numpy(obj.pose.position) for obj in objects] + [rosmsg_to_numpy(obj.pose.position) for obj in objects], ) - if len(objects) == 0: - indices = [] - else: - indices = filter_and_sort(objects, positions) + indices = [] if len(objects) == 0 else filter_and_sort(objects, positions) if indices is None or len(indices) == 0: self.send_feedback("No objects") continue @@ -285,7 +285,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): print(shortest_distance) print(positions[i]) print( - "POTENTIAL CANDIDATE: IDENTIFIED THROUGH MARKER THAT HAS NOT BEEN INVESTIGATED" + "POTENTIAL CANDIDATE: IDENTIFIED THROUGH MARKER THAT HAS NOT BEEN INVESTIGATED", ) potential_candidate = i @@ -304,7 +304,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): print(shortest_distance) print(positions[i]) print( - "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO ALREADY INVESTIGATED CONE (<25m)" + "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO ALREADY INVESTIGATED CONE (<25m)", ) potential_candidate = i @@ -334,7 +334,6 @@ async def explore_closest_until(self, is_done, filter_and_sort): investigated.add(objects[potential_candidate].id) move = self.inspect_object(positions[potential_candidate]) move_id_tuple = (move, objects[potential_candidate].id) - previous_index = potential_candidate print("USING POTENTIAL CANDIDATE") if move_id_tuple is None: @@ -348,7 +347,7 @@ def get_objects_indices_for_start(self, objects): white_index2 = indices[1] except IndexError: return None - except Exception as e: + except Exception: import traceback traceback.print_exc() @@ -362,13 +361,11 @@ def object_classified(objects, obj_id): @return True of object with obj_id is classified """ for i, obj in enumerate(objects): - if obj.id == obj_id: - if obj.labeled_classification != "UNKNOWN": - return i + if obj.id == obj_id and obj.labeled_classification != "UNKNOWN": + return i return -1 async def prepare_to_enter(self): - closest = [] robot_position = (await self.tx_pose())[0] def filter_and_sort(objects, positions): @@ -389,15 +386,17 @@ def is_done(objects, positions): ) white, white_position, red, red_position = await self.explore_closest_until( - is_done, filter_and_sort + is_done, + filter_and_sort, ) self.objects_passed.add(white.id) self.objects_passed.add(red.id) gate = self.get_gate(white_position, red_position, robot_position) self.send_feedback( "Going through start gate formed by {} and {}".format( - white.labeled_classification, red.labeled_classification - ) + white.labeled_classification, + red.labeled_classification, + ), ) await self.go_thru_gate(gate, AFTER=-2) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py index 7514e3d5f..d54ddf88f 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py @@ -116,14 +116,17 @@ async def setup_base(cls, mission_runner): cls._change_wrench = cls.nh.get_service_client("/wrench/select", MuxSelect) cls._change_trajectory = cls.nh.get_service_client( - "/trajectory/select", MuxSelect + "/trajectory/select", + MuxSelect, ) cls._database_query = cls.nh.get_service_client( - "/database/requests", ObjectDBQuery + "/database/requests", + ObjectDBQuery, ) cls._reset_pcodar = cls.nh.get_service_client("/pcodar/reset", Trigger) cls._pcodar_set_params = cls.nh.get_service_client( - "/pcodar/set_parameters", Reconfigure + "/pcodar/set_parameters", + Reconfigure, ) cls.pose = None @@ -155,7 +158,8 @@ def _setup_vrx(cls): cls.killed = False cls.odom_loss = False cls.set_vrx_classifier_enabled = cls.nh.get_service_client( - "/vrx_classifier/set_enabled", SetBool + "/vrx_classifier/set_enabled", + SetBool, ) @classmethod @@ -195,7 +199,9 @@ def enu_odom_set(odom): cls._grinch_raise_time = await cls.nh.get_param("~grinch_raise_time") cls.grinch_limit_switch_pressed = False cls._grinch_limit_switch_sub = cls.nh.subscribe( - "/limit_switch", Bool, cls._grinch_limit_switch_cb + "/limit_switch", + Bool, + cls._grinch_limit_switch_cb, ) cls._winch_motor_pub = cls.nh.advertise("/grinch_winch/cmd", Command) cls._grind_motor_pub = cls.nh.advertise("/grinch_spin/cmd", Command) @@ -207,14 +213,17 @@ def enu_odom_set(odom): try: cls._actuator_client = cls.nh.get_service_client( - "/actuator_driver/actuate", SetValve + "/actuator_driver/actuate", + SetValve, ) cls._camera_database_query = cls.nh.get_service_client( - "/camera_database/requests", navigator_srvs.CameraDBQuery + "/camera_database/requests", + navigator_srvs.CameraDBQuery, ) cls._change_wrench = cls.nh.get_service_client("/wrench/select", MuxSelect) cls._change_trajectory = cls.nh.get_service_client( - "/trajectory/select", MuxSelect + "/trajectory/select", + MuxSelect, ) except AttributeError as err: fprint( @@ -228,13 +237,16 @@ def enu_odom_set(odom): # Vision cls.set_classifier_enabled = cls.nh.get_service_client( - "/classifier/set_enabled", SetBool + "/classifier/set_enabled", + SetBool, ) cls.obstacle_course_vision_enable = cls.nh.get_service_client( - "/vision/obsc/enable", SetBool + "/vision/obsc/enable", + SetBool, ) cls.docks_vision_enable = cls.nh.get_service_client( - "/vision/docks/enable", SetBool + "/vision/docks/enable", + SetBool, ) await cls._make_alarms() @@ -242,18 +254,24 @@ def enu_odom_set(odom): # We want to make sure odom is working before we continue fprint("Action client do you await?", title="NAVIGATOR") await util.wrap_time_notice( - cls._moveto_client.wait_for_server(), 2, "Lqrrt action server" + cls._moveto_client.wait_for_server(), + 2, + "Lqrrt action server", ) fprint("Yes he await!", title="NAVIGATOR") fprint("Waiting for odom...", title="NAVIGATOR") await util.wrap_time_notice( - cls._odom_sub.get_next_message(), 2, "Odom listener" + cls._odom_sub.get_next_message(), + 2, + "Odom listener", ) if not cls.sim: await util.wrap_time_notice( - cls._ecef_odom_sub.get_next_message(), 2, "ENU Odom listener" + cls._ecef_odom_sub.get_next_message(), + 2, + "ENU Odom listener", ) print("Odom has been received!") @@ -267,10 +285,12 @@ def enu_odom_set(odom): await cls.init_front_right_camera() cls.yolo_objects = cls.nh.subscribe( - "/yolov7/detections_model1", Detection2DArray + "/yolov7/detections_model1", + Detection2DArray, ) cls.stc_objects = cls.nh.subscribe( - "/yolov7/stc_detections_model", Detection2DArray + "/yolov7/stc_detections_model", + Detection2DArray, ) await cls.yolo_objects.setup() await cls.stc_objects.setup() @@ -297,32 +317,38 @@ async def _shutdown_not_vrx(cls): async def init_front_left_camera(cls): if cls.front_left_camera_sub is None: cls.front_left_camera_sub = cls.nh.subscribe( - "/wamv/sensors/camera/front_left_cam/image_raw", Image + "/wamv/sensors/camera/front_left_cam/image_raw", + Image, ) if cls.front_left_camera_info_sub is None: cls.front_left_camera_info_sub = cls.nh.subscribe( - "/wamv/sensors/camera/front_left_cam/camera_info", CameraInfo + "/wamv/sensors/camera/front_left_cam/camera_info", + CameraInfo, ) await asyncio.gather( - cls.front_left_camera_sub.setup(), cls.front_left_camera_info_sub.setup() + cls.front_left_camera_sub.setup(), + cls.front_left_camera_info_sub.setup(), ) @classmethod async def init_front_right_camera(cls): if cls.front_right_camera_sub is None: cls.front_right_camera_sub = cls.nh.subscribe( - "/wamv/sensors/camera/front_right_cam/image_raw", Image + "/wamv/sensors/camera/front_right_cam/image_raw", + Image, ) if cls.front_right_camera_info_sub is None: cls.front_right_camera_info_sub = cls.nh.subscribe( - "/wamv/sensors/camera/front_right_cam/camera_info", CameraInfo + "/wamv/sensors/camera/front_right_cam/camera_info", + CameraInfo, ) await asyncio.gather( - cls.front_right_camera_sub.setup(), cls.front_right_camera_info_sub.setup() + cls.front_right_camera_sub.setup(), + cls.front_right_camera_info_sub.setup(), ) @classmethod @@ -393,7 +419,7 @@ async def spin_grinch(self, speed: float = 1.0, interval: float = 0.1): """ while True: self._grind_motor_pub.publish( - Command(setpoint=speed * self.max_grinch_effort) + Command(setpoint=speed * self.max_grinch_effort), ) await self.nh.sleep(interval) @@ -405,7 +431,7 @@ async def spin_winch(self, speed: float = -1.0, interval: float = 0.1): """ while True: self._winch_motor_pub.publish( - Command(setpoint=speed * self.max_grinch_effort) + Command(setpoint=speed * self.max_grinch_effort), ) await self.nh.sleep(interval) @@ -521,7 +547,11 @@ def set_valve(self, name, state): return self._actuator_client(req) async def get_sorted_objects( - self, name: str, n: int = -1, throw: bool = True, **kwargs + self, + name: str, + n: int = -1, + throw: bool = True, + **kwargs, ): """ Get the closest N objects with a particular name from the PCODAR database @@ -552,7 +582,10 @@ async def get_sorted_objects( return (objects_sorted, positions[distances_argsort, :]) async def database_query( - self, object_name: str | None = None, raise_exception: bool = True, **kwargs + self, + object_name: str | None = None, + raise_exception: bool = True, + **kwargs, ): if object_name is not None: kwargs["name"] = object_name @@ -570,7 +603,7 @@ async def camera_database_query(self, object_name: str | None = None, **kwargs): if object_name is not None: kwargs["name"] = object_name res = await self._camera_database_query( - navigator_srvs.CameraDBQueryRequest(**kwargs) + navigator_srvs.CameraDBQueryRequest(**kwargs), ) return res @@ -638,7 +671,9 @@ async def latching_publisher( def _load_vision_services(cls, fname: str = "vision_services.yaml"): rospack = rospkg.RosPack() config_file = os.path.join( - rospack.get_path("navigator_missions"), "launch", fname + rospack.get_path("navigator_missions"), + "launch", + fname, ) f = yaml.safe_load(open(config_file)) @@ -649,20 +684,26 @@ def _load_vision_services(cls, fname: str = "vision_services.yaml"): s_args = f[name]["args"] s_client = cls.nh.get_service_client(f[name]["topic"], s_type) s_switch = cls.nh.get_service_client( - f[name]["topic"] + "/switch", SetBool + f[name]["topic"] + "/switch", + SetBool, ) cls.vision_proxies[name] = VisionProxy( - s_client, s_req, s_args, s_switch + s_client, + s_req, + s_args, + s_switch, ) except Exception as e: - err = f"Error loading vision sevices: {e}" + err = f"Error loading vision services: {e}" fprint("" + err, title="NAVIGATOR", msg_color="red") @classmethod def _load_mission_params(cls, fname="mission_params.yaml"): rospack = rospkg.RosPack() config_file = os.path.join( - rospack.get_path("navigator_missions"), "launch", fname + rospack.get_path("navigator_missions"), + "launch", + fname, ) f = yaml.safe_load(open(config_file)) @@ -673,7 +714,11 @@ def _load_mission_params(cls, fname="mission_params.yaml"): desc = f[name]["description"] default = f[name].get("default") cls.mission_params[name] = MissionParam( - cls.nh, param, options, desc, default + cls.nh, + param, + options, + desc, + default, ) except Exception as e: err = f"Error loading mission params: {e}" @@ -687,7 +732,9 @@ def kill_alarm_cb(cls, _, alarm): @classmethod async def _make_alarms(cls): cls.kill_listener = await TxAlarmListener.init( - cls.nh, "kill", cls.kill_alarm_cb + cls.nh, + "kill", + cls.kill_alarm_cb, ) await cls.kill_listener.setup() # TODO: Enable node handle subscriber to topic to have multiple callbacks @@ -754,8 +801,11 @@ async def get(self, raise_exception: bool = True): if not self._valid(value): raise Exception( "Value {} is invalid for param {}\nValid values: {}\nDescription: {}".format( - value, self.param, self.options, self.description - ) + value, + self.param, + self.options, + self.description, + ), ) else: return value @@ -767,8 +817,11 @@ async def set(self, value): if not self._valid(value): raise Exception( "Value {} is invalid for param {}\nValid values: {}\nDescription: {}".format( - value, self.param, self.options, self.description - ) + value, + self.param, + self.options, + self.description, + ), ) await self.nh.set_param(self.param, value) @@ -789,10 +842,7 @@ async def reset(self): await self.nh.delete_param(self.param) def _valid(self, value) -> bool: - for x in self.options: - if x == value: - return True - return False + return any(x == value for x in self.options) class Searcher: @@ -856,7 +906,7 @@ async def _run_search_pattern(self, loop, **kwargs): async def pattern(): for pose in self.search_pattern: fprint("Going to next position.", title="SEARCHER") - if isinstance(pose, list) or isinstance(pose, np.ndarray): + if isinstance(pose, (list, np.ndarray)): await self.nav.move.relative(pose).go(**kwargs) else: await pose.go(**kwargs) @@ -876,7 +926,7 @@ async def pattern(): async def _vision_proxy_look(self): resp = await self.nav.vision_proxies[self.vision_proxy].get_response( - **self.looker_kwargs + **self.looker_kwargs, ) return resp.found diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/obstacle_avoid.py b/NaviGator/mission_control/navigator_missions/navigator_missions/obstacle_avoid.py index 9d4c75133..a6c415915 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/obstacle_avoid.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/obstacle_avoid.py @@ -42,7 +42,11 @@ async def setup(cls): help="set to use pois for square corners", ) parser.add_argument( - "-s", "--speed", type=float, default=0.75, help="set speed_factor of boat" + "-s", + "--speed", + type=float, + default=0.75, + help="set speed_factor of boat", ) cls.parser = parser @@ -73,10 +77,16 @@ async def run(self, args): for i in range(0, num_passes): # Calculate the points at offset away from the square edges ppoints_close = await self.get_perpendicular_points( - self.square[0], self.square[1], midpoints_close[i], out_offset + self.square[0], + self.square[1], + midpoints_close[i], + out_offset, ) ppoints_far = await self.get_perpendicular_points( - self.square[3], self.square[2], midpoints_far[i], out_offset + self.square[3], + self.square[2], + midpoints_far[i], + out_offset, ) # If its on the first side go to the close side then the far side, otherwise vice versa @@ -91,11 +101,11 @@ async def run(self, args): for i in range(0, len(traverse_points)): if i + 1 != len(traverse_points): await self.move.set_position(traverse_points[i]).look_at( - traverse_points[i + 1] + traverse_points[i + 1], ).go(speed_factor=speed_factor) else: await self.move.set_position(traverse_points[i]).go( - speed_factor=speed_factor + speed_factor=speed_factor, ) self.send_feedback("Done with obstacle avoid!") @@ -125,7 +135,8 @@ async def find_area(self, usepoi): continue for totem3 in white_totems: if np.array_equal(totem1, totem3) or np.array_equal( - totem2, totem3 + totem2, + totem3, ): continue for totem4 in white_totems: diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger.py b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger.py index 5c52ebe5a..5e2db0c8a 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger.py @@ -37,13 +37,16 @@ def __init__(self): @classmethod async def setup(cls): cls.listen_client = cls.nh.get_service_client( - "/hydrophones/set_listen", SetBool + "/hydrophones/set_listen", + SetBool, ) cls.pinger_client = cls.nh.get_service_client( - "/hydrophones/find_pinger", FindPinger + "/hydrophones/find_pinger", + FindPinger, ) cls.reset_client = cls.nh.get_service_client( - "/hydrophones/set_freq", SetFrequency + "/hydrophones/set_freq", + SetFrequency, ) cls.marker_pub = cls.nh.advertise("/pinger/debug_marker", MarkerArray) await cls.marker_pub.setup() @@ -90,13 +93,13 @@ async def get_observation_poses(self): [ np.linalg.norm( pose - - (self.gate_poses[0] + self.OBSERVE_DISTANCE_METERS * self.g_perp) + - (self.gate_poses[0] + self.OBSERVE_DISTANCE_METERS * self.g_perp), ), np.linalg.norm( pose - - (self.gate_poses[0] - self.OBSERVE_DISTANCE_METERS * self.g_perp) + - (self.gate_poses[0] - self.OBSERVE_DISTANCE_METERS * self.g_perp), ), - ] + ], ) if np.argmin(distance_test) == 1: self.negate = True @@ -108,19 +111,23 @@ async def get_observation_poses(self): if self.negate: self.observation_points = ( np.append( - (branch_pt0 - self.OBSERVE_DISTANCE_METERS * self.g_perp), 0 + (branch_pt0 - self.OBSERVE_DISTANCE_METERS * self.g_perp), + 0, ), np.append( - (branch_pt1 - self.OBSERVE_DISTANCE_METERS * self.g_perp), 0 + (branch_pt1 - self.OBSERVE_DISTANCE_METERS * self.g_perp), + 0, ), ) else: self.observation_points = ( np.append( - (branch_pt0 + self.OBSERVE_DISTANCE_METERS * self.g_perp), 0 + (branch_pt0 + self.OBSERVE_DISTANCE_METERS * self.g_perp), + 0, ), np.append( - (branch_pt1 + self.OBSERVE_DISTANCE_METERS * self.g_perp), 0 + (branch_pt1 + self.OBSERVE_DISTANCE_METERS * self.g_perp), + 0, ), ) self.look_at_points = (np.append(branch_pt0, 0), np.append(branch_pt1, 0)) @@ -187,7 +194,7 @@ async def get_pinger_pose(self): np.linalg.norm(self.pinger_pose - self.gate_poses[0]), np.linalg.norm(self.pinger_pose - self.gate_poses[1]), np.linalg.norm(self.pinger_pose - self.gate_poses[2]), - ] + ], ) async def go_thru_gate(self): @@ -244,11 +251,15 @@ async def get_colored_buoys(self): cur_time = self.nh.get_time() self.new_marker( - position=np.append(estimated_3_endbuoy, 0), color=(1, 1, 1), time=cur_time + position=np.append(estimated_3_endbuoy, 0), + color=(1, 1, 1), + time=cur_time, ) self.new_marker(position=np.append(estimated_circle_buoy, 0), time=cur_time) self.new_marker( - position=np.append(estimated_1_endbuoy, 0), color=(1, 1, 1), time=cur_time + position=np.append(estimated_1_endbuoy, 0), + color=(1, 1, 1), + time=cur_time, ) totems = await self.database_query("totem", raise_exception=False) @@ -256,13 +267,13 @@ async def get_colored_buoys(self): sorted_1 = sorted( totems.objects, key=lambda t: np.linalg.norm( - estimated_1_endbuoy - mil_tools.rosmsg_to_numpy(t.position)[:2] + estimated_1_endbuoy - mil_tools.rosmsg_to_numpy(t.position)[:2], ), ) sorted_3 = sorted( totems.objects, key=lambda t: np.linalg.norm( - estimated_3_endbuoy - mil_tools.rosmsg_to_numpy(t.position)[:2] + estimated_3_endbuoy - mil_tools.rosmsg_to_numpy(t.position)[:2], ), ) @@ -271,8 +282,8 @@ async def get_colored_buoys(self): key=lambda t: abs( np.linalg.norm( estimated_circle_buoy - - mil_tools.rosmsg_to_numpy(t.position)[:2] - ) + - mil_tools.rosmsg_to_numpy(t.position)[:2], + ), ), ) self.new_marker( @@ -282,7 +293,7 @@ async def get_colored_buoys(self): ) circle_error = np.linalg.norm( mil_tools.rosmsg_to_numpy(sorted_circle[0].position)[:2] - - estimated_circle_buoy + - estimated_circle_buoy, ) if circle_error < self.MAX_CIRCLE_BUOY_ERROR: self.circle_totem = mil_tools.rosmsg_to_numpy(sorted_circle[0].position) @@ -366,7 +377,7 @@ async def get_colored_buoys(self): await self.mission_params["acoustic_pinger_active"].set(active_colors) else: fprint( - f"PINGER: cannot determine gate colors", + "PINGER: cannot determine gate colors", msg_color="red", ) # fprint("PINGER: gate 3 color {}".format(sorted_3[0].color), msg_color='blue') @@ -388,11 +399,11 @@ async def set_active_pinger(self): await self.mission_params["acoustic_pinger_active_index_correct"].set(3) else: await self.mission_params["acoustic_pinger_active_index_correct"].set( - int(self.gate_index) + 1 + int(self.gate_index) + 1, ) await self.mission_params["acoustic_pinger_active_index"].set( - int(self.gate_index) + 1 + int(self.gate_index) + 1, ) # await self.get_colored_buoys() @@ -400,16 +411,18 @@ async def circle_buoy(self): if self.circle_totem is not None: # Circle around totem await self.move.look_at(self.circle_totem).set_position( - self.circle_totem + self.circle_totem, ).backward(8).yaw_left(90, unit="deg").go() await self.move.circle_point(self.circle_totem).go() (first, last) = reversed(self.gate_thru_points) await self.move.set_position(first).look_at(last).go( - initial_plan_time=5, move_type="drive" + initial_plan_time=5, + move_type="drive", ) await self.move.set_position(last).go( - initial_plan_time=5, move_type="drive" + initial_plan_time=5, + move_type="drive", ) def get_gate_perp(self): diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_andy.py b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_andy.py index 17f82d58f..602bd9478 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_andy.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_andy.py @@ -14,7 +14,8 @@ class PingerAndy(NaviGatorMission): @classmethod async def setup(cls): cls.pinger_heading = cls.nh.subscribe( - "/hydrophones/ping_direction", Vector3Stamped + "/hydrophones/ping_direction", + Vector3Stamped, ) await cls.pinger_heading.setup() @@ -58,7 +59,7 @@ async def get_gates(self): if point.header.frame_id != "enu": self.send_feedback( "Point is not in ENU.\ - Please switch rviz frame to ENU or tell kevin to support other frames." + Please switch rviz frame to ENU or tell kevin to support other frames.", ) continue break @@ -83,7 +84,8 @@ async def run(self, args): # Convert heading and hydophones from to enu hydrophones_to_enu = await self.tf_listener.get_transform( - "enu", heading.header.frame_id + "enu", + heading.header.frame_id, ) hydrophones_origin = hydrophones_to_enu._p[0:2] heading = rosmsg_to_numpy(heading.vector) @@ -116,7 +118,7 @@ async def run(self, args): direction_vector /= np.linalg.norm(direction_vector) position = self.pose[0][:2] if np.linalg.norm(position - (gate + direction_vector)) > np.linalg.norm( - position - (gate - direction_vector) + position - (gate - direction_vector), ): direction_vector = -direction_vector diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_exit.py b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_exit.py index b2c63782d..d0bbba578 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_exit.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/pinger_exit.py @@ -46,7 +46,7 @@ async def go_thru_gate(self): """Move to the points needed to go through the correct gate""" self.get_gate_thru_points() await self.move.set_position(self.gate_thru_points[0]).look_at( - self.gate_thru_points[1] + self.gate_thru_points[1], ).go() await self.move.set_position(self.gate_thru_points[1]).go() # for p in self.gate_thru_points: diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/pose_editor.py b/NaviGator/mission_control/navigator_missions/navigator_missions/pose_editor.py index 7f549568b..5f25f36ab 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/pose_editor.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/pose_editor.py @@ -62,7 +62,7 @@ def triad(tup, tup2): B = np.array([normalized(b1), bb, normalized(np.cross(b1, bb))]) rot = A.T.dot(B) return transformations.quaternion_from_matrix( - [(a, b, c, 0) for a, b, c in rot] + [(0, 0, 0, 1)] + [(a, b, c, 0) for a, b, c in rot] + [(0, 0, 0, 1)], ) @@ -120,7 +120,10 @@ class PoseEditor2: """ def __init__( - self, nav: NaviGatorMission, pose: tuple[np.ndarray, np.ndarray], **kwargs + self, + nav: NaviGatorMission, + pose: tuple[np.ndarray, np.ndarray], + **kwargs, ): self.nav = nav @@ -154,7 +157,7 @@ async def go(self, *args, **kwargs) -> types.ActionResult | None: title="POSE_EDITOR", msg_color="red", ) - raise KilledException() + raise KilledException if len(self.kwargs) > 0: kwargs = dict(kwargs.items() | self.kwargs.items()) @@ -204,7 +207,7 @@ def yaw_left(self, angle, unit="rad"): transformations.quaternion_multiply( transformations.quaternion_about_axis(angle * UNITS[unit], UP), self.orientation, - ) + ), ) def yaw_right(self, angle, unit="rad"): @@ -214,7 +217,7 @@ def yaw_right(self, angle, unit="rad"): def look_at_rel(self, rel_point): return self.set_orientation( - look_at_without_pitching(rel_point) + look_at_without_pitching(rel_point), ) # Using no pitch here since we are 2D def look_at(self, point): @@ -295,7 +298,8 @@ async def d_spiral_point( # Find first point to go to using boat rotation next_point = np.append( - normalize(self.position[:2] - point[:2]), 0 + normalize(self.position[:2] - point[:2]), + 0, ) # Doing this in 2d radius_increment = meters_per_rev / granularity for i in range(int(granularity * revolutions + 1)): @@ -320,24 +324,25 @@ def d_circle_point(self, *args, **kwargs): def as_MoveToGoal(self, linear=[0, 0, 0], angular=[0, 0, 0], **kwargs): return MoveToGoal( - header=make_header(), posetwist=self.as_PoseTwist(linear, angular), **kwargs + header=make_header(), + posetwist=self.as_PoseTwist(linear, angular), + **kwargs, ) def as_MoveGoal(self, move_type=MoveGoal.DRIVE, **kwargs): - if "focus" in kwargs: - if not isinstance(kwargs["focus"], Point): - kwargs["focus"] = mil_tools.numpy_to_point(kwargs["focus"]) + if "focus" in kwargs and not isinstance(kwargs["focus"], Point): + kwargs["focus"] = mil_tools.numpy_to_point(kwargs["focus"]) if "speed_factor" in kwargs and isinstance(kwargs["speed_factor"], float): # User wants a uniform speed factor sf = kwargs["speed_factor"] kwargs["speed_factor"] = [sf, sf, sf] - for key in kwargs.keys(): + for key in kwargs: if not hasattr(MoveGoal, key): fprint( "MoveGoal msg doesn't have a field called '{}' you tried to set via kwargs.".format( - key + key, ), title="POSE_EDITOR", msg_color="red", @@ -349,7 +354,7 @@ def as_MoveGoal(self, move_type=MoveGoal.DRIVE, **kwargs): def as_Pose(self): return Pose( position=Point( - *np.array(self.position) + *np.array(self.position), ), # Don't set waypoints out of the water plane orientation=Quaternion(*self.orientation), ) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/ring_recovery.py b/NaviGator/mission_control/navigator_missions/navigator_missions/ring_recovery.py index 3ac546d0f..8e9add939 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/ring_recovery.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/ring_recovery.py @@ -25,7 +25,7 @@ async def run(self, parameters): # Move in front of it, but back a little self.send_feedback("Moving in front of marker totem") await self.move.look_at(totem).set_position(totem).backward( - self.DEPLOY_DISTANCE + self.DEPLOY_DISTANCE, ).go() # Deploy the grinch mechanism into the water @@ -40,7 +40,7 @@ async def run(self, parameters): totem = await self.get_marker_totem() self.send_feedback("Moving closer") await self.move.look_at(totem).set_position(totem).backward(self.RADIUS).go( - blind=True + blind=True, ) # Circle totem diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/scan_the_code.py b/NaviGator/mission_control/navigator_missions/navigator_missions/scan_the_code.py index 0df9517f0..d901f279b 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/scan_the_code.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/scan_the_code.py @@ -30,7 +30,7 @@ COLORS = ["red", "green", "black", "blue"] -class ScanTheCode(NaviGatorMission): +class ScanTheCodeMission(NaviGatorMission): def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self.camera_model = PinholeCameraModel() @@ -66,7 +66,7 @@ async def run(self, args): # Try to find the stc light try: pose = await self.find_stc() - except Exception as e: + except Exception: sequence = ["red", "green", "blue"] await self.report_sequence(sequence) return sequence @@ -91,13 +91,14 @@ async def run(self, args): print("obtaining contour") contour = np.array( bbox_from_rect( - rect_from_roi(roi_enclosing_points(self.camera_model, points)) + rect_from_roi(roi_enclosing_points(self.camera_model, points)), ), dtype=int, ) try: sequence = await axros.util.wrap_timeout( - self.get_sequence(contour), TIMEOUT_SECONDS + self.get_sequence(contour), + TIMEOUT_SECONDS, ) except asyncio.TimeoutError: sequence = ["red", "green", "blue"] @@ -117,7 +118,8 @@ async def get_sequence(self, contour): img = img[:, :, [2, 1, 0]] mask_msg = self.bridge.cv2_to_imgmsg( - bitwise_and(img, img, mask=mask), "bgr8" + bitwise_and(img, img, mask=mask), + "bgr8", ) print("PUBLISHING MASK") @@ -155,12 +157,12 @@ async def find_stc(self): _, poses = await self.get_sorted_objects(name="stc_platform", n=1) pose = poses[0] # in case stc platform not already identified - except Exception as e: + except Exception: # get all pcodar objects try: _, poses = await self.get_sorted_objects(name="UNKNOWN", n=-1) # if no pcodar objects, drive forward - except Exception as e: + except Exception: await self.move.forward(50).go() # get all pcodar objects _, poses = await self.get_sorted_objects(name="UNKNOWN", n=-1) @@ -195,7 +197,7 @@ def z_filter(db_obj_msg): [i.x, i.y, i.z] for i in db_obj_msg.points if i.z < top - LED_PANEL_MAX and i.z > top - LED_PANEL_MIN - ] + ], ) return points @@ -208,6 +210,6 @@ def bbox_from_rect(rect): [rect[1][0] + 20, rect[0][1] - rect[0][1]], [rect[1][0] + 20, rect[1][1] + 20], [rect[0][0] - 20, rect[1][1] + 20], - ] + ], ) return bbox diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/stc_jaxon.py b/NaviGator/mission_control/navigator_missions/navigator_missions/stc_jaxon.py index a5c74b8aa..144793f58 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/stc_jaxon.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/stc_jaxon.py @@ -35,7 +35,9 @@ async def run(self, args): # Get scan the code stuff try: result = await util.wrap_time_notice( - self.stcsub.get_next_message(), self.TIMEOUT_SECONDS, "test" + self.stcsub.get_next_message(), + self.TIMEOUT_SECONDS, + "test", ) stc_result = result.color_pattern except util.TimeoutError: @@ -53,7 +55,9 @@ async def run(self, args): elif stc_result[0] == "B": await self.move.left(5).go() await self.move.circle_point( - self.stc, direction="cw", revolutions=1.25 + self.stc, + direction="cw", + revolutions=1.25, ).go() await self.move.forward(10).go() diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/track_target.py b/NaviGator/mission_control/navigator_missions/navigator_missions/track_target.py index 93fc41cd9..dbe4303e7 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/track_target.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/track_target.py @@ -29,7 +29,8 @@ async def setup(cls): cls.base_link_to_shooter[2] = 0.0 # Subscribe to pose cls.target_pose_sub = cls.nh.subscribe( - "/detect_deliver_target_detector/pose", PoseStamped + "/detect_deliver_target_detector/pose", + PoseStamped, ) await cls.target_pose_sub.setup() @@ -65,10 +66,12 @@ async def run(self, parameters): # Transform pose to ENU transform = await self.tf_listener.get_transform( - "enu", pose.header.frame_id, pose.header.stamp + "enu", + pose.header.frame_id, + pose.header.stamp, ) pos, quat = transform.transform_point( - pos + pos, ), transform.transform_quaternion(quat) pos[2] = 0.0 diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/wildlife.py b/NaviGator/mission_control/navigator_missions/navigator_missions/wildlife.py index 2da861763..77dc480aa 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/wildlife.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/wildlife.py @@ -15,7 +15,7 @@ async def run(self, parameters): try: t1 = await self.get_sorted_objects("red_cylinder", n=1) t1 = t1[1][0] - except Exception as e: + except Exception: print("could not find stc_platform") # get all pcodar objects try: @@ -23,7 +23,7 @@ async def run(self, parameters): t1 = await self.get_sorted_objects(name="UNKNOWN", n=-1) t1 = t1[1][0] # if no pcodar objects, drive forward - except Exception as e: + except Exception: print("literally no objects?") await self.move.forward(10).go() # get first pcodar objects @@ -34,4 +34,4 @@ async def run(self, parameters): print("going to nearest small object") - points = await self.move.d_spiral_point(t1, 5, 4, 1, "ccw", theta_offset=-1.57) + await self.move.d_spiral_point(t1, 5, 4, 1, "ccw", theta_offset=-1.57) diff --git a/NaviGator/mission_control/navigator_missions/setup.py b/NaviGator/mission_control/navigator_missions/setup.py index 38b4cb6ac..da209e236 100644 --- a/NaviGator/mission_control/navigator_missions/setup.py +++ b/NaviGator/mission_control/navigator_missions/setup.py @@ -10,7 +10,7 @@ "nav_missions_test", "nav_missions_lib", "vrx_missions", - ] + ], ) setup(**setup_args) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py b/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py index 476bd95e7..23d7cdfb3 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/dock.py @@ -101,7 +101,7 @@ async def run(self, args): # determine which long side is closer to us, go to the closer one # (assume VRX peeps are nice and will always have the open side of the dock closer) if np.linalg.norm(side_a - curr_pose[0]) < np.linalg.norm( - side_b - curr_pose[0] + side_b - curr_pose[0], ): print("side_a") goal_pos = side_a @@ -167,12 +167,12 @@ async def run(self, args): # position boat in front of correct symbol if symbol_position == "left": await self.move.set_position(self.left_position).look_at( - self.dock_point_left + self.dock_point_left, ).go(blind=True, move_type="skid") position = self.dock_point_left elif symbol_position == "right": await self.move.set_position(self.right_position).look_at( - self.dock_point_right + self.dock_point_right, ).go(blind=True, move_type="skid") position = self.dock_point_right @@ -204,7 +204,8 @@ async def get_symbol_position(self, target_symbol): ] path = self.rospack.get_path("navigator_vision") symbol_file = os.path.join( - path, "datasets/dock_target_images/" + target_symbol + ".png" + path, + "datasets/dock_target_images/" + target_symbol + ".png", ) symbol = cv2.imread(symbol_file) _, w, h = symbol.shape[::-1] @@ -572,7 +573,9 @@ async def dock_fire_undock(self, foggy=False): for i in range(4): try: await axros.util.wrap_timeout( - self.aim_and_fire(foggy=foggy), 15, "Trying to shoot" + self.aim_and_fire(foggy=foggy), + 15, + "Trying to shoot", ) except asyncio.TimeoutError: print("Let's just take the shot anyways") @@ -591,7 +594,7 @@ async def find_dock(self): while msgs is None: try: msgs, poses = await self.get_sorted_objects(name="UNKNOWN", n=-1) - except Exception as e: + except Exception: await self.move.forward(10).go() await self.pcodar_label(msgs[0].id, "dock") # if no pcodar objects, throw error, exit mission @@ -629,7 +632,7 @@ async def prepare_for_docking(self): [bottom_right[0], top_left[1]], ], dtype=np.int32, - ) + ), ] stencil = np.zeros(img.shape[:-1]).astype(np.uint8) @@ -666,7 +669,7 @@ async def prepare_for_docking(self): print("The new size of cnts is: ", len(cnts)) if len(cnts) == 2: - masked_msg = self.bridge.cv2_to_imgmsg(mask, "mono8") + self.bridge.cv2_to_imgmsg(mask, "mono8") # self.image_debug_pub.publish(masked_msg) # assume there are only two contours (hopefully, otherwise, make contour and mask tighter) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/dock_driver.py b/NaviGator/mission_control/navigator_missions/vrx_missions/dock_driver.py index c6b26455f..d982a8c02 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/dock_driver.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/dock_driver.py @@ -11,7 +11,8 @@ def __init__(self, *args, **kwargs): async def run(self, args): await self.nh.sleep(5) self.scan_dock_placard_symbol = self.nh.subscribe( - "/vrx/scan_dock/placard_symbol", String + "/vrx/scan_dock/placard_symbol", + String, ) dock_msg = await self.scan_dock_placard_symbol.get_next_message() dock_msg = str.split(dock_msg.data, "_") diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/scan_and_dock.py b/NaviGator/mission_control/navigator_missions/vrx_missions/scan_and_dock.py index b06046e09..73b946ca2 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/scan_and_dock.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/scan_and_dock.py @@ -9,7 +9,7 @@ def __init__(self, *args, **kwargs): async def run(self, args): await self.nh.sleep(10) await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) sequence = await self.run_submission("ScanTheCode") diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/scan_the_code.py b/NaviGator/mission_control/navigator_missions/vrx_missions/scan_the_code.py index 0aff60d51..72fdb5088 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/scan_the_code.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/scan_the_code.py @@ -40,10 +40,12 @@ async def run(self, args): self.bridge = CvBridge() self.image_debug_pub = self.nh.advertise("/stc_mask_debug", Image) self.sequence_report = self.nh.get_service_client( - COLOR_SEQUENCE_SERVICE, ColorSequence + COLOR_SEQUENCE_SERVICE, + ColorSequence, ) await asyncio.gather( - self.debug_points_pub.setup(), self.image_debug_pub.setup() + self.debug_points_pub.setup(), + self.image_debug_pub.setup(), ) await self.init_front_left_camera() @@ -60,7 +62,7 @@ async def run(self, args): await self.pcodar_set_params(doubles=[pcodar_cluster_tol]) try: pose = await self.find_stc2() - except Exception as e: + except Exception: sequence = ["red", "green", "blue"] await self.report_sequence(sequence) return sequence @@ -70,7 +72,9 @@ async def run(self, args): try: sequence = await axros.util.wrap_timeout( - self.get_sequence(), TIMEOUT_SECONDS, "Guessing RGB" + self.get_sequence(), + TIMEOUT_SECONDS, + "Guessing RGB", ) except asyncio.TimeoutError: sequence = ["red", "green", "blue"] @@ -189,14 +193,14 @@ async def find_stc2(self): _, poses = await self.get_sorted_objects(name="stc_platform", n=1) pose = poses[0] # in case stc platform not already identified - except Exception as e: + except Exception: print("could not find stc_platform") # get all pcodar objects try: print("check for any objects") msgs, poses = await self.get_sorted_objects(name="UNKNOWN", n=-1) # if no pcodar objects, drive forward - except Exception as e: + except Exception: print("literally no objects?") await self.move.forward(25).go() # get first pcodar objects @@ -207,7 +211,6 @@ async def find_stc2(self): print("going to nearest small object") # determine the dock and stc_buoy based on cluster size - dock_pose = None for i in range(len(msgs)): # Sometimes the dock is perceived as multiple objects # Ignore any objects that are the dock @@ -222,7 +225,7 @@ async def find_stc2(self): # much bigger than scale of stc # then we found the dock await self.pcodar_label(msgs[i].id, "dock") - dock_pose = poses[i] + poses[i] else: # if about same size as stc, label it stc await self.pcodar_label(msgs[i].id, "stc_platform") @@ -240,14 +243,14 @@ async def find_stc(self): _, poses = await self.get_sorted_objects(name="stc_platform", n=1) pose = poses[0] # in case stc platform not already identified - except Exception as e: + except Exception: print("could not find stc_platform") # get all pcodar objects try: print("check for any objects") _, poses = await self.get_sorted_objects(name="UNKNOWN", n=-1) # if no pcodar objects, drive forward - except Exception as e: + except Exception: print("literally no objects?") await self.move.forward(50).go() # get all pcodar objects @@ -283,7 +286,7 @@ def z_filter(db_obj_msg): [i.x, i.y, i.z] for i in db_obj_msg.points if i.z < top - LED_PANNEL_MAX and i.z > top - LED_PANNEL_MIN - ] + ], ) return points @@ -295,6 +298,6 @@ def bbox_from_rect(rect): [rect[1][0], rect[0][1]], [rect[1][0], rect[1][1]], [rect[0][0], rect[1][1]], - ] + ], ) return bbox diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py index b6b635e82..91514c01d 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx.py @@ -29,129 +29,143 @@ class Vrx(NaviGatorMission): nh: NodeHandle - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - - @staticmethod - async def init(): - if hasattr(Vrx, "_vrx_init"): + @classmethod + async def setup(cls): + if hasattr(cls, "_cls_init"): return - Vrx.from_lla = Vrx.nh.get_service_client("/fromLL", FromLL) - Vrx.to_lla = Vrx.nh.get_service_client("/toLL", ToLL) - Vrx.task_info_sub = Vrx.nh.subscribe("/vrx/task/info", Task) - await Vrx.task_info_sub.setup() - Vrx.scan_dock_color_sequence = Vrx.nh.get_service_client( - "/vrx/scan_dock_deliver/color_sequence", ColorSequence + cls.from_lla = cls.nh.get_service_client("/fromLL", FromLL) + cls.to_lla = cls.nh.get_service_client("/toLL", ToLL) + cls.task_info_sub = cls.nh.subscribe("/vrx/task/info", Task) + cls.scan_dock_color_sequence = cls.nh.get_service_client( + "/vrx/scan_dock_deliver/color_sequence", + ColorSequence, ) - Vrx.fire_ball = Vrx.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty) - Vrx.station_keep_goal = Vrx.nh.subscribe( - "/vrx/station_keeping/goal", GeoPoseStamped + cls.fire_ball = cls.nh.advertise("/wamv/shooters/ball_shooter/fire", Empty) + cls.station_keep_goal = cls.nh.subscribe( + "/vrx/station_keeping/goal", + GeoPoseStamped, ) - Vrx.wayfinding_path_sub = Vrx.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath) - Vrx.station_keeping_pose_error = Vrx.nh.subscribe( - "/vrx/station_keeping/pose_error", Float64 + cls.wayfinding_path_sub = cls.nh.subscribe("/vrx/wayfinding/waypoints", GeoPath) + cls.station_keeping_pose_error = cls.nh.subscribe( + "/vrx/station_keeping/pose_error", + Float64, ) - Vrx.station_keeping_rms_error = Vrx.nh.subscribe( - "/vrx/station_keeping/rms_error", Float64 + cls.station_keeping_rms_error = cls.nh.subscribe( + "/vrx/station_keeping/rms_error", + Float64, ) - Vrx.wayfinding_min_errors = Vrx.nh.subscribe( - "/vrx/wayfinding/min_errors", Float64MultiArray + cls.wayfinding_min_errors = cls.nh.subscribe( + "/vrx/wayfinding/min_errors", + Float64MultiArray, ) - Vrx.wayfinding_mean_error = Vrx.nh.subscribe( - "/vrx/wayfinding/mean_error", Float64 + cls.wayfinding_mean_error = cls.nh.subscribe( + "/vrx/wayfinding/mean_error", + Float64, ) - Vrx.perception_landmark = Vrx.nh.advertise( - "/vrx/perception/landmark", GeoPoseStamped + cls.perception_landmark = cls.nh.advertise( + "/vrx/perception/landmark", + GeoPoseStamped, ) await asyncio.gather( - Vrx.fire_ball.setup(), - Vrx.station_keep_goal.setup(), - Vrx.wayfinding_path_sub.setup(), - Vrx.station_keeping_pose_error.setup(), - Vrx.station_keeping_rms_error.setup(), - Vrx.wayfinding_min_errors.setup(), - Vrx.wayfinding_mean_error.setup(), - Vrx.perception_landmark.setup(), + cls.task_info_sub.setup(), + cls.fire_ball.setup(), + cls.station_keep_goal.setup(), + cls.wayfinding_path_sub.setup(), + cls.station_keeping_pose_error.setup(), + cls.station_keeping_rms_error.setup(), + cls.wayfinding_min_errors.setup(), + cls.wayfinding_mean_error.setup(), + cls.perception_landmark.setup(), ) - Vrx.animal_landmarks = Vrx.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath) - Vrx.beacon_landmark = Vrx.nh.get_service_client("beaconLocator", AcousticBeacon) - Vrx.circle_animal = Vrx.nh.get_service_client("/choose_animal", ChooseAnimal) - Vrx.set_long_waypoint = Vrx.nh.get_service_client( - "/set_long_waypoint", MoveToWaypoint + cls.animal_landmarks = cls.nh.subscribe("/vrx/wildlife/animals/poses", GeoPath) + cls.beacon_landmark = cls.nh.get_service_client("beaconLocator", AcousticBeacon) + cls.circle_animal = cls.nh.get_service_client("/choose_animal", ChooseAnimal) + cls.set_long_waypoint = cls.nh.get_service_client( + "/set_long_waypoint", + MoveToWaypoint, ) - Vrx.yolo_objects = Vrx.nh.subscribe("/yolov7/detections", Detection2DArray) - Vrx.tf_listener = axros_tf.TransformListener(Vrx.nh) - await Vrx.tf_listener.setup() - Vrx.database_response = Vrx.nh.get_service_client( - "/database/requests", ObjectDBQuery + cls.yolo_objects = cls.nh.subscribe("/yolov7/detections", Detection2DArray) + cls.tf_listener = axros_tf.TransformListener(cls.nh) + await cls.tf_listener.setup() + cls.database_response = cls.nh.get_service_client( + "/database/requests", + ObjectDBQuery, ) - Vrx.get_two_closest_cones = Vrx.nh.get_service_client( - "/get_two_closest_cones", TwoClosestCones + cls.get_two_closest_cones = cls.nh.get_service_client( + "/get_two_closest_cones", + TwoClosestCones, ) await asyncio.gather( - Vrx.animal_landmarks.setup(), - Vrx.yolo_objects.setup(), + cls.animal_landmarks.setup(), + cls.yolo_objects.setup(), ) - Vrx.pcodar_reset = Vrx.nh.get_service_client("/pcodar/reset", Trigger) + cls.pcodar_reset = cls.nh.get_service_client("/pcodar/reset", Trigger) - Vrx.front_left_camera_info_sub = None - Vrx.front_left_camera_sub = None - Vrx.front_right_camera_info_sub = None - Vrx.front_right_camera_sub = None + cls.front_left_camera_info_sub = None + cls.front_left_camera_sub = None + cls.front_right_camera_info_sub = None + cls.front_right_camera_sub = None - Vrx._vrx_init = True + cls._cls_init = True - @staticmethod - async def shutdown(): + @classmethod + async def shutdown(cls): + return await asyncio.gather( - Vrx.task_info_sub.shutdown(), - Vrx.animal_landmarks.shutdown(), - Vrx.yolo_objects.shutdown(), - Vrx.fire_ball.shutdown(), - Vrx.station_keep_goal.shutdown(), - Vrx.wayfinding_path_sub.shutdown(), - Vrx.station_keeping_pose_error.shutdown(), - Vrx.station_keeping_rms_error.shutdown(), - Vrx.wayfinding_min_errors.shutdown(), - Vrx.wayfinding_mean_error.shutdown(), - Vrx.perception_landmark.shutdown(), + cls.task_info_sub.shutdown(), + cls.animal_landmarks.shutdown(), + cls.yolo_objects.shutdown(), + cls.fire_ball.shutdown(), + cls.station_keep_goal.shutdown(), + cls.wayfinding_path_sub.shutdown(), + cls.station_keeping_pose_error.shutdown(), + cls.station_keeping_rms_error.shutdown(), + cls.wayfinding_min_errors.shutdown(), + cls.wayfinding_mean_error.shutdown(), + cls.perception_landmark.shutdown(), ) def cleanup(self): pass - @staticmethod - async def init_front_left_camera(): - if Vrx.front_left_camera_sub is None: - Vrx.front_left_camera_sub = Vrx.nh.subscribe( - "/wamv/sensors/cameras/front_left_camera/image_raw", Image + @classmethod + async def init_front_left_camera(cls): + if cls.front_left_camera_sub is None: + cls.front_left_camera_sub = cls.nh.subscribe( + "/wamv/sensors/cameras/front_left_camera/image_raw", + Image, ) - if Vrx.front_left_camera_info_sub is None: - Vrx.front_left_camera_info_sub = Vrx.nh.subscribe( - "/wamv/sensors/cameras/front_left_camera/camera_info", CameraInfo + if cls.front_left_camera_info_sub is None: + cls.front_left_camera_info_sub = cls.nh.subscribe( + "/wamv/sensors/cameras/front_left_camera/camera_info", + CameraInfo, ) await asyncio.gather( - Vrx.front_left_camera_sub.setup(), Vrx.front_left_camera_info_sub.setup() + cls.front_left_camera_sub.setup(), + cls.front_left_camera_info_sub.setup(), ) - @staticmethod - async def init_front_right_camera(): - if Vrx.front_right_camera_sub is None: - Vrx.front_right_camera_sub = Vrx.nh.subscribe( - "/wamv/sensors/cameras/front_right_camera/image_raw", Image + @classmethod + async def init_front_right_camera(cls): + if cls.front_right_camera_sub is None: + cls.front_right_camera_sub = cls.nh.subscribe( + "/wamv/sensors/cameras/front_right_camera/image_raw", + Image, ) - if Vrx.front_right_camera_info_sub is None: - Vrx.front_right_camera_info_sub = Vrx.nh.subscribe( - "/wamv/sensors/cameras/front_right_camera/camera_info", CameraInfo + if cls.front_right_camera_info_sub is None: + cls.front_right_camera_info_sub = cls.nh.subscribe( + "/wamv/sensors/cameras/front_right_camera/camera_info", + CameraInfo, ) await asyncio.gather( - Vrx.front_right_camera_sub.setup(), Vrx.front_right_camera_info_sub.setup() + cls.front_right_camera_sub.setup(), + cls.front_right_camera_info_sub.setup(), ) async def geo_pose_to_enu_pose(self, geo): @@ -196,7 +210,7 @@ async def send_trajectory_without_path(self, goal_pose): await self.set_long_waypoint(req) async def get_closest(self): - ret = await self.get_sorted_objects("all") + await self.get_sorted_objects("all") async def reset_pcodar(self): await self.pcodar_reset(Trigger()) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_beacon.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_beacon.py index 91c2c4aac..035ebce27 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_beacon.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_beacon.py @@ -13,7 +13,7 @@ def __init__(self, *args, **kwargs): async def run(self, parameters): self.send_feedback("Waiting for task to start") await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) await self.wait_for_task_such_that(lambda task: task.state in ["running"]) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py index 7eaf14514..7ef98c064 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py @@ -43,12 +43,12 @@ def get_gate(one, two, position): [ np.linalg.norm((center + perp_vec) - position), np.linalg.norm((center - perp_vec) - position), - ] + ], ) if np.argmin(distances) == 0: perp_vec = -perp_vec return np.array([center[0], center[1], 0.0]), np.array( - [perp_vec[0], perp_vec[1], 0.0] + [perp_vec[0], perp_vec[1], 0.0], ) async def go_thru_gate(self, gate, BEFORE=5.0, AFTER=4.0): @@ -68,18 +68,18 @@ def filter_and_sort(objects, positions): # filter out buoys more than filter_distance behind boat filter_distance = -5 positions_local = np.array( - [(q_mat.T.dot(position - p)) for position in positions] + [(q_mat.T.dot(position - p)) for position in positions], ) positions_local_x = np.array(positions_local[:, 0]) forward_indicies = np.argwhere( - positions_local_x > filter_distance + positions_local_x > filter_distance, ).flatten() forward_indicies = np.array( [ i for i in forward_indicies if objects[i].id not in self.objects_passed - ] + ], ) distances = np.linalg.norm(positions_local[forward_indicies], axis=1) indices = forward_indicies[np.argsort(distances).flatten()].tolist() @@ -90,7 +90,8 @@ def filter_and_sort(objects, positions): def is_done(objects, positions): try: left_index = self.get_index_of_type( - objects, ("mb_marker_buoy_green", "mb_marker_buoy_black") + objects, + ("mb_marker_buoy_green", "mb_marker_buoy_black"), ) right_index = self.get_index_of_type(objects, "mb_marker_buoy_red") except StopIteration: @@ -106,12 +107,14 @@ def is_done(objects, positions): ) left, left_obj, right, right_obj, end = await self.explore_closest_until( - is_done, filter_and_sort + is_done, + filter_and_sort, ) self.send_feedback( "Going through gate of objects {} and {}".format( - left_obj.labeled_classification, right_obj.labeled_classification - ) + left_obj.labeled_classification, + right_obj.labeled_classification, + ), ) gate = self.get_gate(left, right, p) await self.go_thru_gate(gate) @@ -125,8 +128,6 @@ async def explore_closest_until(self, is_done, filter_and_sort): @object_filter func filters and sorts """ move_id_tuple = None - previous_index = None - previous_cone = None init_boat_pos = self.pose[0] cone_buoys_investigated = 0 # max will be 2 service_req = None @@ -145,13 +146,12 @@ async def explore_closest_until(self, is_done, filter_and_sort): service_req = None objects_msg = result classification_index = self.object_classified( - objects_msg.objects, move_id_tuple[1] + objects_msg.objects, + move_id_tuple[1], ) if classification_index != -1: self.send_feedback( - "{} identified. Canceling investigation".format( - move_id_tuple[1] - ) + f"{move_id_tuple[1]} identified. Canceling investigation", ) move_id_tuple[0].cancel() await self.nh.sleep(1.0) @@ -162,10 +162,9 @@ async def explore_closest_until(self, is_done, filter_and_sort): classification_index ].labeled_classification ): - previous_cone = previous_index print("updating initial boat pos...") init_boat_pos = rosmsg_to_numpy( - objects_msg.objects[classification_index].pose.position + objects_msg.objects[classification_index].pose.position, ) print(init_boat_pos) cone_buoys_investigated += 1 @@ -192,12 +191,9 @@ async def explore_closest_until(self, is_done, filter_and_sort): objects = objects_msg.objects # print(len(objects)) positions = np.array( - [rosmsg_to_numpy(obj.pose.position) for obj in objects] + [rosmsg_to_numpy(obj.pose.position) for obj in objects], ) - if len(objects) == 0: - indices = [] - else: - indices = filter_and_sort(objects, positions) + indices = [] if len(objects) == 0 else filter_and_sort(objects, positions) if indices is None or len(indices) == 0: self.send_feedback("No objects") continue @@ -238,7 +234,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): print(shortest_distance) print(positions[i]) print( - "POTENTIAL CANDIDATE: IDENTIFIED THROUGH MARKER THAT HAS NOT BEEN INVESTIGATED" + "POTENTIAL CANDIDATE: IDENTIFIED THROUGH MARKER THAT HAS NOT BEEN INVESTIGATED", ) potential_candidate = i @@ -257,7 +253,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): print(shortest_distance) print(positions[i]) print( - "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO ALREADY INVESTIGATED CONE (<25m)" + "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO ALREADY INVESTIGATED CONE (<25m)", ) potential_candidate = i @@ -274,7 +270,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): print(shortest_distance) print(positions[i]) print( - "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO INIT BOAT POS" + "POTENTIAL CANDIDATE: IDENTIFIED BY FINDING CLOSEST CONE TO INIT BOAT POS", ) potential_candidate = i print(positions[i]) @@ -286,7 +282,6 @@ async def explore_closest_until(self, is_done, filter_and_sort): investigated.add(objects[potential_candidate].id) move = self.inspect_object(positions[potential_candidate]) move_id_tuple = (move, objects[potential_candidate].id) - previous_index = potential_candidate print("USING POTENTIAL CANDIDATE") if move_id_tuple is None: @@ -309,13 +304,11 @@ def object_classified(objects, obj_id): @return True of object with obj_id is classified """ for i, obj in enumerate(objects): - if obj.id == obj_id: - if obj.labeled_classification != "UNKNOWN": - return i + if obj.id == obj_id and obj.labeled_classification != "UNKNOWN": + return i return -1 async def prepare_to_enter(self): - closest = [] robot_position = (await self.tx_pose())[0] def filter_and_sort(objects, positions): @@ -336,15 +329,17 @@ def is_done(objects, positions): ) white, white_position, red, red_position = await self.explore_closest_until( - is_done, filter_and_sort + is_done, + filter_and_sort, ) self.objects_passed.add(white.id) self.objects_passed.add(red.id) gate = self.get_gate(white_position, red_position, robot_position) self.send_feedback( "Going through start gate formed by {} and {}".format( - white.labeled_classification, red.labeled_classification - ) + white.labeled_classification, + red.labeled_classification, + ), ) await self.go_thru_gate(gate, AFTER=-2) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation_2.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation_2.py index 1b1d1535d..3f9125ec8 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation_2.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation_2.py @@ -28,12 +28,12 @@ def get_gate(one, two, position): [ np.linalg.norm((center + perp_vec) - position), np.linalg.norm((center - perp_vec) - position), - ] + ], ) if np.argmin(distances) == 0: perp_vec = -perp_vec return np.array([center[0], center[1], 0.0]), np.array( - [perp_vec[0], perp_vec[1], 0.0] + [perp_vec[0], perp_vec[1], 0.0], ) async def go_thru_gate(self, gate, BEFORE=5.0, AFTER=4.0): @@ -50,14 +50,12 @@ async def go_thru_gate2(self, gate, BEFORE=5.0, AFTER=4.0): after_position = center + (vec * AFTER) req = MoveToWaypointRequest() - goal_pose = before_position req.target_p.position.x = before_position[0] req.target_p.position.y = before_position[1] req.target_p.position.z = before_position[2] await self.set_long_waypoint(req) if AFTER > 0: - goal_pose = after_position req.target_p.position.x = after_position[0] req.target_p.position.y = after_position[1] req.target_p.position.z = after_position[2] diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py index eb1384b69..2b1ef6d50 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py @@ -32,7 +32,11 @@ async def get_object_map(self): return (ret, positions) async def announce_object( - self, obj_id, classification, position_enu, boat_position_enu + self, + obj_id, + classification, + position_enu, + boat_position_enu, ): if classification == "UNKNOWN": self.send_feedback(f"Ignoring UNKNOWN object {obj_id}") @@ -61,22 +65,26 @@ async def run(self, parameters): await self.set_vrx_classifier_enabled(SetBoolRequest(data=True)) objects = {} while True: - task_info = await self.task_info_sub.get_next_message() + await self.task_info_sub.get_next_message() new_objects, positions = await self.get_object_map() position_enu = (await self.tx_pose)[0] for key in new_objects: if key not in objects: self.send_feedback(f"NEW object {key} {new_objects[key]}") await self.announce_object( - key, new_objects[key], positions[key], position_enu + key, + new_objects[key], + positions[key], + position_enu, ) elif objects[key] != new_objects[key]: self.send_feedback( - "{} changed from {} to {}".format( - key, objects[key], new_objects[key] - ) + f"{key} changed from {objects[key]} to {new_objects[key]}", ) await self.announce_object( - key, new_objects[key], positions[key], position_enu + key, + new_objects[key], + positions[key], + position_enu, ) objects = new_objects diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping.py index 094c6b436..afe7c8b3b 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping.py @@ -11,7 +11,7 @@ def __init__(self, *args, **kwargs): async def run(self, parameters): await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) self.send_feedback("Waiting for station keeping goal") @@ -19,5 +19,5 @@ async def run(self, parameters): goal_pose = await self.geo_pose_to_enu_pose(goal_msg.pose) self.send_feedback(f"Going to {goal_pose}") await self.move.set_position(goal_pose[0]).set_orientation(goal_pose[1]).go( - blind=True + blind=True, ) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping_2.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping_2.py index 926693e7f..defea5576 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping_2.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_station_keeping_2.py @@ -11,7 +11,7 @@ def __init__(self, *args, **kwargs): async def run(self, parameters): await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) self.send_feedback("Waiting for station keeping goal") diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding.py index a9c5c0d70..0dffcc385 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding.py @@ -22,7 +22,7 @@ def point_at_goal(self, goal_pos): async def run(self, parameters): self.send_feedback("Waiting for task to start") await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) path_msg = await self.get_latching_msg(self.wayfinding_path_sub) @@ -35,7 +35,7 @@ async def run(self, parameters): position = self.pose[0] # initialize distance matrix - poses = poses + [position] + poses = [*poses, position] array_size = len(poses) start_pose_index = array_size - 1 dist_matrix = np.zeros((array_size, array_size)) @@ -59,5 +59,5 @@ async def run(self, parameters): orientation_fix = self.point_at_goal(poses[index][0]) await self.move.set_orientation(orientation_fix).go(blind=True) await self.move.set_position(poses[index][0]).set_orientation( - poses[index][1] + poses[index][1], ).go(blind=True) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py index 7d9126cfc..60496d0b8 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wayfinding_2.py @@ -14,7 +14,7 @@ def __init__(self, *args, **kwargs): async def run(self, parameters): self.send_feedback("Waiting for task to start") await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) path_msg = await self.get_latching_msg(self.wayfinding_path_sub) @@ -27,7 +27,7 @@ async def run(self, parameters): position = self.pose[0] # initialize distance matrix - poses = poses + [position] + poses = [*poses, position] array_size = len(poses) start_pose_index = array_size - 1 dist_matrix = np.zeros((array_size, array_size)) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wildlife.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wildlife.py index ebc98f460..095ddb21e 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wildlife.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_wildlife.py @@ -29,7 +29,7 @@ def closest_point_on_radius(self, start_pos, end_pos, radius): async def run(self, parameters): self.send_feedback("Waiting for task to start") await self.wait_for_task_such_that( - lambda task: task.state in ["ready", "running"] + lambda task: task.state in ["ready", "running"], ) await self.reset_pcodar() path_msg = await self.get_latching_msg(self.animal_landmarks) @@ -49,7 +49,7 @@ async def run(self, parameters): print(animals_list) # initialize distance matrix - poses = poses + [position] + poses = [*poses, position] array_size = len(poses) start_pose_index = array_size - 1 dist_matrix = np.zeros((array_size, array_size)) @@ -94,17 +94,19 @@ async def run(self, parameters): for geo_pose in path_msg.poses: if geo_pose.header.frame_id == "crocodile": animal_pose_croc = await self.geo_pose_to_enu_pose( - path_msg.poses[croc_index].pose + path_msg.poses[croc_index].pose, ) # get animal msgs path_msg = await self.get_latching_msg(self.animal_landmarks) animal_pose_next = await self.geo_pose_to_enu_pose( - path_msg.poses[path[i]].pose + path_msg.poses[path[i]].pose, ) start_circle_pos = self.closest_point_on_radius( - self.pose[0], animal_pose_next[0], radius + self.pose[0], + animal_pose_next[0], + radius, ) # first point at goal diff --git a/NaviGator/mission_systems/navigator_find_the_break/find_the_break_perception.py b/NaviGator/mission_systems/navigator_find_the_break/find_the_break_perception.py index 0f9b45dab..b44680dd2 100644 --- a/NaviGator/mission_systems/navigator_find_the_break/find_the_break_perception.py +++ b/NaviGator/mission_systems/navigator_find_the_break/find_the_break_perception.py @@ -35,7 +35,9 @@ def __init__(self, nh: NodeHandle): async def init_(self): """Initialize the axros aspect of FindTheBreakPerception.""" self._image_sub = self.nh.subscribe( - "/camera/down/image_rect_color", Image, lambda x: x + "/camera/down/image_rect_color", + Image, + lambda x: x, ) await self._image_sub.setup() @@ -46,7 +48,7 @@ async def _curr_image(self): def _get_all_pipes(self, frame): frame - h, w, r = frame.shape + h, width, r = frame.shape if h == 0: return @@ -99,22 +101,19 @@ def _get_all_pipes(self, frame): ang2 = np.arccos((vec3).dot(vec2)) dif1 = 1.5708 - ang1 dif2 = 1.5708 - ang2 - if dif1 < dif2: - p2 = box[2] - else: - p2 = box[3] - l, lp = np.linalg.norm(abs(p1 - p0)), p1 - w, wp = np.linalg.norm(abs(p2 - p0)), p2 - if l < w: - temp = w + p2 = box[2] if dif1 < dif2 else box[3] + length, lp = np.linalg.norm(abs(p1 - p0)), p1 + width, wp = np.linalg.norm(abs(p2 - p0)), p2 + if length < width: + temp = width templ = wp - w = l + width = length wp = lp - l = temp + length = temp wp = templ # get the ratio - rat = w / l + rat = width / length diff = abs(rat - self.target_wh_ratio) if diff > self.max_from_target_ratio: continue @@ -161,7 +160,7 @@ def _update_pipes(self, pipes, old_pipes): if len(old_pipes) == 0: return pipes for i, h in enumerate(pipes): - dists = map(lambda x: np.linalg.norm(h - x), old_pipes) + dists = (np.linalg.norm(h - x) for x in old_pipes) pipe_to_update = min(old_pipes, key=lambda x: np.linalg.norm(h - x)) idx = old_pipes.index(pipe_to_update) if dists[idx] < self.diff_thresh: @@ -184,7 +183,8 @@ async def count_pipes(self): hpipes, vpipes = self._get_all_pipes(frame) # Look for NEW pipes new_hpipes, new_vpipes = self._update_pipes( - hpipes, self.old_hpipe_pos + hpipes, + self.old_hpipe_pos, ), self._update_pipes(vpipes, self.old_vpipe_pos) # the second hpipe is found diff --git a/NaviGator/perception/navigator_vision/CMakeLists.txt b/NaviGator/perception/navigator_vision/CMakeLists.txt index dd111a061..34a4ec4c0 100644 --- a/NaviGator/perception/navigator_vision/CMakeLists.txt +++ b/NaviGator/perception/navigator_vision/CMakeLists.txt @@ -1,6 +1,6 @@ set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_vision) # SET(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake;${CMAKE_MODULE_PATH}") diff --git a/NaviGator/perception/navigator_vision/nodes/bbox_pcodar b/NaviGator/perception/navigator_vision/nodes/bbox_pcodar index e6e4604ea..be2efb8f7 100755 --- a/NaviGator/perception/navigator_vision/nodes/bbox_pcodar +++ b/NaviGator/perception/navigator_vision/nodes/bbox_pcodar @@ -30,7 +30,8 @@ class BBOXPCODAR: self.pcodar_client = rospy.ServiceProxy("/database/requests", ObjectDBQuery) self.bbox_sub = rospy.Subscriber("/bbox_pub", ObjectsInImage, self.new_objects) self.update_objects_timer = rospy.Timer( - rospy.Duration(10.0), self.update_pcodar_objects + rospy.Duration(10.0), + self.update_pcodar_objects, ) def camera_info_cb(self, info: CameraInfo) -> None: @@ -87,7 +88,7 @@ class BBOXPCODAR: continue object_pixel: tuple[float, float] = self.camera_model.project3dToPixel( - object_pose_camera + object_pose_camera, ) rospy.loginfo(f"Object {idn} at pixel {object_pixel}") diff --git a/NaviGator/perception/navigator_vision/nodes/classifier.py b/NaviGator/perception/navigator_vision/nodes/classifier.py index 6e056bee9..0e779d7fb 100755 --- a/NaviGator/perception/navigator_vision/nodes/classifier.py +++ b/NaviGator/perception/navigator_vision/nodes/classifier.py @@ -10,7 +10,6 @@ from mil_msgs.srv import ObjectDBQuery, ObjectDBQueryRequest from mil_ros_tools import Image_Publisher, Image_Subscriber, rosmsg_to_numpy from mil_vision_tools import ImageMux, rect_from_roi, roi_enclosing_points -from PIL import Image from sensor_msgs.msg import Image from std_srvs.srv import SetBool, Trigger from tf.transformations import quaternion_matrix @@ -26,7 +25,7 @@ def bbox_countour_from_rectangle(bbox): [bbox[1][0], bbox[0][1]], [bbox[1][0], bbox[1][1]], [bbox[0][0], bbox[1][1]], - ] + ], ) @@ -70,10 +69,15 @@ def __init__(self): self.last_objects = None self.last_update_time = rospy.Time.now() self.objects_sub = rospy.Subscriber( - "/pcodar/objects", PerceptionObjectArray, self.process_objects, queue_size=2 + "/pcodar/objects", + PerceptionObjectArray, + self.process_objects, + queue_size=2, ) self.boxes_sub = rospy.Subscriber( - "/yolov7/detections_model1", Detection2DArray, self.process_boxes + "/yolov7/detections_model1", + Detection2DArray, + self.process_boxes, ) self.enabled_srv = rospy.Service("~set_enabled", SetBool, self.set_enable_srv) self.last_image = None @@ -128,15 +132,12 @@ def process_objects(self, msg): self.last_objects = msg def in_rect(self, point, bbox): - if ( + return bool( point[0] >= bbox.bbox.center.x - bbox.bbox.size_x / 2 and point[1] >= bbox.bbox.center.y - bbox.bbox.size_y / 2 and point[0] <= bbox.bbox.center.x + bbox.bbox.size_x / 2 - and point[1] <= bbox.bbox.center.y + bbox.bbox.size_y / 2 - ): - return True - else: - return False + and point[1] <= bbox.bbox.center.y + bbox.bbox.size_y / 2, + ) def distance(self, first, second): x_diff = second[0] - first[0] @@ -237,21 +238,25 @@ def process_boxes(self, msg): print("Reclassified as white") print( "Object {} classified as {}".format( - self.last_objects.objects[a].id, "mb_marker_buoy_white" - ) + self.last_objects.objects[a].id, + "mb_marker_buoy_white", + ), ) cmd = "{}={}".format( - self.last_objects.objects[a].id, "mb_marker_buoy_white" + self.last_objects.objects[a].id, + "mb_marker_buoy_white", ) self.database_client(ObjectDBQueryRequest(cmd=cmd)) else: print( "Object {} classified as {}".format( - self.last_objects.objects[a].id, "mb_round_buoy_black" - ) + self.last_objects.objects[a].id, + "mb_round_buoy_black", + ), ) cmd = "{}={}".format( - self.last_objects.objects[a].id, "mb_round_buoy_black" + self.last_objects.objects[a].id, + "mb_round_buoy_black", ) self.database_client(ObjectDBQueryRequest(cmd=cmd)) @@ -264,7 +269,8 @@ def get_params(self): self.is_simulation = rospy.get_param("/is_simulation", False) self.debug = rospy.get_param("~debug", True) self.image_topic = rospy.get_param( - "~image_topic", "/camera/front/left/image_color" + "~image_topic", + "/camera/front/left/image_color", ) self.model_loc = rospy.get_param("~model_location", "config/model") self.update_period = rospy.Duration(1.0 / rospy.get_param("~update_hz", 5)) diff --git a/NaviGator/perception/navigator_vision/nodes/database_color.py b/NaviGator/perception/navigator_vision/nodes/database_color.py index 4ea0ef2a3..ab86d4a7d 100755 --- a/NaviGator/perception/navigator_vision/nodes/database_color.py +++ b/NaviGator/perception/navigator_vision/nodes/database_color.py @@ -88,7 +88,10 @@ def _push(self, data: ImageHolder) -> None: self._images = self._images[-self._history_length :] def get_around_time( - self, time, margin: float = 0.5, timeout: float = 0.5 + self, + time, + margin: float = 0.5, + timeout: float = 0.5, ) -> ImageHolder: """ Returns the image that is closest to the specified time. @@ -110,7 +113,11 @@ def get_around_time( class DebugImage: def __init__( - self, topic: str, encoding: str = "bgr8", queue_size: int = 1, prd: float = 1 + self, + topic: str, + encoding: str = "bgr8", + queue_size: int = 1, + prd: float = 1, ): self.bridge = CvBridge() self.encoding = encoding @@ -169,8 +176,9 @@ def __repr__(self): _str = "hues: {}\nvalues: {}\ndists: {}\nq_errs: {}" return _str.format( *np.round( - map(np.array, [self.hues, self.values, self.dists, self.q_errs]), 3 - ) + map(np.array, [self.hues, self.values, self.dists, self.q_errs]), + 3, + ), ) def extend(self, params_tuple): @@ -184,7 +192,10 @@ def extend(self, params_tuple): self.q_errs.extend(q_diffs) def compute_confidence( - self, value_dist_q: list[float], get_conf: bool = False, **kwargs + self, + value_dist_q: list[float], + get_conf: bool = False, + **kwargs, ): """Don't try to compute weights with bad data (too few samples)""" (value_w, dist_w, q_diff_w) = value_dist_q @@ -220,7 +231,7 @@ def compute_confidence( def _guass(self, data, mean, sig): return np.exp( -np.power(np.array(data).astype(np.float64) - mean, 2) - / (2 * np.power(sig, 2)) + / (2 * np.power(sig, 2)), ) @@ -233,7 +244,9 @@ def __init__(self): self.tf_listener = tf.TransformListener() self.status_pub = rospy.Publisher( - "/database_color_status", ColoramaDebug, queue_size=1 + "/database_color_status", + ColoramaDebug, + queue_size=1, ) self.odom = None @@ -257,7 +270,9 @@ def set_odom(msg): while not rospy.is_shutdown(): try: camera_info_msg = rospy.wait_for_message( - info_topic, CameraInfo, timeout=3 + info_topic, + CameraInfo, + timeout=3, ) except rospy.exceptions.ROSException: rospy.sleep(1) @@ -337,7 +352,8 @@ def _get_quaternion_error(self, q, target_q): Returns an angular difference between q and target_q in radians """ dq = trns.quaternion_multiply( - np.array(target_q), trns.quaternion_inverse(np.array(q)) + np.array(target_q), + trns.quaternion_inverse(np.array(q)), ) return 2 * np.arccos(dq[3]) @@ -362,8 +378,9 @@ def _get_closest_color(self, hue_angle): fprint( "Likely color: {} with an hue error of {} rads.".format( - likely_color, np.round(error, 3) - ) + likely_color, + np.round(error, 3), + ), ) return [likely_color, error] @@ -392,7 +409,9 @@ def do_estimate(self, totem_id): } w, weights = t_color.compute_confidence( - [self.v_factor, self.dist_factor, self.q_factor], True, **kwargs + [self.v_factor, self.dist_factor, self.q_factor], + True, + **kwargs, ) fprint(f"CONF: {w}") if np.mean(w) < self.conf_reject: @@ -465,7 +484,10 @@ def do_observe(self, *args): try: fprint(f"Getting transform between /enu and {cam_tf}...") self.tf_listener.waitForTransform( - "/enu", cam_tf, time_of_marker, ros_t(1) + "/enu", + cam_tf, + time_of_marker, + ros_t(1), ) t_mat44 = self.tf_listener.asMatrix(cam_tf, header) except tf.ExtrapolationException as e: @@ -499,14 +521,18 @@ def do_observe(self, *args): # Shove ones in there to make homogeneous points to get points in image frame points_np_homo = np.hstack( - (points_np, np.ones((points_np.shape[0], 1))) + (points_np, np.ones((points_np.shape[0], 1))), ).T points_cam = t_mat44.dot(points_np_homo).T points_px = map(self.camera_model.project3dToPixel, points_cam[:, :3]) [ cv2.circle( - self.debug.image, tuple(map(int, p)), 2, (255, 255, 255), -1 + self.debug.image, + tuple(map(int, p)), + 2, + (255, 255, 255), + -1, ) for p in points_px ] @@ -550,14 +576,20 @@ def do_observe(self, *args): cmd = "{name}={rgb[0]},{rgb[1]},{rgb[2]},{_id}" self.make_request( - cmd=cmd.format(name=obj.name, _id=obj.id, rgb=rgb) + cmd=cmd.format(name=obj.name, _id=obj.id, rgb=rgb), ) bgr = rgb[::-1] cv2.circle(self.debug.image, tuple(object_px), 10, bgr, -1) font = cv2.FONT_HERSHEY_SIMPLEX cv2.putText( - self.debug.image, str(obj.id), tuple(object_px), font, 1, bgr, 2 + self.debug.image, + str(obj.id), + tuple(object_px), + font, + 1, + bgr, + 2, ) def _get_solar_angle(self): diff --git a/NaviGator/perception/navigator_vision/nodes/detect_deliver_target b/NaviGator/perception/navigator_vision/nodes/detect_deliver_target index a7f1b69f1..8d3bee4ab 100755 --- a/NaviGator/perception/navigator_vision/nodes/detect_deliver_target +++ b/NaviGator/perception/navigator_vision/nodes/detect_deliver_target @@ -36,7 +36,8 @@ class DetectDeliverTargetDetector(VisionNode): width=0.249936 + self.BORDER_THICKNESS_METERS, ) self.image_mux = ImageMux( - shape=(2, 2), labels=["Blur", "Threshold", "Edges", "Found"] + shape=(2, 2), + labels=["Blur", "Threshold", "Edges", "Found"], ) self.debug_pub = Image_Publisher("~debug") self.first_object_id = -1 @@ -91,7 +92,9 @@ class DetectDeliverTargetDetector(VisionNode): # Track this contour with the previous contours centroid = contour_centroid(c) obj = self.tracker.add_observation( - self._image_sub.last_image_time, np.array(centroid), data=corners + self._image_sub.last_image_time, + np.array(centroid), + data=corners, ) # Draw this contour for debugging @@ -99,12 +102,17 @@ class DetectDeliverTargetDetector(VisionNode): cv2.drawContours(img, [corners], -1, (0, 255, 0), 3) found.append( - create_object_msg("target_large", contour=cnts[num - 1], confidence=1.0) + create_object_msg( + "target_large", + contour=cnts[num - 1], + confidence=1.0, + ), ) # Get objects which have persisted over many frames persistent = self.tracker.get_persistent_objects( - min_observations=8, min_age=rospy.Duration(1.5) + min_observations=8, + min_age=rospy.Duration(1.5), ) if persistent: @@ -119,7 +127,9 @@ class DetectDeliverTargetDetector(VisionNode): ps.header = self._image_sub.last_image_header # Get 3D pose of target use PnP tvec, rvec = self.small_target_model.get_pose_3D( - obj.data, cam=self.camera_model, rectified=True + obj.data, + cam=self.camera_model, + rectified=True, ) # Throw out up/down and convert to quaternion # rvec[1] = 0. diff --git a/NaviGator/perception/navigator_vision/nodes/object_classifier.py b/NaviGator/perception/navigator_vision/nodes/object_classifier.py index 82829bd9c..f59e4adb1 100755 --- a/NaviGator/perception/navigator_vision/nodes/object_classifier.py +++ b/NaviGator/perception/navigator_vision/nodes/object_classifier.py @@ -22,7 +22,9 @@ def __init__(self, nh: NodeHandle, classifier, config): async def init_(self): serv = self.nh.advertise_service( - "/camera_database/requests", CameraDBQuery, self.database_request + "/camera_database/requests", + CameraDBQuery, + self.database_request, ) await serv.setup() self.lidar_to_image = await LidarToImage(self.nh).init_() @@ -76,7 +78,7 @@ async def database_request(self, req): async def main(): - async with axros.NodeHandle.from_argv("object_classifier"): + async with axros.NodeHandle.from_argv("object_classifier") as nh: config = Config() class_file = os.path.abspath(__file__) class_file = class_file.split("nodes")[0] diff --git a/NaviGator/perception/navigator_vision/nodes/scan_the_code.py b/NaviGator/perception/navigator_vision/nodes/scan_the_code.py index 69368e380..a4ba3adc4 100755 --- a/NaviGator/perception/navigator_vision/nodes/scan_the_code.py +++ b/NaviGator/perception/navigator_vision/nodes/scan_the_code.py @@ -29,7 +29,7 @@ def bbox_countour_from_rectangle(bbox) -> np.ndarray: [bbox[1][0], bbox[0][1]], [bbox[1][0], bbox[1][1]], [bbox[0][0], bbox[1][1]], - ] + ], ) @@ -47,11 +47,15 @@ def __init__(self): self.camera_model.fromCameraInfo(info) if self.debug: self.image_mux = ImageMux( - size=(info.height, info.width), shape=(1, 2), labels=["Result", "Mask"] + size=(info.height, info.width), + shape=(1, 2), + labels=["Result", "Mask"], ) self.debug_pub = Image_Publisher("~debug_image") self.bbox_sub = rospy.Subscriber( - "stc_led_pts_marshall", PointCloud2, self.panel_points_cb + "stc_led_pts_marshall", + PointCloud2, + self.panel_points_cb, ) self.classification_list = deque() self.enabled = True @@ -63,7 +67,8 @@ def get_params(self) -> None: """ self.debug = rospy.get_param("~debug", True) self.image_topic = rospy.get_param( - "~image_topic", "/camera/starboard/image_rect_color" + "~image_topic", + "/camera/starboard/image_rect_color", ) self.classifier = ScanTheCodeClassifier() self.classifier.train_from_csv() @@ -91,8 +96,8 @@ def get_panel_bbox(self) -> Optional[np.ndarray]: transformed_cloud = do_transform_cloud(self.last_panel_points_msg, transform) points = np.array( list( - sensor_msgs.point_cloud2.read_points(transformed_cloud, skip_nans=True) - ) + sensor_msgs.point_cloud2.read_points(transformed_cloud, skip_nans=True), + ), ) if len(points) < 4: rospy.logwarn("less than 4 points") diff --git a/NaviGator/perception/navigator_vision/nodes/shooter_finder.py b/NaviGator/perception/navigator_vision/nodes/shooter_finder.py index 35bfb3407..9c5c7c486 100755 --- a/NaviGator/perception/navigator_vision/nodes/shooter_finder.py +++ b/NaviGator/perception/navigator_vision/nodes/shooter_finder.py @@ -46,13 +46,13 @@ def rect_lines(rect): ], [0, 0, 0, 0, d_normal_over_d_angle[0]], [0, 0, 0, 0, d_normal_over_d_angle[1]], - ] + ], ) def dist_from_line(p, line, J): return (p - line[0]).dot(line[1]), numpy.array( - [-line[1][0], -line[1][1], p[0] - line[0][0], p[1] - line[0][1]] + [-line[1][0], -line[1][1], p[0] - line[0][0], p[1] - line[0][1]], ).dot(J) @@ -95,7 +95,7 @@ async def poller(nh): ObjectDBQueryRequest( name="shooter", cmd="", - ) + ), ) except BaseException: traceback.print_exc() @@ -161,15 +161,17 @@ async def main(): print(cloud.header.stamp) try: transform = await tf_listener.get_transform( - "/enu", cloud.header.frame_id, cloud.header.stamp + "/enu", + cloud.header.frame_id, + cloud.header.stamp, ) except axros_tf.TooPastError: print("TooPastError!") continue gen = numpy.array( list( - pc2.read_points(cloud, skip_nans=True, field_names=("x", "y", "z")) - ) + pc2.read_points(cloud, skip_nans=True, field_names=("x", "y", "z")), + ), ).T print(gen.shape) print(transform._p) @@ -183,7 +185,7 @@ async def main(): for x in gen if x[2] > Z_MIN and math.hypot(x[0] - center[0], x[1] - center[1]) < RADIUS - ] + ], ) print("end") @@ -229,15 +231,16 @@ async def main(): position=Point(rect[0][0], rect[0][1], 0.5), orientation=Quaternion( *transformations.quaternion_about_axis( - rect[2], [0, 0, 1] - ) + rect[2], + [0, 0, 1], + ), ), ), scale=Vector3(rect[1][0], rect[1][1], 2), color=ColorRGBA(1, 1, 1, 0.5), - ) + ), ], - ) + ), ) possibilities = [] @@ -254,7 +257,7 @@ async def main(): p, transformations.quaternion_about_axis(angle, [0, 0, 1]), rect[1][0] if i % 2 == 1 else rect[1][1], - ) + ), ) best = max( possibilities, @@ -277,7 +280,7 @@ async def main(): [ [pnt[0] for pnt in front_points], [pnt[1] for pnt in front_points], - ] + ], ).T, numpy.ones(len(front_points)), )[0] @@ -286,14 +289,15 @@ async def main(): [ [pnt[0] for pnt in front_points], numpy.ones(len(front_points)), - ] + ], ).T, [pnt[1] for pnt in front_points], )[0] print("a, b", a, b, m, b_) print( - "RES", numpy.std([numpy.array([a, b]).dot(pnt) for pnt in good_points]) + "RES", + numpy.std([numpy.array([a, b]).dot(pnt) for pnt in good_points]), ) # x = a, b @@ -314,7 +318,8 @@ async def main(): if normal.dot(best[0]) < 0: normal = -normal q = transformations.quaternion_about_axis( - math.atan2(normal[1], normal[0]), [0, 0, 1] + math.atan2(normal[1], normal[0]), + [0, 0, 1], ) print("XXX", p, best[1]) @@ -331,7 +336,7 @@ async def main(): position=Point(p[0], p[1], 0), orientation=Quaternion(*q), ), - ) + ), ) ts.append(time.time()) diff --git a/NaviGator/perception/navigator_vision/nodes/start_gate_manual.py b/NaviGator/perception/navigator_vision/nodes/start_gate_manual.py index a46214a8e..d26fa6142 100755 --- a/NaviGator/perception/navigator_vision/nodes/start_gate_manual.py +++ b/NaviGator/perception/navigator_vision/nodes/start_gate_manual.py @@ -47,7 +47,11 @@ def __init__(self, name, img, scale_factor=1, color=(10, 75, 250), draw_radius=1 self.scale_factor = scale_factor self.img = cv2.resize( - img, None, fx=scale_factor, fy=scale_factor, interpolation=cv2.INTER_CUBIC + img, + None, + fx=scale_factor, + fy=scale_factor, + interpolation=cv2.INTER_CUBIC, ) self.draw_img = self.img @@ -107,7 +111,9 @@ def segment(self, orig_image, debug_color=False): filtered_mask = self.filter_mask(mask) cnts, _ = cv2.findContours( - filtered_mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE + filtered_mask, + cv2.RETR_TREE, + cv2.CHAIN_APPROX_SIMPLE, ) cnt = sorted(cnts, key=cv2.contourArea, reverse=True)[0] M = cv2.moments(cnt) @@ -208,7 +214,10 @@ def do_buoys(srv, left, right, red_seg, green_seg, tf_listener): try: # Working copy of the current frame obtained at the same time as the tf link tf_listener.waitForTransform( - "enu", "front_left_cam_optical", rospy.Time(), rospy.Duration(4.0) + "enu", + "front_left_cam_optical", + rospy.Time(), + rospy.Duration(4.0), ) left_image, right_image = left.frame, right.frame cam_tf = tf_listener.lookupTransform( @@ -217,7 +226,9 @@ def do_buoys(srv, left, right, red_seg, green_seg, tf_listener): left.sub.last_image_time, ) cam_p, cam_q = tf_listener.lookupTransform( - "enu", "front_left_cam_optical", left.sub.last_image_time + "enu", + "front_left_cam_optical", + left.sub.last_image_time, ) cam_p = np.array([cam_p]) cam_r = tf.transformations.quaternion_matrix(cam_q)[:3, :3] @@ -256,7 +267,11 @@ def do_buoys(srv, left, right, red_seg, green_seg, tf_listener): for _ in range(5): # Publish it 5 times so we can see it in rviz mil_tools.draw_ray_3d( - red_left_pt, left_cam, [1, 0, 0, 1], m_id=0, frame="front_left_cam_optical" + red_left_pt, + left_cam, + [1, 0, 0, 1], + m_id=0, + frame="front_left_cam_optical", ) mil_tools.draw_ray_3d( red_right_pt, diff --git a/NaviGator/perception/navigator_vision/nodes/vrx_classifier.py b/NaviGator/perception/navigator_vision/nodes/vrx_classifier.py index bcdeeaa57..3ec51f07c 100755 --- a/NaviGator/perception/navigator_vision/nodes/vrx_classifier.py +++ b/NaviGator/perception/navigator_vision/nodes/vrx_classifier.py @@ -11,7 +11,6 @@ from mil_ros_tools import Image_Publisher, Image_Subscriber, rosmsg_to_numpy from mil_tools import thread_lock from mil_vision_tools import ImageMux, rect_from_roi, roi_enclosing_points -from PIL import Image from sensor_msgs.msg import Image from std_srvs.srv import SetBool, Trigger from tf.transformations import quaternion_matrix @@ -28,7 +27,7 @@ def bbox_countour_from_rectangle(bbox): [bbox[1][0], bbox[0][1]], [bbox[1][0], bbox[1][1]], [bbox[0][0], bbox[1][1]], - ] + ], ) @@ -66,7 +65,9 @@ def __init__(self): self.last_panel_points_msg = None self.database_client = rospy.ServiceProxy("/database/requests", ObjectDBQuery) self.task_info_sub = rospy.Subscriber( - "/vrx/task/info", Task, self.taskinfoSubscriber + "/vrx/task/info", + Task, + self.taskinfoSubscriber, ) self.is_perception_task = False self.sub = Image_Subscriber(self.image_topic, self.image_cb) @@ -83,10 +84,15 @@ def __init__(self): self.last_objects = None self.last_update_time = rospy.Time.now() self.objects_sub = rospy.Subscriber( - "/pcodar/objects", PerceptionObjectArray, self.process_objects, queue_size=2 + "/pcodar/objects", + PerceptionObjectArray, + self.process_objects, + queue_size=2, ) self.boxes_sub = rospy.Subscriber( - "/yolov7/detections", Detection2DArray, self.process_boxes + "/yolov7/detections", + Detection2DArray, + self.process_boxes, ) self.enabled_srv = rospy.Service("~set_enabled", SetBool, self.set_enable_srv) self.last_image = None @@ -122,15 +128,12 @@ def process_objects(self, msg): self.last_objects = msg def in_rect(self, point, bbox): - if ( + return bool( point[0] >= bbox.bbox.center.x - bbox.bbox.size_x / 2 and point[1] >= bbox.bbox.center.y - bbox.bbox.size_y / 2 and point[0] <= bbox.bbox.center.x + bbox.bbox.size_x / 2 - and point[1] <= bbox.bbox.center.y + bbox.bbox.size_y / 2 - ): - return True - else: - return False + and point[1] <= bbox.bbox.center.y + bbox.bbox.size_y / 2, + ) def distance(self, first, second): x_diff = second[0] - first[0] @@ -210,7 +213,7 @@ def process_boxes(self, msg): "Object {} classified as {}".format( self.last_objects.objects[closest_to_box].id, self.CLASSES[a.results[0].id], - ) + ), ) cmd = "{}={}".format( self.last_objects.objects[closest_to_box].id, @@ -231,21 +234,25 @@ def process_boxes(self, msg): print("Reclassified as white") print( "Object {} classified as {}".format( - self.last_objects.objects[a].id, "mb_marker_buoy_white" - ) + self.last_objects.objects[a].id, + "mb_marker_buoy_white", + ), ) cmd = "{}={}".format( - self.last_objects.objects[a].id, "mb_marker_buoy_white" + self.last_objects.objects[a].id, + "mb_marker_buoy_white", ) self.database_client(ObjectDBQueryRequest(cmd=cmd)) else: print( "Object {} classified as {}".format( - self.last_objects.objects[a].id, "mb_round_buoy_black" - ) + self.last_objects.objects[a].id, + "mb_round_buoy_black", + ), ) cmd = "{}={}".format( - self.last_objects.objects[a].id, "mb_round_buoy_black" + self.last_objects.objects[a].id, + "mb_round_buoy_black", ) self.database_client(ObjectDBQueryRequest(cmd=cmd)) @@ -257,7 +264,8 @@ def get_params(self): self.is_training = rospy.get_param("~train", False) self.debug = rospy.get_param("~debug", True) self.image_topic = rospy.get_param( - "~image_topic", "/camera/starboard/image_rect_color" + "~image_topic", + "/camera/starboard/image_rect_color", ) self.model_loc = rospy.get_param("~model_location", "config/model") self.update_period = rospy.Duration(1.0 / rospy.get_param("~update_hz", 5)) diff --git a/NaviGator/satellite/rviz_satellite/CMakeLists.txt b/NaviGator/satellite/rviz_satellite/CMakeLists.txt index 9b5a66a5d..d328dd5af 100644 --- a/NaviGator/satellite/rviz_satellite/CMakeLists.txt +++ b/NaviGator/satellite/rviz_satellite/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(rviz_satellite) set(DISTRO $ENV{ROS_DISTRO}) diff --git a/NaviGator/simulation/navigator_gazebo/CMakeLists.txt b/NaviGator/simulation/navigator_gazebo/CMakeLists.txt index 97227157c..e61018ca1 100644 --- a/NaviGator/simulation/navigator_gazebo/CMakeLists.txt +++ b/NaviGator/simulation/navigator_gazebo/CMakeLists.txt @@ -1,6 +1,9 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_gazebo) +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + find_package(catkin REQUIRED COMPONENTS navigator_msgs @@ -30,7 +33,7 @@ add_library( navigator_thrusters src/navigator_thrusters.cpp ) -set_target_properties(navigator_thrusters PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(navigator_thrusters PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries(navigator_thrusters ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} @@ -43,7 +46,7 @@ add_library( pinger_plugin src/pinger_plugin.cpp ) -set_target_properties(pinger_plugin PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(pinger_plugin PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries(pinger_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} @@ -55,7 +58,7 @@ add_dependencies(pinger_plugin add_library(sylphase_gazebo src/sylphase_gazebo.cpp ) -set_target_properties(sylphase_gazebo PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(sylphase_gazebo PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries(sylphase_gazebo ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} diff --git a/NaviGator/simulation/navigator_gazebo/nodes/circle_animal.py b/NaviGator/simulation/navigator_gazebo/nodes/circle_animal.py index ebce305e8..e49390111 100755 --- a/NaviGator/simulation/navigator_gazebo/nodes/circle_animal.py +++ b/NaviGator/simulation/navigator_gazebo/nodes/circle_animal.py @@ -19,7 +19,9 @@ def __init__(self): rospy.init_node("circle_animal") self.odom = rospy.Subscriber("/odom", Odometry, self.odometrySubscriber) self.animals = rospy.Subscriber( - "/vrx/wildlife/animals/poses", GeoPath, self.animalSubscriber + "/vrx/wildlife/animals/poses", + GeoPath, + self.animalSubscriber, ) self.pub = rospy.Publisher("/trajectory_long/cmd", Odometry, queue_size=10) self.serv = rospy.Service("/choose_animal", ChooseAnimal, self.handler) @@ -48,7 +50,7 @@ def animalSubscriber(self, msg: GeoPath) -> None: for animal in poses: if self.target_animal == animal.header.frame_id: self.animal_pos, self.animal_ori = self.geo_pose_to_enu_pose( - animal.pose + animal.pose, ) self.new_animal_pose = True @@ -71,11 +73,15 @@ def handler(self, req: ChooseAnimalRequest) -> ChooseAnimalResponse: if self.target_animal != "crocodile": start_circle_pos = self.closest_point_on_radius( - self.boat_pos, self.animal_pos, radius + self.boat_pos, + self.animal_pos, + radius, ) if self.target_animal == "crocodile": start_circle_pos = self.closest_point_on_radius( - self.boat_pos, self.animal_pos, 15 + self.boat_pos, + self.animal_pos, + 15, ) start_circle_ori = self.point_at_goal(start_circle_pos, self.animal_pos) @@ -85,7 +91,7 @@ def handler(self, req: ChooseAnimalRequest) -> ChooseAnimalResponse: [ start_circle_pos[0] - self.animal_pos[0], start_circle_pos[1] - self.animal_pos[1], - ] + ], ) start_circle_vector = self.animal_pos - start_circle_pos @@ -139,10 +145,7 @@ def handler(self, req: ChooseAnimalRequest) -> ChooseAnimalResponse: start_circle_ori = self.point_at_goal(start_circle_pos, self.animal_pos) - if self.target_animal == "crocodile": - steps = granularity // 4 - else: - steps = granularity + steps = granularity // 4 if self.target_animal == "crocodile" else granularity # go around animal for i in range(steps + 1): @@ -187,7 +190,10 @@ def handler(self, req: ChooseAnimalRequest) -> ChooseAnimalResponse: return res def closest_point_on_radius( - self, start_pos: np.ndarray, end_pos: np.ndarray, radius: float + self, + start_pos: np.ndarray, + end_pos: np.ndarray, + radius: float, ) -> list[float]: # given two points, this finds the closest point to the end_pose given a radius around the end_pose vector = [end_pos[0] - start_pos[0], end_pos[1] - start_pos[1]] @@ -209,7 +215,7 @@ def geo_pose_to_enu_pose(self, geo: GeoPose) -> tuple[np.ndarray, np.ndarray]: def rotate_vector(self, vector: np.ndarray, theta: float): # rotate a vector theta radians rot = np.array( - [[math.cos(theta), -math.sin(theta)], [math.sin(theta), math.cos(theta)]] + [[math.cos(theta), -math.sin(theta)], [math.sin(theta), math.cos(theta)]], ) res = np.dot(rot, vector) return res diff --git a/NaviGator/simulation/navigator_gazebo/nodes/gazebo_controller.py b/NaviGator/simulation/navigator_gazebo/nodes/gazebo_controller.py index 3ac57ab43..cbce2c189 100755 --- a/NaviGator/simulation/navigator_gazebo/nodes/gazebo_controller.py +++ b/NaviGator/simulation/navigator_gazebo/nodes/gazebo_controller.py @@ -21,7 +21,9 @@ def __init__(self, target="wamv::base_link"): self.state_sub_max_prd = rospy.Duration(1 / 100) # s self.last_state_sub_time = rospy.Time.now() self.state_sub = rospy.Subscriber( - "/gazebo/link_states", LinkStates, self.state_cb + "/gazebo/link_states", + LinkStates, + self.state_cb, ) self.state_pub = rospy.Publisher("model_odom", Odometry, queue_size=1) self.absstate_pub = rospy.Publisher("absodom", Odometry, queue_size=1) @@ -65,7 +67,7 @@ def state_cb(self, msg: LinkStates) -> None: header=mil_tools.make_header(frame="/enu"), child_frame_id="/measurement", pose=PoseWithCovariance( - pose=mil_tools.numpy_quat_pair_to_pose(*self.last_enu) + pose=mil_tools.numpy_quat_pair_to_pose(*self.last_enu), ), twist=TwistWithCovariance(twist=twist), ) @@ -75,8 +77,9 @@ def state_cb(self, msg: LinkStates) -> None: child_frame_id="/measurement", pose=PoseWithCovariance( pose=mil_tools.numpy_quat_pair_to_pose( - self.last_ecef, self.last_enu[1] - ) + self.last_ecef, + self.last_enu[1], + ), ), twist=TwistWithCovariance(twist=twist), ) diff --git a/NaviGator/simulation/navigator_gazebo/nodes/long_trajectory.py b/NaviGator/simulation/navigator_gazebo/nodes/long_trajectory.py index 514afb5c0..b3332a28b 100755 --- a/NaviGator/simulation/navigator_gazebo/nodes/long_trajectory.py +++ b/NaviGator/simulation/navigator_gazebo/nodes/long_trajectory.py @@ -23,7 +23,9 @@ def __init__(self): self.serv = rospy.Service("/set_long_waypoint", MoveToWaypoint, self.handler) self.from_lla = rospy.ServiceProxy("/fromLL", FromLL) self.task_info_sub = rospy.Subscriber( - "/vrx/task/info", Task, self.taskinfoSubscriber + "/vrx/task/info", + Task, + self.taskinfoSubscriber, ) self.boat_pos = np.array([]) self.boat_ori = np.array([]) @@ -92,8 +94,9 @@ def handler(self, req: MoveToWaypointRequest) -> MoveToWaypointResponse: ): yaw_err = trns.euler_from_quaternion( trns.quaternion_multiply( - self.boat_ori, trns.quaternion_inverse(self.orientation) - ) + self.boat_ori, + trns.quaternion_inverse(self.orientation), + ), )[2] x_err = abs(self.boat_pos[0] - pos.x) y_err = abs(self.boat_pos[1] - pos.y) diff --git a/NaviGator/simulation/navigator_gazebo/nodes/two_closest_cones.py b/NaviGator/simulation/navigator_gazebo/nodes/two_closest_cones.py index 97c26c48c..d1667ce76 100755 --- a/NaviGator/simulation/navigator_gazebo/nodes/two_closest_cones.py +++ b/NaviGator/simulation/navigator_gazebo/nodes/two_closest_cones.py @@ -19,12 +19,16 @@ class PcodarAverageScales: def __init__(self): # create service server self.server = rospy.Service( - "/get_two_closest_cones", TwoClosestCones, self.handler + "/get_two_closest_cones", + TwoClosestCones, + self.handler, ) # create service client self.odom = rospy.Subscriber( - "/pcodar/objects", PerceptionObjectArray, self.pcodarSubscriber + "/pcodar/objects", + PerceptionObjectArray, + self.pcodarSubscriber, ) # create odom subscriber @@ -222,13 +226,10 @@ def buoy_in_front_of_boat(self, buoy_pos: np.ndarray) -> bool: # check relative angle, if abs(rel_angle) is less than 90deg... # buoy is in front of boat - if ( + return bool( abs(theta - yaw) < math.pi / 2 - or abs(theta + (2 * math.pi) - yaw) < math.pi / 2 - ): - return True - else: - return False + or abs(theta + 2 * math.pi - yaw) < math.pi / 2, + ) if __name__ == "__main__": diff --git a/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py b/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py index 3b3dc8521..46e20b856 100755 --- a/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py +++ b/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py @@ -71,14 +71,16 @@ def test_odom(self): rospy.sleep(0.1) self.assertTrue( len(self.odom_pos_msg) == 3 and len(self.odom_ori_msg) == 4, - msg="POS, ORI: {}, {}".format( - len(self.odom_pos_msg), len(self.odom_ori_msg) - ), + msg=f"POS, ORI: {len(self.odom_pos_msg)}, {len(self.odom_ori_msg)}", ) initial_pos = [-1.2319, 0.0, 0.0] initial_ori = [0.0, 0.0, 0.0, 1.0] self.verify_pos_ori( - self.odom_pos_msg, initial_pos, self.odom_ori_msg, initial_ori, "/odom" + self.odom_pos_msg, + initial_pos, + self.odom_ori_msg, + initial_ori, + "/odom", ) def absodom_cb(self, msg): @@ -95,9 +97,7 @@ def test_absodom(self): rospy.sleep(0.1) self.assertTrue( len(self.absodom_pos_msg) == 3 and len(self.absodom_ori_msg) == 4, - msg="POS, ORI: {}, {}".format( - len(self.absodom_pos_msg), len(self.absodom_ori_msg) - ), + msg=f"POS, ORI: {len(self.absodom_pos_msg)}, {len(self.absodom_ori_msg)}", ) initial_pos = [743789.637462, -5503821.36715, 3125622.10477] initial_ori = [0.0, 0.0, 0.0, 1.0] @@ -116,21 +116,13 @@ def verify_pos_ori(self, pos, initial_pos, ori, initial_ori, topic): actual, initial, places=0, - msg=( - "Error: {} position is: {} should be {}".format( - topic, actual, initial - ) - ), + msg=(f"Error: {topic} position is: {actual} should be {initial}"), ) for actual, initial in zip(ori, initial_ori): self.assertEqual( actual, initial, - msg=( - "Error: {} orientation is: {} should be {}".format( - topic, actual, initial - ) - ), + msg=(f"Error: {topic} orientation is: {actual} should be {initial}"), ) def cam_info_right_cb(self, msg): @@ -219,9 +211,7 @@ def verify_not_empty(self, data_lists, num_topics): self.assertEqual( len(data_lists), num_topics, - msg="Number of topics is {}, should be {}".format( - len(data_lists), num_topics - ), + msg=f"Number of topics is {len(data_lists)}, should be {num_topics}", ) for data_list in data_lists: self.assertNotEqual(len(data_list), 0, msg="data is empty") @@ -232,11 +222,7 @@ def verify_info(self, res_info, initial_info, topic): self.assertNotEqual( actual_dim, initial_dim, - msg=( - "Error: {} is: {} shouldn't be {}".format( - topic, actual_dim, initial_dim - ) - ), + msg=(f"Error: {topic} is: {actual_dim} shouldn't be {initial_dim}"), ) diff --git a/NaviGator/test/navigator_test/CMakeLists.txt b/NaviGator/test/navigator_test/CMakeLists.txt index 5ca1868a7..b7ad78b3f 100644 --- a/NaviGator/test/navigator_test/CMakeLists.txt +++ b/NaviGator/test/navigator_test/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_test) find_package(catkin REQUIRED COMPONENTS ) diff --git a/NaviGator/test/navigator_test/navigator_test_lib/spoof.py b/NaviGator/test/navigator_test/navigator_test_lib/spoof.py index 5cb974b4c..9decf7dc6 100644 --- a/NaviGator/test/navigator_test/navigator_test_lib/spoof.py +++ b/NaviGator/test/navigator_test/navigator_test_lib/spoof.py @@ -38,7 +38,9 @@ def __init__(self, service_name, message_type, responses): async def start(self, nh: NodeHandle): self.serv = nh.advertise_service( - self.service_name, self.message_type, self._service_cb + self.service_name, + self.message_type, + self._service_cb, ) await self.serv.setup() diff --git a/NaviGator/test/navigator_test/navigator_tests/mission_planner_no_markers_test.py b/NaviGator/test/navigator_test/navigator_tests/mission_planner_no_markers_test.py index 639f03c41..6f4d68236 100644 --- a/NaviGator/test/navigator_test/navigator_tests/mission_planner_no_markers_test.py +++ b/NaviGator/test/navigator_test/navigator_tests/mission_planner_no_markers_test.py @@ -27,7 +27,9 @@ def create_spoofs(self): stc_resp.objects = [stc_obj] stc_resp.found = True self.service = sg.spoof_service( - "/database/requests", ObjectDBQuery, [empty_resp] + "/database/requests", + ObjectDBQuery, + [empty_resp], ) self.service_missing = sg.spoof_service( "/database/requests", @@ -36,7 +38,10 @@ def create_spoofs(self): ) self.pub_base_mission = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [empty, stc], [5, 1000] + "/database/objects", + PerceptionObjectArray, + [empty, stc], + [5, 1000], ) self.pub_normal_1 = sg.spoof_publisher( "/database/objects", @@ -51,16 +56,28 @@ def create_spoofs(self): [5, 5, 100], ) self.pub_fail_mission = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [], [] + "/database/objects", + PerceptionObjectArray, + [], + [], ) self.pub_missing_objects = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [stc, empty, stc], [4, 10, 100] + "/database/objects", + PerceptionObjectArray, + [stc, empty, stc], + [4, 10, 100], ) self.timeout = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [], [] + "/database/objects", + PerceptionObjectArray, + [], + [], ) self.obj_appear = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [empty, stc], [3, 10000] + "/database/objects", + PerceptionObjectArray, + [empty, stc], + [3, 10000], ) async def run_tests(self): @@ -99,7 +116,10 @@ async def run_tests(self): "Testing normal behavior", ) await self._run_mission( - base_file + "/timeout.yaml", self.timeout, self.service, "Testing timeouts" + base_file + "/timeout.yaml", + self.timeout, + self.service, + "Testing timeouts", ) await self._run_mission( base_file + "/object_appears.yaml", diff --git a/NaviGator/test/navigator_test/navigator_tests/mission_planner_test.py b/NaviGator/test/navigator_test/navigator_tests/mission_planner_test.py index ae7a23bb1..d76ca0025 100644 --- a/NaviGator/test/navigator_test/navigator_tests/mission_planner_test.py +++ b/NaviGator/test/navigator_test/navigator_tests/mission_planner_test.py @@ -25,7 +25,8 @@ def myassert(self, my_res): passed = False fprint( "EXPECTED RESULT {} DOES NOT MATCH ACTUAL RESULT {}. TEST FAILED".format( - my_res, self.results + my_res, + self.results, ), msg_color="red", ) @@ -37,7 +38,8 @@ def myassert(self, my_res): if not passed: fprint( "EXPECTED RESULT {} DOES NOT MATCH ACTUAL RESULT {}. TEST FAILED".format( - my_res, self.results + my_res, + self.results, ), msg_color="red", ) @@ -94,11 +96,15 @@ def create_spoofs(self): self.pub_base_mission = sg.spoof_publisher("/odom", Odometry, [odom], [100000]) self.serv_empty = sg.spoof_service( - "/database/requests", ObjectDBQuery, [empty_resp] + "/database/requests", + ObjectDBQuery, + [empty_resp], ) self.serv_markers = sg.spoof_service( - "/database/requests", ObjectDBQuery, [all_marker] + "/database/requests", + ObjectDBQuery, + [all_marker], ) self.serv_markers_empty = sg.spoof_service( "/database/requests", @@ -142,11 +148,17 @@ def create_spoofs(self): # stc_response]) self.markers = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [stc_shooter], [1000] + "/database/objects", + PerceptionObjectArray, + [stc_shooter], + [1000], ) self.empty = sg.spoof_publisher( - "/database/objects", PerceptionObjectArray, [empty], [1000] + "/database/objects", + PerceptionObjectArray, + [empty], + [1000], ) async def run_tests(self): @@ -269,7 +281,8 @@ async def _run_mission(self, yaml_file, spoof_pub, spoof_service, time, desc, re await self.nh.sleep(0.5) yaml_text = yaml.safe_load(stream) init = MissionPlanner(total_minutes=time, mode="t").init_( - yaml_text, sim_mode=True + yaml_text, + sim_mode=True, ) planner = await init await planner.empty_queue() diff --git a/NaviGator/test/navigator_test/navigator_tests/odom_spoofer.py b/NaviGator/test/navigator_test/navigator_tests/odom_spoofer.py index 28a7fad9f..80e7a9b44 100644 --- a/NaviGator/test/navigator_test/navigator_tests/odom_spoofer.py +++ b/NaviGator/test/navigator_test/navigator_tests/odom_spoofer.py @@ -18,7 +18,10 @@ def create_spoofs(self): self.pub_base_mission.start(self.nh) self.pub_base_mission1 = sg.spoof_publisher( - "/absodom", Odometry, [odom], [100000] + "/absodom", + Odometry, + [odom], + [100000], ) self.pub_base_mission1.start(self.nh) diff --git a/NaviGator/test/navigator_test/nodes/circle_sim.py b/NaviGator/test/navigator_test/nodes/circle_sim.py index 4cb9d3aa1..2cb0d2598 100755 --- a/NaviGator/test/navigator_test/nodes/circle_sim.py +++ b/NaviGator/test/navigator_test/nodes/circle_sim.py @@ -16,7 +16,9 @@ ) from std_srvs.srv import Trigger, TriggerRequest -fprint = lambda *args, **kwargs: _fprint(time="", title="SIM", *args, **kwargs) + +def fprint(*args, **kwargs): + return _fprint(*args, time="", title="SIM", **kwargs) class DoOdom: @@ -49,7 +51,10 @@ def set_odom(self, msg): class Sim: def __init__( - self, bf_size: float = 60, min_t_spacing: float = 9, num_of_buoys: int = 20 + self, + bf_size: float = 60, + min_t_spacing: float = 9, + num_of_buoys: int = 20, ): self.ogrid_pub = rospy.Publisher("/ogrid", OccupancyGrid, queue_size=2) self.odom = DoOdom(bf_size) @@ -64,7 +69,8 @@ def __init__( self.height = bf_size * 3 self.width = bf_size * 3 self.origin = mil_tools.numpy_quat_pair_to_pose( - [-bf_size, -bf_size, 0], [0, 0, 0, 1] + [-bf_size, -bf_size, 0], + [0, 0, 0, 1], ) self.publish_ogrid = lambda *args: self.ogrid_pub.publish(self.get_message()) @@ -85,7 +91,7 @@ def __init__( def _make_ogrid_transform(self): self.grid = np.zeros( - (self.height / self.resolution, self.width / self.resolution) + (self.height / self.resolution, self.width / self.resolution), ) # Transforms points from ENU to ogrid frame coordinates self.t = np.array( @@ -93,7 +99,7 @@ def _make_ogrid_transform(self): [1 / self.resolution, 0, -self.origin.position.x / self.resolution], [0, 1 / self.resolution, -self.origin.position.y / self.resolution], [0, 0, 1], - ] + ], ) return lambda point: self.t.dot(np.append(point[:2], 1))[:2] @@ -109,15 +115,15 @@ def reseed(self, req: Optional[TriggerRequest]) -> None: _buoy_positions = [] for b in buoy_positions: if np.all( - np.linalg.norm(self.totem_positions - b, axis=1) > self.min_t_spacing + np.linalg.norm(self.totem_positions - b, axis=1) > self.min_t_spacing, ): _buoy_positions.append(b) self.buoy_positions = np.array(_buoy_positions) print(len(self.buoy_positions)) fprint( "Removed {} buoys that were too close to totems".format( - len(self.buoy_positions) - len(_buoy_positions) - ) + len(self.buoy_positions) - len(_buoy_positions), + ), ) # assert len(self.buoy_positions) > .5 * self.num_of_buoys, "Not enough buoys remain, try rerunning." if len(self.buoy_positions) < 0.5 * self.num_of_buoys: @@ -130,7 +136,11 @@ def reseed(self, req: Optional[TriggerRequest]) -> None: self.publish_ogrid() def position_to_object( - self, position: np.ndarray, color: Sequence[int], id, name: str = "totem" + self, + position: np.ndarray, + color: Sequence[int], + id, + name: str = "totem", ) -> PerceptionObject: obj = PerceptionObject() obj.id = int(id) @@ -150,8 +160,10 @@ def got_request(self, req: ObjectDBQueryRequest) -> ObjectDBQueryResponse: index = np.argwhere(self.ids == req.name) objects = [ self.position_to_object( - self.totem_positions[index], self.colors[index], req.name - ) + self.totem_positions[index], + self.colors[index], + req.name, + ), ] elif req.name == "totem": objects = [ @@ -161,8 +173,11 @@ def got_request(self, req: ObjectDBQueryRequest) -> ObjectDBQueryResponse: elif req.name == "BuoyField": objects = [ self.position_to_object( - [self.bf_size / 2, self.bf_size / 2, 0], [0, 0, 0], 0, "BuoyField" - ) + [self.bf_size / 2, self.bf_size / 2, 0], + [0, 0, 0], + 0, + "BuoyField", + ), ] else: return ObjectDBQueryResponse(found=False) @@ -176,7 +191,7 @@ def get_message(self) -> OccupancyGrid: msg_color="yellow", ) self.grid = np.zeros( - (self.height / self.resolution, self.width / self.resolution) + (self.height / self.resolution, self.width / self.resolution), ) ogrid = OccupancyGrid() @@ -193,17 +208,29 @@ def draw_buoys(self) -> None: for b in self.buoy_positions: center = tuple(self.transform(b).astype(np.int32).tolist()) cv2.circle( - self.grid, center, int(self.buoy_size / self.resolution), 255, -1 + self.grid, + center, + int(self.buoy_size / self.resolution), + 255, + -1, ) def draw_totems(self) -> None: for b in self.totem_positions: center = tuple(self.transform(b).astype(np.int32).tolist()) cv2.circle( - self.grid, center, int(self.totem_size / self.resolution), 255, -1 + self.grid, + center, + int(self.totem_size / self.resolution), + 255, + -1, ) cv2.circle( - self.grid, center, int(0.5 * self.totem_size / self.resolution), -50, -1 + self.grid, + center, + int(0.5 * self.totem_size / self.resolution), + -50, + -1, ) diff --git a/NaviGator/utils/navigator_battery_monitor/CMakeLists.txt b/NaviGator/utils/navigator_battery_monitor/CMakeLists.txt index 05e1b896b..095b879e6 100644 --- a/NaviGator/utils/navigator_battery_monitor/CMakeLists.txt +++ b/NaviGator/utils/navigator_battery_monitor/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_battery_monitor) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/navigator_battery_monitor/nodes/navigator_battery_monitor.py b/NaviGator/utils/navigator_battery_monitor/nodes/navigator_battery_monitor.py index 3df0f82d9..13876a8ef 100755 --- a/NaviGator/utils/navigator_battery_monitor/nodes/navigator_battery_monitor.py +++ b/NaviGator/utils/navigator_battery_monitor/nodes/navigator_battery_monitor.py @@ -10,7 +10,7 @@ import rospy from roboteq_msgs.msg import Feedback, Status from ros_alarms import AlarmListener -from ros_alarms.msg import Alarm +from ros_alarms_msgs.msg import Alarm from std_msgs.msg import Float32 __author__ = "Anthony Olive" @@ -66,7 +66,9 @@ def __init__(self): [ message_filters.ApproximateTimeSynchronizer( - [feedback, status], 1, 10 + [feedback, status], + 1, + 10, ).registerCallback(self.add_voltage) for feedback, status in zip(feedback_sub, status_sub) ] diff --git a/NaviGator/utils/navigator_gui/CMakeLists.txt b/NaviGator/utils/navigator_gui/CMakeLists.txt index 62188ebd5..e9b41973f 100644 --- a/NaviGator/utils/navigator_gui/CMakeLists.txt +++ b/NaviGator/utils/navigator_gui/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_gui) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/navigator_gui/navigator_gui/dashboard.py b/NaviGator/utils/navigator_gui/navigator_gui/dashboard.py index 11d21ad8b..1a22d65db 100755 --- a/NaviGator/utils/navigator_gui/navigator_gui/dashboard.py +++ b/NaviGator/utils/navigator_gui/navigator_gui/dashboard.py @@ -16,7 +16,7 @@ from qt_gui.plugin import Plugin from remote_control_lib import RemoteControl from ros_alarms import AlarmListener -from ros_alarms.msg import Alarm +from ros_alarms_msgs.msg import Alarm from std_msgs.msg import Float32, String __author__ = "Anthony Olive" @@ -41,7 +41,9 @@ def __init__(self, context: Any): # Extend the widget with all attributes and children in the UI file ui_file = os.path.join( - rospkg.RosPack().get_path("navigator_gui"), "resource", "dashboard.ui" + rospkg.RosPack().get_path("navigator_gui"), + "resource", + "dashboard.ui", ) loadUi(ui_file, self._widget) @@ -66,7 +68,7 @@ def __init__(self, context: Any): # Deals with problem when they're multiple instances of Dashboard plugin if context.serial_number() > 1: self._widget.setWindowTitle( - self._widget.windowTitle() + (" (%d)" % context.serial_number()) + self._widget.windowTitle() + (" (%d)" % context.serial_number()), ) # Add widget to the user interface @@ -114,34 +116,42 @@ def connect_ui(self) -> None: # Kill status self.kill_status_frame = self._widget.findChild( - QtWidgets.QFrame, "kill_status_frame" + QtWidgets.QFrame, + "kill_status_frame", ) self.kill_status_status = self._widget.findChild( - QtWidgets.QLabel, "kill_status_status" + QtWidgets.QLabel, + "kill_status_status", ) # Operating mode status self.operating_mode_frame = self._widget.findChild( - QtWidgets.QFrame, "operating_mode_frame" + QtWidgets.QFrame, + "operating_mode_frame", ) self.operating_mode_status = self._widget.findChild( - QtWidgets.QLabel, "operating_mode_status" + QtWidgets.QLabel, + "operating_mode_status", ) # Battery voltage self.battery_voltage_frame = self._widget.findChild( - QtWidgets.QFrame, "battery_voltage_frame" + QtWidgets.QFrame, + "battery_voltage_frame", ) self.battery_voltage_status = self._widget.findChild( - QtWidgets.QLabel, "battery_voltage_status" + QtWidgets.QLabel, + "battery_voltage_status", ) # System time self.system_time_frame = self._widget.findChild( - QtWidgets.QFrame, "system_time_frame" + QtWidgets.QFrame, + "system_time_frame", ) self.system_time_status = self._widget.findChild( - QtWidgets.QLabel, "system_time_status" + QtWidgets.QLabel, + "system_time_status", ) # Devices table @@ -149,27 +159,33 @@ def connect_ui(self) -> None: # Control panel buttons toggle_kill_button = self._widget.findChild( - QtWidgets.QPushButton, "toggle_kill_button" + QtWidgets.QPushButton, + "toggle_kill_button", ) toggle_kill_button.clicked.connect(self.remote.toggle_kill) station_hold_button = self._widget.findChild( - QtWidgets.QPushButton, "station_hold_button" + QtWidgets.QPushButton, + "station_hold_button", ) station_hold_button.clicked.connect(self.remote.station_hold) rc_control_button = self._widget.findChild( - QtWidgets.QPushButton, "rc_control_button" + QtWidgets.QPushButton, + "rc_control_button", ) rc_control_button.clicked.connect(self.remote.select_rc_control) emergency_control_button = self._widget.findChild( - QtWidgets.QPushButton, "emergency_control_button" + QtWidgets.QPushButton, + "emergency_control_button", ) emergency_control_button.clicked.connect(self.remote.select_emergency_control) keyboard_control_button = self._widget.findChild( - QtWidgets.QPushButton, "keyboard_control_button" + QtWidgets.QPushButton, + "keyboard_control_button", ) keyboard_control_button.clicked.connect(self.remote.select_keyboard_control) autonomous_control_button = self._widget.findChild( - QtWidgets.QPushButton, "autonomous_control_button" + QtWidgets.QPushButton, + "autonomous_control_button", ) autonomous_control_button.clicked.connect(self.remote.select_autonomous_control) @@ -189,10 +205,12 @@ def connect_ros(self) -> None: """ # Attempts to read the battery voltage parameters (sets them to defaults if they have not been set) self.battery_low_voltage = rospy.get_param( - "/battery_monitor/battery_low_voltage", 24 + "/battery_monitor/battery_low_voltage", + 24, ) self.battery_critical_voltage = rospy.get_param( - "/battery_monitor/battery_critical_voltage", 20 + "/battery_monitor/battery_critical_voltage", + 20, ) rospy.Subscriber("/wrench/selected", String, self.cache_operating_mode) @@ -200,7 +218,8 @@ def connect_ros(self) -> None: rospy.Subscriber("/host_monitor", Hosts, self.cache_hosts) self.kill_listener = AlarmListener( - "kill", callback_funct=self.cache_kill_status + "kill", + callback_funct=self.cache_kill_status, ) @thread_lock(lock) @@ -300,7 +319,7 @@ def update_battery_voltage_status(self) -> None: else: self.battery_voltage["cached_warning_color"] = "green" self.battery_voltage_status.setText( - str(self.battery_voltage["current"])[:5] + str(self.battery_voltage["current"])[:5], ) # Set the cached battery voltage to the value that was just displayed @@ -309,7 +328,7 @@ def update_battery_voltage_status(self) -> None: def update_system_time_status(self) -> None: time_string = str(self.system_time["current"]) self.system_time_status.setText( - time_string[:-9] + "." + time_string[-9:-8] + "s" + time_string[:-9] + "." + time_string[-9:-8] + "s", ) self.system_time["displayed"] = self.system_time["current"] diff --git a/NaviGator/utils/navigator_gui/navigator_gui/host_monitor.py b/NaviGator/utils/navigator_gui/navigator_gui/host_monitor.py index df2ce3147..2c5660ce9 100755 --- a/NaviGator/utils/navigator_gui/navigator_gui/host_monitor.py +++ b/NaviGator/utils/navigator_gui/navigator_gui/host_monitor.py @@ -23,7 +23,10 @@ class HostMonitor: def __init__(self): self.pub_hosts = rospy.Publisher( - "/host_monitor", Hosts, queue_size=1, latch=True + "/host_monitor", + Hosts, + queue_size=1, + latch=True, ) self.hosts = Hosts() diff --git a/NaviGator/utils/navigator_gui/navigator_gui/shooter.py b/NaviGator/utils/navigator_gui/navigator_gui/shooter.py index 93d857f17..d55a36043 100755 --- a/NaviGator/utils/navigator_gui/navigator_gui/shooter.py +++ b/NaviGator/utils/navigator_gui/navigator_gui/shooter.py @@ -33,7 +33,9 @@ def __init__(self, context): # Extend the widget with all attributes and children in the UI file ui_file = os.path.join( - rospkg.RosPack().get_path("navigator_gui"), "resource", "shooter.ui" + rospkg.RosPack().get_path("navigator_gui"), + "resource", + "shooter.ui", ) loadUi(ui_file, self._widget) @@ -55,7 +57,7 @@ def __init__(self, context): # Deals with problem of multiple instances of same plugin if context.serial_number() > 1: self._widget.setWindowTitle( - self._widget.windowTitle() + (" (%d)" % context.serial_number()) + self._widget.windowTitle() + (" (%d)" % context.serial_number()), ) # Add widget to the user interface @@ -69,10 +71,12 @@ def connect_ui(self) -> None: # Shooter status indicator self.shooter_status_frame = self._widget.findChild( - QtWidgets.QFrame, "shooter_status_frame" + QtWidgets.QFrame, + "shooter_status_frame", ) self.shooter_status_message = self._widget.findChild( - QtWidgets.QLabel, "shooter_status_message" + QtWidgets.QLabel, + "shooter_status_message", ) # Control panel buttons @@ -85,19 +89,23 @@ def connect_ui(self) -> None: reset_button = self._widget.findChild(QtWidgets.QPushButton, "reset_button") reset_button.clicked.connect(self.remote.shooter_reset) linear_extend_button = self._widget.findChild( - QtWidgets.QPushButton, "linear_extend_button" + QtWidgets.QPushButton, + "linear_extend_button", ) linear_extend_button.clicked.connect(self.remote.shooter_linear_extend) linear_retract_button = self._widget.findChild( - QtWidgets.QPushButton, "linear_retract_button" + QtWidgets.QPushButton, + "linear_retract_button", ) linear_retract_button.clicked.connect(self.remote.shooter_linear_retract) disc_speed_slider = self._widget.findChild( - QtWidgets.QSlider, "disc_speed_slider" + QtWidgets.QSlider, + "disc_speed_slider", ) disc_speed_slider.valueChanged[int].connect(self.cache_disc_speed_setting) set_disc_speed_button = self._widget.findChild( - QtWidgets.QPushButton, "set_disc_speed_button" + QtWidgets.QPushButton, + "set_disc_speed_button", ) set_disc_speed_button.clicked.connect(self.set_disc_speed) diff --git a/NaviGator/utils/navigator_gui/navigator_gui/stc_display.py b/NaviGator/utils/navigator_gui/navigator_gui/stc_display.py index e0302a74c..3ccc6fb3e 100644 --- a/NaviGator/utils/navigator_gui/navigator_gui/stc_display.py +++ b/NaviGator/utils/navigator_gui/navigator_gui/stc_display.py @@ -43,7 +43,9 @@ def __init__(self, context): self._widget = QWidget() # Get path to UI file which should be in the "resource" folder of this package ui_file = os.path.join( - rospkg.RosPack().get_path("navigator_gui"), "resource", "stc.ui" + rospkg.RosPack().get_path("navigator_gui"), + "resource", + "stc.ui", ) # Extend the widget with all attributes and children from UI file loadUi(ui_file, self._widget) @@ -56,7 +58,7 @@ def __init__(self, context): # tell from pane to pane. if context.serial_number() > 1: self._widget.setWindowTitle( - self._widget.windowTitle() + (" (%d)" % context.serial_number()) + self._widget.windowTitle() + (" (%d)" % context.serial_number()), ) # Add widget to the user interface context.add_widget(self._widget) @@ -72,22 +74,16 @@ def connect_ui(self) -> None: self.label3 = self._widget.findChild(QtWidgets.QLabel, "label_3") def translate_to_label(self, letter: str) -> str: - if letter == "R": - return "Red" - elif letter == "G": - return "Green" - elif letter == "B": - return "Blue" - return "Undefined" + words = {"R": "Red", "G": "Green", "B": "Blue"} + return words.get(letter, "Undefined") def translate_to_style(self, letter: str) -> str: - if letter == "R": - return "QWidget {background-color:#FF432E;}" - elif letter == "G": - return "QWidget {background-color:#B1EB00;}" - elif letter == "B": - return "QWidget {background-color:#4AA8DB;}" - return "Undefined" + styles = { + "R": "QWidget {background-color:#FF432E;}", + "G": "QWidget {background-color:#B1EB00;}", + "B": "QWidget {background-color:#4AA8DB;}", + } + return styles.get(letter, "Undefined") def update_gui(self, msg: ScanTheCode): print("updating gui...") diff --git a/NaviGator/utils/navigator_judgepanel/CMakeLists.txt b/NaviGator/utils/navigator_judgepanel/CMakeLists.txt index fd0082b70..14688e465 100644 --- a/NaviGator/utils/navigator_judgepanel/CMakeLists.txt +++ b/NaviGator/utils/navigator_judgepanel/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_judgespanel) ## Find catkin macros and libraries diff --git a/NaviGator/utils/navigator_msgs/CMakeLists.txt b/NaviGator/utils/navigator_msgs/CMakeLists.txt index 54522d6f4..a81379d29 100644 --- a/NaviGator/utils/navigator_msgs/CMakeLists.txt +++ b/NaviGator/utils/navigator_msgs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_msgs) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/navigator_robotx_comms/CMakeLists.txt b/NaviGator/utils/navigator_robotx_comms/CMakeLists.txt index e2e2332d7..aa3e91c45 100644 --- a/NaviGator/utils/navigator_robotx_comms/CMakeLists.txt +++ b/NaviGator/utils/navigator_robotx_comms/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_robotx_comms) ## Find catkin macros and libraries diff --git a/NaviGator/utils/navigator_robotx_comms/navigator_robotx_comms/navigator_robotx_comms.py b/NaviGator/utils/navigator_robotx_comms/navigator_robotx_comms/navigator_robotx_comms.py index b441c1eec..12960306e 100644 --- a/NaviGator/utils/navigator_robotx_comms/navigator_robotx_comms/navigator_robotx_comms.py +++ b/NaviGator/utils/navigator_robotx_comms/navigator_robotx_comms/navigator_robotx_comms.py @@ -139,7 +139,13 @@ def to_string( system_mode = 0 first_half_data = "{}{}{}{}{}{}{}".format( - self.message_id, delim, aedt_date_time, delim, latitude, delim, north_south + self.message_id, + delim, + aedt_date_time, + delim, + latitude, + delim, + north_south, ) second_half_data = "{}{}{}{}{}{}{}{}{}".format( @@ -489,7 +495,13 @@ def to_string( str: The constructed message. """ data = "{}{}{}{}{}{}{}".format( - self.message_id, delim, aedt_date_time, delim, team_id, delim, color_pattern + self.message_id, + delim, + aedt_date_time, + delim, + team_id, + delim, + color_pattern, ) # test data diff --git a/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py b/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py index 7b76d4bdb..59e6139e3 100755 --- a/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py +++ b/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py @@ -50,7 +50,7 @@ RobotXUAVSearchReportMessage, ) from ros_alarms import AlarmListener -from ros_alarms.msg import Alarm +from ros_alarms_msgs.msg import Alarm from std_msgs.msg import String lock = threading.Lock() @@ -256,7 +256,8 @@ def handle_heartbeat_message(self, _) -> None: self.robotx_client.send_message(message) def handle_entrance_exit_gate_message( - self, data: MessageEntranceExitGateRequest + self, + data: MessageEntranceExitGateRequest, ) -> MessageEntranceExitGateResponse: """ Handles requests to make messages to use in the Entrance and Exit Gate @@ -276,14 +277,19 @@ def handle_entrance_exit_gate_message( self.time_last_entrance_exit = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_entrance_exit_gate_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) return MessageEntranceExitGateResponse(message) def handle_follow_path_message( - self, data: MessageFollowPathRequest + self, + data: MessageFollowPathRequest, ) -> MessageFollowPathResponse: """ Handles requests to make messages to use in the Follow Path Mission @@ -302,14 +308,19 @@ def handle_follow_path_message( self.time_last_follow_path = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_follow_path_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) return MessageFollowPathResponse(message) def handle_react_report_message( - self, data: MessageReactReportRequest + self, + data: MessageReactReportRequest, ) -> MessageReactReportResponse: """ Handles requests to make messages to use in the React Report Mission @@ -328,7 +339,11 @@ def handle_react_report_message( self.time_last_react_report = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_react_report_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) @@ -353,12 +368,17 @@ def handle_scan_code_message(self, color_pattern: str) -> None: self.time_last_scan_code = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_scan_code_message.to_string( - self.delim, self.team_id, aedt_date_time, color_pattern, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + color_pattern, + self.use_test_data, ) self.robotx_client.send_message(message) def handle_detect_dock_message( - self, data: MessageDetectDockRequest + self, + data: MessageDetectDockRequest, ) -> MessageDetectDockResponse: """ Handles requests to make messages to use in the Detect Dock Mission @@ -377,14 +397,19 @@ def handle_detect_dock_message( self.time_last_detect_dock = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_detect_dock_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) return MessageDetectDockResponse(message) def handle_find_fling_message( - self, data: MessageFindFlingRequest + self, + data: MessageFindFlingRequest, ) -> MessageFindFlingResponse: """ Handles requests to make messages to use in the Find Fling Mission @@ -403,14 +428,19 @@ def handle_find_fling_message( self.time_last_find_fling = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_find_fling_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) return MessageFindFlingResponse(message) def handle_uav_replenishment_message( - self, data: MessageUAVReplenishmentRequest + self, + data: MessageUAVReplenishmentRequest, ) -> MessageUAVReplenishmentResponse: """ Handles requests to make messages to use in the UAV Replenishment Mission @@ -429,14 +459,19 @@ def handle_uav_replenishment_message( self.time_last_uav_replenishment = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_uav_replenishment_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) return MessageUAVReplenishmentResponse(message) def handle_uav_search_report_message( - self, data: MessageUAVSearchReportRequest + self, + data: MessageUAVSearchReportRequest, ) -> MessageUAVSearchReportResponse: """ Handles requests to make messages to use in the UAV Search Report Mission @@ -455,7 +490,11 @@ def handle_uav_search_report_message( self.time_last_uav_search_report = rospy.get_time() aedt_date_time = self.get_aedt_date_time() message = self.robotx_uav_search_report_message.to_string( - self.delim, self.team_id, aedt_date_time, data, self.use_test_data + self.delim, + self.team_id, + aedt_date_time, + data, + self.use_test_data, ) self.robotx_client.send_message(message) @@ -520,9 +559,7 @@ def connect(self) -> None: """ if not self.connected: rospy.loginfo( - "Attempting Connection to TD Server at {}:{}".format( - self.tcp_ip, self.tcp_port - ) + f"Attempting Connection to TD Server at {self.tcp_ip}:{self.tcp_port}", ) while not self.connected and not rospy.is_shutdown(): # recreate socket diff --git a/NaviGator/utils/navigator_robotx_comms/test/robotx_comms_server.py b/NaviGator/utils/navigator_robotx_comms/test/robotx_comms_server.py index 7458aff6d..22642e27a 100755 --- a/NaviGator/utils/navigator_robotx_comms/test/robotx_comms_server.py +++ b/NaviGator/utils/navigator_robotx_comms/test/robotx_comms_server.py @@ -49,7 +49,9 @@ def __init__(self, *args): self.use_test_data = rospy.get_param("~use_test_data") self.server = RobotXServer(self.td_ip, self.td_port) self.scan_code_pub = rospy.Publisher( - "/scan_the_code", ScanTheCode, queue_size=10 + "/scan_the_code", + ScanTheCode, + queue_size=10, ) super().__init__(*args) @@ -68,7 +70,8 @@ def test_heartbeat_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robotx_heartbeat_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -76,19 +79,23 @@ def test_heartbeat_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - str(full_data_for_checksum) + str(full_data_for_checksum), ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" self.assertEqual( - len(data_list), 10, "heartbeat message formatting incorrect" + len(data_list), + 10, + "heartbeat message formatting incorrect", ) if self.use_test_data is True: test_data = "$RXHRB,111221,161229,21.31198,N,157.88972,W,ROBOT,2,1*11\r\n" list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[7], list_test_data[7], "team id incorrect" + data_list[7], + list_test_data[7], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -97,7 +104,9 @@ def test_heartbeat_message(self): ) else: self.assertEqual( - data_list[7], self.team_id, "team id incorrect" + data_list[7], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -118,7 +127,8 @@ def test_entrance_exit_gate_message(self): rospy.wait_for_service("entrance_exit_gate_message") send_robot_x_entrance_exit_gate_message = rospy.ServiceProxy( - "entrance_exit_gate_message", MessageEntranceExitGate + "entrance_exit_gate_message", + MessageEntranceExitGate, ) robot_x_entrance_exit_gate_message = RobotXEntranceExitGateMessage() @@ -133,7 +143,8 @@ def test_entrance_exit_gate_message(self): for message in split_rx_data: deserialized_msg = robot_x_entrance_exit_gate_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -141,7 +152,7 @@ def test_entrance_exit_gate_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -155,7 +166,9 @@ def test_entrance_exit_gate_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -176,7 +189,9 @@ def test_entrance_exit_gate_message(self): ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -190,7 +205,9 @@ def test_entrance_exit_gate_message(self): ) exit_gate_value = data_list[5].split("*")[0] self.assertEqual( - int(exit_gate_value), exit_gate, "exit gate incorrect" + int(exit_gate_value), + exit_gate, + "exit gate incorrect", ) times_ran += 1 @@ -217,7 +234,8 @@ def test_scan_code_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_scan_code_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -225,19 +243,23 @@ def test_scan_code_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" self.assertEqual( - len(data_list), 5, "scan code message formatting incorrect" + len(data_list), + 5, + "scan code message formatting incorrect", ) if self.use_test_data is True: test_data = "$RXCOD,111221,161229,ROBOT,RBG*5E\r\n" list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -253,7 +275,9 @@ def test_scan_code_message(self): ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -280,7 +304,8 @@ def test_detect_dock_message(self): rospy.wait_for_service("detect_dock_message") send_robot_x_detect_dock_message = rospy.ServiceProxy( - "detect_dock_message", MessageDetectDock + "detect_dock_message", + MessageDetectDock, ) robot_x_detect_dock_message = RobotXDetectDockMessage() @@ -294,7 +319,8 @@ def test_detect_dock_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_detect_dock_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -302,7 +328,7 @@ def test_detect_dock_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -316,7 +342,9 @@ def test_detect_dock_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -324,16 +352,22 @@ def test_detect_dock_message(self): "detect dock message checksum incorrect", ) self.assertEqual( - data_list[4], list_test_data[4], "dock color incorrect" + data_list[4], + list_test_data[4], + "dock color incorrect", ) ams_status_ = data_list[5].split("*")[0] msg_ams_status = list_test_data[5].split("*")[0] self.assertEqual( - msg_ams_status, ams_status_, "ams status incorrect" + msg_ams_status, + ams_status_, + "ams status incorrect", ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -341,11 +375,15 @@ def test_detect_dock_message(self): "detect dock message checksum incorrect", ) self.assertEqual( - data_list[4], dock_color, "dock color incorrect" + data_list[4], + dock_color, + "dock color incorrect", ) ams_status_ = int(data_list[5].split("*")[0]) self.assertEqual( - ams_status, ams_status_, "ams status incorrect" + ams_status, + ams_status_, + "ams status incorrect", ) times_ran += 1 @@ -360,7 +398,8 @@ def test_follow_path_message(self): rospy.wait_for_service("follow_path_message") send_robot_x_follow_path_message = rospy.ServiceProxy( - "follow_path_message", MessageFollowPath + "follow_path_message", + MessageFollowPath, ) robot_x_follow_path_message = RobotXFollowPathMessage() @@ -374,7 +413,8 @@ def test_follow_path_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_follow_path_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -382,7 +422,7 @@ def test_follow_path_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -396,7 +436,9 @@ def test_follow_path_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -406,11 +448,15 @@ def test_follow_path_message(self): msg_finished = data_list[4].split("*")[0] finished_ = list_test_data[4].split("*")[0] self.assertEqual( - msg_finished, finished_, "finished status incorrect" + msg_finished, + finished_, + "finished status incorrect", ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -419,7 +465,9 @@ def test_follow_path_message(self): ) finished_ = int(data_list[4].split("*")[0]) self.assertEqual( - finished, finished_, "finished status incorrect" + finished, + finished_, + "finished status incorrect", ) times_ran += 1 @@ -434,7 +482,8 @@ def test_react_report_message(self): rospy.wait_for_service("react_report_message") send_robot_x_react_report_message = rospy.ServiceProxy( - "react_report_message", MessageReactReport + "react_report_message", + MessageReactReport, ) robot_x_react_report_message = RobotXReactReportMessage() @@ -448,7 +497,8 @@ def test_react_report_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_react_report_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -456,7 +506,7 @@ def test_react_report_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -470,7 +520,9 @@ def test_react_report_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -495,12 +547,16 @@ def test_react_report_message(self): msg_animal = data_list[5 + i].split("*")[0] animal_ = list_test_data[5 + i].split("*")[0] self.assertEqual( - msg_animal, animal_, "animal incorrect" + msg_animal, + animal_, + "animal incorrect", ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -516,12 +572,16 @@ def test_react_report_message(self): for i, animal in enumerate(animal_array): if i != len(animal_array) - 1: self.assertEqual( - data_list[5 + i], animal, "animal incorrect" + data_list[5 + i], + animal, + "animal incorrect", ) else: animal_ = data_list[5 + i].split("*")[0] self.assertEqual( - animal, animal_, "animal incorrect" + animal, + animal_, + "animal incorrect", ) times_ran += 1 @@ -537,7 +597,8 @@ def test_find_fling_message(self): rospy.wait_for_service("find_fling_message") send_robot_x_find_fling_message = rospy.ServiceProxy( - "find_fling_message", MessageFindFling + "find_fling_message", + MessageFindFling, ) robot_x_find_fling_message = RobotXFindFlingMessage() @@ -551,7 +612,8 @@ def test_find_fling_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_find_fling_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -559,7 +621,7 @@ def test_find_fling_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -573,7 +635,9 @@ def test_find_fling_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -581,16 +645,22 @@ def test_find_fling_message(self): "find fling message checksum incorrect", ) self.assertEqual( - data_list[4], list_test_data[4], "shape color incorrect" + data_list[4], + list_test_data[4], + "shape color incorrect", ) msg_ams_status = data_list[5].split("*")[0] ams_status_ = list_test_data[5].split("*")[0] self.assertEqual( - msg_ams_status, ams_status_, "shape incorrect" + msg_ams_status, + ams_status_, + "shape incorrect", ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -600,7 +670,9 @@ def test_find_fling_message(self): self.assertEqual(data_list[4], color, "color incorrect") ams_status_ = int(data_list[5].split("*")[0]) self.assertEqual( - ams_status, ams_status_, "ams_status status incorrect" + ams_status, + ams_status_, + "ams_status status incorrect", ) times_ran += 1 @@ -616,7 +688,8 @@ def test_uav_replenishment_message(self): rospy.wait_for_service("uav_replenishment_message") send_robot_x_uav_replenishment_message = rospy.ServiceProxy( - "uav_replenishment_message", MessageUAVReplenishment + "uav_replenishment_message", + MessageUAVReplenishment, ) robot_x_uav_replenishment_message = RobotXUAVReplenishmentMessage() @@ -630,7 +703,8 @@ def test_uav_replenishment_message(self): split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_uav_replenishment_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -638,7 +712,7 @@ def test_uav_replenishment_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -652,7 +726,9 @@ def test_uav_replenishment_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[3], list_test_data[3], "team id incorrect" + data_list[3], + list_test_data[3], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -660,16 +736,22 @@ def test_uav_replenishment_message(self): "uav replenishment message checksum incorrect", ) self.assertEqual( - data_list[4], list_test_data[4], "uav status incorrect" + data_list[4], + list_test_data[4], + "uav status incorrect", ) msg_item_status = data_list[5].split("*")[0] item_status_ = list_test_data[5].split("*")[0] self.assertEqual( - msg_item_status, item_status_, "item_status incorrect" + msg_item_status, + item_status_, + "item_status incorrect", ) else: self.assertEqual( - data_list[3], self.team_id, "team id incorrect" + data_list[3], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -677,11 +759,15 @@ def test_uav_replenishment_message(self): "uav replenishment message checksum incorrect", ) self.assertEqual( - int(data_list[4]), uav_status, "uav_status incorrect" + int(data_list[4]), + uav_status, + "uav_status incorrect", ) item_status_ = int(data_list[5].split("*")[0]) self.assertEqual( - item_status, item_status_, "finished status incorrect" + item_status, + item_status_, + "finished status incorrect", ) times_ran += 1 @@ -698,7 +784,8 @@ def test_uav_search_report_message(self): rospy.wait_for_service("uav_search_report_message") send_robot_x_uav_search_report_message = rospy.ServiceProxy( - "uav_search_report_message", MessageUAVSearchReport + "uav_search_report_message", + MessageUAVSearchReport, ) robot_x_uav_search_report_message = RobotXUAVSearchReportMessage() @@ -707,14 +794,25 @@ def test_uav_search_report_message(self): while not rospy.is_shutdown() and times_ran < self.number_of_iterations: rx_data = None send_robot_x_uav_search_report_message( - object1, 0, "", 0, "", object2, 0, "", 0, "", uav_status + object1, + 0, + "", + 0, + "", + object2, + 0, + "", + 0, + "", + uav_status, ) while rx_data is None: rx_data = self.server.receive_message() split_rx_data = rx_data.splitlines(True) for message in split_rx_data: deserialized_msg = robot_x_uav_search_report_message.from_string( - self.delim, message + self.delim, + message, ) data_list = [x.decode() for x in deserialized_msg[0]] checksum_list = [x.decode() for x in deserialized_msg[1]] @@ -722,7 +820,7 @@ def test_uav_search_report_message(self): full_data_for_checksum = checksum_list[0].replace("$", "") checksum_calc = BitwiseXORChecksum() tot_checksum = checksum_calc.ret_checksum( - full_data_for_checksum + full_data_for_checksum, ) hex_checksum = format(tot_checksum, "02X") final_checksum_string = hex_checksum + "\r\n" @@ -736,7 +834,9 @@ def test_uav_search_report_message(self): list_test_data = test_data.split(self.delim.decode()) checksum_list_test_data = test_data.split("*") self.assertEqual( - data_list[13], list_test_data[13], "team id incorrect" + data_list[13], + list_test_data[13], + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -744,19 +844,27 @@ def test_uav_search_report_message(self): "follow path message checksum incorrect", ) self.assertEqual( - data_list[3], list_test_data[3], "object1 incorrect" + data_list[3], + list_test_data[3], + "object1 incorrect", ) self.assertEqual( - data_list[8], list_test_data[8], "object2 incorrect" + data_list[8], + list_test_data[8], + "object2 incorrect", ) msg_uav_status = data_list[14].split("*")[0] uav_status_ = list_test_data[14].split("*")[0] self.assertEqual( - msg_uav_status, uav_status_, "uav_status incorrect" + msg_uav_status, + uav_status_, + "uav_status incorrect", ) else: self.assertEqual( - data_list[13], self.team_id, "team id incorrect" + data_list[13], + self.team_id, + "team id incorrect", ) self.assertEqual( checksum_list[1], @@ -764,14 +872,20 @@ def test_uav_search_report_message(self): "follow path message checksum incorrect", ) self.assertEqual( - data_list[3], object1, "object 1 incorrect" + data_list[3], + object1, + "object 1 incorrect", ) self.assertEqual( - data_list[8], object2, "object 2 incorrect" + data_list[8], + object2, + "object 2 incorrect", ) uav_status_ = int(data_list[14].split("*")[0]) self.assertEqual( - uav_status, uav_status_, "uav status incorrect" + uav_status, + uav_status_, + "uav status incorrect", ) times_ran += 1 @@ -797,10 +911,13 @@ def connect(self): while not self.connected and not rospy.is_shutdown(): try: self.socket_connection = socket.socket( - socket.AF_INET, socket.SOCK_STREAM + socket.AF_INET, + socket.SOCK_STREAM, ) self.socket_connection.setsockopt( - socket.SOL_SOCKET, socket.SO_REUSEADDR, 1 + socket.SOL_SOCKET, + socket.SO_REUSEADDR, + 1, ) self.socket_connection.bind((self.tcp_ip, self.tcp_port)) self.socket_connection.listen(5) diff --git a/NaviGator/utils/navigator_tools/CMakeLists.txt b/NaviGator/utils/navigator_tools/CMakeLists.txt index 4b1b126ae..cf82ea29c 100644 --- a/NaviGator/utils/navigator_tools/CMakeLists.txt +++ b/NaviGator/utils/navigator_tools/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_tools) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/navigator_tools/navigator_tools/missing_perception_object.py b/NaviGator/utils/navigator_tools/navigator_tools/missing_perception_object.py index 6f17074aa..0d3b998fc 100644 --- a/NaviGator/utils/navigator_tools/navigator_tools/missing_perception_object.py +++ b/NaviGator/utils/navigator_tools/navigator_tools/missing_perception_object.py @@ -1,6 +1,8 @@ class MissingPerceptionObject(Exception): def __init__( - self, missing_object, message="An object from the database is missing" + self, + missing_object, + message="An object from the database is missing", ): # Call the base class constructor with the parameters it needs super().__init__(message) diff --git a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py index a64322a74..5cb8762cb 100644 --- a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py +++ b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py @@ -1,4 +1,3 @@ -"""Use the DBHelper class to interface with the Database without having to deal with ROS things.""" import asyncio import sys import time @@ -14,10 +13,29 @@ class DBHelper: - """DBHelper class.""" + """ + Use the DBHelper class to interface with the Database without having to deal with ROS things. + + Attributes: + found (bool): checks whether the object is what the user has been looking for. + nh (axros.NodeHandle): processes database requests. + position (int): the current position of the object. + rot (): one of the dimensional values. + new_object_subscriber (): an object that is being called from the database. + ensuring_objects (bool): a variable state for the object. + ensuring_object_dep (): a list of objects being used for storage. + ensuring_object_cb (): this is considered when it is an "ensuring_objects". + looking_for (): a setter variable to which a name is being assigned. + is_found (bool): determines whether the object is found or not. + """ def __init__(self, nh): - """Initialize the DB helper class.""" + """ + Initialize the DB helper class. + + Args: + nh(NodeHandle): NodeHandle object + """ self.found = set() self.nh = nh self.position = None @@ -30,7 +48,12 @@ def __init__(self, nh): self.is_found = False async def init_(self, navigator=None): - """Initialize the axros parts of the DBHelper.""" + """ + Initialize the axros parts of the DBHelper. + + Args: + navigator (NaviGator | None): Base NaviGator object + """ # self._sub_database = yield self.nh.subscribe('/database/objects', PerceptionObjectArray, self.object_cb) self._database = self.nh.get_service_client("/database/requests", ObjectDBQuery) self.navigator = navigator @@ -43,21 +66,37 @@ async def init_(self, navigator=None): return self def _odom_cb(self, odom): + """ + Sets the position and the rot values. + + Args: + odom (object): Odom + """ self.position, self.rot = nt.odometry_to_numpy(odom)[0] async def get_object_by_id(self, my_id): + """ + Retrieves the object with the associated "my_id". + + Args: + my_id (int): an "id" of the object is passed in. + + Returns: + An individual object is being returned with a unique id. + """ print(my_id) req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) - ans = [obj for obj in resp.objects if obj.id == my_id][0] + ans = next(obj for obj in resp.objects if obj.id == my_id) return ans async def begin_observing(self, cb): """ Get notified when a new object is added to the database. - cb : The callback that is called when a new object is added to the database + Args: + cb : The callback that is called when a new object is added to the database. """ self.new_object_subscriber = cb req = ObjectDBQueryRequest() @@ -78,6 +117,12 @@ async def begin_observing(self, cb): self.new_object_subscriber(o) async def get_unknown_and_low_conf(self): + """ + Gets unknown objects that are of low confidence. + + Returns: + Objects that meet certain criteria. + """ req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) @@ -91,9 +136,21 @@ async def get_unknown_and_low_conf(self): return m def set_looking_for(self, name): + """ + Setting to a name that is being looked for. + + Args: + name (string): name of the object. + """ self.looking_for = name - def is_found_func(self): + def is_found_func(self) -> bool: + """ + Determines whether the object is being found or not. + + Returns: + The existence of the object is returned. + """ if self.is_found: self.looking_for = None self.is_found = False @@ -101,7 +158,12 @@ def is_found_func(self): return False def object_cb(self, perception_objects): - """Callback for the object database.""" + """ + Callback for the object database. + + Args: + perception_objects (object): a list of objects that are passed. + """ self.total_num = len(perception_objects.objects) for o in perception_objects.objects: if o.name == self.looking_for: @@ -120,12 +182,23 @@ def object_cb(self, perception_objects): self.ensuring_object_cb(missings_objs) def remove_found(self, name): - """Remove an object that has been listed as found.""" + """ + Remove an object that has been listed as found. + + Args: + name (string): a name of the object is being passed in. + """ self.found.remove(name) def ensure_object_permanence(self, object_dep, cb): - """Ensure that all the objects in the object_dep list remain in the database. - Call the callback if this isn't true.""" + """ + Ensure that all the objects in the object_dep list remain in the database. + Call the callback if this isn't true. + + Args: + object_dep: a new object is passed in order to be set. + cb : The callback that is called when a new object is added to the database. + """ if object_dep is None or cb is None: return self.ensuring_objects = True @@ -133,10 +206,21 @@ def ensure_object_permanence(self, object_dep, cb): self.ensuring_object_dep = object_dep def stop_ensuring_object_permanence(self): - """Stop ensuring that objects remain in the database.""" + """ + Stop ensuring that objects remain in the database. + """ self.ensuring_objects = False - def _wait_for_position(self, timeout=10): + def _wait_for_position(self, timeout=10) -> bool: + """ + A possible position is being stored in a variable. + + Args: + timeout (int): time limit to retrieve something. + + Returns: + bool: Determines whether the position is found within the time limit. + """ count = 0 while self.position is None: if self.navigator is not None: @@ -148,7 +232,15 @@ def _wait_for_position(self, timeout=10): return True async def get_closest_object(self, objects): - """Get the closest mission.""" + """ + Get the closest mission. + + Args: + objects (object): a list of objects are being passed in. + + Returns: + A object with the closest mission / distance is returned. + """ pobjs = [] for obj in objects: req = ObjectDBQueryRequest() @@ -171,6 +263,15 @@ async def get_closest_object(self, objects): return min_obj async def _dist(self, x): + """ + Finds the distance of the object keeping into account its current position. + + Args: + x (object): a specific object is being passed in order to retrieve its position. + + Returns: + the distance between the two objects is being returned. + """ if self.position is None: success = asyncio.create_task(self._wait_for_position) if not success: @@ -182,9 +283,24 @@ async def _dist(self, x): return np.linalg.norm(nt.rosmsg_to_numpy(x.position) - self.position) async def get_object( - self, object_name, volume_only=False, thresh=50, thresh_strict=50 + self, + object_name, + volume_only=False, + thresh=50, + thresh_strict=50, ): - """Get an object from the database.""" + """ + Get an object from the database. + + Args: + object_name (string): the name of the object is passed in. + volume_only (bool): determines whether it is volume-based or not. + thresh (int): a maximum distance is passed in. + thresh_strict(int): a more strict maximum distance is passed in. + + Returns: + closest_potential_object (object): returns the object that is within the closest range. + """ if volume_only: req = ObjectDBQueryRequest() req.name = object_name @@ -229,6 +345,15 @@ async def get_object( return closest_potential_object def wait_for_additional_objects(self, timeout=60): + """ + Returns true/false whether additional objects are being passed in. + + Args: + timeout (int): maximum time limit of 60 seconds to run the program. + + Returns: + (bool): determines whether additional objects are added. + """ num_items = self.num_items start = time.time() while timeout < time.time() - start: @@ -237,14 +362,36 @@ def wait_for_additional_objects(self, timeout=60): return False def set_color(self, color, name): - """Set the color of an object in the database.""" - raise NotImplementedError() + """ + Sets the color of an object in the database. + + Args: + color: the new color of the object is passed in. + name: the name of the object is passed in. + """ + raise NotImplementedError def set_fake_position(self, pos): - """Set the position of a fake perception object.""" - raise NotImplementedError() + """ + Sets the position of a fake perception object. + + Args: + pos (int): the new position of the object is passed in. + """ + raise NotImplementedError async def get_objects_in_radius(self, pos, radius, objects="all"): + """ + Retrieves the objects that are present within the radius. + + Args: + pos (int): the position of the object is passed in. + radius (int): the radius of the object is passed in. + objects (object): this is a list of all the objects that needs to be compared. + + Returns: + ans (object): returns the objects that are present within the radius. + """ req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) diff --git a/NaviGator/utils/navigator_tools/navigator_tools/self_check.py b/NaviGator/utils/navigator_tools/navigator_tools/self_check.py index 1acce6b17..97f63c6ec 100755 --- a/NaviGator/utils/navigator_tools/navigator_tools/self_check.py +++ b/NaviGator/utils/navigator_tools/navigator_tools/self_check.py @@ -48,19 +48,23 @@ async def main(): # Perception Subs topics["right_images"], topics["right_compressed"] = add_camera_feeds( - nh, "camera/starboard" + nh, + "camera/starboard", ) topics["front_right_images"], topics["front_right_compressed"] = add_camera_feeds( - nh, "camera/front/right" + nh, + "camera/front/right", ) topics["front_left_images"], topics["front_left_compressed"] = add_camera_feeds( - nh, "camera/front/left" + nh, + "camera/front/left", ) from sensor_msgs.msg import PointCloud2 topics["velodyne"] = nh.subscribe( - "/velodyne_points", PointCloud2 + "/velodyne_points", + PointCloud2, ).get_next_message() # Thrusters diff --git a/NaviGator/utils/navigator_tools/nodes/boat_info.py b/NaviGator/utils/navigator_tools/nodes/boat_info.py index 9743d2397..dfd86e5eb 100755 --- a/NaviGator/utils/navigator_tools/nodes/boat_info.py +++ b/NaviGator/utils/navigator_tools/nodes/boat_info.py @@ -21,7 +21,8 @@ def __init__(self): rospy.Subscriber("/battery_monitor", Float32, self.battery_monitor_cb) self.kill_listener = AlarmListener("kill", callback_funct=self.kill_alarm_cb) self.station_hold_listner = AlarmListener( - "station-hold", callback_funct=self.station_alarm_cb + "station-hold", + callback_funct=self.station_alarm_cb, ) def update(self): diff --git a/NaviGator/utils/navigator_tools/nodes/coordinate_conversion_server.py b/NaviGator/utils/navigator_tools/nodes/coordinate_conversion_server.py index d31d3b466..4c126b2dd 100755 --- a/NaviGator/utils/navigator_tools/nodes/coordinate_conversion_server.py +++ b/NaviGator/utils/navigator_tools/nodes/coordinate_conversion_server.py @@ -50,7 +50,9 @@ def odom_sync_cb(self, odom, absodom): """ if self.first: # Advertise convert service on first odom/absodom pair self.convert_service = rospy.Service( - "convert", CoordinateConversion, self.convert_cb + "convert", + CoordinateConversion, + self.convert_cb, ) self.first = False self.stamp = odom.header.stamp diff --git a/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py b/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py index ce6921b8b..57d4b7c01 100755 --- a/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py +++ b/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py @@ -21,10 +21,10 @@ async def main(name, lla): await convert.init(nh) # Convert the name to Be_Like_This - name = "_".join(map(lambda txt: txt.title(), name.split("_"))) + name = "_".join(txt.title() for txt in name.split("_")) point = await convert.request(CoordinateConversionRequest(frame="lla", point=lla)) - await db(ObjectDBQueryRequest(cmd="{}={p[0]}, {p[1]}".format(name, p=point.enu))) + await db(ObjectDBQueryRequest(cmd=f"{name}={point.enu[0]}, {point.enu[1]}")) if __name__ == "__main__": @@ -34,14 +34,20 @@ async def main(name, lla): ex. rosrun navigator_tools estimated_object_setter.py Shooter "[82.32, -26.87, 2]"' parser = ArgumentParser( - usage=usage_msg, description=desc_msg, formatter_class=RawTextHelpFormatter + usage=usage_msg, + description=desc_msg, + formatter_class=RawTextHelpFormatter, ) parser.add_argument(dest="name", help="Name of the object.") parser.add_argument( - dest="lat", type=float, help="Latitude in degrees of the object of interest." + dest="lat", + type=float, + help="Latitude in degrees of the object of interest.", ) parser.add_argument( - dest="long", type=float, help="Longitude in degrees of the object of interest." + dest="long", + type=float, + help="Longitude in degrees of the object of interest.", ) parser.add_argument( "--alt", diff --git a/NaviGator/utils/navigator_tools/nodes/fake_action_server.py b/NaviGator/utils/navigator_tools/nodes/fake_action_server.py index 7d74fd761..75efdcbfb 100755 --- a/NaviGator/utils/navigator_tools/nodes/fake_action_server.py +++ b/NaviGator/utils/navigator_tools/nodes/fake_action_server.py @@ -12,9 +12,9 @@ from nav_msgs.msg import OccupancyGrid from navigator_path_planner.msg import MoveAction, MoveResult -fprint = lambda *args, **kwargs: _fprint( - title="FAKE_ACTION_SERVER", time="", *args, **kwargs -) + +def fprint(*args, **kwargs): + return _fprint(*args, title="FAKE_ACTION_SERVER", time="", **kwargs) class FakeActionServer: @@ -32,7 +32,10 @@ def set_ogrid(msg): rospy.Subscriber("/ogrid_master", OccupancyGrid, set_ogrid) self.move_server = actionlib.SimpleActionServer( - "/move_to", MoveAction, execute_cb=self.move_cb, auto_start=False + "/move_to", + MoveAction, + execute_cb=self.move_cb, + auto_start=False, ) self.move_server.start() rospy.sleep(0.1) @@ -59,7 +62,8 @@ def move_cb(self, msg): yaw = trns.euler_from_quaternion(rosmsg_to_numpy(msg.goal.orientation))[2] if not self.is_feasible( - np.array([msg.goal.position.x, msg.goal.position.y, yaw]), np.zeros(3) + np.array([msg.goal.position.x, msg.goal.position.y, yaw]), + np.zeros(3), ): fprint("Not feasible", msg_color="red") self.move_server.set_aborted(MoveResult("occupied")) @@ -92,7 +96,8 @@ def is_feasible(self, x, u): try: data = np.array(self.ogrid.data).reshape( - self.ogrid.info.width, self.ogrid.info.height + self.ogrid.info.width, + self.ogrid.info.height, ) grid_values = data[indices[:, 1], indices[:, 0]] except IndexError: diff --git a/NaviGator/utils/navigator_tools/nodes/navigator_status_tui b/NaviGator/utils/navigator_tools/nodes/navigator_status_tui index 525f63af7..3efa0a5d1 100755 --- a/NaviGator/utils/navigator_tools/nodes/navigator_status_tui +++ b/NaviGator/utils/navigator_tools/nodes/navigator_status_tui @@ -27,10 +27,10 @@ class nav_tui: self.y, self.x = screen.getmaxyx() self.window = screen.subwin(self.y, self.x, 0, 0) self.window.keypad( - 1 + 1, ) # Allows for escape sequences (ctrl-c) to be interpreted by the curses window self.panel = panel.new_panel( - self.window + self.window, ) # Creates a panel of window object, self.window self.panel.hide() panel.update_panels() @@ -126,7 +126,8 @@ class nav_tui: curses.doupdate() # Updates physical screen to match virtual one # AlarmListener for kill alarm self.kill_listener = AlarmListener( - "kill", callback_funct=self.kill_alarm_cb + "kill", + callback_funct=self.kill_alarm_cb, ) self.kill_listener.wait_for_server() # Subscribers for the different values displayed @@ -141,7 +142,10 @@ class nav_tui: [ rospy.Subscriber( - topic + "/status", Status, self.thruster_fault_cb, topic + topic + "/status", + Status, + self.thruster_fault_cb, + topic, ) for topic in self.motor_topics ] @@ -213,46 +217,67 @@ class nav_tui: n = 0 for fault in self.decode_fault_status(self.FL_fault): self.window.addstr( - 5 + n, self.x / 2 - 7, "%s" % fault, curses.color_pair(1) + 5 + n, + self.x / 2 - 7, + "%s" % fault, + curses.color_pair(1), ) n += 1 self.window.addstr(14, self.x / 2 - 7, "Back Left", color) if len(self.decode_fault_status(self.BL_fault)) == 0: self.window.addstr( - 15, self.x / 2 - 7, "No faults", curses.color_pair(3) + 15, + self.x / 2 - 7, + "No faults", + curses.color_pair(3), ) else: n = 0 for fault in self.decode_fault_status(self.BL_fault): self.window.addstr( - 15 + n, self.x / 2 - 7, "%s" % fault, curses.color_pair(1) + 15 + n, + self.x / 2 - 7, + "%s" % fault, + curses.color_pair(1), ) n += 1 self.window.addstr(4, self.x / 2 + 16, "Front Right", color) if len(self.decode_fault_status(self.FR_fault)) == 0: self.window.addstr( - 5, self.x / 2 + 16, "No faults", curses.color_pair(3) + 5, + self.x / 2 + 16, + "No faults", + curses.color_pair(3), ) else: n = 0 for fault in self.decode_fault_status(self.FR_fault): self.window.addstr( - 5 + n, self.x / 2 + 16, "%s" % fault, curses.color_pair(1) + 5 + n, + self.x / 2 + 16, + "%s" % fault, + curses.color_pair(1), ) n += 1 self.window.addstr(14, self.x / 2 + 16, "Back Right", color) if len(self.decode_fault_status(self.BR_fault)) == 0: self.window.addstr( - 15, self.x / 2 + 16, "No faults", curses.color_pair(3) + 15, + self.x / 2 + 16, + "No faults", + curses.color_pair(3), ) else: n = 0 for fault in self.decode_fault_status(self.BR_fault): self.window.addstr( - 15 + n, self.x / 2 + 16, "%s" % fault, curses.color_pair(1) + 15 + n, + self.x / 2 + 16, + "%s" % fault, + curses.color_pair(1), ) n += 1 self.rate.sleep() # Sleep function helps regulate the loop to a rate of 2 hz diff --git a/NaviGator/utils/navigator_tools/nodes/sylphase_ros_driver b/NaviGator/utils/navigator_tools/nodes/sylphase_ros_driver index 99ddbfdde..98ed9376b 100755 --- a/NaviGator/utils/navigator_tools/nodes/sylphase_ros_driver +++ b/NaviGator/utils/navigator_tools/nodes/sylphase_ros_driver @@ -59,7 +59,8 @@ def go(): d = json.loads(line.decode()) if not d["running"]: rospy.logwarn_throttle( - 10, "GPS not running: {}".format(d["running_reason"]) + 10, + "GPS not running: {}".format(d["running_reason"]), ) continue @@ -67,7 +68,7 @@ def go(): d["relative_position_enu"][2] = 0 ecef_cov = numpy.array( - d["X_position_relative_position_orientation_ecef_covariance"] + d["X_position_relative_position_orientation_ecef_covariance"], ) absodom_pub.publish( Odometry( @@ -84,12 +85,12 @@ def go(): covariance=numpy.vstack( ( numpy.hstack( - (ecef_cov[0:3, 0:3], ecef_cov[0:3, 6:9]) + (ecef_cov[0:3, 0:3], ecef_cov[0:3, 6:9]), ), numpy.hstack( - (ecef_cov[6:9, 0:3], ecef_cov[6:9, 6:9]) + (ecef_cov[6:9, 0:3], ecef_cov[6:9, 6:9]), ), - ) + ), ).flatten(), ), twist=TwistWithCovariance( @@ -103,18 +104,18 @@ def go(): ( d["X_velocity_body_covariance"], numpy.zeros((3, 3)), - ) + ), ), numpy.hstack( ( numpy.zeros((3, 3)), d["X_angular_velocity_body_covariance"], - ) + ), ), - ) + ), ).flatten(), ), - ) + ), ) odom_pub.publish( Odometry( @@ -129,7 +130,7 @@ def go(): orientation=Quaternion(**d["orientation_enu"]), ), covariance=numpy.array( - d["X_relative_position_orientation_enu_covariance"] + d["X_relative_position_orientation_enu_covariance"], ).flatten(), ), twist=TwistWithCovariance( @@ -143,18 +144,18 @@ def go(): ( d["X_velocity_body_covariance"], numpy.zeros((3, 3)), - ) + ), ), numpy.hstack( ( numpy.zeros((3, 3)), d["X_angular_velocity_body_covariance"], - ) + ), ), - ) + ), ).flatten(), ), - ) + ), ) acceleration_pub.publish( Vector3Stamped( @@ -163,7 +164,7 @@ def go(): frame_id=child_frame_id, ), vector=Vector3(*d["X_acceleration_body"]), - ) + ), ) count += 1 diff --git a/NaviGator/utils/remote_control/navigator_emergency_control/CMakeLists.txt b/NaviGator/utils/remote_control/navigator_emergency_control/CMakeLists.txt index 6d7b64451..8452495ed 100644 --- a/NaviGator/utils/remote_control/navigator_emergency_control/CMakeLists.txt +++ b/NaviGator/utils/remote_control/navigator_emergency_control/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_emergency_controller) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py index f27b0b8e2..8077b4601 100755 --- a/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py +++ b/NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py @@ -10,6 +10,27 @@ class Joystick: + """ + Stores the history of operations pertaining to how the joystick operates. + + Possible operations could include resetting several parameters (imported from one of the inherited classes) + to their default values, keeping track of duration to determine a timeout period, and assigning values to attributes that + are used as reference for conditional statements and other functionalities such as incrementation, reassigning values, etc. + + Attributes: + force_scale (int): Sets the force scale that needs to be amplified by. + torque_scale (int): Sets the torque scale that needs to be amplified by. + last_raise_kill (bool): Determines whether the kill alarm is activated. + last_clear_kill (bool): Clears the system kill no matter the state that it is in. + last_station_hold_state (bool): Determines whether the goal point is set as the current location. + last_emergency_control (bool): Determines where the emergency controller is the active controller. + last_go_inactive (bool): Checks whether something is going inactive or not. + thruster_deploy_count (int): The number of thrusters that are being deployed. + thruster_retract_count (int): The number of thrusters that are being retracted. + start_count (int): Number of seconds that start is being pressed down. + active (bool): Indicates the current state of the controller. + """ + def __init__(self): self.force_scale = rospy.get_param("/joystick_wrench/force_scale", 600) self.torque_scale = rospy.get_param("/joystick_wrench/torque_scale", 500) @@ -24,6 +45,12 @@ def reset(self) -> None: """ Used to reset the state of the controller. Sometimes when it disconnects then comes back online, the settings are all out of whack. + + Args: + No arguments are passed in. + + Returns: + No return statement but values are being reset to their default state. """ self.last_raise_kill = False self.last_clear_kill = False @@ -38,18 +65,27 @@ def reset(self) -> None: self.active = False self.remote.clear_wrench() - def check_for_timeout(self, joy): + def check_for_timeout(self, joy: Joy): + """ + Consists of several procedures that reference parameters that are retrieved from the "Joy" object in + order to determine the state of the controller or whether it is a timeout phase. + + Args: + joy (Joy): The Joy message. + """ if self.last_joy is None: self.last_joy = joy return if joy.axes == self.last_joy.axes and joy.buttons == self.last_joy.buttons: # No change in state - if rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60): - # The controller times out after 15 minutes - if self.active: - rospy.logwarn("Controller Timed out. Hold start to resume.") - self.reset() + # The controller times out after 15 minutes + if ( + rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60) + and self.active + ): + rospy.logwarn("Controller Timed out. Hold start to resume.") + self.reset() else: joy.header.stamp = ( @@ -58,6 +94,15 @@ def check_for_timeout(self, joy): self.last_joy = joy def joy_recieved(self, joy: Joy) -> None: + """ + Button elements are being assigned and simplied to readable names. The + number of deployments or retractions for thrusters are being updated based + on several conditions. Moreover, additional settings are changed based on the + state of the controller and the activation of potential alarms or switches. + + Args: + joy (Joy): The Joy message. + """ self.last_time = rospy.Time.now() self.check_for_timeout(joy) @@ -128,14 +173,12 @@ def joy_recieved(self, joy: Joy) -> None: def die_check(self, _: rospy.timer.TimerEvent) -> None: """ - Publishes zeros after 2 seconds of no update - in case node navigator_emergency_xbee dies + Publishes zeros after 2 seconds of no update in case node dies. """ - if self.active: - # No new instructions after 2 seconds - if rospy.Time.now() - self.last_time > rospy.Duration(2): - # Zero the wrench, reset - self.reset() + # No new instructions after 2 seconds + if self.active and rospy.Time.now() - self.last_time > rospy.Duration(2): + # Zero the wrench, reset + self.reset() if __name__ == "__main__": diff --git a/NaviGator/utils/remote_control/navigator_joystick_control/CMakeLists.txt b/NaviGator/utils/remote_control/navigator_joystick_control/CMakeLists.txt index 92e88c8b3..20d2de421 100644 --- a/NaviGator/utils/remote_control/navigator_joystick_control/CMakeLists.txt +++ b/NaviGator/utils/remote_control/navigator_joystick_control/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_joystick_control) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py b/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py index 52a5feb1d..3d9ad194b 100755 --- a/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py +++ b/NaviGator/utils/remote_control/navigator_joystick_control/nodes/navigator_joystick.py @@ -44,13 +44,16 @@ def check_for_timeout(self, joy): self.last_joy = joy return - if joy.axes == self.last_joy.axes and joy.buttons == self.last_joy.buttons: - # No change in state - if rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60): - # The controller times out after 15 minutes - if self.active: - rospy.logwarn("Controller Timed out. Hold start to resume.") - self.reset() + # No change in state + # The controller times out after 15 minutes + if ( + joy.axes == self.last_joy.axes + and joy.buttons == self.last_joy.buttons + and rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60) + and self.active + ): + rospy.logwarn("Controller Timed out. Hold start to resume.") + self.reset() else: joy.header.stamp = ( diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/CMakeLists.txt b/NaviGator/utils/remote_control/navigator_keyboard_control/CMakeLists.txt index 534a27e23..e6e092793 100644 --- a/NaviGator/utils/remote_control/navigator_keyboard_control/CMakeLists.txt +++ b/NaviGator/utils/remote_control/navigator_keyboard_control/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_keyboard_control) find_package(catkin REQUIRED COMPONENTS diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py index 46ec2f078..da34ee22c 100755 --- a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py +++ b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_client.py @@ -8,6 +8,7 @@ useful feedback and captures key presses to be sent to the server. """ +import contextlib import curses from typing import Optional @@ -144,7 +145,5 @@ def main(stdscr): if __name__ == "__main__": - try: + with contextlib.suppress(rospy.ROSInterruptException): curses.wrapper(main) - except rospy.ROSInterruptException: - pass diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py index c6114f504..8da84467a 100755 --- a/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py +++ b/NaviGator/utils/remote_control/navigator_keyboard_control/nodes/navigator_keyboard_server.py @@ -51,10 +51,14 @@ def __init__(self): ord("a"): lambda: self.remote.publish_wrench(0, self.force_scale, 0), ord("d"): lambda: self.remote.publish_wrench(0, -self.force_scale, 0), curses.KEY_LEFT: lambda: self.remote.publish_wrench( - 0, 0, self.torque_scale + 0, + 0, + self.torque_scale, ), curses.KEY_RIGHT: lambda: self.remote.publish_wrench( - 0, 0, -self.torque_scale + 0, + 0, + -self.torque_scale, ), } self.movement_keys = [ diff --git a/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py b/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py index a04b58ecf..4b0aa11f0 100755 --- a/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py +++ b/NaviGator/utils/remote_control/navigator_keyboard_control/remote_control_lib/remote_control_lib.py @@ -33,7 +33,7 @@ class RemoteControl: def __init__(self, controller_name: str, wrench_pub: Optional[str] = None): self.name = controller_name self.wrench_choices = itertools.cycle( - ["rc", "emergency", "keyboard", "autonomous"] + ["rc", "emergency", "keyboard", "autonomous"], ) self.kill_broadcaster = AlarmBroadcaster("kill") @@ -42,7 +42,8 @@ def __init__(self, controller_name: str, wrench_pub: Optional[str] = None): self.wrench_changer = rospy.ServiceProxy("/wrench/select", MuxSelect) self.task_client = MissionClient() self.kill_listener = AlarmListener( - "kill", callback_funct=self._update_kill_status + "kill", + callback_funct=self._update_kill_status, ) if wrench_pub is None: @@ -51,14 +52,17 @@ def __init__(self, controller_name: str, wrench_pub: Optional[str] = None): self.wrench_pub = rospy.Publisher(wrench_pub, WrenchStamped, queue_size=1) self.shooter_load_client = actionlib.SimpleActionClient( - "/shooter/load", ShooterDoAction + "/shooter/load", + ShooterDoAction, ) self.shooter_fire_client = actionlib.SimpleActionClient( - "/shooter/fire", ShooterDoAction + "/shooter/fire", + ShooterDoAction, ) self.shooter_cancel_client = rospy.ServiceProxy("/shooter/cancel", Trigger) self.shooter_manual_client = rospy.ServiceProxy( - "/shooter/manual", ShooterManual + "/shooter/manual", + ShooterManual, ) self.shooter_reset_client = rospy.ServiceProxy("/shooter/reset", Trigger) @@ -147,8 +151,9 @@ def cb(terminal_state, result): else: rospy.logwarn( "Error deploying thrusters: {}, status: {}".format( - TerminalState.to_string(terminal_state), result.status - ) + TerminalState.to_string(terminal_state), + result.status, + ), ) self.task_client.run_task("DeployThrusters", done_cb=cb) @@ -165,8 +170,9 @@ def cb(terminal_state, result): else: rospy.logwarn( "Error rectracting thrusters: {}, status: {}".format( - TerminalState.to_string(terminal_state), result.status - ) + TerminalState.to_string(terminal_state), + result.status, + ), ) self.task_client.run_task("RetractThrusters", done_cb=cb) @@ -217,8 +223,10 @@ def _shooter_load_feedback(self, status, result): """ rospy.loginfo( "Shooter Load Status={} Success={} Error={}".format( - status, result.success, result.error - ) + status, + result.success, + result.error, + ), ) @_timeout_check @@ -227,7 +235,8 @@ def shooter_load(self, *args, **kwargs) -> None: Loads the shooter by using the action client to retract the linear actuator. """ self.shooter_load_client.send_goal( - goal=ShooterDoActionGoal(), done_cb=self._shooter_load_feedback + goal=ShooterDoActionGoal(), + done_cb=self._shooter_load_feedback, ) rospy.loginfo("Kip, do not throw away your shot.") @@ -237,8 +246,10 @@ def _shooter_fire_feedback(self, status, result) -> None: """ rospy.loginfo( "Shooter Fire Status={} Success={} Error={}".format( - status, result.success, result.error - ) + status, + result.success, + result.error, + ), ) @_timeout_check @@ -248,10 +259,11 @@ def shooter_fire(self, *args, **kwargs) -> None: acceleration discs and extend the linear actuator. """ self.shooter_fire_client.send_goal( - goal=ShooterDoActionGoal(), done_cb=self._shooter_fire_feedback + goal=ShooterDoActionGoal(), + done_cb=self._shooter_fire_feedback, ) rospy.loginfo( - "One, two, three, four, five, six, seven, eight, nine. Number... TEN PACES! FIRE!" + "One, two, three, four, five, six, seven, eight, nine. Number... TEN PACES! FIRE!", ) @_timeout_check @@ -264,7 +276,7 @@ def shooter_cancel(self, *args, **kwargs) -> None: self.shooter_cancel_client(TriggerRequest()) rospy.loginfo("I imaging death so much it feels more like a memory.") rospy.loginfo( - "When's it gonna get me? While I'm blocked? Seven clocks ahead of me?" + "When's it gonna get me? While I'm blocked? Seven clocks ahead of me?", ) def _shooter_reset_helper(self, event): @@ -274,7 +286,7 @@ def _shooter_reset_helper(self, event): rospy.loginfo("Resetting the shooter service") self.shooter_reset_client(TriggerRequest()) rospy.loginfo( - "In New York you can be a new man! In New York you can be a new man!" + "In New York you can be a new man! In New York you can be a new man!", ) @_timeout_check diff --git a/NaviGator/utils/voltage_gui/CMakeLists.txt b/NaviGator/utils/voltage_gui/CMakeLists.txt index 2dda71dd7..a9bc7eda3 100644 --- a/NaviGator/utils/voltage_gui/CMakeLists.txt +++ b/NaviGator/utils/voltage_gui/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(voltage_gui) ## Compile as C++11, supported in ROS Kinetic and newer diff --git a/NaviGator/utils/voltage_gui/src/voltage_gui.py b/NaviGator/utils/voltage_gui/src/voltage_gui.py index b8f637d28..932dbc22b 100644 --- a/NaviGator/utils/voltage_gui/src/voltage_gui.py +++ b/NaviGator/utils/voltage_gui/src/voltage_gui.py @@ -11,15 +11,33 @@ from roboteq_msgs.msg import Feedback from std_msgs.msg import Float32 -# Display voltage from battery_monitor and the four motors to a GUI - - __author__ = "Joseph Brooks" __email__ = "brooksturtle@ufl.edu" __license__ = "MIT" class voltageGUI(Plugin): + """ + Display voltage from battery_monitor and the four motors to a GUI + + Attributes: + height (int): defines the height of the screen + fontSize(int): sets the font size of the screen + warningCounter(int): prints the number of warning signs + paramCounter(int): the number of times "updateLabel" function is called + heightRatio(int): the ratio change in height that is caused by the resize + gotParams(bool): this checks to see whether the parameters are set + lowThreshold(int): colors values which include Good (Green), Warning (Yellow), and Critical (Red) + criticalThreshold(int): colors values which include Good (Green), Warning (Yellow), and Critical (Red) + paramCounter(int): number of parameters that are called by function + + battery_voltage(int): the amount of voltage that is stored in the battery + voltageFL(int): the voltage that is being supplied from dataFL + voltageFR(int): the voltage that is being supplied from dataFR + voltageBL(int): the voltage that is being supplied from dataBL + voltageBR(int): the voltage that is being supplied from dataBR + """ + def __init__(self, context): super().__init__(context) self.setObjectName("voltage_gui") @@ -28,13 +46,15 @@ def __init__(self, context): if context.serial_number() > 1: self.myWidget.setWindowTitle( - self.myWidget.windowTitle() + (" (%d)" % context.serial_number()) + self.myWidget.windowTitle() + (" (%d)" % context.serial_number()), ) context.add_widget(self.myWidget) self.runGUI() - # Updates Values displayed in GUI every second def runGUI(self) -> None: + """ + Updates Values displayed in GUI every second + """ app = QApplication(sys.argv) self.myWidget.show() while 0 == 0: @@ -57,12 +77,12 @@ def __init__(self): # Whenever the screen is resized the resizeFont function is called self.resized.connect(self.resizeFont) - self.height = VoltageWidget.frameGeometry(self).height() + self.height = VoltageWidget.frameGeometry(self).height() # done - self.fontSize = 40 + self.fontSize = 40 # done - self.warningCounter = 0 - self.paramCounter = 0 + self.warningCounter = 0 # done + self.paramCounter = 0 # done self.initThresh() @@ -80,27 +100,67 @@ def __init__(self): # The functions that the subscribers call in order to get new data def updateMain(self, mainData: Float32) -> None: + """ + It is one of the functions that the subscribers call in order to get new data. + + Args: + mainData: it is a float value that is being passed in for a variable to be set to. + """ self.battery_voltage = mainData def update_FL(self, dataFL: Feedback) -> None: + """ + It is one of the functions that the subscribers call in order to get new data. + + Args: + dataFL: it is a feedback value that is being passed in for a variable to be set to. + """ self.voltageFL = dataFL.supply_voltage def update_FR(self, dataFR: Feedback) -> None: + """ + It is one of the functions that the subscribers call in order to get new data. + + Args: + dataFR: it is a feedback value that is being passed in for a variable to be set to. + """ self.voltageFR = dataFR.supply_voltage def update_BL(self, dataBL: Feedback) -> None: + """ + It is one of the functions that the subscribers call in order to get new data. + + Args: + dataBL: it is a feedback value that is being passed in for a variable to be set to. + """ self.voltageBL = dataBL.supply_voltage def update_BR(self, dataBR: Feedback) -> None: + """ + It is one of the functions that the subscribers call in order to get new data. + + Args: + dataBR: it is a feedback value that is being passed in for a variable to be set to. + """ self.voltageBR = dataBR.supply_voltage - # Part of signal that notifies program whenever window is resized - def resizeEvent(self, event): + def resizeEvent(self, event): # done + """ + Part of signal that notifies program whenever window is resized + + Args: + event: an event object is being passed in. + + Returns: + An event was being returned with a different size. + """ self.resized.emit() return super().resizeEvent(event) - # Increase/decrease size of fonts based on window resize - def resizeFont(self) -> None: + def resizeFont(self) -> None: # done + """ + Increase/decrease size of fonts based on window resize + """ # gets new window dimensions, the self is needed because we are referencing # our VoltageWidget class height = VoltageWidget.frameGeometry(self).height() @@ -126,6 +186,9 @@ def resizeFont(self) -> None: # Sets the text of the thrshold info box def initThresh(self) -> None: + """ + Sets the text of the threshold info box + """ # Low and Critical decide what colors the boxes take for # Good (Green), Warning (Yellow), and Critical (Red) # If the parameter server has not set these values then we use the DEFAULT @@ -139,7 +202,7 @@ def initThresh(self) -> None: try: self.lowThreshold = rospy.get_param("battery-voltage/low") self.criticalThreshold = rospy.get_param("battery-voltage/critical") - except: + except Exception: print("Low and Critical Voltage not set, Low: 26 Critical:20") self.lowThreshold = 26 self.criticalThreshold = 20 @@ -149,115 +212,127 @@ def initThresh(self) -> None: # self.labelThresh = QLabel(self) # self.labelThresh.setGeometry(QtCore.QRect((150+2*self.boxWidth), (10), self.boxWidth, self.boxHeight)) threshText = "Low Threshold: {} \nCritical: {}".format( - self.lowThreshold, self.criticalThreshold + self.lowThreshold, + self.criticalThreshold, ) self.labelThresh.setText(threshText) self.labelThresh.setStyleSheet( - "QLabel { background-color : white; color : black; }" + "QLabel { background-color : white; color : black; }", ) threshFont = QtGui.QFont("Times", (self.fontSize) / 3, QtGui.QFont.Bold) self.labelThresh.setFont(threshFont) - # If self.gotParams is False, the updateLabel function calls testParams every 5 seconds - def testParams(self) -> None: + def testParams(self) -> None: # done + """ + If self.gotParams is False, the updateLabel function calls testParams every 5 seconds + """ try: self.lowThreshold = rospy.get_param("battery-voltage/low") self.criticalThreshold = rospy.get_param("battery-voltage/critical") self.gotParams = True - except: + except Exception: self.gotParams = False if self.gotParams: threshText = "Low Threshold: {} \nCritical: {}".format( - self.lowThreshold, self.criticalThreshold + self.lowThreshold, + self.criticalThreshold, ) else: threshText = "THRESHOLDS NOT SET\nUSING DEFAULT\nLow Threshold: {} \nCritical: {}".format( - self.lowThreshold, self.criticalThreshold + self.lowThreshold, + self.criticalThreshold, ) self.labelThresh.setText(threshText) - # sets colors of boxes based on current values of voltages for each box - def setColors(self, numMain: float) -> None: + def setColors(self, numMain: float) -> None: # done + """ + sets colors of boxes based on current values of voltages for each box + + Args: + numMain(float): box object that stores current values + """ if numMain > self.lowThreshold: self.labelMain.setStyleSheet( - "QLabel { background-color : green; color : white; }" + "QLabel { background-color : green; color : white; }", ) elif numMain <= self.lowThreshold and numMain > self.criticalThreshold: self.labelMain.setStyleSheet( - "QLabel { background-color : yellow; color : black; }" + "QLabel { background-color : yellow; color : black; }", ) elif numMain <= self.criticalThreshold: self.labelMain.setStyleSheet( - "QLabel { background-color : red; color : white; }" + "QLabel { background-color : red; color : white; }", ) if self.voltageFL > self.lowThreshold: self.labelFL.setStyleSheet( - "QLabel { background-color : green; color : white; }" + "QLabel { background-color : green; color : white; }", ) elif ( self.voltageFL <= self.lowThreshold and self.voltageFL > self.criticalThreshold ): self.labelFL.setStyleSheet( - "QLabel { background-color : yellow; color : black; }" + "QLabel { background-color : yellow; color : black; }", ) elif self.voltageFL <= self.criticalThreshold: self.labelFL.setStyleSheet( - "QLabel { background-color : red; color : white; }" + "QLabel { background-color : red; color : white; }", ) if self.voltageFR > self.lowThreshold: self.labelFR.setStyleSheet( - "QLabel { background-color : green; color : white; }" + "QLabel { background-color : green; color : white; }", ) elif ( self.voltageFR <= self.lowThreshold and self.voltageFR > self.criticalThreshold ): self.labelFR.setStyleSheet( - "QLabel { background-color : yellow; color : black; }" + "QLabel { background-color : yellow; color : black; }", ) elif self.voltageFR <= self.criticalThreshold: self.labelFR.setStyleSheet( - "QLabel { background-color : red; color : white; }" + "QLabel { background-color : red; color : white; }", ) if self.voltageBL > self.lowThreshold: self.labelBL.setStyleSheet( - "QLabel { background-color : green; color : white; }" + "QLabel { background-color : green; color : white; }", ) elif ( self.voltageBL <= self.lowThreshold and self.voltageBL > self.criticalThreshold ): self.labelBL.setStyleSheet( - "QLabel { background-color : yellow; color : black; }" + "QLabel { background-color : yellow; color : black; }", ) elif self.voltageBL <= self.criticalThreshold: self.labelBL.setStyleSheet( - "QLabel { background-color : red; color : white; }" + "QLabel { background-color : red; color : white; }", ) if self.voltageBR > self.lowThreshold: self.labelBR.setStyleSheet( - "QLabel { background-color : green; color : white; }" + "QLabel { background-color : green; color : white; }", ) elif ( self.voltageBR <= self.lowThreshold and self.voltageBR > self.criticalThreshold ): self.labelBR.setStyleSheet( - "QLabel { background-color : yellow; color : black; }" + "QLabel { background-color : yellow; color : black; }", ) elif self.voltageBR <= self.criticalThreshold: self.labelBR.setStyleSheet( - "QLabel { background-color : red; color : white; }" + "QLabel { background-color : red; color : white; }", ) def updateLabel(self) -> None: - # Tries self.gotParams every 3 function calls + """ + Tries self.gotParams every 3 function calls + """ self.paramCounter = self.paramCounter + 1 if self.gotParams is False and self.paramCounter >= 3: self.testParams() @@ -271,7 +346,7 @@ def updateLabel(self) -> None: numMain = float(stringMain) numMain = int(numMain * 100) numMain = numMain / 100.0 - except: + except Exception: if self.warningCounter == 0: print("battery monitor is not online!!") self.warningCounter = 1 @@ -285,27 +360,27 @@ def updateLabel(self) -> None: numFL = (int(self.voltageFL * 100)) / 100 stringFL = str(numFL) self.labelFL.setText(f"{stringFL}") - except: + except Exception: pass try: numFR = (int(self.voltageFR * 100)) / 100 stringFR = str(numFR) self.labelFR.setText(f"{stringFR}") - except: + except Exception: pass try: numBL = (int(self.voltageBL * 100)) / 100 stringBL = str(numBL) self.labelBL.setText(f"{stringBL}") - except: + except Exception: pass try: stringBR = float(f"{self.voltageBR:.2f}") self.labelBR.setText(f"{stringBR}") - except: + except Exception: pass QApplication.processEvents() diff --git a/SubjuGator/command/subjugator_alarm/CMakeLists.txt b/SubjuGator/command/subjugator_alarm/CMakeLists.txt index 82f15a6ee..9a814c5b0 100644 --- a/SubjuGator/command/subjugator_alarm/CMakeLists.txt +++ b/SubjuGator/command/subjugator_alarm/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_alarm) diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/height_over_bottom.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/height_over_bottom.py index 63ab7302d..d4c6efaef 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/height_over_bottom.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/height_over_bottom.py @@ -26,7 +26,10 @@ def __init__(self): # Keep track of the current height self._last_height = 100 - set_last_height = lambda msg: setattr(self, "_last_height", msg.range) + + def set_last_height(msg): + return setattr(self, "_last_height", msg.range) + rospy.Subscriber("/dvl/range", RangeStamped, set_last_height) # Every 5 seconds, check for an updated height param. A pseudo dynamic reconfig thing. diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py index ece3e122a..4055694d8 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py @@ -42,7 +42,7 @@ def __init__(self): self._set_mobo_kill = rospy.ServiceProxy("/set_mobo_kill", SetBool) try: self._set_mobo_kill.wait_for_service(3.0) - except rospy.ROSException as e: + except rospy.ROSException: rospy.logerr("Could not contact kill board! Kills will only be software") self.set_mobo_kill(True) # Tell HW that we started off as killed @@ -101,9 +101,7 @@ def _bag_done_cb(self, status, result): rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}") else: rospy.logwarn( - "KILL BAG {}, status: {}".format( - TerminalState.to_string(status), result.status - ) + f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}", ) def bagger_dump(self): @@ -116,7 +114,7 @@ def bagger_dump(self): rospy.logwarn("BAG_ALWAYS or BAG_KILL not set. Not making kill bag.") return goal = BagOnlineGoal(bag_name="kill.bag") - goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["bag_kill"] + goal.topics = os.environ["BAG_ALWAYS"] + " " + os.environ["BAG_KILL"] self.bag_client.send_goal(goal, done_cb=self._bag_done_cb) def meta_predicate(self, meta_alarm, sub_alarms): @@ -141,7 +139,8 @@ def meta_predicate(self, meta_alarm, sub_alarms): # If we lose network but don't want to go autonomous if sub_alarms["network-loss"].raised and not rospy.get_param( - "/autonomous", False + "/autonomous", + False, ): return True ignore.append("network-loss") @@ -168,5 +167,5 @@ def meta_predicate(self, meta_alarm, sub_alarms): # Raised if any alarms besides the two above are raised return any( - [alarm.raised for name, alarm in sub_alarms.items() if name not in ignore] + alarm.raised for name, alarm in sub_alarms.items() if name not in ignore ) diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/network_loss.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/network_loss.py index 7d614857a..58be2ca50 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/network_loss.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/network_loss.py @@ -16,7 +16,11 @@ class NetworkLoss(HandlerBase): def __init__(self): self.hm = HeartbeatMonitor( - self.alarm_name, "/network", Header, prd=0.8, node_name="network_loss_kill" + self.alarm_name, + "/network", + Header, + prd=0.8, + node_name="network_loss_kill", ) def raised(self, alarm) -> None: diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py index 8e23c6a3b..90a8e817b 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py @@ -27,7 +27,7 @@ class OdomKill(HandlerBase): def __init__(self, timeout=0.5): self.GRACE_PERIOD = rospy.Duration( - 5.0 + 5.0, ) # Alarms won't be raised within grace period self.TIMEOUT = rospy.Duration(timeout) self.MAX_JUMP = 0.5 @@ -38,7 +38,10 @@ def __init__(self, timeout=0.5): self.odom_discontinuity = False self._killed = False self.odom_listener = rospy.Subscriber( - "/odom", Odometry, self.got_odom_msg, queue_size=1 + "/odom", + Odometry, + self.got_odom_msg, + queue_size=1, ) self.ab = AlarmBroadcaster("odom-kill", node_name="odom-kill") rospy.Timer(rospy.Duration(0.1), self.check) @@ -64,7 +67,8 @@ def check(self, *args): else: self._killed = True self.ab.raise_alarm( - problem_description="STATE ESTIMATION LOSS: KILLING SUB", severity=5 + problem_description="STATE ESTIMATION LOSS: KILLING SUB", + severity=5, ) rospy.logerr("STATE ESTIMATION LOSS: KILLING SUB") @@ -97,9 +101,7 @@ def check_continuity(self, new_odom_msg: Odometry): # True if 'continuous' if jump > self.MAX_JUMP: rospy.logerr("ODOM DISCONTINUITY DETECTED") self.ab.raise_alarm( - problem_description="ODOM DISCONTINUITY DETECTED JUMPED {} METERS".format( - jump - ), + problem_description=f"ODOM DISCONTINUITY DETECTED JUMPED {jump} METERS", severity=5, ) self.odom_discontinuity = True @@ -116,13 +118,11 @@ def need_kill(self): if odom_loss: rospy.logerr_throttle( 1, - "LOST ODOM FOR {} SECONDS".format( - (rospy.Time.now() - self.last_time).to_sec() - ), + f"LOST ODOM FOR {(rospy.Time.now() - self.last_time).to_sec()} SECONDS", ) self.ab.raise_alarm( problem_description="LOST ODOM FOR {} SECONDS".format( - (rospy.Time.now() - self.last_time).to_sec() + (rospy.Time.now() - self.last_time).to_sec(), ), severity=5, ) diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/thruster_out.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/thruster_out.py index 5fd9d7d41..9be9d4a1d 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/thruster_out.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/thruster_out.py @@ -24,7 +24,8 @@ def __init__(self): ) self._update_layout_proxy = rospy.ServiceProxy( - "update_thruster_layout", UpdateThrusterLayout + "update_thruster_layout", + UpdateThrusterLayout, ) def update_layout(self, *args, **kwargs): diff --git a/SubjuGator/command/subjugator_keyboard_control/CHANGELOG.rst b/SubjuGator/command/subjugator_keyboard_control/CHANGELOG.rst new file mode 100644 index 000000000..3cb3df750 --- /dev/null +++ b/SubjuGator/command/subjugator_keyboard_control/CHANGELOG.rst @@ -0,0 +1,40 @@ +1.0.0 (2020-06-26) +------------------ +* Implement repeat rate and key timeout +* Update readme about publishing to another topic. +* Contributors: Austin, trainman419 + +0.6.2 (2018-10-21) +------------------ +* Replace tabs with spaces, fixes `#15 `_ +* Merge pull request `#13 `_ from asukiaaa/patch-3 + Add rosrun command to specify values +* Add rosrun command to specify values +* Contributors: Asuki Kono, Austin, trainman419 + +0.6.1 (2018-05-02) +------------------ +* Merge pull request `#11 `_ from MatthijsBurgh/patch-1 + Correct exception handling; Python3 print compatible +* import print from future +* Print python3 compatible +* correct Exception handling +* Merge pull request `#7 `_ from lucasw/speed_params + set linear and turn speed via rosparams +* Using tabs instead of spaces to match rest of file +* set linear and turn speed via rosparams +* Contributors: Austin, Lucas Walter, Matthijs van der Burgh + +0.6.0 (2016-03-21) +------------------ +* Better instruction formatting +* support holonomic base, send command with keyboard down +* Fixing queue_size warning +* Create README.md +* Update the description string in package.xml +* Contributors: Austin, Kei Okada, LiohAu, Mike Purvis, kk6axq, trainman419 + +0.5.0 (2014-02-11) +------------------ +* Initial import from brown_remotelab +* Convert to catkin diff --git a/SubjuGator/command/subjugator_keyboard_control/CMakeLists.txt b/SubjuGator/command/subjugator_keyboard_control/CMakeLists.txt new file mode 100644 index 000000000..e4a3a2f10 --- /dev/null +++ b/SubjuGator/command/subjugator_keyboard_control/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(subjugator_keyboard_control) + +find_package(catkin REQUIRED) + +catkin_package() + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + teleop_twist_keyboard.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/SubjuGator/command/subjugator_keyboard_control/README.md b/SubjuGator/command/subjugator_keyboard_control/README.md new file mode 100644 index 000000000..1d37e4fe0 --- /dev/null +++ b/SubjuGator/command/subjugator_keyboard_control/README.md @@ -0,0 +1,74 @@ +# teleop_twist_keyboard +Generic Keyboard Teleop for ROS + +# Launch +Run. +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py +``` + +With custom values. +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8 +``` + +Publishing to a different topic (in this case `my_cmd_vel`). +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=my_cmd_vel +``` + +# Usage +``` +Reading from the keyboard and Publishing to Twist! +--------------------------- +Moving around: + u i o + j k l + m , . + +For Holonomic mode (strafing), hold down the shift key: +--------------------------- + U I O + J K L + M < > + +t : up (+z) +b : down (-z) + +anything else : stop + +q/z : increase/decrease max speeds by 10% +w/x : increase/decrease only linear speed by 10% +e/c : increase/decrease only angular speed by 10% + +CTRL-C to quit +``` + +# Repeat Rate + +If your mobile base requires constant updates on the cmd\_vel topic, teleop\_twist\_keyboard can be configured to repeat the last command at a fixed interval, using the `repeat_rate` private parameter. + +For example, to repeat the last command at 10Hz: + +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=10.0 +``` + +It is _highly_ recommended that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots. + +# Key Timeout + +Teleop\_twist\_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time period, using the `key_timeout` private parameter. + +For example, to stop your robot if a keypress has not been received in 0.6 seconds: +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py _key_timeout:=0.6 +``` + +It is recommended that you set `key_timeout` higher than the initial key repeat delay on your system (This delay is 0.5 seconds by default on Ubuntu, but can be adjusted). + +# Twist with header +Publishing a `TwistStamped` message instead of `Twist` can be enabled with the `stamped` private parameter. Additionally the `frame_id` of the `TwistStamped` message can be set with the `frame_id` private parameter. +``` +rosrun teleop_twist_keyboard teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link +``` diff --git a/SubjuGator/command/subjugator_keyboard_control/package.xml b/SubjuGator/command/subjugator_keyboard_control/package.xml new file mode 100644 index 000000000..e6aab0a8c --- /dev/null +++ b/SubjuGator/command/subjugator_keyboard_control/package.xml @@ -0,0 +1,18 @@ + + + subjugator_keyboard_control + 1.0.0 + Keyboard control for SubjuGator AUV, forked from generic teleop_twist_keyboard. + + Cameron Brown + + BSD + + http://wiki.ros.org/teleop_twist_keyboard + + Graylin Trevor Jay + + catkin + geometry_msgs + rospy + diff --git a/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py b/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py new file mode 100755 index 000000000..870df6ac7 --- /dev/null +++ b/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py @@ -0,0 +1,326 @@ +#! /usr/bin/env python3 + + +import sys +import threading +from select import select + +import roslib +import rospy +from c3_trajectory_generator.srv import SetDisabled, SetDisabledRequest +from geometry_msgs.msg import Accel, Point, Pose, Twist, TwistStamped, Vector3 +from mil_msgs.msg import PoseTwist, PoseTwistStamped +from nav_msgs.msg import Odometry +from ros_alarms import AlarmListener + +roslib.load_manifest("teleop_twist_keyboard") + + +if sys.platform == "win32": + import msvcrt +else: + import termios + import tty + + +TwistMsg = Twist + +msg = """ +Reading from the keyboard and Publishing to Twist! +--------------------------- +Moving around: + u i o + j k l + m , . + +For Holonomic mode (strafing), hold down the shift key: +--------------------------- + U I O + J K L + M < > + +t : up (+z) +b : down (-z) + +anything else : stop + +q/z : increase/decrease max speeds by 10% +w/x : increase/decrease only linear speed by 10% +e/c : increase/decrease only angular speed by 10% + +CTRL-C to quit +""" + +moveBindings = { + "i": (1, 0, 0, 0), + "o": (1, 0, 0, -1), + "j": (0, 0, 0, 1), + "l": (0, 0, 0, -1), + "u": (1, 0, 0, 1), + ",": (-1, 0, 0, 0), + ".": (-1, 0, 0, 1), + "m": (-1, 0, 0, -1), + "O": (1, -1, 0, 0), + "I": (1, 0, 0, 0), + "J": (0, 1, 0, 0), + "L": (0, -1, 0, 0), + "U": (1, 1, 0, 0), + "<": (-1, 0, 0, 0), + ">": (-1, -1, 0, 0), + "M": (-1, 1, 0, 0), + "t": (0, 0, 1, 0), + "b": (0, 0, -1, 0), +} + +speedBindings = { + "q": (1.1, 1.1), + "z": (0.9, 0.9), + "w": (1.1, 1), + "x": (0.9, 1), + "e": (1, 1.1), + "c": (1, 0.9), +} + + +class PublishThread(threading.Thread): + def __init__(self, rate): + super().__init__() + self.publisher = rospy.Publisher("/trajectory", PoseTwistStamped, queue_size=1) + self.odom_sub = rospy.Subscriber( + "/odom", + Odometry, + self.odom_callback, + queue_size=1, + ) + self.traj_gen_disable = rospy.ServiceProxy( + "/c3_trajectory_generator/set_disabled", + SetDisabled, + ) + self.kill_listener = AlarmListener( + "kill", + callback_funct=self.update_alarm_status, + ) + self.kill_raised = self.kill_listener.is_raised() + self.x = 0.0 + self.y = 0.0 + self.z = 0.0 + self.odom_x = 0.0 + self.odom_y = 0.0 + self.odom_z = 0.0 + self.odom_orient = 0.0 + self.th = 0.0 + self.speed = 0.0 + self.turn = 0.0 + self.condition = threading.Condition() + self.done = False + + # Set timeout to None if rate is 0 (causes new_message to wait forever + # for new data to publish) + if rate != 0.0: + self.timeout = 1.0 / rate + else: + self.timeout = None + + self.set_traj_generator(disable=True) + self.start() + + def set_traj_generator(self, *, disable: bool): + self.traj_gen_disable(SetDisabledRequest(disabled=disable)) + + def update_alarm_status(self, alarm): + self.kill_raised = alarm.raised + + def odom_callback(self, msg: Odometry): + self.odom_x = msg.pose.pose.position.x + self.odom_y = msg.pose.pose.position.y + self.odom_z = msg.pose.pose.position.z + self.odom_orient = msg.pose.pose.orientation + + def wait_for_subscribers(self): + i = 0 + while not rospy.is_shutdown() and self.publisher.get_num_connections() == 0: + if i == 4: + print( + f"Waiting for subscriber to connect to {self.publisher.name}", + ) + rospy.sleep(0.5) + i += 1 + i = i % 5 + if rospy.is_shutdown(): + raise Exception("Got shutdown request before subscribers connected") + + def update(self, x, y, z, th, speed, turn, *, no_raise=False): + self.condition.acquire() + if self.kill_raised and not no_raise: + self.condition.release() + raise RuntimeError('"kill" alarm is raised!') + self.x = x + self.y = y + self.z = z + self.th = th + self.speed = speed + self.turn = turn + # Notify publish thread that we have a new message. + self.condition.notify() + self.condition.release() + + def stop(self): + self.done = True + self.update(0, 0, 0, 0, 0, 0, no_raise=True) + pub_thread.set_traj_generator(disable=False) + self.join() + + def run(self): + twist_msg = TwistMsg() + + if stamped: + twist = twist_msg.twist + twist_msg.header.stamp = rospy.Time.now() + twist_msg.header.frame_id = twist_frame + else: + twist = twist_msg + while not self.done: + if stamped: + twist_msg.header.stamp = rospy.Time.now() + self.condition.acquire() + # Wait for a new message or timeout. + self.condition.wait(self.timeout) + + # Copy state into twist message. + twist.linear.x = self.x * self.speed + twist.linear.y = self.y * self.speed + twist.linear.z = self.z * self.speed + twist.angular.x = 0 + twist.angular.y = 0 + twist.angular.z = self.th * self.turn + + self.condition.release() + + # Publish. + trajectory_msg = PoseTwistStamped() + trajectory_msg.header.stamp = rospy.Time.now() + trajectory_msg.header.frame_id = twist_frame + + pose_twist_msg = PoseTwist() + pose_twist_msg.pose = Pose() + pose_twist_msg.pose.position = Point( + self.odom_x + (self.x * self.speed), + self.odom_y + (self.y * self.speed), + min(-0.5, self.odom_z + (self.z * self.speed)), + ) + pose_twist_msg.pose.orientation = self.odom_orient + pose_twist_msg.twist = twist + pose_twist_msg.acceleration = Accel( + Vector3(self.x, self.y, self.z), + Vector3(0, 0, 0), + ) + + trajectory_msg.posetwist = pose_twist_msg + self.publisher.publish(trajectory_msg) + + # Publish stop message when thread exits. + twist.linear.x = 0 + twist.linear.y = 0 + twist.linear.z = 0 + twist.angular.x = 0 + twist.angular.y = 0 + twist.angular.z = 0 + + +def getKey(settings, timeout): + if sys.platform == "win32": + # getwch() returns a string on Windows + key = msvcrt.getwch() + else: + tty.setraw(sys.stdin.fileno()) + # sys.stdin.read() returns a string on Linux + rlist, _, _ = select([sys.stdin], [], [], timeout) + key = sys.stdin.read(1) if rlist else "" + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) + return key + + +def saveTerminalSettings(): + if sys.platform == "win32": + return None + return termios.tcgetattr(sys.stdin) + + +def restoreTerminalSettings(old_settings): + if sys.platform == "win32": + return + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings) + + +def vels(speed, turn): + return f"currently:\tspeed {speed}\tturn {turn} " + + +if __name__ == "__main__": + settings = saveTerminalSettings() + + rospy.init_node("teleop_twist_keyboard") + + speed = rospy.get_param("~speed", 0.1) + turn = rospy.get_param("~turn", 1.0) + speed_limit = rospy.get_param("~speed_limit", 1000) + turn_limit = rospy.get_param("~turn_limit", 1000) + repeat = rospy.get_param("~repeat_rate", 0.0) + key_timeout = rospy.get_param("~key_timeout", 0.5) + stamped = rospy.get_param("~stamped", False) + twist_frame = rospy.get_param("~frame_id", "") + if stamped: + TwistMsg = TwistStamped + + pub_thread = PublishThread(repeat) + + x = 0 + y = 0 + z = 0 + th = 0 + status = 0 + + try: + pub_thread.wait_for_subscribers() + pub_thread.update(x, y, z, th, speed, turn) + + print(msg) + print(vels(speed, turn)) + while 1: + key = getKey(settings, key_timeout) + if key in moveBindings: + x = moveBindings[key][0] + y = moveBindings[key][1] + z = moveBindings[key][2] + th = moveBindings[key][3] + elif key in speedBindings: + speed = min(speed_limit, speed * speedBindings[key][0]) + turn = min(turn_limit, turn * speedBindings[key][1]) + if speed == speed_limit: + print("Linear speed limit reached!") + if turn == turn_limit: + print("Angular speed limit reached!") + print(vels(speed, turn)) + if status == 14: + print(msg) + status = (status + 1) % 15 + else: + # Skip updating cmd_vel if key timeout and robot already + # stopped. + if key == "" and x == 0 and y == 0 and z == 0 and th == 0: + continue + x = 0 + y = 0 + z = 0 + th = 0 + if key == "\x03": + break + + pub_thread.update(x, y, z, th, speed, turn) + + except Exception as e: + print(e) + + finally: + pub_thread.stop() + restoreTerminalSettings(settings) diff --git a/SubjuGator/command/subjugator_launch/CMakeLists.txt b/SubjuGator/command/subjugator_launch/CMakeLists.txt index dcdb357eb..3dba56467 100644 --- a/SubjuGator/command/subjugator_launch/CMakeLists.txt +++ b/SubjuGator/command/subjugator_launch/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_launch) find_package(catkin REQUIRED roslaunch) roslaunch_add_file_check(launch) diff --git a/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml b/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml index c6406c44d..aefd3cb36 100644 --- a/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml +++ b/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml @@ -1,6 +1,6 @@ --- -kp: 1000, 1000, 1000, 5000, 5000, 5000 -kd: 150, 150, 150, 50, 100, 25 -kg: 5,5,5,5,5,5 -ki: 5,5,5,5,10,5 -use_learned: false +kp: 120, 150, 200, 100, 50, 50 +kd: 25, 25, 25, 25, 25, 25 +kg: 2.5,2.5,2.5,2.5,2.5,2.5 +ki: 2.5,2.5,2.5,2.5,2.5,2.5 +use_learned: true diff --git a/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml b/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml new file mode 100644 index 000000000..c6406c44d --- /dev/null +++ b/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml @@ -0,0 +1,6 @@ +--- +kp: 1000, 1000, 1000, 5000, 5000, 5000 +kd: 150, 150, 150, 50, 100, 25 +kg: 5,5,5,5,5,5 +ki: 5,5,5,5,10,5 +use_learned: false diff --git a/SubjuGator/command/subjugator_launch/config/course_geometry.yaml b/SubjuGator/command/subjugator_launch/config/course_geometry.yaml index 11135fabb..76afa7be8 100644 --- a/SubjuGator/command/subjugator_launch/config/course_geometry.yaml +++ b/SubjuGator/command/subjugator_launch/config/course_geometry.yaml @@ -1,4 +1,10 @@ --- -vision: - buoy_radius: 0.1 - channel_width: 0.2 +location: + # TRANSDEC values + declination: 11 + + # Florida Pool values + # declination: -6.27 + +start_gate: + orientation: 0 diff --git a/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch b/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch new file mode 100644 index 000000000..4c6024669 --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/can.launch b/SubjuGator/command/subjugator_launch/launch/can.launch index 525671ace..b46fbd8ba 100644 --- a/SubjuGator/command/subjugator_launch/launch/can.launch +++ b/SubjuGator/command/subjugator_launch/launch/can.launch @@ -1,15 +1,13 @@ - + # Path of serial device - port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A800GHCF-if00-port0 + port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A50285BI-if00-port0 # Baudrate of device, should leave as is baudrate: 115200 - # The CAN device id of the usb-can board - can_id: 0 # List of python device handle classes device_handles: "18": sub8_thrust_and_kill_board.ThrusterAndKillBoard diff --git a/SubjuGator/command/subjugator_launch/launch/sub8.launch b/SubjuGator/command/subjugator_launch/launch/sub8.launch index 7d68d43ab..247fe1e62 100644 --- a/SubjuGator/command/subjugator_launch/launch/sub8.launch +++ b/SubjuGator/command/subjugator_launch/launch/sub8.launch @@ -25,6 +25,11 @@ + + + + + @@ -34,7 +39,9 @@ - + + + diff --git a/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch b/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch index 17bd1d3ac..a758c4278 100644 --- a/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch +++ b/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch @@ -1,8 +1,10 @@ - + + - - + + + diff --git a/SubjuGator/command/subjugator_launch/package.xml b/SubjuGator/command/subjugator_launch/package.xml index 6a6beeeb6..e3f6ef4ba 100644 --- a/SubjuGator/command/subjugator_launch/package.xml +++ b/SubjuGator/command/subjugator_launch/package.xml @@ -5,8 +5,10 @@ The subjugator_launch package Jacob Panikulam MIT + rosbag roslaunch roslaunch + rosbag robot_state_publisher nodelet c3_trajectory_generator diff --git a/SubjuGator/command/subjugator_launch/scripts/depth_conn b/SubjuGator/command/subjugator_launch/scripts/depth_conn index 13bf8a480..c63922eb9 100755 --- a/SubjuGator/command/subjugator_launch/scripts/depth_conn +++ b/SubjuGator/command/subjugator_launch/scripts/depth_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pty,link=/tmp/depth,raw,echo=0 tcp:mil-sub-gumstix.ad.mil.ufl.edu:33056 +exec socat -d -d pty,link=/tmp/depth,raw,echo=0 tcp:192.168.37.61:33056 diff --git a/SubjuGator/command/subjugator_launch/scripts/dvl_conn b/SubjuGator/command/subjugator_launch/scripts/dvl_conn index f0be15464..745a45097 100755 --- a/SubjuGator/command/subjugator_launch/scripts/dvl_conn +++ b/SubjuGator/command/subjugator_launch/scripts/dvl_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pty,link=/tmp/dvl,raw,echo=0 tcp:mil-sub-gumstix.ad.mil.ufl.edu:349 +exec socat -d -d pty,link=/tmp/dvl,raw,echo=0 tcp:192.168.37.61:349 diff --git a/SubjuGator/command/subjugator_launch/scripts/imu_conn b/SubjuGator/command/subjugator_launch/scripts/imu_conn index 59275c393..bc93e1eb1 100755 --- a/SubjuGator/command/subjugator_launch/scripts/imu_conn +++ b/SubjuGator/command/subjugator_launch/scripts/imu_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pipe:/tmp/imu,wronly=1 tcp:mil-sub-gumstix.ad.mil.ufl.edu:1382 +exec socat -d -d pipe:/tmp/imu,wronly=1 tcp:192.168.37.61:1382 diff --git a/SubjuGator/command/subjugator_missions/CMakeLists.txt b/SubjuGator/command/subjugator_missions/CMakeLists.txt index 6acb45b3b..37738c482 100644 --- a/SubjuGator/command/subjugator_missions/CMakeLists.txt +++ b/SubjuGator/command/subjugator_missions/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_missions) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py b/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py index c5ccdc875..7a88e8908 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py @@ -94,7 +94,7 @@ async def search(self): print("POSE FOUND!") self.ltime = res.pose.header.stamp self.targets[target].update_position( - rosmsg_to_numpy(res.pose.pose.position) + rosmsg_to_numpy(res.pose.pose.position), ) self.normal = rosmsg_to_numpy(res.pose.pose.orientation)[:3] marker = Marker( @@ -119,13 +119,13 @@ async def search(self): async def pattern(self): self.print_info("Descending to Depth...") # await self.move.depth(1.5).go(blind=self.BLIND, speed=0.1) - await self.move.left(2).go(blind=self.BLIND, speed=0.5) + await self.go(self.move().left(2), blind=self.BLIND, speed=0.5) await self.nh.sleep(2) - await self.move.right(2).go(blind=self.BLIND, speed=0.5) + await self.go(self.move().right(2), blind=self.BLIND, speed=0.5) await self.nh.sleep(2) - await self.move.left(1).go(blind=self.BLIND, speed=0.5) + await self.go(self.move().left(1), blind=self.BLIND, speed=0.5) await self.nh.sleep(2) - await self.move.down(0.5).go(blind=self.BLIND, speed=0.5) + await self.go(self.move().down(0.5), blind=self.BLIND, speed=0.5) await self.nh.sleep(2) # def err(): # self.print_info('Search pattern canceled') @@ -143,8 +143,9 @@ async def pattern(self): async def fire(self, target: str): self.print_info(f"FIRING {target}") target_pose = self.targets[target].position - await self.move.go(blind=self.BLIND, speed=0.1) # Station hold - transform = await self._tf_listener.get_transform("map", "/base_link") + # What does this do?? vvv + # await self.move.go(blind=self.BLIND, speed=0.1) # Station hold + await self._tf_listener.get_transform("map", "/base_link") # target_position = transform._q_mat.dot( # target_pose - transform._p) @@ -160,14 +161,16 @@ async def fire(self, target: str): # blind=self.BLIND, speed=.25) print("Target normal: ", self.normal) print("Point: ", target_position) - await self.move.set_position( - np.array([target_position[0], target_position[1], target_position[2]]) - ).go(blind=True, speed=0.5) + await self.go( + self.move().set_position( + np.array([target_position[0], target_position[1], target_position[2]]), + ), + blind=True, + speed=0.5, + ) self.print_good( - "{} locked. Firing torpedoes. Hit confirmed, good job Commander.".format( - target - ) + f"{target} locked. Firing torpedoes. Hit confirmed, good job Commander.", ) sub_pos = await self.tx_pose() print("Current Sub Position: ", sub_pos) @@ -189,9 +192,9 @@ def get_target(self) -> str | None: if self.targets[target].destroyed: pass # temp = target - elif self.targets[target].position is not None: - return target - elif self.pattern_done and self.targets[target].position is not None: + elif self.targets[target].position is not None or ( + self.pattern_done and self.targets[target].position is not None + ): return target else: return None @@ -217,7 +220,7 @@ async def run(self, args): elif self.pattern_done: break await self.nh.sleep(0.1) - search.cancel() + self.search.cancel() pattern.cancel() self.vision_proxies.xyz_points.stop() self.print_good("Done!") diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous.py b/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous.py index 9e2967854..ef39d97e3 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous.py @@ -121,7 +121,9 @@ async def run(self, args): al = await TxAlarmListener.init(self.nh, "network-loss") await self._auto_param_watchdog(self.nh) - call_with_sub = lambda *args: self._check_for_run(*args) + def call_with_sub(*args): + return self._check_for_run(*args) + al.add_callback(call_with_sub, call_when_cleared=False) fprint("Waiting for network-loss...", msg_color="blue") diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous_2022.py b/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous_2022.py index 7e26c7cb4..af7322305 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous_2022.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/autonomous_2022.py @@ -35,31 +35,31 @@ async def do_mission(self): # Run mission to follow orange marker fprint("Following orange marker", msg_color="green") - await self.run_mission(FollowPath2022(), 400) + # await self.run_mission(FollowPath2022(), 400) # Run mission to do phase 1 buoys fprint("Making the Grade", msg_color="green") - await self.run_mission(MakeGrade2022(), 400) + # await self.run_mission(MakeGrade2022(), 400) # Run mission to follow orange marker fprint("Following orange marker", msg_color="green") - await self.run_mission(FollowPath2022(), 400) + # await self.run_mission(FollowPath2022(), 400) # Run mission to do bins mission fprint("Starting bins mission", msg_color="green") - await self.run_mission(Bin2022(), 400) + # await self.run_mission(Bin2022(), 400) # Run mission to get to next pinger location fprint("Going to pinger location", msg_color="green") - await self.run_mission(Pinger2022(), 400) + # await self.run_mission(Pinger2022(), 400) # Run mission to Analyze where to fire torpedoes fprint("Starting mission to fire torpedoes", msg_color="green") - await self.run_mission(FireTorpedos2022(), 400) + # await self.run_mission(FireTorpedos2022(), 400) # Run mission to get to next pinger location fprint("Finding other pinger location", msg_color="green") - await self.run_mission(Pinger2022(), 400) + # await self.run_mission(Pinger2022(), 400) # Rise from Octagon fprint("Rising from Octagon", msg_color="green") diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/ball_drop.py b/SubjuGator/command/subjugator_missions/subjugator_missions/ball_drop.py index 2c635fc91..abb89ab1b 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/ball_drop.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/ball_drop.py @@ -5,6 +5,7 @@ from image_geometry import PinholeCameraModel from mil_misc_tools import text_effects from sensor_msgs.msg import CameraInfo +from std_srvs.srv import SetBool, Trigger from .sub_singleton import SubjuGatorMission @@ -26,7 +27,7 @@ async def run(self, args): if not resp: print("Error, failed to init neural net.") return - except rospy.ServiceException as e: + except rospy.ServiceException: print("Service Call Failed") fprint("Enabling cam_ray publisher") @@ -54,19 +55,26 @@ async def run(self, args): save_pois = rospy.ServiceProxy("/poi_server/save_to_param", Trigger) save_pois() if not rospy.has_param("/poi_server/initial_pois/ball_drop"): - use_prediction = False fprint("Forgot to add ball_drop to guess?", msg_color="yellow") else: fprint("Found ball_drop.", msg_color="green") - await self.move.set_position( - np.array(rospy.get_param("/poi_server/initial_pois/ball_drop")) - ).depth(TRAVEL_DEPTH).go(speed=FAST_SPEED) + await self.go( + self.move() + .set_position( + np.array(rospy.get_param("/poi_server/initial_pois/ball_drop")), + ) + .depth(TRAVEL_DEPTH), + speed=FAST_SPEED, + ) except Exception as e: fprint(str(e) + "Forgot to run guess server?", msg_color="yellow") ball_drop_sub = self.nh.subscribe("/bbox_pub", Point) await ball_drop_sub.setup() - await self.move.to_height(SEARCH_HEIGHT).zero_roll_and_pitch().go(speed=SPEED) + await self.go( + self.move().to_height(SEARCH_HEIGHT).zero_roll_and_pitch(), + speed=SPEED, + ) while True: fprint("Getting location of ball drop...") @@ -85,7 +93,7 @@ async def run(self, args): fprint(f"Centered, going to depth {HEIGHT_BALL_DROPER}") await self.move.to_height(HEIGHT_BALL_DROPER).zero_roll_and_pitch().go( - speed=SPEED + speed=SPEED, ) fprint("Dropping marker") await self.actuators.drop_marker() diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/dracula_grab.py b/SubjuGator/command/subjugator_missions/subjugator_missions/dracula_grab.py index ab48a4f48..1fcef76ea 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/dracula_grab.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/dracula_grab.py @@ -6,7 +6,6 @@ from mil_misc_tools import text_effects from sensor_msgs.msg import CameraInfo from std_srvs.srv import Trigger -from subjugator_msgs.srv import GuessRequestRequest from .sub_singleton import SubjuGatorMission @@ -47,20 +46,27 @@ async def run(self, args): save_pois = rospy.ServiceProxy("/poi_server/save_to_param", Trigger) save_pois() if not rospy.has_param("/poi_server/initial_pois/dracula"): - dracula_req = await vamp_axros(GuessRequestRequest(item="dracula")) - use_prediction = False + # await vamp_axros(GuessRequestRequest(item="dracula")) fprint("Forgot to add dracula to guess?", msg_color="yellow") else: fprint("Found dracula.", msg_color="green") - await self.move.set_position( - np.array(rospy.get_param("/poi_server/initial_pois/dracula")) - ).depth(TRAVEL_DEPTH).go(speed=FAST_SPEED) + await self.go( + self.move() + .set_position( + np.array(rospy.get_param("/poi_server/initial_pois/dracula")), + ) + .depth(TRAVEL_DEPTH), + speed=FAST_SPEED, + ) except Exception as e: fprint(str(e) + "Forgot to run guess server?", msg_color="yellow") dracula_sub = self.nh.subscribe("/bbox_pub", Point) await dracula_sub.setup() - await self.move.to_height(SEARCH_HEIGHT).zero_roll_and_pitch().go(speed=SPEED) + await self.go( + self.move().to_height(SEARCH_HEIGHT).zero_roll_and_pitch(), + speed=SPEED, + ) while True: fprint("Getting location of ball drop...") @@ -75,11 +81,12 @@ async def run(self, args): break vec = np.append(vec, 0) - await self.move.relative_depth(vec).go(speed=SPEED) + await self.go(self.move().relative_depth(vec), speed=SPEED) fprint(f"Centered, going to depth {HEIGHT_DRACULA_GRABBER}") - await self.move.to_height(HEIGHT_DRACULA_GRABBER).zero_roll_and_pitch().go( - speed=SPEED + await self.go( + self.move().to_height(HEIGHT_DRACULA_GRABBER).zero_roll_and_pitch(), + speed=SPEED, ) fprint("Dropping marker") await self.actuators.gripper_close() diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/move.py b/SubjuGator/command/subjugator_missions/subjugator_missions/move.py index efa814391..b527c8d2a 100755 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/move.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/move.py @@ -3,9 +3,9 @@ import rospkg import yaml -from gazebo_msgs.msg import ModelState -from geometry_msgs.msg import Point, Pose, Quaternion, Twist -from mil_misc_tools import ThrowingArgumentParser +from gazebo_msgs.msg import ModelState, ModelStates +from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3 +from mil_misc_tools import ArgumentParserException, ThrowingArgumentParser from ros_alarms import TxAlarmBroadcaster from .sub_singleton import SubjuGatorMission @@ -33,7 +33,14 @@ class Move(SubjuGatorMission): @classmethod def decode_parameters(cls, parameters): argv = parameters.split() - return cls.parser.parse_args(argv) + try: + return cls.parser.parse_args(argv) + except ArgumentParserException as e: + if e.message.startswith("unrecognized arguments"): + print( + 'Note: If you are attempting to teleport to negative x value, use -- to separate tp arguments from actual command arguments. (ie, "submove tp -- -1,-2,3")', + ) + raise e @classmethod async def setup(cls): @@ -91,15 +98,11 @@ async def run(self, args): # Let the user input custom commands, the eval may be dangerous # so do away with that at some point. self.send_feedback(f"Moving with the command: {argument}") - res = await eval("self.move.{}.go()".format(argument, **action_kwargs)) + res = await eval(f"self.move.{argument}.go()") elif command in ["tp", "teleport"]: try: rospack = rospkg.RosPack() - state_set_pub = self.nh.advertise( - "gazebo/set_model_state", ModelState - ) - await state_set_pub.setup() config_file = os.path.join( rospack.get_path("subjugator_gazebo"), "config", @@ -114,9 +117,9 @@ async def run(self, args): break else: try: - x = float(argument.split(" ")[0]) - y = float(argument.split(" ")[1]) - z = float(argument.split(" ")[2]) + x = float(argument.split(",")[0]) + y = float(argument.split(",")[1]) + z = float(argument.split(",")[2]) # Assumption is if we make it this far, we have successfully # bound the previous three coordinates. # The below would fail if we entered a location name instead of coords @@ -124,7 +127,7 @@ async def run(self, args): # This is to catch anything over 3 coordinates. If # only two were given then we would also error out # above. - if len(argument.split(" ")) != 3: + if len(argument.split(",")) != 3: self.send_feedback("Incorrect number of coordinates") break except IndexError: @@ -145,18 +148,18 @@ async def run(self, args): # This means we did not find the saved location # referenced by the argument. self.send_feedback( - "TP location not found, check input." + "TP location not found, check input.", ) break - modelstate = ModelState( - model_name="sub8", - pose=Pose( - position=Point(x, y, z), - orientation=Quaternion(0, 0, 0, 0), - ), - twist=Twist(linear=Point(0, 0, 0), angular=Point(0, 0, 0)), - reference_frame="world", - ) + + # Get whether to teleport sub8, sub9, or both + sub = self.nh.subscribe("/gazebo/model_states", ModelStates) + models = [] + async with sub: + msg: ModelStates = await sub.get_next_message() + models = [ + name for name in msg.name if name.startswith("sub") + ] # Sometimes you need to sleep in order to get the thing to publish # Apparently there is a latency when you set a publisher and it needs to actually hook into it. # As an additional note, given the way we do trajectory in the sim, we must kill sub to prevent @@ -164,10 +167,35 @@ async def run(self, args): # bringing it back to its expected position. ab = TxAlarmBroadcaster(self.nh, "kill", node_name="kill") await ab.raise_alarm( - problem_description="TELEPORTING: KILLING SUB", severity=5 + problem_description="TELEPORTING: KILLING SUB", + severity=5, ) await self.nh.sleep(1) - await state_set_pub.publish(modelstate) + state_set_pub = self.nh.advertise( + "/gazebo/set_model_state", + ModelState, + ) + async with state_set_pub: + # Wait for Gazebo to listen for message + while "/gazebo" not in state_set_pub.get_connections(): + await self.nh.sleep(0.1) + for model in models: + self.send_feedback( + f"Teleporting {model} to ({x}, {y}, {z})", + ) + modelstate = ModelState( + model_name=model, + pose=Pose( + position=Point(x, y, z), + orientation=Quaternion(0, 0, 0, 1), + ), + twist=Twist( + linear=Vector3(0, 0, 0), + angular=Vector3(0, 0, 0), + ), + reference_frame="world", + ) + state_set_pub.publish(modelstate) await self.nh.sleep(1) await ab.clear_alarm() @@ -194,7 +222,7 @@ async def run(self, args): else: # Get the command from shorthand if it's there command = SHORTHAND.get(command, command) - movement = getattr(self.move, command) + movement = getattr(self.move(), command) trans_move = ( command[:3] != "yaw" @@ -220,7 +248,10 @@ async def run(self, args): break goal = movement(float(amount) * UNITS.get(unit, 1)) if args.zrp: - res = await goal.zero_roll_and_pitch().go(**action_kwargs) + res = await self.go(goal.zero_roll_and_pitch(), **action_kwargs) else: - res = await goal.go(**action_kwargs) - return f"Result: {res.error}" + res = await self.go(goal, **action_kwargs) + self.send_feedback( + f"Result of {command}ing: {res.error or 'No error (successful).'}", + ) + return "All movements complete." diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/pinger.py b/SubjuGator/command/subjugator_missions/subjugator_missions/pinger.py index 0bb61340a..f1cab93bc 100755 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/pinger.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/pinger.py @@ -42,19 +42,21 @@ async def run(self, args): save_pois = rospy.ServiceProxy("/poi_server/save_to_param", Trigger) _ = save_pois() if rospy.has_param( - "/poi_server/initial_pois/pinger_shooter" + "/poi_server/initial_pois/pinger_shooter", ) and rospy.has_param("/poi_server/initial_pois/pinger_surface"): fprint("Found two pinger guesses", msg_color="green") pinger_1_req = rospy.get_param( - "/poi_server/initial_pois/pinger_surface" + "/poi_server/initial_pois/pinger_surface", ) pinger_2_req = rospy.get_param( - "/poi_server/initial_pois/pinger_shooter" + "/poi_server/initial_pois/pinger_shooter", ) # check \/ pinger_guess = await self.transform_to_baselink( - self, pinger_1_req, pinger_2_req + self, + pinger_1_req, + pinger_2_req, ) fprint(pinger_guess) else: @@ -99,7 +101,8 @@ async def run(self, args): # Transform hydrophones vector to relative coordinate transform = await self._tf_listener.get_transform( - "/base_link", "/hydrophones" + "/base_link", + "/hydrophones", ) vec = transform._q_mat.dot(vec) @@ -132,7 +135,7 @@ async def run(self, args): dists = [ np.linalg.norm( sub_position - - mil_ros_tools.rosmsg_to_numpy(x.location.pose.position) + - mil_ros_tools.rosmsg_to_numpy(x.location.pose.position), ) for x in (pinger_1_req, pinger_2_req) ] @@ -146,7 +149,9 @@ async def run(self, args): vec[2] = 0 if use_prediction: pinger_guess = await self.transform_to_baselink( - self, pinger_1_req, pinger_2_req + self, + pinger_1_req, + pinger_2_req, ) fprint(f"Transformed guess: {pinger_guess}") # Check if the pinger aligns with guess @@ -156,7 +161,10 @@ async def run(self, args): await self.fancy_move(self, vec) fprint("Arrived to hydrophones! Going down!") - await self.move.to_height(PINGER_HEIGHT).zero_roll_and_pitch().go(speed=0.1) + await self.go( + self.move().to_height(PINGER_HEIGHT).zero_roll_and_pitch(), + speed=0.1, + ) async def fancy_move(self, sub: SubjuGatorMission, vec): global markers @@ -175,12 +183,16 @@ async def fancy_move(self, sub: SubjuGatorMission, vec): marker.color.a = 1 markers.markers.append(marker) - await sub.move.relative(vec).depth(MOVE_AT_DEPTH).zero_roll_and_pitch().go( - speed=SPEED + await self.go( + self.move().relative(vec).depth(MOVE_AT_DEPTH).zero_roll_and_pitch(), + speed=SPEED, ) async def go_to_random_guess( - self, sub: SubjuGatorMission, pinger_1_req, pinger_2_req + self, + sub: SubjuGatorMission, + pinger_1_req, + pinger_2_req, ): pinger_guess = await self.transform_to_baselink(sub, pinger_1_req, pinger_2_req) where_to = random.choice(pinger_guess) @@ -199,7 +211,8 @@ def check_with_guess(self, vec: np.ndarray, pinger_guess: np.ndarray): go_to_guess = go_to_guess / np.linalg.norm(go_to_guess) fprint( "Though ping was behind. Going to pinger guess {} at {}".format( - np.argmax(dots) + 1, go_to_guess + np.argmax(dots) + 1, + go_to_guess, ), msg_color="yellow", ) @@ -207,7 +220,10 @@ def check_with_guess(self, vec: np.ndarray, pinger_guess: np.ndarray): return (True, vec) async def transform_to_baselink( - self, sub: SubjuGatorMission, pinger_1_req, pinger_2_req + self, + sub: SubjuGatorMission, + pinger_1_req, + pinger_2_req, ): transform = await sub._tf_listener.get_transform("/base_link", "map") position = await sub.pose.position diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/pose_editor.py b/SubjuGator/command/subjugator_missions/subjugator_missions/pose_editor.py index 619249526..6eafca064 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/pose_editor.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/pose_editor.py @@ -1,13 +1,12 @@ from __future__ import annotations import warnings -from typing import Sequence +from typing import MutableSequence, Sequence import numpy as np import rospy -from geometry_msgs.msg import Point +from geometry_msgs.msg import Point, Quaternion, Twist, Vector3 from geometry_msgs.msg import Pose as Pose -from geometry_msgs.msg import Quaternion, Twist, Vector3 from mil_msgs.msg import MoveToGoal, PoseTwist, PoseTwistStamped from mil_ros_tools import rosmsg_to_numpy from nav_msgs.msg import Odometry @@ -70,7 +69,7 @@ def triad(xxx_todo_changeme, xxx_todo_changeme1) -> np.ndarray: B = np.array([normalized(b1), bb, normalized(np.cross(b1, bb))]) rot = A.T.dot(B) return transformations.quaternion_from_matrix( - [(a, b, c, 0) for a, b, c in rot] + [(0, 0, 0, 1)] + [(a, b, c, 0) for a, b, c in rot] + [(0, 0, 0, 1)], ) @@ -89,8 +88,8 @@ def test_triad(): transformations.quaternion_multiply( q, transformations.quaternion_inverse(q_), - ) - ) + ), + ), ) < 1e-6 ) @@ -123,18 +122,44 @@ def safe_wait_for_message(topic, topic_type): class PoseEditor: """ - Helper class used to create poses for the movement of SubjuGatorMission. + Helper class used to create poses for the movement of SubjuGator. Frequently the methods from this class can be tied together in order to orchestrate multiple movements. + .. code-block:: python + + class ExampleMission(SubjuGatorMission): + pose = self.move() # new pose editor + down = pose.down(3).left(2) # down 3m, left 2m + await self.go(down, speed = 0.7) # go to that location at 0.7m/s + .. container:: operations .. describe:: str(x) - Pretty prints the position and orientation associated with the sub. + Pretty prints the position and orientation associated with the pose editor. + + .. describe:: repr(x) + + Pretty prints the position and orientation associated with the pose editor. """ + def __init__( + self, + frame_id: str, + position: MutableSequence[float], + orientation: MutableSequence[float], + ): + self.frame_id = frame_id + self.position = position + self.orientation = orientation + + def __str__(self): + return f"PoseEditor(frame_id={self.frame_id}, position={self.position}, orientation={self.orientation})" + + __repr__ = __str__ + @classmethod def from_Odometry_topic(cls, topic: str = "/odom") -> PoseEditor: """ @@ -173,17 +198,11 @@ def from_Pose(cls, frame_id: str, msg: Pose) -> PoseEditor: the message. """ return cls( - frame_id, rosmsg_to_numpy(msg.position), rosmsg_to_numpy(msg.orientation) + frame_id, + rosmsg_to_numpy(msg.position), + rosmsg_to_numpy(msg.orientation), ) - def __init__(self, frame_id: str, position, orientation): - self.frame_id = frame_id - self.position = position - self.orientation = orientation - - def __str__(self): - return f"p: {self.position}, q: {self.orientation}" - @property def _rot(self) -> np.ndarray: return transformations.quaternion_matrix(self.orientation)[:3, :3] @@ -201,7 +220,7 @@ def body_up_vector(self): return self._rot.dot(UP) # Position - def set_position(self, position: Sequence[float]) -> PoseEditor: + def set_position(self, position: MutableSequence[float]) -> PoseEditor: """ Returns a new pose editor with the same orientation, but a new position. @@ -438,7 +457,7 @@ def yaw_left(self, angle: float) -> PoseEditor: transformations.quaternion_multiply( transformations.quaternion_about_axis(angle, UP), self.orientation, - ) + ), ) def yaw_right(self, angle: float) -> PoseEditor: @@ -505,7 +524,7 @@ def roll_right(self, angle: float) -> PoseEditor: transformations.quaternion_multiply( self.orientation, transformations.quaternion_about_axis(angle, [1, 0, 0]), - ) + ), ) def roll_left(self, angle: float) -> PoseEditor: @@ -545,10 +564,11 @@ def pitch_down(self, angle: float) -> PoseEditor: return self.set_orientation( transformations.quaternion_multiply( transformations.quaternion_about_axis( - angle, self.zero_roll().left_vector + angle, + self.zero_roll().left_vector, ), self.orientation, - ) + ), ) def pitch_up(self, angle: float) -> PoseEditor: @@ -574,7 +594,9 @@ def as_Pose(self) -> Pose: ) def as_PoseTwist( - self, linear: Sequence[float] = [0, 0, 0], angular: Sequence[float] = [0, 0, 0] + self, + linear: Sequence[float] = [0, 0, 0], + angular: Sequence[float] = [0, 0, 0], ): """ Returns a :class:`~mil_msgs.msg.PoseTwist` message class with the pose @@ -594,7 +616,9 @@ def as_PoseTwist( ) def as_PoseTwistStamped( - self, linear: Sequence[int] = [0, 0, 0], angular: Sequence[int] = [0, 0, 0] + self, + linear: Sequence[int] = [0, 0, 0], + angular: Sequence[int] = [0, 0, 0], ) -> PoseTwistStamped: """ Returns a :class:`~mil_msgs.msg.PoseTwist` message class with the pose diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/prequal_mission.py b/SubjuGator/command/subjugator_missions/subjugator_missions/prequal_mission.py index 9063ae58c..0d23bff07 100755 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/prequal_mission.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/prequal_mission.py @@ -5,6 +5,7 @@ import numpy as np import tf from cv_bridge import CvBridge +from sensor_msgs.msg import Image from .sub_singleton import SubjuGatorMission @@ -17,13 +18,14 @@ async def run(self, args): self.bridge = CvBridge() self.front_left_camera_sub = self.nh.subscribe( - "/camera/front/left/image_color", Image + "/camera/front/left/image_color", + Image, ) self.image_debug_pub = self.nh.advertise("/prequal_image_debug", Image) await self.image_debug_pub.setup() # submerge submarine - await self.move.down(2).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + await self.go(self.move().down(2).zero_roll_and_pitch(), speed=SPEED_LIMIT) # look for start gate await self.find_start_gate() @@ -33,7 +35,10 @@ async def run(self, args): # turn around await self.nh.sleep(5) - await self.move.yaw_right(1.57).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + await self.go( + self.move().yaw_right(1.57).zero_roll_and_pitch(), + speed=SPEED_LIMIT, + ) # go through start gate again await self.nh.sleep(5) @@ -58,7 +63,7 @@ async def find_start_gate(self): upper = np.array([50, 50, 50], dtype="uint8") mask = cv2.inRange(hsv_img, lower, upper) - # publish mask for debuggin purposes + # publish mask for debugging purposes masked_msg = self.bridge.cv2_to_imgmsg(mask, "mono8") self.image_debug_pub.publish(masked_msg) @@ -83,7 +88,10 @@ async def find_start_gate(self): ) / 2 else: print("Going through the gate!") - await self.move.forward(5).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + await self.go( + self.move().forward(5).zero_roll_and_pitch(), + speed=SPEED_LIMIT, + ) break # move based on center pixel @@ -99,17 +107,22 @@ async def find_start_gate(self): if abs(difference) > 30: if difference < 0: print("Adjusting right", abs(meters)) - await self.move.yaw_right(abs(meters)).zero_roll_and_pitch().go( - speed=SPEED_LIMIT + await self.go( + self.move().yaw_right(abs(meters)).zero_roll_and_pitch(), + speed=SPEED_LIMIT, ) elif difference > 0: print("Adjusting left", abs(meters)) - await self.move.yaw_left(abs(meters)).zero_roll_and_pitch().go( - speed=SPEED_LIMIT + await self.go( + self.move().yaw_left(abs(meters)).zero_roll_and_pitch(), + speed=SPEED_LIMIT, ) print("Going forward and inspecting again") - await self.move.forward(2).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + await self.go( + self.move().forward(2).zero_roll_and_pitch(), + speed=SPEED_LIMIT, + ) # returns center of marker and width async def find_marker(self): @@ -126,7 +139,7 @@ async def find_marker(self): upper = np.array([50, 50, 50], dtype="uint8") mask = cv2.inRange(hsv_img, lower, upper) - # publish mask for debuggin purposes + # publish mask for debugging purposes masked_msg = self.bridge.cv2_to_imgmsg(mask, "mono8") self.image_debug_pub.publish(masked_msg) @@ -163,13 +176,15 @@ async def find_marker(self): if abs(difference) > 30: if difference < 0: print("Adjusting right") - await self.move.yaw_right(abs(angle)).zero_roll_and_pitch().go( - speed=SPEED_LIMIT + await self.go( + self.move().yaw_right(abs(angle)).zero_roll_and_pitch(), + speed=SPEED_LIMIT, ) elif difference > 0: print("Adjusting left") - await self.move.yaw_left(abs(angle)).zero_roll_and_pitch().go( - speed=SPEED_LIMIT + await self.go( + self.move().yaw_left(abs(angle)).zero_roll_and_pitch(), + speed=SPEED_LIMIT, ) # if the width of the pole is bigger than a certain amount, rotate around pole @@ -193,10 +208,12 @@ async def circle_marker(self): sub_position = await self.pose.position sub_orientation = await self.pose.orientation center_point = self.get_point_in_front_of_sub( - sub_position, sub_orientation, 2.5 + sub_position, + sub_orientation, + 2.5, ) vect = np.array( - [sub_position[0] - center_point[0], sub_position[1] - center_point[1], 0] + [sub_position[0] - center_point[0], sub_position[1] - center_point[1], 0], ) # go around animal @@ -213,7 +230,7 @@ async def circle_marker(self): print(new_pos) print(vect) await self.move.set_position(new_pos).look_at_without_pitching( - center_point + center_point, ).go() def point_at_goal(self, current_pos, center_pos): @@ -224,7 +241,7 @@ def point_at_goal(self, current_pos, center_pos): def rotate_vector(self, vector, theta): # rotate a vector theta radians rot = np.array( - [[math.cos(theta), -math.sin(theta)], [math.sin(theta), math.cos(theta)]] + [[math.cos(theta), -math.sin(theta)], [math.sin(theta), math.cos(theta)]], ) res = np.dot(rot, vector) return res diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/square.py b/SubjuGator/command/subjugator_missions/subjugator_missions/square.py index 1c1e2665b..e126d6a88 100755 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/square.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/square.py @@ -7,16 +7,16 @@ class Square(SubjuGatorMission): async def run(self, args): - center = self.move.forward(0).zero_roll_and_pitch() + center = self.move().forward(0).zero_roll_and_pitch() for i in range(4): - forward = self.move.forward(SIDE_LENGTH).zero_roll_and_pitch() + forward = self.move().forward(SIDE_LENGTH).zero_roll_and_pitch() right = forward.right(SIDE_LENGTH).zero_roll_and_pitch() - await forward.go(speed=SPEED_LIMIT) - await right.go(speed=SPEED_LIMIT) - await forward.go(speed=SPEED_LIMIT) - await center.go(speed=SPEED_LIMIT) + await self.go(forward, speed=SPEED_LIMIT) + await self.go(right, speed=SPEED_LIMIT) + await self.go(forward, speed=SPEED_LIMIT) + await self.go(center, speed=SPEED_LIMIT) center = center.yaw_right_deg(90) - await center.go(speed=SPEED_LIMIT) + await self.go(center, speed=SPEED_LIMIT) print("Done!") diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py index 1f74ccd57..0886298e1 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py @@ -26,12 +26,12 @@ async def run(self, args): await self.tx_pose() fprint("Found odom") fprint("Begin search for gates") - rotate_start = self.move.zero_roll_and_pitch() + rotate_start = self.move().zero_roll_and_pitch() for i in range(4): # Search 4 quadrants separated by 90 degrees for the gate fprint(f"Searching {90 * i} degrees") await rotate_start.yaw_right_deg(90 * i).go(speed=CAREFUL_SPEED) - start = self.move.zero_roll_and_pitch() + start = self.move().zero_roll_and_pitch() # Pitch up and down to populate pointcloud so = SonarObjects(self, [start.pitch_down_deg(7), start] * 5) transform = await self._tf_listener.get_transform("map", "/base_link") @@ -76,8 +76,9 @@ async def run(self, args): distance_btwn_gate = distance.euclidean(gate_points[0], gate_points[1]) fprint( "Distance between poles: {} m = {} inch".format( - distance_btwn_gate, distance_btwn_gate * 39.3701 - ) + distance_btwn_gate, + distance_btwn_gate * 39.3701, + ), ) # Find midpoint between the two poles/objects @@ -88,7 +89,7 @@ async def run(self, args): fprint(f"Midpoint: {mid_point}") fprint("Looking at gate", msg_color="yellow") - await self.move.look_at(mid_point).go(speed=CAREFUL_SPEED) + await self.go(self.move().look_at(mid_point), speed=CAREFUL_SPEED) normal = mid_point - self.pose.position normal[2] = 0 @@ -111,19 +112,25 @@ async def run(self, args): fprint(f"Goalpoint: {goal_point}") fprint("Moving in front of goalpoint!", msg_color="yellow") - await self.move.set_position(goal_point - 2 * normal).look_at(goal_point).go( - speed=SPEED + await self.go( + self.move().set_position(goal_point - 2 * normal).look_at(goal_point), + speed=SPEED, ) fprint("Style on dem haters!", msg_color="yellow") - await self.move.set_position(goal_point).yaw_right_deg(179).go( - speed=CAREFUL_SPEED + await self.go( + self.move().set_position(goal_point).yaw_right_deg(179), + speed=CAREFUL_SPEED, ) fprint("Moving past the gate", msg_color="yellow") - await self.move.set_position( - goal_point + DIST_AFTER_GATE * normal - ).yaw_right_deg(179).zero_roll_and_pitch().go(speed=CAREFUL_SPEED) + await self.go( + self.move() + .set_position(goal_point + DIST_AFTER_GATE * normal) + .yaw_right_deg(179) + .zero_roll_and_pitch(), + speed=CAREFUL_SPEED, + ) return True def find_gate( @@ -153,9 +160,7 @@ def find_gate( p2 = rosmsg_to_numpy(o2.pose.position) if distance.euclidean(p, p2) > max_distance_away: fprint( - "Poles too far away. Distance {}".format( - distance.euclidean(p, p2) - ) + f"Poles too far away. Distance {distance.euclidean(p, p2)}", ) continue if distance.euclidean(p, p2) < min_distance_away: @@ -169,17 +174,11 @@ def find_gate( # continue print(f"Dist {line}") if abs(line[2] > depth_threshold): - print( - "Not similar height. Height: {}. Thresh: ".format( - line[2], depth_threshold - ) - ) + print(f"Not similar height. Height: {line[2]}. Thresh: ") continue if abs(line[0]) < 1 and abs(line[1]) < 1: fprint( - "Objects on top of one another. x {}, y {}".format( - line[0], line[1] - ) + f"Objects on top of one another. x {line[0]}, y {line[1]}", ) continue return (p, p2) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_2022.py b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_2022.py index b025e6739..6b1f06093 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_2022.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_2022.py @@ -1,6 +1,12 @@ #!/usr/bin/env python +import math + +from axros import Subscriber from mil_misc_tools import text_effects +from sensor_msgs.msg import MagneticField +from std_msgs.msg import Bool +from tf.transformations import * from .sub_singleton import SubjuGatorMission @@ -12,12 +18,35 @@ # How many meters to pass the gate by DIST_AFTER_GATE = 1 -WAIT_SECONDS = 180 - -RIGHT_OR_LEFT = 1 +WAIT_SECONDS = 1 class StartGate2022(SubjuGatorMission): + async def current_angle(self): + imu_sub: Subscriber[MagneticField] = self.nh.subscribe( + name="/imu/mag", + message_type=MagneticField, + ) + async with imu_sub: + reading = await imu_sub.get_next_message() + declination = await self.nh.get_param("/course/location/declination") + assert isinstance(declination, (float, int)) + return ( + math.atan2(reading.magnetic_field.z, reading.magnetic_field.y) + * 180 + / math.pi + + declination + ) + + async def is_left(self): + side_sub: Subscriber[Bool] = self.nh.subscribe( + name="/getside", + message_type=Bool, + ) + async with side_sub: + result = await side_sub.get_next_message() + return result.data + async def run(self, args): fprint("Waiting for odom") await self.tx_pose() @@ -25,9 +54,37 @@ async def run(self, args): fprint(f"Waiting {WAIT_SECONDS} seconds...") await self.nh.sleep(WAIT_SECONDS) + orientation = await self.nh.get_param("/course/start_gate/orientation") + fprint(f"Rotating to start gate orientation (of {orientation} degrees)...") + cur_degree = await self.current_angle() + fprint(f"Current degree: {cur_degree} degrees") + assert isinstance(orientation, int) + if cur_degree > orientation: + fprint(f"Yaw lefting: {cur_degree - orientation} degrees") + await self.go(self.move().yaw_left_deg(cur_degree - orientation)) + else: + fprint(f"Yaw righting: {orientation - cur_degree} degrees") + await self.go(self.move().yaw_right_deg(orientation - cur_degree)) + await self.nh.sleep(2) # Give sub time to turn before moving straight + fprint("Found odom") - down = self.move.down(1).zero_roll_and_pitch() - forward = self.move.forward(4).zero_roll_and_pitch() + down = self.move().down(1) + await self.go(down, speed=SPEED) + + fprint("Waiting for side") + IS_LEFT = await self.is_left() + + side = "left" if IS_LEFT else "right" + + msg = "Found side: " + side + fprint(msg) + + if IS_LEFT: + left = self.move().left(1) + await self.go(left, speed=SPEED) + else: + right = self.move().right(1) + await self.go(right, speed=SPEED) - await down.go(speed=SPEED) - await forward.go(speed=SPEED) + forward = self.move().forward(5) + await self.go(forward, speed=SPEED) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_guess.py b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_guess.py index 1d0ec8775..794023cba 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_guess.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate_guess.py @@ -22,7 +22,7 @@ async def run(self, args): save_pois = rospy.ServiceProxy("/poi_server/save_to_param", Trigger) _ = save_pois() gate_1 = np.array(rospy.get_param("/poi_server/initial_pois/start_gate1")) - gate_2 = np.array(rospy.get_param("/poi_server/initial_pois/start_gate2")) + np.array(rospy.get_param("/poi_server/initial_pois/start_gate2")) # mid = (gate_1 + gate_2) / 2 # mid = gate_1 fprint(f"Found mid {gate_1}") @@ -33,5 +33,5 @@ async def run(self, args): # await self.move.look_at_without_pitching(mid).go(speed=DOWN_SPEED) fprint("Going!") - await self.move.set_position(gate_1).depth(DOWN).go(speed=SPEED) - await self.move.forward(1).go(speed=SPEED) + await self.go(self.move().set_position(gate_1).depth(DOWN), speed=SPEED) + await self.go(self.move().forward(1), speed=SPEED) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/strip.py b/SubjuGator/command/subjugator_missions/subjugator_missions/strip.py index f32b4dbed..7903cd9e7 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/strip.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/strip.py @@ -9,7 +9,7 @@ class Strip(SubjuGatorMission): async def pitch(self): - start = self.move.forward(0).zero_roll_and_pitch() + start = self.move().forward(0).zero_roll_and_pitch() pitches = [start.pitch_down_deg(7), start] * 5 for p in pitches: await p.go(speed=0.1) @@ -20,7 +20,7 @@ async def run(self, args): fprint(sub_start_orientation) await self.nh.sleep(2) - sub_start = self.move.forward(0).zero_roll_and_pitch() + sub_start = self.move().forward(0).zero_roll_and_pitch() await sub_start.down(0.15).set_orientation(sub_start_orientation).go(speed=0.1) await self.nh.sleep(3) @@ -50,7 +50,7 @@ async def run(self, args): await pole_f.go(speed=SPEED_LIMIT) await self.nh.sleep(3) - pole_r = self.move.right(offset_left * 2) + pole_r = self.move().right(offset_left * 2) await pole_r.go(speed=SPEED_LIMIT) await self.nh.sleep(3) @@ -58,19 +58,19 @@ async def run(self, args): await pole_b.go(speed=SPEED_LIMIT) await self.nh.sleep(3) - await self.move.strafe_left(offset_left).go(speed=SPEED_LIMIT) + await self.move().strafe_left(offset_left).go(speed=SPEED_LIMIT) await self.nh.sleep(5) fprint("Turning back to gate") # await pole.backward(1).go(speed=SPEED_LIMIT) await self.nh.sleep(5) fprint("Look at gate") - await self.move.look_at(gate._pose.position).yaw_left_deg(10).go( - speed=SPEED_LIMIT + await self.move().look_at(gate._pose.position).yaw_left_deg(10).go( + speed=SPEED_LIMIT, ) await self.nh.sleep(5) # fprint('Going to gate') - await self.move.forward(8.9).depth(0.6).go(speed=SPEED_LIMIT) + await self.move().forward(8.9).depth(0.6).go(speed=SPEED_LIMIT) # await start.go(speed=SPEED_LIMIT) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py b/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py index 9e785d300..8e498fc4d 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py @@ -74,14 +74,17 @@ class VisionProxy: def __init__(self, service_root: str, nh: NodeHandle): assert "vision" in service_root, "expected 'vision' in the name of service_root" self._get_2d_service = nh.get_service_client( - service_root + "/2D", VisionRequest2D + service_root + "/2D", + VisionRequest2D, ) self._get_pose_service = nh.get_service_client( - service_root + "/pose", VisionRequest + service_root + "/pose", + VisionRequest, ) self._enable_service = nh.get_service_client(service_root + "/enable", SetBool) self._set_geometry_service = nh.get_service_client( - service_root + "/set_geometry", SetGeometry + service_root + "/set_geometry", + SetGeometry, ) def start(self) -> Coroutine[Any, Any, types.Message]: @@ -118,7 +121,9 @@ def get_2d(self, target: str = "") -> Coroutine[Any, Any, types.Message] | None: return pose def get_pose( - self, target: str = "", in_frame=None + self, + target: str = "", + in_frame=None, ) -> Coroutine[Any, Any, types.Message] | None: """ Get the 3D pose of the object we're after. @@ -135,7 +140,8 @@ def get_pose( return pose def set_geometry( - self, polygon: SetGeometry + self, + polygon: SetGeometry, ) -> Coroutine[Any, Any, types.Message] | None: try: res = self._set_geometry_service(SetGeometryRequest(model=polygon)) @@ -145,7 +151,8 @@ def set_geometry( @classmethod def get_response_direction( - cls, vision_response: VisionRequest2DResponse + cls, + vision_response: VisionRequest2DResponse, ) -> tuple[np.ndarray, float]: xy = np.array([vision_response.pose.x, vision_response.pose.y]) bounds = np.array([[vision_response.max_x, vision_response.max_y]]) @@ -168,7 +175,9 @@ class _VisionProxies: def __init__(self, nh: NodeHandle, file_name: str): rospack = rospkg.RosPack() config_file = os.path.join( - rospack.get_path("subjugator_missions"), "subjugator_missions", file_name + rospack.get_path("subjugator_missions"), + "subjugator_missions", + file_name, ) f = yaml.full_load(open(config_file)) @@ -180,68 +189,6 @@ def __getattr__(self, proxy: str) -> VisionProxy | None: return self.proxies.get(proxy, None) -class _PoseProxy: - def __init__( - self, - sub: SubjuGatorMission, - pose: pose_editor.PoseEditor, - print_only: bool = False, - ): - self._sub = sub - self._pose = pose - self.print_only = print_only - - # Normal moves get routed here - def __getattr__(self, name: str) -> Callable: - def sub_attr_proxy(*args, **kwargs): - return _PoseProxy( - self._sub, - getattr(self._pose, name)(*args, **kwargs), - print_only=self.print_only, - ) - - return sub_attr_proxy - - # Some special moves - def to_height(self, height): - dist_to_bot = self._sub._dvl_range_sub.get_last_message() - delta_height = dist_to_bot.range - height - return self.down(delta_height) - - def check_goal(self) -> None: - """ - Check end goal for feasibility. - - Current checks are: - * End goal can't be above the water - """ - # End goal can't be above the water - if self._pose.position[2] > 0: - print("GOAL TOO HIGH") - self._pos.position = -0.6 - - async def go(self, *args, **kwargs): - if self.print_only: - print(self._pose) - return self._sub.nh.sleep(0.1) - - self.check_goal() - - goal = self._sub._moveto_action_client.send_goal( - self._pose.as_MoveToGoal(*args, **kwargs) - ) - result = await goal.get_result() - if result.error == "killed": - raise exceptions.KilledException() - return result - - def go_trajectory(self, *args, **kwargs): - traj = self._sub._trajectory_pub.publish( - self._pose.as_PoseTwistStamped(*args, **kwargs) - ) - return traj - - class _ActuatorProxy: """ Wrapper for making service calls to pneumatic valve board. @@ -342,12 +289,25 @@ async def shutdown_base(cls) -> None: @property def pose(self) -> pose_editor.PoseEditor: + """ + Returns a pose editor at the current position and orientation. Equivalent + to :meth:`~.move`, but this property should be used to indicate that no + move is being requested. + """ last_odom_msg = self._odom_sub.get_last_message() if self.test_mode: last_odom_msg = Odometry() # All 0's pose = pose_editor.PoseEditor.from_Odometry(last_odom_msg) return pose + def move(self) -> pose_editor.PoseEditor: + """ + Returns a pose editor at the current position and orientation. Equivalent + to the :meth:`~.pose` property, but this method should be used to indicate + that a movement is soon to be requested on the sub. + """ + return self.pose + async def tx_pose(self): """ Slightly safer to use. @@ -361,9 +321,40 @@ async def tx_pose(self): pose = mil_ros_tools.pose_to_numpy(next_odom_msg.pose.pose) return pose - @property - def move(self) -> _PoseProxy: - return _PoseProxy(self, self.pose, self.test_mode) + async def go( + self, + pose: pose_editor.PoseEditor, + *, + speed: float = 0.2, + blind: bool = False, + uncoordinated: bool = False, + ): + """ + Executes a movement to the position and orientation supplied in the + provided pose editor. + + Arguments: + speed (float): The speed to execute the movement in m/s. Defaults to + 0.2 m/s. + blind (bool): Whether to ignore collision avoidance in the planned + path. Defaults to False. + uncoordinated (bool): Whether to achieve some components before others. + False will move in a straight line. Defaults to False. + """ + # Check goal + if pose.position[2] > 0: + print("GOAL TOO HIGH") + pose.position[2] = -0.6 + + goal = self._moveto_action_client.send_goal( + pose.as_MoveToGoal(speed=speed, blind=blind, uncoordinated=uncoordinated), + ) + result = await goal.get_result() + + if result.error == "killed": + raise exceptions.KilledException + + return result async def get_dvl_range(self): msg = await self._dvl_range_sub.get_next_message() @@ -374,7 +365,9 @@ async def get_in_frame(self, pose_stamped, frame: str = "map"): TODO """ transform = await self._tf_listener.get_transform( - frame, pose_stamped.header.frame_id, pose_stamped.header.stamp + frame, + pose_stamped.header.frame_id, + pose_stamped.header.stamp, ) tft = axros_tf.Transform.from_Pose_message(pose_stamped.pose) full_transform = transform * tft @@ -409,7 +402,7 @@ async def start_search( looker = asyncio.create_task(self._run_look(spotings_req)) searcher = asyncio.create_task(self._run_search_pattern(loop, speed)) - start_pose = self.sub.move.forward(0) + start_pose = self.sub.move().forward(0) start_time = self.sub.nh.get_time() while self.sub.nh.get_time() - start_time < genpy.Duration(timeout): # If we find the object @@ -424,7 +417,7 @@ async def start_search( looker.cancel() searcher.cancel() - await start_pose.go() + await self.sub.go(start_pose) async def _run_search_pattern(self, loop: bool, speed: float): """ @@ -439,7 +432,7 @@ async def _run_search_pattern(self, loop: bool, speed: float): while True: for pose in self.search_pattern: print("SEARCHER - going to next position.") - if isinstance(pose, list) or isinstance(pose, np.ndarray): + if isinstance(pose, (list, np.ndarray)): await self.sub.move.relative(pose).go(speed=speed) else: await pose.go() @@ -448,7 +441,7 @@ async def _run_search_pattern(self, loop: bool, speed: float): else: for pose in self.search_pattern: - if isinstance(pose, list) or isinstance(pose, np.ndarray): + if isinstance(pose, (list, np.ndarray)): await self.sub.move.relative(np.array(pose)).go(speed=speed) else: await pose.go() @@ -505,16 +498,18 @@ async def go_to_sequence_eulers( """ for i in range(len(positions)): await self.sub.move.look_at_without_pitching( - np.array(positions[i][0:3]) + np.array(positions[i][0:3]), ).go(speed) await self.sub.move.relative(np.array(positions[i][0:3])).go(speed) await self.sub.move.set_orientation( quaternion_multiply( self.sub.pose.orientation, quaternion_from_euler( - orientations[i][0], orientations[i][1], orientations[i][2] + orientations[i][0], + orientations[i][1], + orientations[i][2], ), - ) + ), ).go(speed) async def go_to_sequence_quaternions( @@ -530,7 +525,7 @@ async def go_to_sequence_quaternions( """ for i in range(len(positions)): await self.sub.move.look_at_without_pitching( - np.array(positions[i][0:3]) + np.array(positions[i][0:3]), ).go(speed) await self.sub.move.relative(np.array(positions[i][0:3])).go(speed) await self.sub.move.set_orientation( @@ -542,7 +537,7 @@ async def go_to_sequence_quaternions( orientations[i][2], orientations[i][3], ), - ) + ), ).go(speed) @@ -565,11 +560,13 @@ def __init__(self, sub: SubjuGatorMission, pattern=None): self.pattern = [sub.move.forward(0)] self.pattern = pattern self._clear_pcl = self.sub.nh.get_service_client( - "/ogrid_pointcloud/clear_pcl", Trigger + "/ogrid_pointcloud/clear_pcl", + Trigger, ) self._objects_service = self.sub.nh.get_service_client( - "/ogrid_pointcloud/get_objects", ObjectDBQuery + "/ogrid_pointcloud/get_objects", + ObjectDBQuery, ) def __del__(self): @@ -602,7 +599,7 @@ async def start_search_in_cone( distance_tol: float = 10, speed: float = 0.5, clear: bool = False, - c_func: Callable = None, + c_func: Callable | None = None, ): if clear: print("SONAR_OBJECTS: clearing pointcloud") @@ -618,7 +615,11 @@ async def start_search_in_cone( # Break out of loop if we find something satisfying function res = await self._objects_service(ObjectDBQueryRequest()) g_obj = self._get_objects_within_cone( - res.objects, start_point, ray, angle_tol, distance_tol + res.objects, + start_point, + ray, + angle_tol, + distance_tol, ) g_obj = self._sort_by_angle(g_obj, ray, start_point) @@ -631,14 +632,21 @@ async def start_search_in_cone( res = await self._objects_service(ObjectDBQueryRequest()) g_obj = self._get_objects_within_cone( - res.objects, start_point, ray, angle_tol, distance_tol + res.objects, + start_point, + ray, + angle_tol, + distance_tol, ) g_obj = self._sort_by_angle(g_obj, ray, start_point) res.objects = g_obj return res async def start_until_found_x( - self, speed: float = 0.5, clear: bool = False, object_count: int = 0 + self, + speed: float = 0.5, + clear: bool = False, + object_count: int = 0, ): """ Search until a number of objects are found. @@ -695,7 +703,11 @@ async def start_until_found_in_cone( await pose.go(speed=speed, blind=True) res = await self._objects_service(ObjectDBQueryRequest()) g_obj = self._get_objects_within_cone( - res.objects, start_point, ray, angle_tol, distance_tol + res.objects, + start_point, + ray, + angle_tol, + distance_tol, ) if g_obj is None: continue @@ -768,7 +780,8 @@ def __init__(self, sub: SubjuGatorMission, pattern=None): async def start(self, speed: float = 0.2): self._plane_subscriber = self.sub.nh.subscribe( - "/ogrid_pointcloud/point_cloud/plane", PointCloud2 + "/ogrid_pointcloud/point_cloud/plane", + PointCloud2, ) await self._plane_subscriber.setup() await self._run_move_pattern(speed) @@ -776,9 +789,11 @@ async def start(self, speed: float = 0.2): pc_gen = np.asarray( list( pc2.read_points( - self.pointcloud, skip_nans=True, field_names=("x", "y", "z") - ) - ) + self.pointcloud, + skip_nans=True, + field_names=("x", "y", "z"), + ), + ), ) return pc_gen @@ -788,12 +803,14 @@ async def _cat_newcloud(self): self.pointcloud = data else: gen = list( - pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z")) + pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z")), ) pc_gen = list( pc2.read_points( - self.pointcloud, skip_nans=True, field_names=("x", "y", "z") - ) + self.pointcloud, + skip_nans=True, + field_names=("x", "y", "z"), + ), ) concat = np.asarray(gen + pc_gen, np.float32) print(f"SONAR_POINTCLOUD - current size: {concat.shape}") @@ -801,7 +818,7 @@ async def _cat_newcloud(self): async def _run_move_pattern(self, speed: float): for pose in self.pattern: - if isinstance(pose, list) or isinstance(pose, np.ndarray): + if isinstance(pose, (list, np.ndarray)): await self.sub.move.relative(np.array(pose)).go(speed=speed) else: await pose.go() diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/surface.py b/SubjuGator/command/subjugator_missions/subjugator_missions/surface.py index 60d5659a1..80fbace65 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/surface.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/surface.py @@ -5,5 +5,5 @@ class Surface(SubjuGatorMission): async def run(self, args): self.send_feedback("Surfacing") - await self.move.depth(0.2).go() + await self.go(self.move().depth(0.2)) return "Success!" diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/vampire_slayer.py b/SubjuGator/command/subjugator_missions/subjugator_missions/vampire_slayer.py index d688ee4e2..aeb6bc63e 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/vampire_slayer.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/vampire_slayer.py @@ -67,19 +67,19 @@ async def run(self, args): """ Move Pattern """ - await self.move.left(1).go() + await self.go(self.move().left(1)) await self.nh.sleep(2) - await self.move.right(2).go() + await self.go(self.move().right(2)) await self.nh.sleep(2) - await self.move.down(0.5).go() + await self.go(self.move().down(0.5)) await self.nh.sleep(2) - await self.move.up(0.5).go() - await self.move.forward(0.75).go() + await self.go(self.move().up(0.5)) + await self.go(self.move().forward(0.75)) await self.nh.sleep(2) - await self.move.right(0.75).go() + await self.go(self.move().right(0.75)) await self.nh.sleep(2) - await self.move.backward(0.75).go() - await self.move.left(1).go() + await self.go(self.move().backward(0.75)) + await self.go(self.move().left(1)) """ Did we find something? """ @@ -92,8 +92,8 @@ async def run(self, args): target_pose = rosmsg_to_numpy(res.pose.pose.position) target_normal = rosmsg_to_numpy(res.pose.pose.orientation)[:2] print("Normal: ", target_normal) - await self.move.go(blind=True, speed=0.1) # Station hold - transform = await self._tf_listener.get_transform("map", "/base_link") + await self.go(self.move(), blind=True, speed=0.1) # Station hold + await self._tf_listener.get_transform("map", "/base_link") target_position = target_pose # target_position = target_pose / target_normal @@ -108,9 +108,15 @@ async def run(self, args): # Don't hit buoy yet print("MOVING TO X: ", target_position[0]) print("MOVING TO Y: ", target_position[1]) - await self.move.set_position( - np.array([target_position[0], target_position[1], target_position[2]]) - ).go(blind=True, speed=0.1) + await self.go( + self.move().set_position( + np.array( + [target_position[0], target_position[1], target_position[2]], + ), + ), + blind=True, + speed=0.1, + ) # Go behind it # print('Going behind target') # await self.move.right(4).go(speed=1) diff --git a/SubjuGator/command/subjugator_missions/tools/rviz_visualizer.py b/SubjuGator/command/subjugator_missions/tools/rviz_visualizer.py index 03128d80b..068b77e8d 100755 --- a/SubjuGator/command/subjugator_missions/tools/rviz_visualizer.py +++ b/SubjuGator/command/subjugator_missions/tools/rviz_visualizer.py @@ -23,13 +23,19 @@ class RvizVisualizer: def __init__(self): rospy.init_node("revisualizer") self.rviz_pub = rospy.Publisher( - "visualization/state", visualization_msgs.Marker, queue_size=2 + "visualization/state", + visualization_msgs.Marker, + queue_size=2, ) self.rviz_pub_t = rospy.Publisher( - "visualization/state_t", visualization_msgs.Marker, queue_size=2 + "visualization/state_t", + visualization_msgs.Marker, + queue_size=2, ) self.rviz_pub_utils = rospy.Publisher( - "visualization/bus_voltage", visualization_msgs.Marker, queue_size=2 + "visualization/bus_voltage", + visualization_msgs.Marker, + queue_size=2, ) self.kill_server = InteractiveMarkerServer("interactive_kill") @@ -85,13 +91,17 @@ def __init__(self): # distance to bottom self.range_sub = rospy.Subscriber( - "dvl/range", RangeStamped, self.range_callback + "dvl/range", + RangeStamped, + self.range_callback, ) # distance to surface self.depth_sub = rospy.Subscriber("depth", DepthStamped, self.depth_callback) # battery voltage self.voltage_sub = rospy.Subscriber( - "/bus_voltage", Float64, self.voltage_callback + "/bus_voltage", + Float64, + self.voltage_callback, ) def update_kill_button(self): @@ -112,7 +122,7 @@ def kill_alarm_callback(self, alarm: Alarm): self.update_kill_button() def kill_buttton_callback(self, feedback): - if not feedback.event_type == 3: + if feedback.event_type != 3: return if self.need_kill_update: return @@ -167,10 +177,7 @@ def range_callback(self, msg: RangeStamped): distance = msg.range # Color a sharper red if we're in danger - if distance < 1.0: - color = (1.0, 0.1, 0.0, 0.9) - else: - color = (0.2, 0.8, 0.0, 0.7) + color = (1.0, 0.1, 0.0, 0.9) if distance < 1.0 else (0.2, 0.8, 0.0, 0.7) marker = self.make_cylinder_marker( np.array([0.0, 0.0, 0.0]), # place at origin @@ -196,7 +203,7 @@ def make_cylinder_marker( color: Sequence[float], frame: str = "/base_link", up_vector: np.ndarray = np.array([0.0, 0.0, 1.0]), - **kwargs + **kwargs, ): """ Handle the frustration that Rviz cylinders are designated by their center, not base. @@ -217,7 +224,7 @@ def make_cylinder_marker( color=ColorRGBA(*color), scale=Vector3(0.2, 0.2, length), lifetime=rospy.Duration(), - **kwargs + **kwargs, ) return marker diff --git a/SubjuGator/command/subjugator_missions/tools/waypoint_utility.py b/SubjuGator/command/subjugator_missions/tools/waypoint_utility.py index c8983e983..5e705cf53 100755 --- a/SubjuGator/command/subjugator_missions/tools/waypoint_utility.py +++ b/SubjuGator/command/subjugator_missions/tools/waypoint_utility.py @@ -59,13 +59,21 @@ def __init__(self): self.target_pose_pub = rospy.Publisher("/posegoal", PoseStamped, queue_size=1) self.target_distance_pub = rospy.Publisher( - "/pose_distance", Marker, queue_size=1 + "/pose_distance", + Marker, + queue_size=1, ) self.odom_sub = rospy.Subscriber( - "/odom", nav_msgs.Odometry, self.odom_cb, queue_size=1 + "/odom", + nav_msgs.Odometry, + self.odom_cb, + queue_size=1, ) self.twist_sub = rospy.Subscriber( - "/spacenav/twist", Twist, self.twist_cb, queue_size=1 + "/spacenav/twist", + Twist, + self.twist_cb, + queue_size=1, ) self.joy_sub = rospy.Subscriber("/spacenav/joy", Joy, self.joy_cb, queue_size=1) @@ -74,7 +82,8 @@ def odom_cb(self, msg: nav_msgs.Odometry) -> None: pose, twist, _, _ = mil_ros_tools.odometry_to_numpy(msg) position, orientation = pose self.world_to_body = self.transformer.fromTranslationRotation( - position, orientation + position, + orientation, )[:3, :3] self.cur_position = position @@ -87,7 +96,7 @@ def twist_cb(self, msg: Twist) -> None: linear = mil_ros_tools.rosmsg_to_numpy(msg.linear) angular = mil_ros_tools.rosmsg_to_numpy(msg.angular) self.target_position += self.target_orientation.dot( - self._position_gain * linear + self._position_gain * linear, ) self.diff_position = np.subtract(self.cur_position, self.target_position) @@ -101,7 +110,8 @@ def twist_cb(self, msg: Twist) -> None: self.target_orientation = self.target_orientation.dot(rotation) self.target_distance = round( - np.linalg.norm(np.array([self.diff_position[0], self.diff_position[1]])), 3 + np.linalg.norm(np.array([self.diff_position[0], self.diff_position[1]])), + 3, ) self.target_depth = round(self.diff_position[2], 3) self.target_orientation = self.target_orientation.dot(rotation) @@ -109,10 +119,11 @@ def twist_cb(self, msg: Twist) -> None: blank = np.eye(4) blank[:3, :3] = self.target_orientation self.target_orientation_quaternion = tf.transformations.quaternion_from_matrix( - blank + blank, ) self.publish_target_pose( - self.target_position, self.target_orientation_quaternion + self.target_position, + self.target_orientation_quaternion, ) def publish_target_pose(self, position: np.ndarray, orientation): @@ -123,7 +134,7 @@ def publish_target_pose(self, position: np.ndarray, orientation): position=mil_ros_tools.numpy_to_point(position), orientation=mil_ros_tools.numpy_to_quaternion(orientation), ), - ) + ), ) self.distance_marker.header = mil_ros_tools.make_header("map") self.distance_marker.text = ( @@ -149,7 +160,8 @@ def joy_cb(self, msg: Joy): if left: if self.target_orientation_quaternion is not None: self.moveto_action( - self.target_position, self.target_orientation_quaternion + self.target_position, + self.target_orientation_quaternion, ) rospy.sleep(1.0) @@ -169,7 +181,7 @@ def moveto_action(self, position: np.ndarray, orientation: np.ndarray): pose=geom_msgs.Pose( position=mil_ros_tools.numpy_to_point(position), orientation=mil_ros_tools.numpy_to_quaternion(orientation), - ) + ), ), speed=0.2, linear_tolerance=0.1, diff --git a/SubjuGator/docs/CMakeLists.txt b/SubjuGator/docs/CMakeLists.txt index ffcd4309d..84be3c487 100644 --- a/SubjuGator/docs/CMakeLists.txt +++ b/SubjuGator/docs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_documentation) find_package(catkin REQUIRED) catkin_package() diff --git a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_dynamic_compensation/CMakeLists.txt b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_dynamic_compensation/CMakeLists.txt index e845de9c2..d886ee4ab 100644 --- a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_dynamic_compensation/CMakeLists.txt +++ b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_dynamic_compensation/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(magnetic_dynamic_compensation) find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs roscpp tf std_msgs message_runtime nodelet) diff --git a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/CMakeLists.txt b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/CMakeLists.txt index beda35b42..6aedc7710 100644 --- a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/CMakeLists.txt +++ b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(magnetic_hardsoft_compensation) find_package(catkin REQUIRED COMPONENTS tf geometry_msgs nodelet roscpp mil_tools eigen_conversions) diff --git a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config index 1b15edf66..4b65395af 100755 --- a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config +++ b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config @@ -9,6 +9,7 @@ import rosbag import roslib import scipy.linalg import yaml +from mpl_toolkits.mplot3d import Axes3D from tf import transformations roslib.load_manifest("magnetic_hardsoft_compensation") @@ -20,7 +21,7 @@ def normalized_matrix(m): def calculate_error(points): - radii = map(numpy.linalg.norm, points) + radii = list(map(numpy.linalg.norm, points)) error = numpy.std(radii) / numpy.mean(radii) return error @@ -47,7 +48,7 @@ def fit_ellipsoid(points): B = numpy.ones((points.shape[0], 1)) - X = numpy.linalg.lstsq(A, B)[0].flatten() + X = numpy.linalg.lstsq(A, B, rcond=-1)[0].flatten() if X[0] < 0: X = -X # make sure ka turns out positive definite @@ -60,8 +61,8 @@ def fit_ellipsoid(points): [X[0], X[3], X[4]], [X[3], X[1], X[5]], [X[4], X[5], X[2]], - ] - ) + ], + ), ) shift = ka.dot(X[6:9]) @@ -104,13 +105,13 @@ def test(): error = calculate_error(compensated) assert numpy.allclose( - scale2, scale + scale2, + scale, ), "Magnetic Hardsoft Compenstion self-test failed" assert numpy.allclose( - shift2, shift - ), "Magnetic Hardsoft Compenstion self-test failed, shifts: {}".format( - (shift2, shift) - ) + shift2, + shift, + ), f"Magnetic Hardsoft Compenstion self-test failed, shifts: {(shift2, shift)}" assert ( error < 1e-5 ), f"Magnetic Hardsoft Compenstion self-test failed, error: {error}" @@ -135,7 +136,7 @@ if __name__ == "__main__": if hasattr(msg, "magnetic_field") else mil_ros_tools.rosmsg_to_numpy(msg.vector) for topic, msg, t in bag.read_messages(topics=["/imu/mag_raw"]) - ] + ], ) if not len(points): @@ -148,15 +149,14 @@ if __name__ == "__main__": try: import matplotlib.pyplot as plt - from mpl_toolkits.mplot3d import Axes3D # pylint: disable=unused-import fig = plt.figure(figsize=(10, 10)) - ax = fig.add_subplot("111", projection="3d") + ax = Axes3D(fig) ax.scatter([0], [0], [0], s=100, c="r") ax.scatter(*zip(*points[::10, :])) axisEqual3D(ax) plt.show() - except: + except Exception: import traceback traceback.print_exc() @@ -167,26 +167,25 @@ if __name__ == "__main__": try: import matplotlib.pyplot as plt - from mpl_toolkits.mplot3d import Axes3D # pylint: disable=unused-import fig = plt.figure(figsize=(10, 10)) - ax = fig.add_subplot("111", projection="3d") + ax = Axes3D(fig) ax.scatter([0], [0], [0], s=100, c="r") ax.scatter(*zip(*points[::10, :])) ax.scatter(*zip(*compensated[::10, :]), c="g") axisEqual3D(ax) plt.show() - except: + except Exception: import traceback traceback.print_exc() print( yaml.dump( - dict( - scale=map(lambda x: map(float, x), scale), - shift=map(float, shift), - ) - ) + { + "scale": scale.tolist(), + "shift": shift.tolist(), + }, + ), ) diff --git a/SubjuGator/drivers/sub8_actuator_board/CMakeLists.txt b/SubjuGator/drivers/sub8_actuator_board/CMakeLists.txt index 45856db1c..82e50480e 100644 --- a/SubjuGator/drivers/sub8_actuator_board/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_actuator_board/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sub8_actuator_board) find_package(catkin REQUIRED COMPONENTS message_generation diff --git a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/handle.py b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/handle.py index 7749df29e..cee7efb30 100644 --- a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/handle.py +++ b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/handle.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import rospy -from mil_usb_to_can import CANDeviceHandle +from mil_usb_to_can.sub8 import CANDeviceHandle + from sub8_actuator_board.srv import SetValve, SetValveRequest from .packets import SEND_ID, CommandMessage, FeedbackMessage, InvalidAddressException @@ -32,20 +33,28 @@ def set_valve(self, req: SetValveRequest) -> dict: # Send board command to open or close specified valve try: message = CommandMessage.create_command_message( - address=req.actuator, write=True, on=req.opened + address=req.actuator, + write=True, + on=req.opened, ) except InvalidAddressException as e: return {"success": False, "message": str(e)} self.send_data(bytes(message), can_id=SEND_ID) rospy.loginfo( - "Set valve {} {}".format(req.actuator, "opened" if req.opened else "closed") + "Set valve {} {}".format( + req.actuator, + "opened" if req.opened else "closed", + ), ) # Wait some time for board to process command rospy.sleep(0.01) # Request the status of the valve just commanded to ensure it worked self.send_data( bytes( - CommandMessage.create_command_message(address=req.actuator, write=False) + CommandMessage.create_command_message( + address=req.actuator, + write=False, + ), ), can_id=SEND_ID, ) @@ -56,7 +65,7 @@ def on_data(self, data) -> None: Process data received from board. """ # Ensure packet contains correct identifier byte - if FeedbackMessage.IDENTIFIER != ord(data[0]): + if ord(data[0]) != FeedbackMessage.IDENTIFIER: rospy.logwarn(f"Received packet with wrong identifier byte {ord(data[0])}") return # Parse message and (for now) just log it diff --git a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/packets.py b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/packets.py index 1cc2016ac..f287e09fa 100644 --- a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/packets.py +++ b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/packets.py @@ -1,6 +1,6 @@ import struct -from mil_usb_to_can import ApplicationPacket +from mil_usb_to_can.sub8 import ApplicationPacket # CAN ID for the channel from MOBO to actuator board SEND_ID = 0x51 @@ -74,7 +74,9 @@ def create_command_message(cls, address: int = 0, write: int = 0, on: int = 0): def __str__(self): return "CommandMessage(address={}, write={}, on={})".format( - self.address, self.write, self.on + self.address, + self.write, + self.on, ) @@ -87,8 +89,9 @@ class InvalidAddressException(RuntimeError): def __init__(self, address: int): super().__init__( "Attempted to command valve {}, but valid addresses are only [0,{}]".format( - address, CommandMessage.NUM_VALVES - 1 - ) + address, + CommandMessage.NUM_VALVES - 1, + ), ) diff --git a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/simulation.py b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/simulation.py index c57ee9429..f776274d2 100644 --- a/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/simulation.py +++ b/SubjuGator/drivers/sub8_actuator_board/sub8_actuator_board/simulation.py @@ -1,5 +1,5 @@ #!/usr/bin/python3 -from mil_usb_to_can import SimulatedCANDevice +from mil_usb_to_can.sub8 import SimulatedCANDevice from .packets import SEND_ID, CommandMessage, FeedbackMessage @@ -29,7 +29,7 @@ def on_data(self, data, can_id) -> None: return # First byte should be the identifier char for the command message - assert CommandMessage.IDENTIFIER == ord(data[0]) + assert ord(data[0]) == CommandMessage.IDENTIFIER # Parse message message = CommandMessage.from_bytes(data) @@ -41,6 +41,7 @@ def on_data(self, data, can_id) -> None: # If message is a status request, send motherboard the status of the requested valve else: response = FeedbackMessage.create_feedback_message( - address=message.address, on=self.status[message.address] + address=message.address, + on=self.status[message.address], ) self.send_data(bytes(response)) diff --git a/SubjuGator/drivers/sub8_adis16400_imu/CMakeLists.txt b/SubjuGator/drivers/sub8_adis16400_imu/CMakeLists.txt index 07dc1b436..f363eb26e 100644 --- a/SubjuGator/drivers/sub8_adis16400_imu/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_adis16400_imu/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(adis16400_imu) find_package(catkin REQUIRED COMPONENTS sensor_msgs geometry_msgs nodelet roscpp mil_tools) catkin_package( diff --git a/SubjuGator/drivers/sub8_depth_driver/CMakeLists.txt b/SubjuGator/drivers/sub8_depth_driver/CMakeLists.txt index 2f5d81cad..f85d6cd48 100644 --- a/SubjuGator/drivers/sub8_depth_driver/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_depth_driver/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(depth_driver) find_package(catkin REQUIRED COMPONENTS nodelet roscpp mil_msgs mil_tools) diff --git a/SubjuGator/drivers/sub8_depth_driver/scripts/fake_depth b/SubjuGator/drivers/sub8_depth_driver/scripts/fake_depth index a994e51ac..8c35cb8a0 100755 --- a/SubjuGator/drivers/sub8_depth_driver/scripts/fake_depth +++ b/SubjuGator/drivers/sub8_depth_driver/scripts/fake_depth @@ -20,6 +20,6 @@ while not rospy.is_shutdown(): frame_id="map", ), depth=0, - ) + ), ) rospy.sleep(rospy.Duration(0.2)) diff --git a/SubjuGator/drivers/sub8_driver_utils/camera_utils/CMakeLists.txt b/SubjuGator/drivers/sub8_driver_utils/camera_utils/CMakeLists.txt index c54e1b58f..6ac3b79e3 100644 --- a/SubjuGator/drivers/sub8_driver_utils/camera_utils/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_driver_utils/camera_utils/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(camera_utils) # This builds a utility to reset the camera bus using the DC1394 camera libraries diff --git a/SubjuGator/drivers/sub8_rdi_dvl/CMakeLists.txt b/SubjuGator/drivers/sub8_rdi_dvl/CMakeLists.txt index 8b3bd7d5d..92e5a2b4a 100644 --- a/SubjuGator/drivers/sub8_rdi_dvl/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_rdi_dvl/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(rdi_explorer_dvl) find_package(catkin REQUIRED COMPONENTS nodelet roscpp mil_msgs mil_tools) catkin_package( diff --git a/SubjuGator/drivers/sub8_rdi_dvl/scripts/fake_dvl b/SubjuGator/drivers/sub8_rdi_dvl/scripts/fake_dvl index ecb5fbaf0..88bbd3743 100755 --- a/SubjuGator/drivers/sub8_rdi_dvl/scripts/fake_dvl +++ b/SubjuGator/drivers/sub8_rdi_dvl/scripts/fake_dvl @@ -29,10 +29,10 @@ while not rospy.is_shutdown(): math.cos(i * 2 * math.pi / 4), math.sin(i * 2 * math.pi / 4), 0, - ] + ], ), ) for i in range(4) ], - ) + ), ) diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt b/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt index 350b2ed47..699568ff0 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sub8_thrust_and_kill_board) find_package(catkin REQUIRED COMPONENTS mil_usb_to_can diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py index 98fd2ade5..19df02c33 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py @@ -1,8 +1,8 @@ #!/usr/bin/python3 import rospy -from mil_usb_to_can import CANDeviceHandle +from mil_usb_to_can.sub8 import CANDeviceHandle from ros_alarms import AlarmBroadcaster, AlarmListener -from ros_alarms.msg import Alarm +from ros_alarms_msgs.msg import Alarm from rospy.timer import TimerEvent from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse from subjugator_msgs.msg import Thrust @@ -26,8 +26,8 @@ class ThrusterAndKillBoard(CANDeviceHandle): def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) # Initialize thruster mapping from params - self.thrusters = make_thruster_dictionary( - rospy.get_param("/thruster_layout/thrusters") + self.thrusters, self.name_to_id = make_thruster_dictionary( + rospy.get_param("/thruster_layout/thrusters"), ) # Tracks last hw-kill alarm update self._last_hw_kill = None @@ -39,17 +39,23 @@ def __init__(self, *args, **kwargs): self._go_alarm_broadcaster = AlarmBroadcaster("go") # Listens to hw-kill updates to ensure another nodes doesn't manipulate it self._hw_kill_listener = AlarmListener( - "hw-kill", callback_funct=self.on_hw_kill + "hw-kill", + callback_funct=self.on_hw_kill, ) # Provide service for alarm handler to set/clear the motherboard kill self._unkill_service = rospy.Service( - "/set_mobo_kill", SetBool, self.set_mobo_kill + "/set_mobo_kill", + SetBool, + self.set_mobo_kill, ) # Sends heartbeat to board self._heartbeat_timer = rospy.Timer(rospy.Duration(0.4), self.send_heartbeat) # Create a subscribe for thruster commands self._sub = rospy.Subscriber( - "/thrusters/thrust", Thrust, self.on_command, queue_size=10 + "/thrusters/thrust", + Thrust, + self.on_command, + queue_size=10, ) def set_mobo_kill(self, req: SetBoolRequest) -> SetBoolResponse: @@ -66,8 +72,10 @@ def set_mobo_kill(self, req: SetBoolRequest) -> SetBoolResponse: self.send_data( bytes( KillMessage.create_kill_message( - command=True, hard=False, asserted=req.data - ) + command=True, + hard=False, + asserted=req.data, + ), ), can_id=KILL_SEND_ID, ) @@ -85,7 +93,7 @@ def on_hw_kill(self, alarm: Alarm) -> None: Update the classes' hw-kill alarm to the latest update. Args: - alarm (:class:`~ros_alarms.msg._Alarm.Alarm`): The alarm message to update with. + alarm (:class:`~ros_alarms_msgs.msg._Alarm.Alarm`): The alarm message to update with. """ self._last_hw_kill = alarm @@ -101,16 +109,15 @@ def on_command(self, msg: Thrust) -> None: # If we don't have a mapping for this thruster, ignore it if cmd.name not in self.thrusters: rospy.logwarn( - "Command received for {}, but this is not a thruster.".format( - cmd.name - ) + f"Command received for {cmd.name}, but this is not a thruster.", ) continue # Map commanded thrust (in newetons) to effort value (-1 to 1) effort = self.thrusters[cmd.name].effort_from_thrust(cmd.thrust) # Send packet to command specified thruster the specified force packet = ThrustPacket.create_thrust_packet( - ThrustPacket.ID_MAPPING[cmd.name], effort + self.name_to_id[cmd.name], + effort, ) self.send_data(bytes(packet), can_id=THRUST_SEND_ID) @@ -148,7 +155,8 @@ def update_hw_kill(self, status: StatusMessage) -> None: ): if raised: self._kill_broadcaster.raise_alarm( - severity=severity, problem_description=message + severity=severity, + problem_description=message, ) else: self._kill_broadcaster.clear_alarm(severity=severity) @@ -226,10 +234,10 @@ def on_data(self, data: bytes) -> None: if self._last_go is None or go != self._last_go: if go: self._go_alarm_broadcaster.raise_alarm( - problem_description="Go plug pulled!" + problem_description="Go plug pulled!", ) else: self._go_alarm_broadcaster.clear_alarm( - problem_description="Go plug returned" + problem_description="Go plug returned", ) self._last_go = go diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py index 456a56ebf..dcd1aaa0b 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py @@ -1,7 +1,7 @@ import struct from collections import namedtuple -from mil_usb_to_can import ApplicationPacket +from mil_usb_to_can.sub8 import ApplicationPacket # CAN channel to send thrust messages to THRUST_SEND_ID = 0x21 @@ -54,7 +54,10 @@ class KillMessage(ApplicationPacket): @classmethod def create_kill_message( - cls, command: bool = False, hard: bool = False, asserted: bool = False + cls, + command: bool = False, + hard: bool = False, + asserted: bool = False, ): """ Creates a kill message containing three bytes of information, specified @@ -72,7 +75,11 @@ def create_kill_message( hard_soft_byte = cls.HARD if hard else cls.SOFT assert_unassert_byte = cls.ASSERTED if asserted else cls.UNASSERTED payload = struct.pack( - "BBBB", command_byte, hard_soft_byte, assert_unassert_byte, cls.PADDING + "BBBB", + command_byte, + hard_soft_byte, + assert_unassert_byte, + cls.PADDING, ) return cls(cls.IDENTIFIER, payload) @@ -138,7 +145,9 @@ def is_unasserted(self): def __str__(self): return "KillMessage(command={}, hard={}, asserted={})".format( - self.is_command, self.is_hard, self.is_asserted + self.is_command, + self.is_hard, + self.is_asserted, ) @@ -160,7 +169,15 @@ def __str__(self): class StatusMessage(KillStatus): BIT_MASK = KillStatus( - 1 << 3, 1 << 4, 1 << 5, 1 << 6, 1 << 7, 1 << 11, 1 << 12, 1 << 13, 1 << 14 + 1 << 3, + 1 << 4, + 1 << 5, + 1 << 6, + 1 << 7, + 1 << 11, + 1 << 12, + 1 << 13, + 1 << 14, ) STRUCT_FORMAT = "=h" @@ -233,41 +250,9 @@ class ThrustPacket(ApplicationPacket): Attributes: IDENTIFIER (int): The packet identifier, equal to the ordinal value of "T," or 84. - ID_MAPPING (Dict[str, int]): A dictionary mapping 3-letter thruster codes - to their respective IDs: - - +--------+------+ - | Name | ID | - +========+======+ - | FLH | 0 | - +--------+------+ - | FRH | 1 | - +--------+------+ - | FLV | 2 | - +--------+------+ - | FRV | 3 | - +--------+------+ - | BLH | 4 | - +--------+------+ - | BRH | 5 | - +--------+------+ - | BLV | 6 | - +--------+------+ - | BRV | 7 | - +--------+------+ """ IDENTIFIER = ord("T") - ID_MAPPING = { - "FLH": 0, - "FRH": 1, - "FLV": 2, - "FRV": 3, - "BLH": 4, - "BRH": 5, - "BLV": 6, - "BRV": 7, - } @classmethod def create_thrust_packet(cls, thruster_id: int, command: float): @@ -302,6 +287,4 @@ def command(self) -> float: return struct.unpack("f", self.payload[1:])[0] def __str__(self): - return "ThrustPacket(thruster_id={}, command={})".format( - self.thruster_id, self.command - ) + return f"ThrustPacket(thruster_id={self.thruster_id}, command={self.command})" diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py index faedf386c..5f9d0f01f 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/simulation.py @@ -1,6 +1,6 @@ #!/usr/bin/python3 import rospy -from mil_usb_to_can import SimulatedCANDevice +from mil_usb_to_can.sub8 import SimulatedCANDevice from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse from .packets import ( @@ -39,10 +39,14 @@ def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) self._update_timer = rospy.Timer(rospy.Duration(1), self.send_updates) self._soft_kill = rospy.Service( - "/simulate_soft_kill", SetBool, self.set_soft_kill + "/simulate_soft_kill", + SetBool, + self.set_soft_kill, ) self._hard_kill = rospy.Service( - "/simulate_hard_kill", SetBool, self.set_hard_kill + "/simulate_hard_kill", + SetBool, + self.set_hard_kill, ) self._go_srv = rospy.Service("/simulate_go", SetBool, self._on_go_srv) @@ -136,8 +140,8 @@ def on_data(self, data: bytes, can_id: int) -> None: Serves as the data handler for the device. Handles :class:`KillMessage`, :class:`ThrustPacket`, and :class:`HeartbeatMessage` types. """ - assert can_id == THRUST_SEND_ID or can_id == KILL_SEND_ID - if KillMessage.IDENTIFIER == data[0]: + assert can_id in (THRUST_SEND_ID, KILL_SEND_ID) + if data[0] == KillMessage.IDENTIFIER: packet = KillMessage.from_bytes(data) assert packet.is_command assert packet.is_hard or packet.is_soft @@ -146,9 +150,9 @@ def on_data(self, data: bytes, can_id: int) -> None: elif packet.is_soft: self.soft_kill_mobo = packet.is_asserted self.send_updates() - elif ThrustPacket.IDENTIFIER == data[0]: + elif data[0] == ThrustPacket.IDENTIFIER: packet = ThrustPacket.from_bytes(data) - elif HeartbeatMessage.IDENTIFIER == data[0]: + elif data[0] == HeartbeatMessage.IDENTIFIER: packet = HeartbeatMessage.from_bytes(data) self._last_heartbeat = rospy.Time.now() else: diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/thruster.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/thruster.py index 5a90baac0..7fe9aef12 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/thruster.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/thruster.py @@ -1,16 +1,21 @@ -from typing import Any, Dict +from __future__ import annotations + +from typing import Any from numpy import clip, polyval -def make_thruster_dictionary(dictionary): +def make_thruster_dictionary(dictionary) -> tuple[dict[str, Thruster], dict[str, int]]: """ - Make a dictionary mapping thruster names to :class:`Thruster` objects. + Make a dictionary mapping thruster names to :class:`Thruster` objects + and a dictionary mapping thruster names to node IDs. """ ret = {} + name_id_map = {} for thruster, content in dictionary.items(): ret[thruster] = Thruster.from_dict(content) - return ret + name_id_map[thruster] = content["node_id"] + return ret, name_id_map class Thruster: @@ -27,7 +32,7 @@ def __init__(self, forward_calibration, backward_calibration): self.backward_calibration = backward_calibration @classmethod - def from_dict(cls, data: Dict[str, Dict[str, Any]]): + def from_dict(cls, data: dict[str, dict[str, Any]]): """ Constructs the class from a dictionary. The dictionary should be formatted as so: diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/CMakeLists.txt b/SubjuGator/drivers/sub9_thrust_and_kill_board/CMakeLists.txt new file mode 100644 index 000000000..19b63afff --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sub9_thrust_and_kill_board) +find_package(catkin REQUIRED COMPONENTS + mil_usb_to_can +) +add_rostest(test/simulated_board.test) +catkin_python_setup() +catkin_package() diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/package.xml b/SubjuGator/drivers/sub9_thrust_and_kill_board/package.xml new file mode 100644 index 000000000..530dcfdf9 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/package.xml @@ -0,0 +1,13 @@ + + + sub9_thrust_and_kill_board + 0.0.0 + The sub9_thrust_and_kill_board package + Cameron Brown + MIT + Cameron Brown + catkin + mil_usb_to_can + mil_usb_to_can + mil_usb_to_can + diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/setup.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/setup.py new file mode 100644 index 000000000..32234daad --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/setup.py @@ -0,0 +1,11 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup + +# Fetch values from package.xml +setup_args = generate_distutils_setup( + packages=["sub9_thrust_and_kill_board"], +) + +setup(**setup_args) diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/__init__.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/__init__.py new file mode 100644 index 000000000..7a9f7f666 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/__init__.py @@ -0,0 +1,11 @@ +from .handle import ThrusterAndKillBoard +from .packets import ( + HeartbeatReceivePacket, + HeartbeatSetPacket, + KillReceivePacket, + KillSetPacket, + KillStatus, + ThrustSetPacket, +) +from .simulation import ThrusterAndKillBoardSimulation +from .thruster import Thruster diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/handle.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/handle.py new file mode 100644 index 000000000..8d103cc78 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/handle.py @@ -0,0 +1,196 @@ +#!/usr/bin/python3 +from __future__ import annotations + +import rospy +from mil_misc_tools import rospy_to_datetime +from mil_usb_to_can.sub9 import AckPacket, CANDeviceHandle, NackPacket +from ros_alarms import AlarmBroadcaster, AlarmListener +from ros_alarms_msgs.msg import Alarm +from rospy.timer import TimerEvent +from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse +from subjugator_msgs.msg import Thrust + +from .packets import ( + HeartbeatReceivePacket, + HeartbeatSetPacket, + KillReceivePacket, + KillSetPacket, + KillStatus, + ThrustSetPacket, +) +from .thruster import make_thruster_dictionary + + +class ThrusterAndKillBoard(CANDeviceHandle): + """ + Device handle for the thrust and kill board. + """ + + ID_MAPPING = { + "FLH": 0, + "FRH": 1, + "FLV": 2, + "FRV": 3, + "BLH": 4, + "BRH": 5, + "BLV": 6, + "BRV": 7, + } + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + # Initialize thruster mapping from params + self.thrusters = make_thruster_dictionary( + rospy.get_param("/thruster_layout/thrusters"), + ) + # Tracks last hw-kill alarm update + self._last_hw_kill = None + # Used to raise/clear hw-kill when board updates + self._kill_broadcaster = AlarmBroadcaster("hw-kill") + # Listens to hw-kill updates to ensure another nodes doesn't manipulate it + self._hw_kill_listener = AlarmListener( + "hw-kill", + callback_funct=self.on_hw_kill, + ) + # Provide service for alarm handler to set/clear the motherboard kill + self._unkill_service = rospy.Service("/set_mobo_kill", SetBool, self.set_kill) + # Sends heartbeat to board + self._heartbeat_timer = rospy.Timer(rospy.Duration(0.4), self.send_heartbeat) + # Create a subscribe for thruster commands + self._sub = rospy.Subscriber( + "/thrusters/thrust", + Thrust, + self.on_command, + queue_size=10, + ) + self._last_heartbeat = rospy.Time.now() + self._last_packet = None + self._updated_kill = False + + def set_kill(self, req: SetBoolRequest) -> SetBoolResponse: + """ + Called on service calls to ``/set_mobo_kill``, sending the appropriate + packet to the board to unassert or assert to motherboard-origin kill. + + Args: + req (SetBoolRequest): The service request. + + Returns: + SetBoolResponse: The service response. + """ + self.send_data(KillSetPacket(req.data, KillStatus.SOFTWARE_REQUESTED)) + start = rospy.Time.now() + while rospy.Time.now() - start < rospy.Duration(1): + if self._last_packet is not None: + break + + if isinstance(self._last_packet, NackPacket): + raise RuntimeError("Request not acknowledged.") + + start = rospy.Time.now() + while rospy.Time.now() - start < rospy.Duration(1): + if self._updated_kill: + break + + if self._updated_kill: + self._updated_kill = False + return SetBoolResponse(success=True) + else: + return SetBoolResponse( + success=False, + message="No response from board after 1 second.", + ) + + def send_heartbeat(self, _: TimerEvent) -> None: + """ + Send a special heartbeat packet. Called by a recurring timer set upon + initialization. + """ + self.send_data(HeartbeatSetPacket()) + + def on_hw_kill(self, alarm: Alarm) -> None: + """ + Update the classes' hw-kill alarm to the latest update. + + Args: + alarm (:class:`~ros_alarms_msgs.msg._Alarm.Alarm`): The alarm message to update with. + """ + self._last_hw_kill = alarm + + def on_command(self, msg: Thrust) -> None: + """ + When a thrust command message is received from the Subscriber, send the appropriate packet + to the board. + + Args: + msg (Thrust): The thrust message. + """ + for cmd in msg.thruster_commands: + # If we don't have a mapping for this thruster, ignore it + if cmd.name not in self.thrusters: + rospy.logwarn( + f"Command received for {cmd.name}, but this is not a thruster.", + ) + continue + # Map commanded thrust (in newetons) to effort value (-1 to 1) + effort = self.thrusters[cmd.name].effort_from_thrust(cmd.thrust) + # Send packet to command specified thruster the specified force + packet = ThrustSetPacket(self.ID_MAPPING[cmd.name], effort) + self.send_data(packet) + + def update_software_kill(self, raised: bool, message: str): + # If the current status differs from the alarm, update the alarm + severity = 2 if raised else 0 + self._updated_kill = True + self._hw_kill_listener.wait_for_server() + if ( + self._last_hw_kill is None + or self._last_hw_kill.raised != raised + or self._last_hw_kill.problem_description != message + or self._last_hw_kill.severity != severity + ): + if raised: + self._kill_broadcaster.raise_alarm( + severity=severity, + problem_description=message, + ) + else: + self._kill_broadcaster.clear_alarm(severity=severity) + + def on_data( + self, + data: AckPacket | NackPacket | HeartbeatReceivePacket | KillReceivePacket, + ) -> None: + """ + Parse the two bytes and raise kills according to a set of specifications + listed below. + """ + if isinstance(data, (AckPacket, NackPacket)): + self._last_packet = data + elif isinstance(data, HeartbeatReceivePacket): + self._last_heartbeat = rospy.Time.now() + elif isinstance(data, KillReceivePacket): + if data.set is False: + self.update_software_kill(False, "") + elif data.status is KillStatus.MOBO_HEARTBEAT_LOST: + self.update_software_kill( + True, + "Thrust/kill board lost heartbeat from motherboard.", + ) + elif data.status is KillStatus.BATTERY_LOW: + self.update_software_kill(True, "Battery too low.") + elif data.status is KillStatus.KILL_SWITCH: + self.update_software_kill(True, "Kill switch was pulled!") + elif data.status is KillStatus.BOARD_HEARTBEAT_LOST: + dt = rospy_to_datetime(self._last_heartbeat) + self.update_software_kill( + True, + f"Motherboard is no longer hearing heartbeat from thrust/kill board. Last heard from board at {dt}.", + ) + elif data.status is KillStatus.SOFTWARE_REQUESTED: + self.update_software_kill( + True, + "Software requested kill.", + ) + else: + raise ValueError(f"Not expecting packet of type {data.__class__.__name__}!") diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/packets.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/packets.py new file mode 100644 index 000000000..f609c1c42 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/packets.py @@ -0,0 +1,98 @@ +from dataclasses import dataclass +from enum import IntEnum + +from mil_usb_to_can.sub9 import Packet + + +@dataclass +class HeartbeatSetPacket(Packet, msg_id=0x02, subclass_id=0x00, payload_format=""): + """ + Heartbeat packet sent by the motherboard to the thrust/kill board. + """ + + +@dataclass +class HeartbeatReceivePacket(Packet, msg_id=0x02, subclass_id=0x01, payload_format=""): + """ + Heartbeat packet sent by the thrust/kill board to the motherboard. + """ + + +@dataclass +class ThrustSetPacket(Packet, msg_id=0x02, subclass_id=0x02, payload_format="Bf"): + """ + Packet to set the speed of a specific thruster. + + Attributes: + thruster_id (int): The ID of the thruster to set the speed of. The ID of + the thruster corresponds to a specific thruster: + + +--------+------+ + | name | id | + +========+======+ + | FLH | 0 | + +--------+------+ + | FRH | 1 | + +--------+------+ + | FLV | 2 | + +--------+------+ + | FRV | 3 | + +--------+------+ + | BLH | 4 | + +--------+------+ + | BRH | 5 | + +--------+------+ + | BLV | 6 | + +--------+------+ + | BRV | 7 | + +--------+------+ + speed (float): The speed to set the thruster to. + """ + + thruster_id: int + speed: float + + +class KillStatus(IntEnum): + """ + Enum to represent the purpose behind a kill. + """ + + #: A software user manually requested a kill on the sub. + SOFTWARE_REQUESTED = 0 + #: The board reported that it stopped hearing the heartbeat from the motherboard. + MOBO_HEARTBEAT_LOST = 1 + #: The motherboard reported that it stopped hearing the heartbeat from the board. + BOARD_HEARTBEAT_LOST = 2 + #: The physical kill switch was pulled, requesting an immediate kill. + KILL_SWITCH = 3 + #: The battery is too low to continue operation. + BATTERY_LOW = 4 + + +@dataclass +class KillSetPacket(Packet, msg_id=0x02, subclass_id=0x03, payload_format="BB"): + """ + Packet sent by the motherboard to set/unset the kill. + + Attributes: + set (bool): Whether the kill is set or unset. + status (KillStatus): The reason for the kill. + """ + + set: bool + status: KillStatus + + +@dataclass +class KillReceivePacket(Packet, msg_id=0x02, subclass_id=0x04, payload_format="BB"): + """ + Packet sent by the motherboard to set/unset the kill. + + Attributes: + set (bool): Whether the kill is set or unset. + status (KillStatus): The reason for the kill. + """ + + set: bool + status: KillStatus diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/simulation.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/simulation.py new file mode 100644 index 000000000..52deb3181 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/simulation.py @@ -0,0 +1,92 @@ +#!/usr/bin/python3 +from __future__ import annotations + +import rospy +from mil_usb_to_can.sub9 import AckPacket, NackPacket, SimulatedCANDeviceHandle +from std_srvs.srv import SetBool, SetBoolRequest, SetBoolResponse + +from .packets import ( + HeartbeatReceivePacket, + HeartbeatSetPacket, + KillReceivePacket, + KillSetPacket, + KillStatus, + ThrustSetPacket, +) + + +class ThrusterAndKillBoardSimulation(SimulatedCANDeviceHandle): + """ + Serial simulator for the thruster and kill board, + providing services to simulate physical plug connections/disconnections. + + Inherits from :class:`~mil_usb_to_can.SimulatedCANDevice`. + + Attributes: + kill (bool): Whether the hard kill was set. + """ + + HEARTBEAT_TIMEOUT_SECONDS = rospy.Duration(1.0) + + def __init__(self, *args, **kwargs): + self.kill = False + self._last_heartbeat = None + super().__init__(*args, **kwargs) + self._update_timer = rospy.Timer(rospy.Duration(1), self._check_for_timeout) + self._kill_srv = rospy.Service("/simulate_kill", SetBool, self.set_kill) + + def _check_for_timeout(self, _: rospy.timer.TimerEvent): + if self.heartbeat_timedout and not self.kill: + self.send_data(bytes(KillSetPacket(True, KillStatus.BOARD_HEARTBEAT_LOST))) + self.kill = True + + def set_kill(self, req: SetBoolRequest) -> SetBoolResponse: + """ + Called by the `/simulate_kill` service to set the kill state of the + simluated device. + + Args: + req (SetBoolRequest): The request to set the service with. + + Returns: + SetBoolResponse: The response to the service that the operation was successful. + """ + self.kill = req.data + return SetBoolResponse(success=True) + + @property + def heartbeat_timedout(self) -> bool: + """ + Whether the heartbeat timed out. + + Returns: + bool: The status of the heartbeat timing out. + """ + return ( + self._last_heartbeat is None + or (rospy.Time.now() - self._last_heartbeat) + > self.HEARTBEAT_TIMEOUT_SECONDS + ) + + def on_data( + self, + packet: HeartbeatSetPacket | ThrustSetPacket | KillSetPacket, + ) -> None: + """ + Serves as the data handler for the device. Handles :class:`KillMessage`, + :class:`ThrustPacket`, and :class:`HeartbeatMessage` types. + """ + if isinstance(packet, HeartbeatSetPacket): + self._last_heartbeat = rospy.Time.now() + self.send_data(bytes(HeartbeatReceivePacket())) + + elif isinstance(packet, ThrustSetPacket): + self.send_data(bytes(AckPacket())) + + elif isinstance(packet, KillSetPacket): + self.kill = packet.set + self.send_data(bytes(AckPacket())) + self.send_data(bytes(KillReceivePacket(packet.set, packet.status))) + + else: + self.send_data(bytes(NackPacket())) diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/thruster.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/thruster.py new file mode 100644 index 000000000..5a90baac0 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/thruster.py @@ -0,0 +1,66 @@ +from typing import Any, Dict + +from numpy import clip, polyval + + +def make_thruster_dictionary(dictionary): + """ + Make a dictionary mapping thruster names to :class:`Thruster` objects. + """ + ret = {} + for thruster, content in dictionary.items(): + ret[thruster] = Thruster.from_dict(content) + return ret + + +class Thruster: + """ + Models the force (thrust) to PWM (effort) of a thruster. + + Attributes: + forward_calibration (???): ??? + backward_calibration (???): ??? + """ + + def __init__(self, forward_calibration, backward_calibration): + self.forward_calibration = forward_calibration + self.backward_calibration = backward_calibration + + @classmethod + def from_dict(cls, data: Dict[str, Dict[str, Any]]): + """ + Constructs the class from a dictionary. The dictionary should be formatted + as so: + + .. code-block:: python3 + + { + "calib": { + "forward": ..., + "backward": ..., + } + } + + Args: + data (Dict[str, Dict[str, Any]]): The dictionary containing the initialization info. + """ + forward_calibration = data["calib"]["forward"] + backward_calibration = data["calib"]["backward"] + return cls(forward_calibration, backward_calibration) + + def effort_from_thrust_unclipped(self, thrust: Any): + if thrust < 0: + return polyval(self.backward_calibration, thrust) + else: + return polyval(self.forward_calibration, thrust) + + def effort_from_thrust(self, thrust: Any): + """ + Attempts to find the effort from a particular value of thrust. + + Args: + thrust (???): The amount of thrust. + """ + unclipped = self.effort_from_thrust_unclipped(thrust) + # Theoretically can limit to .66 under 16V assumptions or .5 under 12V assumptions... So do both (.5 + 66)/2 + return clip(unclipped, -0.58, 0.58) diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board.test b/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board.test new file mode 100644 index 000000000..44904f746 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board.test @@ -0,0 +1,18 @@ + + + + + + + device_handles: + sub9_thrust_and_kill_board.ThrusterAndKillBoard: [sub9_thrust_and_kill_board.KillReceivePacket] + simulated_devices: + sub9_thrust_and_kill_board.ThrusterAndKillBoardSimulation: [sub9_thrust_and_kill_board.HeartbeatSetPacket, sub9_thrust_and_kill_board.ThrustSetPacket, sub9_thrust_and_kill_board.KillSetPacket] + + + + + + + + diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board_test.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board_test.py new file mode 100755 index 000000000..4af9813d7 --- /dev/null +++ b/SubjuGator/drivers/sub9_thrust_and_kill_board/test/simulated_board_test.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +import unittest + +import rospy +from ros_alarms import AlarmListener +from std_srvs.srv import SetBool, SetBoolRequest + + +class SimulatedBoardTest(unittest.TestCase): + """ + Integration test for CAN2USB board driver. Talks + to a simulated CAN device which should add two integers + """ + + def __init__(self, *args): + self.kill_srv = rospy.ServiceProxy("/set_mobo_kill", SetBool) + self.hw_alarm_listener = AlarmListener("hw-kill") + super().__init__(*args) + + def test_correct_response(self): + """ + Test we can get correct data through CAN bus at least ten times. + """ + self.kill_srv.wait_for_service(5) + self.hw_alarm_listener.wait_for_server() + self.assertTrue(self.kill_srv(SetBoolRequest(True)).success) + self.assertTrue(self.hw_alarm_listener.is_raised(True)) + self.assertTrue(self.kill_srv(SetBoolRequest(False)).success) + self.assertTrue(self.hw_alarm_listener.is_raised(False)) + + +if __name__ == "__main__": + rospy.init_node("simulated_board_test", anonymous=True) + import rostest + + rostest.rosrun( + "sub9_thrust_and_kill_board", + "simulated_board_test", + SimulatedBoardTest, + ) + unittest.main() diff --git a/SubjuGator/drivers/sub_actuator_board/CMakeLists.txt b/SubjuGator/drivers/sub_actuator_board/CMakeLists.txt new file mode 100644 index 000000000..9309bb083 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sub_actuator_board) +find_package(catkin REQUIRED COMPONENTS + message_generation + mil_usb_to_can +) +catkin_python_setup() +add_service_files( + FILES + SetValve.srv + GetValve.srv +) +add_rostest(test/simulated_board.test) +generate_messages() +catkin_package(CATKIN_DEPENDS message_runtime) diff --git a/SubjuGator/drivers/sub_actuator_board/package.xml b/SubjuGator/drivers/sub_actuator_board/package.xml new file mode 100644 index 000000000..0ab794680 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/package.xml @@ -0,0 +1,15 @@ + + + sub_actuator_board + 0.0.0 + The sub_actuator_board package + Kevin Allen + MIT + Kevin Allen + catkin + message_generation + mil_usb_to_can + mil_usb_to_can + message_runtime + mil_usb_to_can + diff --git a/SubjuGator/drivers/sub_actuator_board/setup.py b/SubjuGator/drivers/sub_actuator_board/setup.py new file mode 100644 index 000000000..42e9f57e8 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/setup.py @@ -0,0 +1,9 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup + +# Fetch values from package.xml +setup_args = generate_distutils_setup(packages=["sub_actuator_board"]) + +setup(**setup_args) diff --git a/SubjuGator/drivers/sub_actuator_board/srv/GetValve.srv b/SubjuGator/drivers/sub_actuator_board/srv/GetValve.srv new file mode 100644 index 000000000..dff0ce39b --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/srv/GetValve.srv @@ -0,0 +1,4 @@ +# Service call to get the status of a pneumatic valve +uint8 actuator # ID of valve +--- +bool opened # Whether the valve has been opened diff --git a/SubjuGator/drivers/sub_actuator_board/srv/SetValve.srv b/SubjuGator/drivers/sub_actuator_board/srv/SetValve.srv new file mode 100644 index 000000000..837be5cd7 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/srv/SetValve.srv @@ -0,0 +1,6 @@ +# Service call to open or close a pneumatic valve +uint8 actuator # ID of valve +bool opened # If True, valve will open; if False, valve will close +--- +bool success # False if there were any problems with the request. +string message # Description of error if success is false diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/__init__.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/__init__.py new file mode 100644 index 000000000..8d260d68e --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/__init__.py @@ -0,0 +1,7 @@ +from .handle import ActuatorBoard +from .packets import ( + ActuatorPollRequestPacket, + ActuatorPollResponsePacket, + ActuatorSetPacket, +) +from .simulation import ActuatorBoardSimulation diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/handle.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/handle.py new file mode 100644 index 000000000..0da860670 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/handle.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import rospy +from mil_usb_to_can.sub9 import AckPacket, CANDeviceHandle + +from sub_actuator_board.srv import ( + GetValve, + GetValveRequest, + GetValveResponse, + SetValve, + SetValveRequest, +) + +from .packets import ( + ActuatorPollRequestPacket, + ActuatorPollResponsePacket, + ActuatorSetPacket, +) + + +class ActuatorBoard(CANDeviceHandle): + """ + Device handle for the actuator board. Because this class implements a CAN device, + it inherits from the :class:`CANDeviceHandle` class. + """ + + _recent_response: ActuatorPollResponsePacket | None + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self._set_service = rospy.Service("/set_valve", SetValve, self.set_valve) + self._get_service = rospy.Service("/get_valve", GetValve, self.get_valve) + self._recent_response = None + + def set_valve(self, req: SetValveRequest) -> dict: + """ + Called when the ``/set_valve`` service is requested. Creates a message to + control the valve and sends it through the inherited device handle. + + Args: + req (SetValveRequest): Request to set the valve. + + Returns: + dict: List of information which is casted into a SetValveResponse. + """ + # Send board command to open or close specified valve + message = ActuatorSetPacket(address=req.actuator, open=req.opened) + self.send_data(message) + rospy.loginfo( + "Set valve {} {}".format( + req.actuator, + "opened" if req.opened else "closed", + ), + ) + # Wait some time for board to process command + rospy.sleep(0.01) + # Request the status of the valve just commanded to ensure it worked + self.send_data(ActuatorPollRequestPacket()) + start = rospy.Time.now() + while rospy.Time.now() - start < rospy.Duration(2): + if self._recent_response is not None: + break + + success = False + if self._recent_response is not None: + if not req.opened: + success = not (self._recent_response.values & (1 << req.actuator)) + else: + success = self._recent_response.values & (1 << req.actuator) + response = {"success": success} + self._recent_response = None + return response + + def get_valve(self, req: GetValveRequest) -> GetValveResponse: + message = ActuatorPollRequestPacket() + self.send_data(message) + start = rospy.Time.now() + while rospy.Time.now() - start < rospy.Duration(10): + if self._recent_response is not None: + break + + if not self._recent_response: + raise RuntimeError("No response from the board within 10 seconds.") + + response = GetValveResponse( + opened=self._recent_response.values & (1 << req.actuator), + ) + self._recent_response = None + return response + + def on_data(self, packet: ActuatorPollResponsePacket | AckPacket) -> None: + """ + Process data received from board. + """ + if isinstance(packet, ActuatorPollResponsePacket): + self._recent_response = packet diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py new file mode 100644 index 000000000..9a146f363 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py @@ -0,0 +1,50 @@ +from dataclasses import dataclass + +from mil_usb_to_can.sub9 import Packet + + +@dataclass +class ActuatorSetPacket(Packet, msg_id=0x03, subclass_id=0x00, payload_format="BB"): + """ + Packet used by the actuator board to set a specific valve. + + Attributes: + address (int): The actuator ID to set. + open (bool): Whether to open the specified actuator. ``True`` requests opening, + ``False`` requests closing. + """ + + address: int + open: bool + + +@dataclass +class ActuatorPollRequestPacket( + Packet, + msg_id=0x03, + subclass_id=0x01, + payload_format="", +): + """ + Packet used by the actuator board to request the status of all valves. + """ + + pass + + +@dataclass +class ActuatorPollResponsePacket( + Packet, + msg_id=0x03, + subclass_id=0x02, + payload_format="B", +): + """ + Packet used by the actuator board to return the status of all valves. + + Attributes: + values (int): The statues of all actuators. Bits 0-3 represent the opened + status of actuators 0-3. + """ + + values: int diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/simulation.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/simulation.py new file mode 100644 index 000000000..dd77921e1 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/simulation.py @@ -0,0 +1,55 @@ +#!/usr/bin/python3 +from __future__ import annotations + +import random + +import rospy +from mil_usb_to_can.sub9 import AckPacket, SimulatedCANDeviceHandle + +from .packets import ( + ActuatorPollRequestPacket, + ActuatorPollResponsePacket, + ActuatorSetPacket, +) + + +class ActuatorBoardSimulation(SimulatedCANDeviceHandle): + """ + Simulator for the communication of the actuator board. + + Attributes: + status (Dict[int, bool]): The status of the valves. The keys are each of the valve IDs, + and the values are the statues of whether the valves are open. + """ + + def __init__(self, *args, **kwargs): + # Tracks the status of the 12 valves + self.status = {i: False for i in range(4)} + super().__init__(*args, **kwargs) + + def on_data(self, packet: ActuatorSetPacket | ActuatorPollRequestPacket) -> None: + """ + Processes data received from motherboard / other devices. For each message received, + the class' status attribute is updated if the message is asking to write, otherwise + a feedback message is constructed and sent back. + """ + # If message is writing a valve, store this change in the internal dictionary + if isinstance(packet, ActuatorSetPacket): + rospy.sleep(random.randrange(0, 1)) # Time to simluate opening of valves + self.status[packet.address] = packet.open + self.send_data(bytes(AckPacket())) + + # If message is a status request, send motherboard the status of the requested valve + elif isinstance(packet, ActuatorPollRequestPacket): + self.send_data( + bytes( + ActuatorPollResponsePacket( + int( + "".join( + str(int(x)) for x in reversed(self.status.values()) + ), + base=2, + ), + ), + ), + ) diff --git a/SubjuGator/drivers/sub_actuator_board/test/simulated_board.test b/SubjuGator/drivers/sub_actuator_board/test/simulated_board.test new file mode 100644 index 000000000..7257f68ef --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/test/simulated_board.test @@ -0,0 +1,15 @@ + + + + + + + device_handles: + sub_actuator_board.ActuatorBoard: [sub_actuator_board.ActuatorPollResponsePacket] + simulated_devices: + sub_actuator_board.ActuatorBoardSimulation: [sub_actuator_board.ActuatorPollRequestPacket, sub_actuator_board.ActuatorSetPacket] + + + + + diff --git a/SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py b/SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py new file mode 100755 index 000000000..8c4665f09 --- /dev/null +++ b/SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python3 +import unittest + +import rospy +from sub_actuator_board.srv import GetValve, GetValveRequest, SetValve, SetValveRequest + + +class SimulatedBoardTest(unittest.TestCase): + """ + Integration test for CAN2USB board driver. Talks + to a simulated CAN device which should add two integers + """ + + def __init__(self, *args): + self.set_srv = rospy.ServiceProxy("/set_valve", SetValve) + self.get_srv = rospy.ServiceProxy("/get_valve", GetValve) + super().__init__(*args) + + def test_correct_response(self): + """ + Test we can get correct data through CAN bus at least ten times. + """ + self.set_srv.wait_for_service(1) + self.get_srv.wait_for_service(1) + self.assertTrue(self.set_srv(SetValveRequest(0, True)).success) + self.assertTrue(self.get_srv(GetValveRequest(0)).opened) + self.assertTrue(self.set_srv(SetValveRequest(0, False)).success) + self.assertFalse(self.get_srv(GetValveRequest(0)).opened) + self.assertTrue(self.set_srv(SetValveRequest(0, False)).success) + self.assertFalse(self.get_srv(GetValveRequest(0)).opened) + self.assertTrue(self.set_srv(SetValveRequest(3, True)).success) + self.assertTrue(self.get_srv(GetValveRequest(3)).opened) + self.assertFalse(self.get_srv(GetValveRequest(0)).opened) + self.assertTrue(self.set_srv(SetValveRequest(4, False)).success) + self.assertFalse(self.get_srv(GetValveRequest(4)).opened) + self.assertFalse(self.get_srv(GetValveRequest(0)).opened) + + +if __name__ == "__main__": + rospy.init_node("simulated_board_test", anonymous=True) + import rostest + + rostest.rosrun("sub_actuator_board", "simulated_board_test", SimulatedBoardTest) + unittest.main() diff --git a/SubjuGator/etc/motd b/SubjuGator/etc/motd new file mode 100644 index 000000000..bf6bb0855 --- /dev/null +++ b/SubjuGator/etc/motd @@ -0,0 +1,9 @@ +#-------#-------#-------#-------#-------#-------#-------#-------# + You have connected to SubjuGator 8! +#-------#-------#-------#-------#-------#-------#-------#-------# + +If you are testing the sub in the water (or are preparing to do so), please make sure to read the Subjugator Testing Procedures page on uf-mil.github.io for useful tips, advice, and checklists. + +We (the previous MIL members) will watch your testing session with great interest. + +Happy Testing! diff --git a/SubjuGator/gnc/c3_trajectory_generator/CMakeLists.txt b/SubjuGator/gnc/c3_trajectory_generator/CMakeLists.txt index c12554644..afb3b8f47 100644 --- a/SubjuGator/gnc/c3_trajectory_generator/CMakeLists.txt +++ b/SubjuGator/gnc/c3_trajectory_generator/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(c3_trajectory_generator) find_package(catkin diff --git a/SubjuGator/gnc/rise_6dof/CMakeLists.txt b/SubjuGator/gnc/rise_6dof/CMakeLists.txt index 15deae27a..a89a0af5d 100644 --- a/SubjuGator/gnc/rise_6dof/CMakeLists.txt +++ b/SubjuGator/gnc/rise_6dof/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(rise_6dof) find_package(catkin REQUIRED COMPONENTS nav_msgs dynamic_reconfigure message_runtime message_generation rospy mil_msgs tf geometry_msgs) catkin_python_setup() diff --git a/SubjuGator/gnc/rise_6dof/scripts/do_spiral.py b/SubjuGator/gnc/rise_6dof/scripts/do_spiral.py index 0d412e273..763079ede 100755 --- a/SubjuGator/gnc/rise_6dof/scripts/do_spiral.py +++ b/SubjuGator/gnc/rise_6dof/scripts/do_spiral.py @@ -23,7 +23,7 @@ def position_generator_orig(t): r = RADIUS # *(1 - math.e**(-t/30)) w = 2 * math.pi / PERIOD return numpy.array( - [r * math.sin(w * t), r * -math.cos(w * t), -DESCENT * t / PERIOD] + [r * math.sin(w * t), r * -math.cos(w * t), -DESCENT * t / PERIOD], ) @@ -51,8 +51,9 @@ def positionorientationvelocityangularvelocity_generator(t): angvel = ( orientation_helpers.quat_to_rotvec( transformations.quaternion_multiply( - orient2, transformations.quaternion_inverse(orient1) - ) + orient2, + transformations.quaternion_inverse(orient1), + ), ) / dt ) @@ -80,7 +81,7 @@ def positionorientationvelocityangularvelocity_generator(t): t = (now_time - start_time).to_sec() pos, orient, vel, angvel = positionorientationvelocityangularvelocity_generator( - t + t, ) if pos[2] < -5: break @@ -103,5 +104,5 @@ def positionorientationvelocityangularvelocity_generator(t): angular=Vector3(*world_from_body.T.dot(angvel)), ), ), - ) + ), ) diff --git a/SubjuGator/gnc/rise_6dof/scripts/joy_to_posetwist.py b/SubjuGator/gnc/rise_6dof/scripts/joy_to_posetwist.py index 33502f97a..328417761 100755 --- a/SubjuGator/gnc/rise_6dof/scripts/joy_to_posetwist.py +++ b/SubjuGator/gnc/rise_6dof/scripts/joy_to_posetwist.py @@ -36,12 +36,12 @@ def cb(msg: Joy) -> None: linear=Vector3( *numpy.array(msg.axes[:3]) / joy_max - * [1, 1, 1 if msg.buttons[1] else 0] + * [1, 1, 1 if msg.buttons[1] else 0], ), angular=Vector3(*numpy.array(msg.axes[3:]) / joy_max * [0, 0, 1]), ), ), - ) + ), ) @@ -55,7 +55,8 @@ def cb(msg: Joy) -> None: pub = rospy.Publisher("/trajectory", PoseTwistStamped) set_trajgen_disabled = rospy.ServiceProxy( - "/c3_trajectory_generator/set_disabled", SetDisabled + "/c3_trajectory_generator/set_disabled", + SetDisabled, ) joy_max = 0.68359375 diff --git a/SubjuGator/gnc/rise_6dof/scripts/rise_6dof.py b/SubjuGator/gnc/rise_6dof/scripts/rise_6dof.py index 1d8df9f1e..efb3a654b 100755 --- a/SubjuGator/gnc/rise_6dof/scripts/rise_6dof.py +++ b/SubjuGator/gnc/rise_6dof/scripts/rise_6dof.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 - +import contextlib import traceback import numpy @@ -32,7 +32,7 @@ def reconfigure(self, config, level): self.processed_config = processed_config return config - except: + except Exception: traceback.print_exc() # go back to old config if new is invalid return self.config @@ -54,14 +54,18 @@ def __init__(self): self.current = None rospy.Subscriber( - "/current", Odometry, lambda current: setattr(self, "current", current) + "/current", + Odometry, + lambda current: setattr(self, "current", current), ) # rospy.Subscriber('/odom', Odometry, lambda current: setattr(self, 'current', current)) self.constant_wrench = None self.constant_wrench_time = None rospy.Service( - "send_constant_wrench", SendConstantWrench, self.send_constant_wrench + "send_constant_wrench", + SendConstantWrench, + self.send_constant_wrench, ) pub = rospy.Publisher("/output", WrenchStamped, queue_size=2) @@ -84,7 +88,7 @@ def __init__(self): WrenchStamped( header=Header(stamp=rospy.Time.now(), frame_id="/base_link"), wrench=Wrench(force=Vector3(0, 0, 0), torque=Vector3(0, 0, 0)), - ) + ), ) continue @@ -129,9 +133,10 @@ def __init__(self): frame_id="/base_link", ), wrench=Wrench( - force=Vector3(*pd_wrench[0]), torque=Vector3(*pd_wrench[1]) + force=Vector3(*pd_wrench[0]), + torque=Vector3(*pd_wrench[1]), ), - ) + ), ) wrench = Wrench(force=Vector3(*wrench[0]), torque=Vector3(*wrench[1])) else: @@ -144,7 +149,7 @@ def __init__(self): frame_id="/base_link", ), wrench=wrench, - ) + ), ) def is_constant_wrench_valid(self): @@ -171,7 +176,5 @@ def kill(self): if __name__ == "__main__": rospy.init_node("rise_6dof") - try: + with contextlib.suppress(rospy.ROSInterruptException): Node() - except rospy.ROSInterruptException: - pass diff --git a/SubjuGator/gnc/rise_6dof/scripts/test.py b/SubjuGator/gnc/rise_6dof/scripts/test.py index 7c8b16b2e..dec14a96d 100755 --- a/SubjuGator/gnc/rise_6dof/scripts/test.py +++ b/SubjuGator/gnc/rise_6dof/scripts/test.py @@ -15,13 +15,13 @@ print(transformations.quaternion_from_euler(math.pi / 2, 0, math.pi / 2)) c = Controller( - dict( - k=numpy.ones(6), - ks=numpy.ones(6), - alpha=numpy.ones(6), - beta=numpy.ones(6), - use_rise=False, - ) + { + "k": numpy.ones(6), + "ks": numpy.ones(6), + "alpha": numpy.ones(6), + "beta": numpy.ones(6), + "use_rise": False, + }, ) desired = PoseTwist( diff --git a/SubjuGator/gnc/rise_6dof/scripts/test_rviz.py b/SubjuGator/gnc/rise_6dof/scripts/test_rviz.py index 302f0a4d4..d51fa1338 100755 --- a/SubjuGator/gnc/rise_6dof/scripts/test_rviz.py +++ b/SubjuGator/gnc/rise_6dof/scripts/test_rviz.py @@ -36,13 +36,15 @@ def makeBoxControl() -> InteractiveMarkerControl: type=Marker.CUBE, scale=Vector3(0.45, 0.45, 0.45), color=ColorRGBA(0.5, 0.5, 0.5, 1), - ) + ), ], ) def make6DofMarker( - name: str, description: str, allow_rotation: bool = False + name: str, + description: str, + allow_rotation: bool = False, ) -> InteractiveMarker: int_marker = InteractiveMarker() int_marker.name = name @@ -125,9 +127,9 @@ def updateDesired(feedback=None): ): # compute twist from this and last pose update if desired_posetwist is not None and rospy.Duration.from_sec( - 0 + 0, ) < rospy.Time.now() - desired_posetwist.header.stamp < rospy.Duration.from_sec( - 0.05 + 0.05, ): dt = (rospy.Time.now() - desired_posetwist.header.stamp).to_sec() vel = ( @@ -146,9 +148,11 @@ def quat_to_scaledaxis(q): transformations.quaternion_multiply( xyzw_array(feedback.pose.orientation), transformations.quaternion_conjugate( - xyzw_array(desired_posetwist.posetwist.pose.orientation) + xyzw_array( + desired_posetwist.posetwist.pose.orientation, + ), ), - ) + ), ) / dt ) @@ -163,10 +167,11 @@ def quat_to_scaledaxis(q): ), ) if rospy.Time.now() - desired_posetwist.header.stamp > rospy.Duration.from_sec( - 0.05 + 0.05, ): desired_posetwist.posetwist.twist = Twist( - linear=Vector3(0, 0, 0), angular=Vector3(0, 0, 0) + linear=Vector3(0, 0, 0), + angular=Vector3(0, 0, 0), ) if desired_posetwist is not None: desired_pub.publish(desired_posetwist) @@ -181,8 +186,8 @@ def quat_to_scaledaxis(q): current_vel = numpy.zeros(3) current_orientation = numpy.array([0, 0, 0, 1]) current_angvel = numpy.zeros(3) - m = 10 - I = 10 + vel_m = 10 + angvel_I = 10 dt = 0.01 def updateCurrent(msg): @@ -193,19 +198,21 @@ def updateCurrent(msg): # print wrench wrench_world = world_from_body.dot(wrench[0]), world_from_body.dot(wrench[1]) - current_vel += dt * (wrench_world[0] - 10 * current_vel) / m - current_angvel += dt * (wrench_world[1] - 5 * current_angvel) / I + current_vel += dt * (wrench_world[0] - 10 * current_vel) / vel_m + current_angvel += dt * (wrench_world[1] - 5 * current_angvel) / angvel_I current_pos += dt * current_vel def quat_exp(quat): x, y, z = quat return transformations.quaternion_about_axis( - numpy.linalg.norm((x, y, z)), (x, y, z) + numpy.linalg.norm((x, y, z)), + (x, y, z), ) current_orientation = transformations.quaternion_multiply( - quat_exp(current_angvel * dt), current_orientation + quat_exp(current_angvel * dt), + current_orientation, ) pose = Pose( @@ -227,10 +234,11 @@ def quat_exp(quat): pose=PoseWithCovariance(pose=pose), twist=TwistWithCovariance( twist=Twist( - linear=Vector3(*current_vel), angular=Vector3(*current_angvel) - ) + linear=Vector3(*current_vel), + angular=Vector3(*current_angvel), + ), ), - ) + ), ) rospy.Timer(rospy.Duration(dt), updateCurrent) diff --git a/SubjuGator/gnc/rise_6dof/src/rise_6dof/controller.py b/SubjuGator/gnc/rise_6dof/src/rise_6dof/controller.py index e1908e16c..5b1d8d05c 100644 --- a/SubjuGator/gnc/rise_6dof/src/rise_6dof/controller.py +++ b/SubjuGator/gnc/rise_6dof/src/rise_6dof/controller.py @@ -34,9 +34,13 @@ def reset(self) -> None: self._rise_term_int_prev = numpy.zeros(6) def update( - self, dt: float, desired: PoseTwist, current: PoseTwist + self, + dt: float, + desired: PoseTwist, + current: PoseTwist, ) -> Tuple[ - Tuple[numpy.ndarray, numpy.ndarray], Tuple[numpy.ndarray, numpy.ndarray] + Tuple[numpy.ndarray, numpy.ndarray], + Tuple[numpy.ndarray, numpy.ndarray], ]: """ Updates the controllers with a few values. @@ -59,7 +63,7 @@ def update( [ world_from_body.dot(p_dot), world_from_body.dot(o_dot), - ] + ], ) # world_from_desiredbody = transformations.quaternion_matrix(desired_o)[:3, :3] @@ -67,13 +71,13 @@ def update( [ world_from_body.dot(desired_p_dot), world_from_body.dot(desired_o_dot), - ] + ], ) desired_x_dotdot = numpy.concatenate( [ world_from_body.dot(desired_p_dotdot), world_from_body.dot(desired_o_dotdot), - ] + ], ) if DEBUG: @@ -86,9 +90,9 @@ def update( transformations.quaternion_multiply( desired_o, transformations.quaternion_inverse(o), - ) + ), ), - ] + ], ) if self.config["two_d_mode"]: error_position_world = error_position_world * [1, 1, 0, 0, 0, 1] @@ -118,11 +122,11 @@ def update( output = pd_output if self.config["use_rise"]: rise_term_int = body_gain( - numpy.diag(self.config["ks"] * self.config["alpha"]) + numpy.diag(self.config["ks"] * self.config["alpha"]), ).dot(error_velocity_world) + body_gain( - numpy.diag(self.config["beta"]) + numpy.diag(self.config["beta"]), ).dot( - numpy.sign(error_velocity_world) + numpy.sign(error_velocity_world), ) self._rise_term = self._rise_term + dt / 2 * ( @@ -136,17 +140,18 @@ def update( self._rise_term = numpy.zeros(6) self._rise_term_int_prev = numpy.zeros(6) output = output + body_gain(numpy.diag(self.config["accel_feedforward"])).dot( - desired_x_dotdot + desired_x_dotdot, ) output = output + body_gain(numpy.diag(self.config["vel_feedforward"])).dot( - desired_x_dot + desired_x_dot, ) # Permitting lambda assignment b/c legacy - wrench_from_vec = lambda output: ( - world_from_body.T.dot(output[0:3]), - world_from_body.T.dot(output[3:6]), - ) # noqa + def wrench_from_vec(output): + return world_from_body.T.dot(output[0:3]), world_from_body.T.dot( + output[3:6], + ) + if DEBUG: print("{:6} {}".format("PD:", wrench_from_vec(pd_output))) print("{:6} {}".format("PID(R):", wrench_from_vec(output))) diff --git a/SubjuGator/gnc/subjugator_controller/CMakeLists.txt b/SubjuGator/gnc/subjugator_controller/CMakeLists.txt index 5cd26cb16..f7baf2445 100644 --- a/SubjuGator/gnc/subjugator_controller/CMakeLists.txt +++ b/SubjuGator/gnc/subjugator_controller/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_controller) find_package(catkin REQUIRED dynamic_reconfigure) catkin_python_setup() diff --git a/SubjuGator/gnc/subjugator_controller/cfg/AdaptiveController.cfg b/SubjuGator/gnc/subjugator_controller/cfg/AdaptiveController.cfg index 68d8a9f6b..498ce87a4 100755 --- a/SubjuGator/gnc/subjugator_controller/cfg/AdaptiveController.cfg +++ b/SubjuGator/gnc/subjugator_controller/cfg/AdaptiveController.cfg @@ -5,7 +5,7 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator() # using strings because there seems to be no vector support (currently) gen.add("kp", str_t, 0, "Proportional component", "500,500,500,1000,1000,1000") -gen.add("kd", str_t, 0, "Dirivitive component", "100,100,100,150,150,150") +gen.add("kd", str_t, 0, "Derivative component", "100,100,100,150,150,150") gen.add("ki", str_t, 0, "Dist regressor coeffs", "5,5,5,5,5,5") gen.add("kg", str_t, 0, "Drag regressor coeffs", "5,5,5,5,5,5") gen.add("use_learned", bool_t, 0, "", True) diff --git a/SubjuGator/gnc/subjugator_controller/nodes/adaptive_controller b/SubjuGator/gnc/subjugator_controller/nodes/adaptive_controller index 91abe527c..48bbcb15b 100755 --- a/SubjuGator/gnc/subjugator_controller/nodes/adaptive_controller +++ b/SubjuGator/gnc/subjugator_controller/nodes/adaptive_controller @@ -70,7 +70,8 @@ class Sub8AdapativeController: self.use_learned = False self.last_config = None self.reconfigure_server = DynamicReconfigureServer( - AdaptiveControllerConfig, self.reconfigure + AdaptiveControllerConfig, + self.reconfigure, ) # Initialize state variables @@ -96,19 +97,28 @@ class Sub8AdapativeController: self.wrench_pub = rospy.Publisher("/wrench", WrenchStamped, queue_size=3) if self.debug: self.adaptation_wrench_pub = rospy.Publisher( - "~adaptation", WrenchStamped, queue_size=1 + "~adaptation", + WrenchStamped, + queue_size=1, ) self.dist_wrench_pub = rospy.Publisher("~dist", WrenchStamped, queue_size=1) self.drag_wrench_pub = rospy.Publisher("~drag", WrenchStamped, queue_size=1) self.pose_error_pub = rospy.Publisher( - "~pose_error", WrenchStamped, queue_size=1 + "~pose_error", + WrenchStamped, + queue_size=1, ) self.twist_error_pub = rospy.Publisher( - "~twist_error", WrenchStamped, queue_size=1 + "~twist_error", + WrenchStamped, + queue_size=1, ) self.odom_sub = rospy.Subscriber("/odom", Odometry, self.odom_cb, queue_size=3) self.ref = rospy.Subscriber( - "/trajectory", PoseTwistStamped, self.trajectory_cb, queue_size=3 + "/trajectory", + PoseTwistStamped, + self.trajectory_cb, + queue_size=3, ) @staticmethod @@ -158,7 +168,7 @@ class Sub8AdapativeController: ): zero_wrench = np.zeros(6, dtype=float) self.wrench_pub.publish( - self.make_wrench_msg(zero_wrench, frame_id=self.body_frame, stamp=now) + self.make_wrench_msg(zero_wrench, frame_id=self.body_frame, stamp=now), ) return @@ -166,11 +176,12 @@ class Sub8AdapativeController: position_error_world = self.desired_position - self.position orientation_error_world = quat_to_rotvec( quaternion_multiply( - self.desired_orientation, quaternion_inverse(self.orientation) - ) + self.desired_orientation, + quaternion_inverse(self.orientation), + ), ) pose_error_world = np.concatenate( - (position_error_world, orientation_error_world) + (position_error_world, orientation_error_world), ) twist_error_world = self.desired_twist_world - self.twist_world twist_error_body = self.world_to_body.dot(twist_error_world) @@ -201,7 +212,7 @@ class Sub8AdapativeController: # Publish wrench self.wrench_pub.publish( - self.make_wrench_msg(wrench_body, frame_id=self.body_frame, stamp=now) + self.make_wrench_msg(wrench_body, frame_id=self.body_frame, stamp=now), ) # Update regressors @@ -227,33 +238,45 @@ class Sub8AdapativeController: adapation_wrench_body = self.world_to_body.dot(wrench_adaptation_world) self.adaptation_wrench_pub.publish( self.make_wrench_msg( - adapation_wrench_body, frame_id=self.body_frame, stamp=now - ) + adapation_wrench_body, + frame_id=self.body_frame, + stamp=now, + ), ) self.dist_wrench_pub.publish( self.make_wrench_msg( - self.dist_est_world, frame_id=self.global_frame, stamp=now - ) + self.dist_est_world, + frame_id=self.global_frame, + stamp=now, + ), ) self.drag_wrench_pub.publish( self.make_wrench_msg( - drag_effort_body, frame_id=self.body_frame, stamp=now - ) + drag_effort_body, + frame_id=self.body_frame, + stamp=now, + ), ) self.pose_error_pub.publish( self.make_wrench_msg( - pose_error_world, frame_id=self.global_frame, stamp=now - ) + pose_error_world, + frame_id=self.global_frame, + stamp=now, + ), ) self.twist_error_pub.publish( self.make_wrench_msg( - twist_error_body, frame_id=self.body_frame, stamp=now - ) + twist_error_body, + frame_id=self.body_frame, + stamp=now, + ), ) @staticmethod def make_wrench_msg( - wrench: np.ndarray, frame_id: str = "base_link", stamp=rospy.Time() + wrench: np.ndarray, + frame_id: str = "base_link", + stamp=rospy.Time(), ) -> WrenchStamped: """Creates a WrenchStamped message from a numpy array.""" msg = WrenchStamped() @@ -275,13 +298,13 @@ class Sub8AdapativeController: """Callback for the trajectory topic to get the desired state.""" with self.lock: self.desired_position, self.desired_orientation = pose_to_numpy( - msg.posetwist.pose + msg.posetwist.pose, ) body_to_world = self.make_double_rotation( - quaternion_matrix(self.desired_orientation) + quaternion_matrix(self.desired_orientation), ) self.desired_twist_world = body_to_world.dot( - np.hstack(twist_to_numpy(msg.posetwist.twist)) + np.hstack(twist_to_numpy(msg.posetwist.twist)), ) def odom_cb(self, msg: Odometry) -> None: @@ -296,7 +319,7 @@ class Sub8AdapativeController: _, ) = odometry_to_numpy(msg) self.body_to_world = self.make_double_rotation( - quaternion_matrix(self.orientation) + quaternion_matrix(self.orientation), ) self.world_to_body = self.body_to_world.T self.twist_body = np.concatenate((linvel, angvel)) diff --git a/SubjuGator/gnc/subjugator_system_id/CMakeLists.txt b/SubjuGator/gnc/subjugator_system_id/CMakeLists.txt index f8ca00d65..ac7787a07 100644 --- a/SubjuGator/gnc/subjugator_system_id/CMakeLists.txt +++ b/SubjuGator/gnc/subjugator_system_id/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_system_id) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/gnc/subjugator_system_id/subjugator_system_id/dynamics.py b/SubjuGator/gnc/subjugator_system_id/subjugator_system_id/dynamics.py index 0d55c913e..eed4fb7ef 100644 --- a/SubjuGator/gnc/subjugator_system_id/subjugator_system_id/dynamics.py +++ b/SubjuGator/gnc/subjugator_system_id/subjugator_system_id/dynamics.py @@ -72,7 +72,7 @@ def from_ros_params(cls): rotational_inertia = np.array(root.inertial.inertia.to_matrix()) drag_linear = np.array(rospy.get_param("/robot_parameters/drag/linear_coeffs")) drag_angular = np.array( - rospy.get_param("/robot_parameters/drag/angular_coeffs") + rospy.get_param("/robot_parameters/drag/angular_coeffs"), ) drag_coeffs = np.hstack((drag_linear, drag_angular)).T volume = rospy.get_param("/robot_parameters/volume") @@ -187,7 +187,9 @@ def inverse_dynamics( return self.inverse_dynamics_from_total_wrench(twist, total_wrench) def inverse_dynamics_from_total_wrench( - self, twist: np.ndarray, total_wrench: np.ndarray + self, + twist: np.ndarray, + total_wrench: np.ndarray, ) -> np.ndarray: """ Calculates the acceleration of the Sub given the total force/torque on the body. diff --git a/SubjuGator/gnc/subjugator_thruster_mapper/CMakeLists.txt b/SubjuGator/gnc/subjugator_thruster_mapper/CMakeLists.txt index 003fe6755..282ccbd23 100644 --- a/SubjuGator/gnc/subjugator_thruster_mapper/CMakeLists.txt +++ b/SubjuGator/gnc/subjugator_thruster_mapper/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_thruster_mapper) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml b/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml index 2d3de8ac9..48992559a 100644 --- a/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml +++ b/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml @@ -30,7 +30,7 @@ thruster_ports: # mapping from thrust in Newtons to effort (e = t[0]x^4 + t[1]x^3 + t[2]x^2 + t[3]x) thrusters: FLH: { - node_id: 3, + node_id: 4, position: [0.2678, 0.2795, 0.0], direction: [0.866, -0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -42,7 +42,7 @@ thrusters: } } FLV: { - node_id: 1, + node_id: 5, position: [0.1583, 0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], @@ -54,7 +54,7 @@ thrusters: } } FRH: { - node_id: 2, + node_id: 0, position: [0.2678, -0.2795, 0.0], direction: [0.866, 0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -66,9 +66,9 @@ thrusters: } } FRV: { - node_id: 0, + node_id: 1, position: [0.1583, -0.169, 0.0142], - direction: [0.0, 0.0, -1.0], + direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], calib: { # yamllint disable-line rule:line-length @@ -78,7 +78,7 @@ thrusters: } } BLH: { - node_id: 4, + node_id: 3, position: [-0.2678, 0.2795, 0.0], direction: [0.866, 0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -90,7 +90,7 @@ thrusters: } } BLV: { - node_id: 5, + node_id: 6, position: [-0.1583, 0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], @@ -102,7 +102,7 @@ thrusters: } } BRH: { - node_id: 6, + node_id: 7, position: [-0.2678, -0.2795, 0.0], direction: [0.866, -0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -114,7 +114,7 @@ thrusters: } } BRV: { - node_id: 7, + node_id: 2, position: [-0.1583, -0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], diff --git a/SubjuGator/gnc/subjugator_thruster_mapper/nodes/mapper.py b/SubjuGator/gnc/subjugator_thruster_mapper/nodes/mapper.py index b70963b38..c6602dcbb 100755 --- a/SubjuGator/gnc/subjugator_thruster_mapper/nodes/mapper.py +++ b/SubjuGator/gnc/subjugator_thruster_mapper/nodes/mapper.py @@ -78,29 +78,39 @@ def __init__(self): self.Binv = np.linalg.pinv(self.B) self.min_thrusts, self.max_thrusts = self.get_ranges() self.default_min_thrusts, self.default_max_thrusts = np.copy( - self.min_thrusts + self.min_thrusts, ), np.copy(self.max_thrusts) self.update_layout_server = rospy.Service( - "update_thruster_layout", UpdateThrusterLayout, self.update_layout + "update_thruster_layout", + UpdateThrusterLayout, + self.update_layout, ) # Expose B matrix through a srv self.b_matrix_server = rospy.Service("b_matrix", BMatrix, self.get_b_matrix) self.wrench_sub = rospy.Subscriber( - "wrench", WrenchStamped, self.request_wrench_cb, queue_size=1 + "wrench", + WrenchStamped, + self.request_wrench_cb, + queue_size=1, ) self.actual_wrench_pub = rospy.Publisher( - "wrench_actual", WrenchStamped, queue_size=1 + "wrench_actual", + WrenchStamped, + queue_size=1, ) self.wrench_error_pub = rospy.Publisher( - "wrench_error", WrenchStamped, queue_size=1 + "wrench_error", + WrenchStamped, + queue_size=1, ) self.thruster_pub = rospy.Publisher("thrusters/thrust", Thrust, queue_size=1) @thread_lock(lock) def update_layout( - self, srv: UpdateThrusterLayoutRequest + self, + srv: UpdateThrusterLayoutRequest, ) -> UpdateThrusterLayoutResponse: """ Update the physical thruster layout. @@ -134,18 +144,20 @@ def get_ranges(self) -> tuple[np.ndarray, np.ndarray]: [ self.thruster_layout["thrusters"][x]["thrust_bounds"][0] for x in self.thruster_name_map - ] + ], ) maxima = np.array( [ self.thruster_layout["thrusters"][x]["thrust_bounds"][1] for x in self.thruster_name_map - ] + ], ) return minima, maxima def get_thruster_wrench( - self, position: list[float], direction: list[float] + self, + position: list[float], + direction: list[float], ) -> np.ndarray: """ Compute a single column of B, or the wrench created by a particular thruster @@ -158,7 +170,9 @@ def get_thruster_wrench( wrench (np.ndarray): The wrench created by the thruster. """ assert np.isclose( - 1.0, np.linalg.norm(direction), atol=1e-3 + 1.0, + np.linalg.norm(direction), + atol=1e-3, ), "Direction must be a unit vector" forces = direction torques = np.cross(position, forces) @@ -203,7 +217,8 @@ def generate_B(self, layout: dict) -> np.ndarray: # Assemble the B matrix by columns self.thruster_name_map.append(thruster_name) wrench_column = self.get_thruster_wrench( - thruster_info["position"], thruster_info["direction"] + thruster_info["position"], + thruster_info["direction"], ) self.num_thrusters += 1 B.append(wrench_column) @@ -312,14 +327,18 @@ def request_wrench_cb(self, msg: WrenchStamped) -> None: actual_wrench = self.B.dot(u) self.actual_wrench_pub.publish( msg_helpers.make_wrench_stamped( - actual_wrench[:3], actual_wrench[3:], frame="/base_link" - ) + actual_wrench[:3], + actual_wrench[3:], + frame="/base_link", + ), ) mapper_wrench_error = wrench - actual_wrench self.wrench_error_pub.publish( msg_helpers.make_wrench_stamped( - mapper_wrench_error[:3], mapper_wrench_error[3:], frame="/base_link" - ) + mapper_wrench_error[:3], + mapper_wrench_error[3:], + frame="/base_link", + ), ) self.thruster_pub.publish(thrust_cmds) diff --git a/SubjuGator/gnc/subjugator_thruster_mapper/test/test_subjugator_mapper.py b/SubjuGator/gnc/subjugator_thruster_mapper/test/test_subjugator_mapper.py index 671315f6c..4a67f6d62 100755 --- a/SubjuGator/gnc/subjugator_thruster_mapper/test/test_subjugator_mapper.py +++ b/SubjuGator/gnc/subjugator_thruster_mapper/test/test_subjugator_mapper.py @@ -59,7 +59,7 @@ def test_map_good(self): for num, wrench in enumerate(wrenches): wrench_msg = WrenchStamped( - wrench=Wrench(force=Vector3(*wrench[:3]), torque=Vector3(*wrench[3:])) + wrench=Wrench(force=Vector3(*wrench[:3]), torque=Vector3(*wrench[3:])), ) thrust_pub.publish(wrench_msg) diff --git a/SubjuGator/perception/subjugator_perception/CMakeLists.txt b/SubjuGator/perception/subjugator_perception/CMakeLists.txt index 01f52e9f2..cfdad370c 100644 --- a/SubjuGator/perception/subjugator_perception/CMakeLists.txt +++ b/SubjuGator/perception/subjugator_perception/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_perception) SET(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake;${CMAKE_MODULE_PATH}") diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/dice_detection.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/dice_detection.py index b54218d8b..d407fb5e9 100755 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/dice_detection.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/dice_detection.py @@ -14,7 +14,7 @@ # To correctly import utils sys.path.append( - rospack.get_path("subjugator_perception") + "/ml_classifiers/dice/utils" + rospack.get_path("subjugator_perception") + "/ml_classifiers/dice/utils", ) from utils import detector_utils # noqa @@ -25,7 +25,9 @@ def __init__(self): rospy.init_node("dice_detection") self.bridge = CvBridge() self.subscriber = rospy.Subscriber( - "/camera/front/left/image_rect_color", Image, self.img_callback + "/camera/front/left/image_rect_color", + Image, + self.img_callback, ) self.publisher = rospy.Publisher("/dice/debug_rcnn", Image, queue_size=1) @@ -51,7 +53,9 @@ def img_callback(self, data): # Run image through tensorflow graph boxes, scores, classes = detector_utils.detect_objects( - cv_image, self.inference_graph, self.sess + cv_image, + self.inference_graph, + self.sess, ) # Draw Bounding box @@ -95,7 +99,7 @@ def img_callback(self, data): p2 = np.array([int(right), int(bottom)]) mid_point = (p1 + p2) / 2 self.dice_publisher.publish( - Point(mid_point[0], mid_point[1], classes[i]) + Point(mid_point[0], mid_point[1], classes[i]), ) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/protos/string_int_label_map_pb2.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/protos/string_int_label_map_pb2.py index 9fbba2a26..98f51d7ba 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/protos/string_int_label_map_pb2.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/protos/string_int_label_map_pb2.py @@ -17,7 +17,7 @@ name="object_detection/protos/string_int_label_map.proto", package="object_detection.protos", serialized_pb=_b( - '\n2object_detection/protos/string_int_label_map.proto\x12\x17object_detection.protos"G\n\x15StringIntLabelMapItem\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\x05\x12\x14\n\x0c\x64isplay_name\x18\x03 \x01(\t"Q\n\x11StringIntLabelMap\x12<\n\x04item\x18\x01 \x03(\x0b\x32..object_detection.protos.StringIntLabelMapItem' # noqa + '\n2object_detection/protos/string_int_label_map.proto\x12\x17object_detection.protos"G\n\x15StringIntLabelMapItem\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\x05\x12\x14\n\x0c\x64isplay_name\x18\x03 \x01(\t"Q\n\x11StringIntLabelMap\x12<\n\x04item\x18\x01 \x03(\x0b\x32..object_detection.protos.StringIntLabelMapItem', ), ) _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -65,7 +65,7 @@ ), _descriptor.FieldDescriptor( name="display_name", - full_name="object_detection.protos.StringIntLabelMapItem.display_name", # noqa + full_name="object_detection.protos.StringIntLabelMapItem.display_name", index=2, number=3, type=9, @@ -135,22 +135,22 @@ StringIntLabelMapItem = _reflection.GeneratedProtocolMessageType( "StringIntLabelMapItem", (_message.Message,), - dict( - DESCRIPTOR=_STRINGINTLABELMAPITEM, - __module__="object_detection.protos.string_int_label_map_pb2" + { + "DESCRIPTOR": _STRINGINTLABELMAPITEM, + "__module__": "object_detection.protos.string_int_label_map_pb2", # @@protoc_insertion_point(class_scope:object_detection.protos.StringIntLabelMapItem) - ), + }, ) _sym_db.RegisterMessage(StringIntLabelMapItem) StringIntLabelMap = _reflection.GeneratedProtocolMessageType( "StringIntLabelMap", (_message.Message,), - dict( - DESCRIPTOR=_STRINGINTLABELMAP, - __module__="object_detection.protos.string_int_label_map_pb2" + { + "DESCRIPTOR": _STRINGINTLABELMAP, + "__module__": "object_detection.protos.string_int_label_map_pb2", # @@protoc_insertion_point(class_scope:object_detection.protos.StringIntLabelMap) - ), + }, ) _sym_db.RegisterMessage(StringIntLabelMap) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/detector_utils.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/detector_utils.py index 8799bd351..df2128a7e 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/detector_utils.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/detector_utils.py @@ -3,6 +3,7 @@ import numpy as np import rospkg import tensorflow as tf + from utils import label_map_util rospack = rospkg.RosPack() @@ -20,7 +21,9 @@ # Load label map using utils provided by tensorflow object detection api label_map = label_map_util.load_labelmap(PATH_TO_LABELS) categories = label_map_util.convert_label_map_to_categories( - label_map, max_num_classes=NUM_CLASSES, use_display_name=True + label_map, + max_num_classes=NUM_CLASSES, + use_display_name=True, ) category_index = label_map_util.create_category_index(categories) @@ -80,7 +83,13 @@ def draw_box_on_image( # Show fps value on image. def draw_text_on_image(fps, image_np): cv2.putText( - image_np, fps, (20, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (77, 255, 9), 2 + image_np, + fps, + (20, 50), + cv2.FONT_HERSHEY_SIMPLEX, + 0.75, + (77, 255, 9), + 2, ) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/label_map_util.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/label_map_util.py index 8dd9c275b..e9cad1de1 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/label_map_util.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/dice/utils/label_map_util.py @@ -24,7 +24,7 @@ rospack = rospkg.RosPack() # use protos file from path marker sys.path.append( - rospack.get_path("subjugator_perception") + "/ml_classifiers/dice/protos" + rospack.get_path("subjugator_perception") + "/ml_classifiers/dice/protos", ) from protos import string_int_label_map_pb2 # noqa @@ -95,7 +95,7 @@ def convert_label_map_to_categories(label_map, max_num_classes, use_display_name { "id": class_id + label_id_offset, "name": f"category_{class_id + label_id_offset}", - } + }, ) return categories for item in label_map.item: diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/localizer.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/localizer.py index 1fa494212..f1282fa22 100755 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/localizer.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/localizer.py @@ -11,7 +11,7 @@ from cv_bridge import CvBridge, CvBridgeError from geometry_msgs.msg import Point from sensor_msgs.msg import Image, RegionOfInterest -from utils import detector_utils # noqa +from utils import detector_utils rospack = rospkg.RosPack() @@ -32,7 +32,10 @@ def __init__(self): help="Sets up Network for Bin Dropper", ) parser.add_argument( - "-v", "--vamp", action="store_true", help="Sets up Network for the Buoy" + "-v", + "--vamp", + action="store_true", + help="Sets up Network for the Buoy", ) parser.add_argument( "-s", @@ -52,19 +55,22 @@ def __init__(self): self.target = "garlic" self.classes = 1 self.see_sub = mil_tools.Image_Subscriber( - topic="/camera/down/image_raw", callback=self.img_callback + topic="/camera/down/image_raw", + callback=self.img_callback, ) elif self.vamp: self.target = "vamp" self.classes = 4 self.see_sub = mil_tools.Image_Subscriber( - topic="/camera/front/left/image_raw", callback=self.img_callback + topic="/camera/front/left/image_raw", + callback=self.img_callback, ) else: self.target = "stake" self.classes = 1 self.see_sub = mil_tools.Image_Subscriber( - topic="/camera/front/left/image_raw", callback=self.img_callback + topic="/camera/front/left/image_raw", + callback=self.img_callback, ) # Number of frames self.num_frames = rospy.get_param("~num_frames", 0) @@ -86,7 +92,8 @@ def __init__(self): self.bridge = CvBridge() self.inference_graph, self.sess = detector_utils.load_inference_graph( - self.target, self.classes + self.target, + self.classes, ) # Subscribes to our image topic, allowing us to process the images @@ -114,10 +121,7 @@ def check_timestamp(self): process a single image. """ see = self.see_sub.last_image_header - if abs(see.stamp.secs - int(rospy.get_time())) > self.time_thresh: - return True - else: - return False + return abs(see.stamp.secs - int(rospy.get_time())) > self.time_thresh def img_callback(self, data): self.parse_label_map() @@ -131,7 +135,9 @@ def img_callback(self, data): # cv_image = cv2.resize(cv_image, (256, 144)) # Run image through tensorflow graph boxes, scores, classes = detector_utils.detect_objects( - cv_image, self.inference_graph, self.sess + cv_image, + self.inference_graph, + self.sess, ) # Draw Bounding box diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py index 620fc7cb9..c70e5e258 100755 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py @@ -14,10 +14,10 @@ # To correctly import utils sys.path.append( - rospack.get_path("subjugator_perception") + "/ml_classifiers/path_marker/utils" + rospack.get_path("subjugator_perception") + "/ml_classifiers/path_marker/utils", ) -from utils import detector_utils # noqa: manually appending sys.path +from utils import detector_utils # noqa class classifier: @@ -34,7 +34,8 @@ def __init__(self): self.upper = rospy.get_param("~upper_color_threshold", [255, 255, 255]) # Camera topic we are pulling images from for processing self.camera_topic = rospy.get_param( - "~camera_topic", "/camera/front/left/image_rect_color" + "~camera_topic", + "/camera/front/left/image_rect_color", ) # Number of frames self.num_frames = rospy.get_param("~num_frames", 0) @@ -63,7 +64,10 @@ def __init__(self): # Subscribes to our image topic, allowing us to process the images self.sub1 = rospy.Subscriber( - self.camera_topic, Image, self.img_callback, queue_size=1 + self.camera_topic, + Image, + self.img_callback, + queue_size=1, ) """ Publishers: @@ -95,10 +99,7 @@ def check_timestamp(self, msg): This is a serious problem considering how long it takes to process a single image. """ - if abs(msg.header.stamp.secs - int(rospy.get_time())) > self.time_thresh: - return True - else: - return False + return abs(msg.header.stamp.secs - int(rospy.get_time())) > self.time_thresh def img_callback(self, data): if self.check_timestamp(data): @@ -114,7 +115,9 @@ def img_callback(self, data): # Run image through tensorflow graph boxes, scores, classes = detector_utils.detect_objects( - cv_image, self.inference_graph, self.sess + cv_image, + self.inference_graph, + self.sess, ) # Draw Bounding box @@ -161,7 +164,8 @@ def img_callback(self, data): # Run through the mask function, returns all black image if no orange check = self.mask_image( cv_image[ - int(bbox[0][1]) : int(bbox[1][1]), int(bbox[0][0]) : int(bbox[1][0]) + int(bbox[0][1]) : int(bbox[1][1]), + int(bbox[0][0]) : int(bbox[1][0]), ], lower, upper, @@ -203,7 +207,7 @@ def mask_image(self, cv_image, lower, upper): try: # print(output) self.orange_image_pub.publish( - self.bridge.cv2_to_imgmsg(np.array(output), "bgr8") + self.bridge.cv2_to_imgmsg(np.array(output), "bgr8"), ) except CvBridgeError as e: print(e) @@ -271,7 +275,9 @@ def find_curve(self, blurred): # Compute contours cnts = cv2.findContours( - blurred.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE + blurred.copy(), + cv2.RETR_EXTERNAL, + cv2.CHAIN_APPROX_SIMPLE, ) cnts = cnts[1] @@ -321,10 +327,7 @@ def find_extremes(self, c): min_x = pair[0] min_y = pair[1] # Compare the heights of the pixels - if max_y > min_y: - direction = "right" - else: - direction = "left" + direction = "right" if max_y > min_y else "left" self.direction_pub.publish(data=direction) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/protos/string_int_label_map_pb2.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/protos/string_int_label_map_pb2.py index 9fbba2a26..98f51d7ba 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/protos/string_int_label_map_pb2.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/protos/string_int_label_map_pb2.py @@ -17,7 +17,7 @@ name="object_detection/protos/string_int_label_map.proto", package="object_detection.protos", serialized_pb=_b( - '\n2object_detection/protos/string_int_label_map.proto\x12\x17object_detection.protos"G\n\x15StringIntLabelMapItem\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\x05\x12\x14\n\x0c\x64isplay_name\x18\x03 \x01(\t"Q\n\x11StringIntLabelMap\x12<\n\x04item\x18\x01 \x03(\x0b\x32..object_detection.protos.StringIntLabelMapItem' # noqa + '\n2object_detection/protos/string_int_label_map.proto\x12\x17object_detection.protos"G\n\x15StringIntLabelMapItem\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\x05\x12\x14\n\x0c\x64isplay_name\x18\x03 \x01(\t"Q\n\x11StringIntLabelMap\x12<\n\x04item\x18\x01 \x03(\x0b\x32..object_detection.protos.StringIntLabelMapItem', ), ) _sym_db.RegisterFileDescriptor(DESCRIPTOR) @@ -65,7 +65,7 @@ ), _descriptor.FieldDescriptor( name="display_name", - full_name="object_detection.protos.StringIntLabelMapItem.display_name", # noqa + full_name="object_detection.protos.StringIntLabelMapItem.display_name", index=2, number=3, type=9, @@ -135,22 +135,22 @@ StringIntLabelMapItem = _reflection.GeneratedProtocolMessageType( "StringIntLabelMapItem", (_message.Message,), - dict( - DESCRIPTOR=_STRINGINTLABELMAPITEM, - __module__="object_detection.protos.string_int_label_map_pb2" + { + "DESCRIPTOR": _STRINGINTLABELMAPITEM, + "__module__": "object_detection.protos.string_int_label_map_pb2", # @@protoc_insertion_point(class_scope:object_detection.protos.StringIntLabelMapItem) - ), + }, ) _sym_db.RegisterMessage(StringIntLabelMapItem) StringIntLabelMap = _reflection.GeneratedProtocolMessageType( "StringIntLabelMap", (_message.Message,), - dict( - DESCRIPTOR=_STRINGINTLABELMAP, - __module__="object_detection.protos.string_int_label_map_pb2" + { + "DESCRIPTOR": _STRINGINTLABELMAP, + "__module__": "object_detection.protos.string_int_label_map_pb2", # @@protoc_insertion_point(class_scope:object_detection.protos.StringIntLabelMap) - ), + }, ) _sym_db.RegisterMessage(StringIntLabelMap) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/detector_utils.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/detector_utils.py index 45422f9e5..928d606c3 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/detector_utils.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/detector_utils.py @@ -3,6 +3,7 @@ import numpy as np import rospkg import tensorflow as tf + from utils import label_map_util rospack = rospkg.RosPack() @@ -24,7 +25,9 @@ # Load label map using utils provided by tensorflow object detection api label_map = label_map_util.load_labelmap(PATH_TO_LABELS) categories = label_map_util.convert_label_map_to_categories( - label_map, max_num_classes=NUM_CLASSES, use_display_name=True + label_map, + max_num_classes=NUM_CLASSES, + use_display_name=True, ) category_index = label_map_util.create_category_index(categories) @@ -89,7 +92,13 @@ def draw_box_on_image( def draw_text_on_image(fps, image_np): cv2.putText( - image_np, fps, (20, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (77, 255, 9), 2 + image_np, + fps, + (20, 50), + cv2.FONT_HERSHEY_SIMPLEX, + 0.75, + (77, 255, 9), + 2, ) diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/label_map_util.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/label_map_util.py index 58c0e7da0..a2935fb61 100644 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/label_map_util.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/utils/label_map_util.py @@ -23,7 +23,7 @@ rospack = rospkg.RosPack() sys.path.append( - rospack.get_path("subjugator_perception") + "/ml_classifiers/path_marker/protos" + rospack.get_path("subjugator_perception") + "/ml_classifiers/path_marker/protos", ) from protos import string_int_label_map_pb2 # noqa @@ -108,7 +108,7 @@ def convert_label_map_to_categories(label_map, max_num_classes, use_display_name { "id": class_id + label_id_offset, "name": f"category_{class_id + label_id_offset}", - } + }, ) return categories for item in label_map.item: diff --git a/SubjuGator/perception/subjugator_perception/nodes/CLAHE_Processing.py b/SubjuGator/perception/subjugator_perception/nodes/CLAHE_Processing.py index b4531df07..cc8c49488 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/CLAHE_Processing.py +++ b/SubjuGator/perception/subjugator_perception/nodes/CLAHE_Processing.py @@ -18,7 +18,8 @@ class CLAHE_generator: def __init__(self): self.camera = rospy.get_param( - "~camera_topic", "/camera/front/left/image_rect_color" + "~camera_topic", + "/camera/front/left/image_rect_color", ) # Instantiate remaining variables and objects @@ -85,9 +86,9 @@ def CLAHE(self, cv_image): # convert from BGR to LAB color space lab = cv2.cvtColor(cv_image, cv2.COLOR_BGR2LAB) - l, a, b = cv2.split(lab) # split on 3 different channels + l_channel, a, b = cv2.split(lab) # split on 3 different channels - l2 = clahe.apply(l) # apply CLAHE to the L-channel + l2 = clahe.apply(l_channel) # apply CLAHE to the L-channel lab = cv2.merge((l2, a, b)) # merge channels cv_image = cv2.cvtColor(lab, cv2.COLOR_LAB2BGR) diff --git a/SubjuGator/perception/subjugator_perception/nodes/bins_2d.py b/SubjuGator/perception/subjugator_perception/nodes/bins_2d.py index ab8877ed7..fc6909e7f 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/bins_2d.py +++ b/SubjuGator/perception/subjugator_perception/nodes/bins_2d.py @@ -12,20 +12,20 @@ from subjugator_msgs.srv import VisionRequest2D, VisionRequest2DResponse -def contour_sort(l): +def contour_sort(l_arr): """Sort contours by area largest to smallest.""" - length = len(l) + length = len(l_arr) if length <= 1: - return l + return l_arr else: - pivot = l.pop(int(length / 2)) + pivot = l_arr.pop(int(length / 2)) less, more = [], [] - for x in l: + for x in l_arr: if cv2.contourArea(x) >= cv2.contourArea(pivot): less.append(x) else: more.append(x) - return contour_sort(less) + [pivot] + contour_sort(more) + return [*contour_sort(less), pivot, *contour_sort(more)] def evaluate_bin(roi): @@ -54,15 +54,20 @@ def __init__(self): self.last_image_time = None self.camera_model = None self.pose_service = rospy.Service( - "vision/bin/2D", VisionRequest2D, self.request_bin + "vision/bin/2D", + VisionRequest2D, + self.request_bin, ) self.image_sub = mil_ros_tools.Image_Subscriber( - "/down/left/image_rect_color", self.image_cb + "/down/left/image_rect_color", + self.image_cb, ) self.image_pub = mil_ros_tools.Image_Publisher("/vision/bin_2d/target_info") self.range = None self.range_sub = rospy.Subscriber( - "dvl/range", RangeStamped, self.range_callback + "dvl/range", + RangeStamped, + self.range_callback, ) # Occasional status publisher @@ -81,7 +86,8 @@ def request_bin(self, srv): if response is False or response is None: rospy.loginfo("did not find") resp = VisionRequest2DResponse( - header=mil_ros_tools.make_header(frame="/down"), found=False + header=mil_ros_tools.make_header(frame="/down"), + found=False, ) else: # Fill in @@ -126,7 +132,9 @@ def find_single_bin(self, img, bin_type): img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) ret, img = cv2.threshold(img, 254, 255, cv2.THRESH_BINARY) contours, hierarchy = cv2.findContours( - np.copy(img), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE + np.copy(img), + cv2.RETR_TREE, + cv2.CHAIN_APPROX_SIMPLE, ) contours = contour_sort(contours) """This finds the bins and looks for the one that is orange or is not @@ -135,10 +143,7 @@ def find_single_bin(self, img, bin_type): """ if len(contours) > 0: bins = 2 - if self.bin_type == "orange": - orangeness = 0 - else: - orangeness = 100000 + orangeness = 0 if self.bin_type == "orange" else 100000 if len(contours) < bins: bins = len(contours) for i in range(0, bins + 1): diff --git a/SubjuGator/perception/subjugator_perception/nodes/buoy_finder.py b/SubjuGator/perception/subjugator_perception/nodes/buoy_finder.py index 15be54b02..21802b82a 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/buoy_finder.py +++ b/SubjuGator/perception/subjugator_perception/nodes/buoy_finder.py @@ -43,7 +43,7 @@ def __init__(self, color, debug_cv=False): self.min_trans = rospy.get_param("~min_trans") self.threshold = Threshold.from_param(f"/color/buoy/{color}") rospy.loginfo( - f"{color} buoy has {self.threshold}" + f"{color} buoy has {self.threshold}", ) # Print threshold for each buoy if debug_cv: self.threshold.create_trackbars(window=color) @@ -127,7 +127,7 @@ def __init__(self): self.last_image_time = None self.camera_model = None self.circle_finder = CircleFinder( - 1.0 + 1.0, ) # Model radius doesn't matter because it's not being used for 3D pose # Various constants for tuning, debugging. See buoy_finder.yaml for more info @@ -140,7 +140,8 @@ def __init__(self): self.roi_y = rospy.get_param("~roi_y") self.roi_height = rospy.get_param("~roi_height") camera = rospy.get_param( - "~camera_topic", "/camera/front/right/image_rect_color" + "~camera_topic", + "/camera/front/right/image_rect_color", ) self.buoys = {} @@ -328,7 +329,7 @@ def find_single_buoy(self, buoy_type): position using the least squares tool imported """ assert ( - buoy_type in self.buoys.keys() + buoy_type in self.buoys ), f"Buoys_2d does not know buoy color: {buoy_type}" buoy = self.buoys[buoy_type] mask = buoy.get_mask(self.last_image) @@ -344,7 +345,10 @@ def find_single_buoy(self, buoy_type): ) if self.debug_ros: cv2.add( - self.mask_image.copy(), buoy.cv_colors, mask=mask, dst=self.mask_image + self.mask_image.copy(), + buoy.cv_colors, + mask=mask, + dst=self.mask_image, ) if self.debug_cv: self.debug_images[buoy_type] = mask.copy() @@ -367,7 +371,10 @@ def find_single_buoy(self, buoy_type): try: self.tf_listener.waitForTransform( - "map", self.frame_id, self.last_image_time, rospy.Duration(0.2) + "map", + self.frame_id, + self.last_image_time, + rospy.Duration(0.2), ) except tf.Exception as e: rospy.logwarn(f"Could not transform camera to map: {e}") @@ -378,7 +385,9 @@ def find_single_buoy(self, buoy_type): return False (t, rot_q) = self.tf_listener.lookupTransform( - "map", self.frame_id, self.last_image_time + "map", + self.frame_id, + self.last_image_time, ) R = mil_ros_tools.geometry_helpers.quaternion_matrix(rot_q) diff --git a/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py b/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py index d50617e13..55d1dd5e2 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py +++ b/SubjuGator/perception/subjugator_perception/nodes/dice_detect.py @@ -38,15 +38,21 @@ def __init__(self): debug_talker publishes chatter of whether the program is running """ self.debug_image_publisher = rospy.Publisher( - "dice/debugimage", Image, queue_size=1 + "dice/debugimage", + Image, + queue_size=1, ) self.debug_image_input_publisher = rospy.Publisher( - "dice/debugimageinput", Image, queue_size=1 + "dice/debugimageinput", + Image, + queue_size=1, ) self.point_publisher = rospy.Publisher("dice/points", Point, queue_size=1) self.debug_talker = rospy.Publisher("dice/debugtalker", String, queue_size=1) self.image_subscriber = rospy.Subscriber( - "/camera/front/left/image_rect_color", Image, self.callback + "/camera/front/left/image_rect_color", + Image, + self.callback, ) self.bridge = CvBridge() self.enabled = False @@ -99,7 +105,7 @@ def detect(self, dice_img): # im_c = Colored image im_c = dice_img - d = dict() + d = {} # im = GrayScale Image im = cv2.cvtColor(im_c, cv2.COLOR_BGR2GRAY) @@ -199,10 +205,10 @@ def callback(self, subscriberd_data): try: self.debug_image_publisher.publish( - self.bridge.cv2_to_imgmsg(output_image, "bgr8") + self.bridge.cv2_to_imgmsg(output_image, "bgr8"), ) self.debug_image_input_publisher.publish( - self.bridge.cv2_to_imgmsg(input_image, "bgr8") + self.bridge.cv2_to_imgmsg(input_image, "bgr8"), ) self.point_publisher.publish(Point(x_pos, y_pos, int(key))) self.debug_talker.publish(String("Dice Detection Running")) diff --git a/SubjuGator/perception/subjugator_perception/nodes/ground_finder.py b/SubjuGator/perception/subjugator_perception/nodes/ground_finder.py index 1cad28b72..20afdf2da 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/ground_finder.py +++ b/SubjuGator/perception/subjugator_perception/nodes/ground_finder.py @@ -18,7 +18,10 @@ while not rospy.is_shutdown(): try: t = listener.waitForTransform( - "map", "/ground", rospy.Time.now(), rospy.Duration(1) + "map", + "/ground", + rospy.Time.now(), + rospy.Duration(1), ) (trans, rot) = listener.lookupTransform("map", "/ground", rospy.Time(0)) except ( diff --git a/SubjuGator/perception/subjugator_perception/nodes/guess_server.py b/SubjuGator/perception/subjugator_perception/nodes/guess_server.py index 3384266be..f94c80e2c 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/guess_server.py +++ b/SubjuGator/perception/subjugator_perception/nodes/guess_server.py @@ -22,7 +22,9 @@ def __init__(self): "start_gate2", ] self.guess_service = rospy.Service( - "guess_location", GuessRequest, self.request_location + "guess_location", + GuessRequest, + self.request_location, ) self.markers_subscribers = [] self.markers_locations = dict.fromkeys(self.items) @@ -62,14 +64,16 @@ def __init__(self): def process_feedback(self, feedback): self.markers_locations[feedback.marker_name] = PoseStamped( - header=feedback.header, pose=feedback.pose + header=feedback.header, + pose=feedback.pose, ) def request_location(self, srv): req_item = srv.item if req_item in self.items: return GuessRequestResponse( - location=self.markers_locations[req_item], found=True + location=self.markers_locations[req_item], + found=True, ) else: return GuessRequestResponse(found=False) diff --git a/SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py b/SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py index 3d01714ef..4a67f4bb7 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py +++ b/SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py @@ -13,7 +13,8 @@ def __init__(self): self.image_sub = Image_Subscriber(self.camera, self.image_cb) self.image_pub = Image_Publisher("/image/hsv") self.reconfigure_server = DynamicReconfigureServer( - HSVCalibrationConfig, self.reconfigure + HSVCalibrationConfig, + self.reconfigure, ) self.lower = np.array([0, 0, 0], dtype=np.uint8) self.upper = np.array([179, 255, 255], dtype=np.uint8) diff --git a/SubjuGator/perception/subjugator_perception/nodes/observation_pub.py b/SubjuGator/perception/subjugator_perception/nodes/observation_pub.py index 9a9c95339..ae9ee375d 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/observation_pub.py +++ b/SubjuGator/perception/subjugator_perception/nodes/observation_pub.py @@ -35,7 +35,8 @@ def __init__(self): self.max_velocity = rospy.get_param("~max_velocity", 1) self.min_observations = rospy.get_param("~min_observations", 30) self.camera = rospy.get_param( - "~camera_topic", "/camera/front/left/image_rect_color" + "~camera_topic", + "/camera/front/left/image_rect_color", ) # Instantiate remaining variables and objects self._observations = deque() @@ -61,7 +62,9 @@ def __init__(self): self.print_info = FprintFactory(title=MISSION).fprint # Image Subscriber and Camera Information self.point_sub = rospy.Subscriber( - "/roi_pub", RegionOfInterest, self.acquire_targets + "/roi_pub", + RegionOfInterest, + self.acquire_targets, ) self.image_sub = Image_Subscriber(self.camera, self.image_cb) @@ -122,7 +125,9 @@ def request_board3d(self, srv): pose=Pose( position=Point(*((self.est + self.est1 + self.est2) / 3)), orientation=Quaternion( - x=self.plane[0], y=self.plane[1], z=self.plane[2] + x=self.plane[0], + y=self.plane[1], + z=self.plane[2], ), ), ), @@ -218,7 +223,7 @@ def acquire_targets(self, roi): point0 = np.array([x0, y0]) point1 = np.array([x0 + width, y0]) point2 = np.array([x0, y0 + height]) - point3 = np.array([x0 + width, y0 + height]) + np.array([x0 + width, y0 + height]) # print("p1: ", point1) # print("p2: ", point2) try: @@ -241,10 +246,14 @@ def acquire_targets(self, roi): self.add_observation(point0, (np.array(t), R), self.image_sub.last_image_time) observations1, pose_pairs1 = self.add_observation1( - point1, (np.array(t), R), self.image_sub.last_image_time + point1, + (np.array(t), R), + self.image_sub.last_image_time, ) observations2, pose_pairs2 = self.add_observation2( - point2, (np.array(t), R), self.image_sub.last_image_time + point2, + (np.array(t), R), + self.image_sub.last_image_time, ) observations, pose_pairs = self.get_observations_and_pose_pairs() diff --git a/SubjuGator/perception/subjugator_perception/nodes/ocr_server.py b/SubjuGator/perception/subjugator_perception/nodes/ocr_server.py index 4a64235d0..307948a63 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/ocr_server.py +++ b/SubjuGator/perception/subjugator_perception/nodes/ocr_server.py @@ -19,10 +19,13 @@ def __init__(self): self.camera_model = None self.white_list = None self.ocr_service = rospy.Service( - "vision/ocr", OcrRequest, self.request_characters + "vision/ocr", + OcrRequest, + self.request_characters, ) self.image_sub = Image_Subscriber( - "/camera/front/right/image_rect_color", self.image_cb + "/camera/front/right/image_rect_color", + self.image_cb, ) def request_characters(self, srv): @@ -67,7 +70,9 @@ def ocr(self): height, width, channel = image.shape iplimage = cv.CreateImageHeader((width, height), cv.IPL_DEPTH_8U, channel) cv.SetData( - iplimage, image.tostring(), image.dtype.itemsize * channel * (width) + iplimage, + image.tostring(), + image.dtype.itemsize * channel * (width), ) tesseract.SetCvImage(iplimage, api) api.Recognize(None) diff --git a/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py b/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py index 25f8175b2..0701c3b05 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py +++ b/SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py @@ -57,7 +57,8 @@ class OrangeRectangleFinder: # Coordinate axes for debugging image REFERENCE_POINTS = np.array( - [[0, 0, 0], [0.3, 0, 0], [0, 0.3, 0], [0, 0, 0.3]], dtype=float + [[0, 0, 0], [0.3, 0, 0], [0, 0.3, 0], [0, 0, 0.3]], + dtype=float, ) def __init__(self): @@ -94,13 +95,16 @@ def __init__(self): self.filter.measurementMatrix = 1.0 * np.eye(self.state_size, dtype=np.float32) self.filter.processNoiseCov = 1e-5 * np.eye(self.state_size, dtype=np.float32) self.filter.measurementNoiseCov = 1e-4 * np.eye( - self.state_size, dtype=np.float32 + self.state_size, + dtype=np.float32, ) self.filter.errorCovPost = 1.0 * np.eye(self.state_size, dtype=np.float32) self.reset() self.service_set_geometry = rospy.Service( - "~set_geometry", SetGeometry, self._set_geometry_cb + "~set_geometry", + SetGeometry, + self._set_geometry_cb, ) if self.debug_ros: self.debug_pub = Image_Publisher("~debug_image") @@ -168,9 +172,11 @@ def _vision_cb_3D(self, req): res.found = False return res dt = (self.image_sub.last_image_time - self.last_found_time_3D).to_sec() - if dt < 0 or dt > self.timeout_seconds: - res.found = False - elif self.last3d is None or not self.enabled: + if ( + dt < 0 + or dt > self.timeout_seconds + or (self.last3d is None or not self.enabled) + ): res.found = False else: res.pose.header.frame_id = "map" @@ -280,13 +286,16 @@ def _get_pose_3D(self, corners): # Transform pose estimate to map frame try: self.tf_listener.waitForTransform( - "map", ps.header.frame_id, ps.header.stamp, rospy.Duration(0.1) + "map", + ps.header.frame_id, + ps.header.stamp, + rospy.Duration(0.1), ) map_ps = self.tf_listener.transformPoint("map", ps) map_vec3 = self.tf_listener.transformVector3("map", vec3) except tf.Exception as err: rospy.logwarn( - f"Could not transform {self.cam.tfFrame()} to map error={err}" + f"Could not transform {self.cam.tfFrame()} to map error={err}", ) return False # Try to ensure vector always points the same way, so kf is not thrown off at some angles @@ -358,9 +367,8 @@ def _is_valid_contour(self, contour): return False self.last2d = self.rect_model.get_pose_2D(corners) self.last_found_time_2D = self.image_sub.last_image_time - if self.do_3D: - if not self._get_pose_3D(corners): - return False + if self.do_3D and not self._get_pose_3D(corners): + return False return True def _get_edges(self): @@ -372,7 +380,9 @@ def _get_edges(self): blur = cv2.blur(self.last_image, (5, 5)) hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV) thresh = cv2.inRange( - hsv, (0, self.thresh_saturation_low, 0), (self.thresh_hue_high, 255, 255) + hsv, + (0, self.thresh_saturation_low, 0), + (self.thresh_hue_high, 255, 255), ) return cv2.Canny(thresh, self.canny_low, self.canny_low * self.canny_ratio) diff --git a/SubjuGator/perception/subjugator_perception/nodes/torpedo_board_pose_est.py b/SubjuGator/perception/subjugator_perception/nodes/torpedo_board_pose_est.py index f1f784700..454431ebc 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/torpedo_board_pose_est.py +++ b/SubjuGator/perception/subjugator_perception/nodes/torpedo_board_pose_est.py @@ -105,7 +105,9 @@ def minimize_reprojection_error(self): rospy.Duration(0.1), ) (trans, rot) = self.tf_listener.lookupTransform( - "map", "front_stereo", self.current_req.stamp + "map", + "front_stereo", + self.current_req.stamp, ) yaw = tf.transformations.euler_from_quaternion(rot, "syxz")[0] pose = np.array([trans.x, trans.y, trans.z, yaw]) @@ -117,7 +119,7 @@ def minimize_reprojection_error(self): self.visualize_pose_est() else: rospy.loginfo( - "\x1b[31mcost: " + str(self.minimization_result.fun) + "\x1b[0m" + "\x1b[31mcost: " + str(self.minimization_result.fun) + "\x1b[0m", ) def calc_reprojection_error(self, pose_tb_from_cam): @@ -130,30 +132,31 @@ def calc_reprojection_error(self, pose_tb_from_cam): reprojection_error = 0.0 for i in range(4): reprojection_error += lin.norm( - self.current_req.l_obs_corners[:, i] - L_cam_corners[:, i] + self.current_req.l_obs_corners[:, i] - L_cam_corners[:, i], ) reprojection_error += lin.norm( - self.current_req.r_obs_corners[:, i] - R_cam_corners[:, i] + self.current_req.r_obs_corners[:, i] - R_cam_corners[:, i], ) return reprojection_error def generate_hom_tb_corners_from_cam(self, pose_tb_from_cam): # pose_tb_from_cam --> np.array([x, y, z, yaw]) rot_tb_from_cam = tf.transformations.rotation_matrix( - pose_tb_from_cam[3], np.array([[0], [1], [0]]) + pose_tb_from_cam[3], + np.array([[0], [1], [0]]), )[:3, :3] trans_tb_from_cam = np.array( - [[pose_tb_from_cam[0]], [pose_tb_from_cam[1]], [-pose_tb_from_cam[2]]] + [[pose_tb_from_cam[0]], [pose_tb_from_cam[1]], [-pose_tb_from_cam[2]]], ) # TODO: figure out why a negative is needed above, is there a problem with my frames? homogenizer = np.array([[0, 0, 0, 1]]) tf_cam_from_tb_hom = np.vstack( ( np.hstack( - (rot_tb_from_cam.T, -np.dot(rot_tb_from_cam.T, trans_tb_from_cam)) + (rot_tb_from_cam.T, -np.dot(rot_tb_from_cam.T, trans_tb_from_cam)), ), homogenizer, - ) + ), ) corners_from_cam_hom = np.dot(tf_cam_from_tb_hom, self.corners_from_tb_hom) return corners_from_cam_hom @@ -191,7 +194,7 @@ def __init__(self, req): self.orientation.y, self.orientation.z, self.orientation.w, - ] + ], ) self.pose = np.array( [ @@ -199,7 +202,7 @@ def __init__(self, req): self.position.y, self.position.z, tf.transformations.euler_from_quaternion(quat, "syxz")[0], - ] + ], ) self.left_cam_matx = np.array( [ @@ -221,7 +224,7 @@ def __init__(self, req): req.l_proj_mat[10], req.l_proj_mat[11], ], - ] + ], ) self.right_cam_matx = np.array( [ @@ -243,7 +246,7 @@ def __init__(self, req): req.r_proj_mat[10], req.r_proj_mat[11], ], - ] + ], ) self.l_obs_corners = np.array( [ @@ -251,7 +254,7 @@ def __init__(self, req): [req.l_obs_corners[1].x, req.l_obs_corners[1].y], [req.l_obs_corners[2].x, req.l_obs_corners[2].y], [req.l_obs_corners[3].x, req.l_obs_corners[3].y], - ] + ], ).T self.r_obs_corners = np.array( [ @@ -259,7 +262,7 @@ def __init__(self, req): [req.r_obs_corners[1].x, req.r_obs_corners[1].y], [req.r_obs_corners[2].x, req.r_obs_corners[2].y], [req.r_obs_corners[3].x, req.r_obs_corners[3].y], - ] + ], ).T def __str__(self): @@ -277,7 +280,6 @@ def __str__(self): self.last_cam_matx, self.right_cam_matx, self.l_obs_corners, - self.r_obs_corners, w=w_on, r=reset, ) @@ -289,10 +291,10 @@ def __str__(self): if __name__ == "__main__": rospy.init_node("torpedo_board_pose_est") rospy.loginfo( - "\x1b[1;31mInitializing the Torpedo Board Pose Estimation node\x1b[0m" + "\x1b[1;31mInitializing the Torpedo Board Pose Estimation node\x1b[0m", ) rospy.loginfo( - "Awaiting pose estimation requests through:\n\t/torpedo_board_pose_est_srv\n" + "Awaiting pose estimation requests through:\n\t/torpedo_board_pose_est_srv\n", ) TBPoseEstimator() rospy.spin() diff --git a/SubjuGator/perception/subjugator_perception/nodes/torpedo_target_acq.py b/SubjuGator/perception/subjugator_perception/nodes/torpedo_target_acq.py index 717e69d63..7756ad6fe 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/torpedo_target_acq.py +++ b/SubjuGator/perception/subjugator_perception/nodes/torpedo_target_acq.py @@ -37,7 +37,8 @@ def __init__(self): self.timeout = rospy.Duration(rospy.get_param("~timeout_seconds"), 250000) self.min_observations = rospy.get_param("~min_observations", 8) self.camera = rospy.get_param( - "~camera_topic", "/camera/front/left/image_rect_color" + "~camera_topic", + "/camera/front/left/image_rect_color", ) # Instantiate remaining variables and objects @@ -196,9 +197,9 @@ def CLAHE(self, cv_image): # convert from BGR to LAB color space lab = cv2.cvtColor(cv_image, cv2.COLOR_BGR2LAB) - l, a, b = cv2.split(lab) # split on 3 different channels + l_channel, a, b = cv2.split(lab) # split on 3 different channels - l2 = clahe.apply(l) # apply CLAHE to the L-channel + l2 = clahe.apply(l_channel) # apply CLAHE to the L-channel lab = cv2.merge((l2, a, b)) # merge channels cv_image = cv2.cvtColor(lab, cv2.COLOR_LAB2BGR) @@ -219,7 +220,7 @@ def mask_image(self, cv_image, lower, upper): try: # print(output) self.mask_image_pub.publish( - self.bridge.cv2_to_imgmsg(np.array(output), "bgr8") + self.bridge.cv2_to_imgmsg(np.array(output), "bgr8"), ) except CvBridgeError as e: print(e) @@ -246,7 +247,9 @@ def acquire_targets(self, cv_image): blurred = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY) # Compute contours cnts = cv2.findContours( - blurred.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE + blurred.copy(), + cv2.RETR_EXTERNAL, + cv2.CHAIN_APPROX_SIMPLE, ) cnts = cnts[1] @@ -325,7 +328,9 @@ def acquire_targets(self, cv_image): return False (t, rot_q) = self.tf_listener.lookupTransform( - "map", self.camera_model.tfFrame(), self.last_image_time + "map", + self.camera_model.tfFrame(), + self.last_image_time, ) R = mil_ros_tools.geometry_helpers.quaternion_matrix(rot_q) center = np.array([max_x, max_y]) diff --git a/SubjuGator/perception/subjugator_perception/nodes/vampire_identifier.py b/SubjuGator/perception/subjugator_perception/nodes/vampire_identifier.py index f419927d2..cf9902e0d 100755 --- a/SubjuGator/perception/subjugator_perception/nodes/vampire_identifier.py +++ b/SubjuGator/perception/subjugator_perception/nodes/vampire_identifier.py @@ -51,7 +51,8 @@ def __init__(self): self.goal = None self.last_config = None self.reconfigure_server = DynamicReconfigureServer( - VampireIdentifierConfig, self.reconfigure + VampireIdentifierConfig, + self.reconfigure, ) # Instantiate remaining variables and objects @@ -202,7 +203,7 @@ def add_observation(self, obs, pose_pair, time): self.clear_old_observations() # print('Adding...') if ( - slen(self._observations) == 0 + len(self._observations) == 0 or np.linalg.norm(self._pose_pairs[-1][0] - pose_pair[0]) > self.min_trans ): self._observations.append(obs) @@ -227,7 +228,7 @@ def detect(self, c): if peri < self.min_contour_area or peri > self.max_contour_area: return target - approx = cv2.approxPolyDP(c, 0.04 * peri, True) + cv2.approxPolyDP(c, 0.04 * peri, True) target = "Target Acquisition Successful" @@ -243,7 +244,7 @@ def mask_image(self, cv_image, lower, upper): try: # print(output) self.mask_image_pub.publish( - self.bridge.cv2_to_imgmsg(np.array(output), "bgr8") + self.bridge.cv2_to_imgmsg(np.array(output), "bgr8"), ) except CvBridgeError as e: print(e) @@ -263,7 +264,9 @@ def acquire_targets(self, cv_image): blurred = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY) # Compute contours cnts = cv2.findContours( - blurred.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE + blurred.copy(), + cv2.RETR_EXTERNAL, + cv2.CHAIN_APPROX_SIMPLE, ) cnts = cnts[1] @@ -335,7 +338,9 @@ def acquire_targets(self, cv_image): return False (t, rot_q) = self.tf_listener.lookupTransform( - "map", self.camera_model.tfFrame(), self.last_image_time + "map", + self.camera_model.tfFrame(), + self.last_image_time, ) R = mil_ros_tools.geometry_helpers.quaternion_matrix(rot_q) center = np.array([max_x, max_y]) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_detector.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_detector.py index b9bd2ca7e..7927faa88 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_detector.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_detector.py @@ -60,8 +60,8 @@ def __init__(self): self.hog = cv2.HOGDescriptor((64, 64), (64, 64), (4, 4), (64, 64), 9) self.base = os.path.dirname(os.path.abspath(__file__)) coef = open(self.base + "/coef") - l = coef.read() - arr = l.split("\n") + lrd = coef.read() + arr = lrd.split("\n") coef = [] for a in arr: coef.append(float(a)) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/roi.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/roi.py index f86c978fe..d714e7170 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/roi.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/roi.py @@ -47,7 +47,7 @@ def click_and_crop(event, x, y, flags, param): + str(refPt[0][0]) + ", " + str(refPt[1][0]) - + "\n" + + "\n", ) refPt = [] diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/estimation.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/estimation.py index 378c8526a..fbd9530be 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/estimation.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/estimation.py @@ -51,7 +51,8 @@ def __init__( # - If probabilities fall below something reasonable, more frequently do reset_to_ray # - In some cases, reset the worst 25% of particles to ray assert isinstance( - camera_model, image_geometry.PinholeCameraModel + camera_model, + image_geometry.PinholeCameraModel, ), "Must be pinhole camera" self.aggressive = aggressive self.min_Z = 0.0 @@ -73,7 +74,9 @@ def __init__( # This line doesn't *necessarily* do something self.particles = np.random.uniform( - (-25, -25, self.min_Z), (25, 25, self.max_Z), size=(self.num_particles, 3) + (-25, -25, self.min_Z), + (25, 25, self.max_Z), + size=(self.num_particles, 3), ).transpose() self.weights = np.ones(self.num_particles) self.weights = self.weights / np.sum(self.weights) @@ -126,7 +129,7 @@ def set_pose(self, t, R): def _transform_pts(self, t, R): """Supply a transform to the camera frame""" particles = np.copy( - np.dot(R.transpose(), self.particles) - R.transpose().dot(t) + np.dot(R.transpose(), self.particles) - R.transpose().dot(t), ) return particles @@ -162,12 +165,15 @@ def _reset_to_ray(self, observation, weights=None): # range_distribution = np.random.uniform(self.min_Z, self.max_Z, size=self.num_particles) range_distribution = np.random.normal( - loc=self.max_Z / 2, scale=self.max_Z / 6, size=self.num_particles + loc=self.max_Z / 2, + scale=self.max_Z / 6, + size=self.num_particles, ) self.particles = self.t + (range_distribution * unit_ray) self.particles += np.random.normal( - scale=(self.salt, self.salt, self.salt), size=(self.num_particles, 3) + scale=(self.salt, self.salt, self.salt), + size=(self.num_particles, 3), ).transpose() else: @@ -176,13 +182,16 @@ def _reset_to_ray(self, observation, weights=None): self.particles[:, weights < average_p] = ( np.reshape(-self.t, (3, 1)) + np.random.uniform( - self.min_Z, self.max_Z, size=self.particles[:, weights < average_p] + self.min_Z, + self.max_Z, + size=self.particles[:, weights < average_p], ) * unit_ray ) self.particles[:, weights < average_p] += np.random.normal( - scale=(self.salt, self.salt, self.salt), size=(self.num_particles, 3) + scale=(self.salt, self.salt, self.salt), + size=(self.num_particles, 3), ).transpose() def observe(self, observation): @@ -247,7 +256,8 @@ def observe(self, observation): self.particles = ( choices + np.random.normal( - scale=(self.salt, self.salt, self.salt), size=(self.num_particles, 3) + scale=(self.salt, self.salt, self.salt), + size=(self.num_particles, 3), ).transpose() ) @@ -301,7 +311,11 @@ def draw_camera(t, R): draw_line(t, t + line, color=color) mayavi.mlab.points3d( - [t[0]], [t[1]], [t[2]], color=(0.0, 1.0, 0.0), scale_factor=0.3 + [t[0]], + [t[1]], + [t[2]], + color=(0.0, 1.0, 0.0), + scale_factor=0.3, ) @@ -352,7 +366,7 @@ def main(): [1.0, 0.0, 0.0], [0.0, 0.0, 1.0], [0.0, -1.0, 0.0], - ] + ], ) else: @@ -363,7 +377,7 @@ def main(): projected = np.random.random(2) * np.array([640.0, 480.0]) else: projected_h = ppf.K.dot( - np.dot(R.transpose(), real) - R.transpose().dot(camera_t) + np.dot(R.transpose(), real) - R.transpose().dot(camera_t), ) projected = projected_h[:2] / projected_h[2] @@ -384,7 +398,9 @@ def main(): draw_cameras(observations, cameras) draw_particles( - ppf, color_hsv=((k + 1) / (max_k + 1), 0.7, 0.8), scale=0.1 * ((k + 1) / max_k) + ppf, + color_hsv=((k + 1) / (max_k + 1), 0.7, 0.8), + scale=0.1 * ((k + 1) / max_k), ) mayavi.mlab.show() diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/image_crawler.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/image_crawler.py index cef4aac57..ae2a05c35 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/image_crawler.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/image_crawler.py @@ -10,7 +10,7 @@ def __init__(self, starting_image): assert "." in starting_image, "Please include the first image in your sequence." self.image_path = starting_image.rsplit("/", 1)[0] + "/" self.starting_image, self.image_format = starting_image.rsplit("/", 1)[1].split( - "." + ".", ) def crawl(self, topic, max_msgs=float("inf")): diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/manual_grabcut.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/manual_grabcut.py index 3d2ad5a67..c881e8aee 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/manual_grabcut.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/manual_grabcut.py @@ -91,7 +91,7 @@ def mouse_cb(self, event, x, y, flags, param): elif event == cv2.EVENT_MBUTTONDOWN: self.visualize_draw *= 0 self.mask = np.ones(self.visualize_draw.shape[:2], dtype=np.uint8) * int( - cv2.GC_PR_BGD + cv2.GC_PR_BGD, ) elif event == cv2.EVENT_MOUSEMOVE: @@ -99,7 +99,9 @@ def mouse_cb(self, event, x, y, flags, param): if self.opacity_change is None: self.opacity_change = y self.draw_opacity = np.clip( - (self.draw_opacity + (self.opacity_change - y) * 0.005), 0, 1 + (self.draw_opacity + (self.opacity_change - y) * 0.005), + 0, + 1, ) self.opacity_change = y @@ -107,14 +109,20 @@ def mouse_cb(self, event, x, y, flags, param): if self.brush_size_change is None: self.brush_size_change = y self.brush_size = np.clip( - (self.brush_size + (self.brush_size_change - y)), 0, 99 + (self.brush_size + (self.brush_size_change - y)), + 0, + 99, ) self.brush_size_change = y self.brush_size_opacity = 0.9 elif flags == cv2.EVENT_FLAG_ALTKEY: cv2.circle( - self.visualize_draw, (x, y), self.brush_size, (0, 0, 200), -1 + self.visualize_draw, + (x, y), + self.brush_size, + (0, 0, 200), + -1, ) cv2.circle(self.mask, (x, y), self.brush_size, int(cv2.GC_BGD), -1) @@ -122,13 +130,21 @@ def mouse_cb(self, event, x, y, flags, param): self.opacity_change = None if self.mouse_state[0]: cv2.circle( - self.visualize_draw, (x, y), self.brush_size, (0, 200, 0), -1 + self.visualize_draw, + (x, y), + self.brush_size, + (0, 200, 0), + -1, ) cv2.circle(self.mask, (x, y), self.brush_size, int(cv2.GC_FGD), -1) elif self.mouse_state[1]: cv2.circle( - self.visualize_draw, (x, y), self.brush_size, (0, 0, 200), -1 + self.visualize_draw, + (x, y), + self.brush_size, + (0, 0, 200), + -1, ) cv2.circle(self.mask, (x, y), self.brush_size, int(cv2.GC_BGD), -1) @@ -156,7 +172,9 @@ def wait_for_key(self, keys): def get_biggest_ctr(self, image): contours, _ = cv2.findContours( - np.copy(image), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE + np.copy(image), + cv2.RETR_TREE, + cv2.CHAIN_APPROX_SIMPLE, ) if len(contours) > 0: cnt = max(contours, key=cv2.contourArea) @@ -187,7 +205,13 @@ def segment(self): out_mask = np.zeros(shape=image.shape[:2], dtype=np.uint8) else: cv2.grabCut( - self.image, out_mask, None, bgdModel, fgdModel, 1, cv2.GC_INIT_WITH_MASK + self.image, + out_mask, + None, + bgdModel, + fgdModel, + 1, + cv2.GC_INIT_WITH_MASK, ) return_mask = np.zeros(out_mask.shape).astype(np.float64) @@ -230,7 +254,9 @@ def segment(self): help="Either the name of the bag or first image in a sequence you'd like to segment.", ) parser.add_argument( - "--topic", type=str, help="Name of the topic to use or the usb camera number." + "--topic", + type=str, + help="Name of the topic to use or the usb camera number.", ) parser.add_argument( "--output", diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/segment_name_gen.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/segment_name_gen.py index df26c577e..61932a8d6 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/segment_name_gen.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/labelling/segment_name_gen.py @@ -47,7 +47,7 @@ def name_gen(no_web=False): # Replace any non alpha numeric characters stripped_title = re.sub(r"\W+", "", stripped_title) - except: + except Exception: stripped_title = np.random.randint(999999999) yield stripped_title diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/adaboost.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/adaboost.py index 2bb4136d6..698b880ad 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/adaboost.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/adaboost.py @@ -36,14 +36,14 @@ def observe(image): kernels_run = features.conv_features(im_gs) kernel_observations = np.reshape(kernels_run, (-1, kernels_run.shape[2])).astype( - np.float32 + np.float32, ) all_observations = np.hstack( ( observations, kernel_observations, - ) + ), ).astype(np.float32) return all_observations @@ -83,7 +83,10 @@ def train_classifier(x, y, n_trees=5, max_depth=3): print("Training...") bar = tqdm(total=iterations, unit=" estimators") boost = GradientBoostingClassifier( - n_estimators=iterations, learning_rate=1.0, max_depth=3, loss="exponential" + n_estimators=iterations, + learning_rate=1.0, + max_depth=3, + loss="exponential", ) boost.fit(normalize(x), y.ravel(), monitor=monitor) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost.py index 170fc9cd3..28f805da5 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost.py @@ -33,14 +33,14 @@ def observe(image): kernels_run = features.conv_features(im_gs) kernel_observations = np.reshape(kernels_run, (-1, kernels_run.shape[2])).astype( - np.float32 + np.float32, ) all_observations = np.hstack( ( observations, kernel_observations, - ) + ), ).astype(np.float32) return all_observations diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py index 7db90c232..c9027ff60 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py @@ -52,14 +52,14 @@ def observe(image): kernels_run = features.conv_features(im_gs) kernel_observations = np.reshape(kernels_run, (-1, kernels_run.shape[2])).astype( - np.float32 + np.float32, ) all_observations = np.hstack( ( observations, kernel_observations, - ) + ), ).astype(np.float32) return all_observations @@ -157,7 +157,7 @@ def load_images(path, images_to_use=8): except KeyboardInterrupt: return None - except: + except Exception: print("There was an issue with loading an image. Skipping it...") return observation_list, label_list diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/generate_rbm_kernels.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/generate_rbm_kernels.py index 71f170e8f..6041d2ba4 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/generate_rbm_kernels.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/generate_rbm_kernels.py @@ -8,6 +8,7 @@ from sklearn.cross_validation import train_test_split from sklearn.neural_network import BernoulliRBM from sklearn.pipeline import Pipeline + from subjugator_vision_tools import machine_learning as ml """ @@ -38,9 +39,12 @@ def nudge_dataset(X, Y): [[0, 0, 0], [0, 0, 0], [0, 1, 0]], ] - shift = lambda x, w: convolve(x.reshape((8, 8)), mode="constant", weights=w).ravel() + def shift(x, w): + return convolve(x.reshape((8, 8)), mode="constant", weights=w).ravel() + X = np.concatenate( - [X] + [np.apply_along_axis(shift, 1, X, vector) for vector in direction_vectors] + [X] + + [np.apply_along_axis(shift, 1, X, vector) for vector in direction_vectors], ) Y = np.concatenate([Y for _ in range(5)], axis=0) return X, Y @@ -98,12 +102,12 @@ def nudge_dataset(X, Y): print() print( "Logistic regression using RBM features:\n%s\n" - % (metrics.classification_report(Y_test, classifier.predict(X_test))) + % (metrics.classification_report(Y_test, classifier.predict(X_test))), ) print( "Logistic regression using raw pixel features:\n%s\n" - % (metrics.classification_report(Y_test, logistic_classifier.predict(X_test))) + % (metrics.classification_report(Y_test, logistic_classifier.predict(X_test))), ) # diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback.py index 64f7c516e..7bc7cc131 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback.py @@ -6,6 +6,7 @@ import numpy as np from adaboost import observe from mil_ros_tools import BagCrawler + from subjugator_vision_tools import ImageCrawler, VideoCrawler if __name__ == "__main__": diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_cv2.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_cv2.py index 2d1592adb..4df2bde6b 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_cv2.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_cv2.py @@ -6,6 +6,7 @@ import numpy as np from boost_auto import observe from mil_ros_tools import BagCrawler + from subjugator_vision_tools import ImageCrawler, VideoCrawler if __name__ == "__main__": @@ -19,7 +20,9 @@ help="Pass the path to a bag, the start of an image sequence, or 'video' for a webcam.", ) parser.add_argument( - dest="classifier", type=str, help="Name of the classifier to use." + dest="classifier", + type=str, + help="Name of the classifier to use.", ) parser.add_argument( "--topic", @@ -53,7 +56,7 @@ for image in crawl: some_observations = observe(image) - mask = [x for x in [clf.predict(obs) for obs in some_observations]] + mask = [clf.predict(obs) for obs in some_observations] cv2.imshow("image", image) segmentation_image = np.reshape(mask, image[:, :, 2].shape) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_live.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_live.py index 67c958885..861cc87ba 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_live.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/playback_live.py @@ -20,7 +20,7 @@ def process_image(img, image_pub, clf): some_observations = observe(img) print("-------------------------") segmentation = np.array( - [x for x in [clf.predict(obs) for obs in some_observations]] + [clf.predict(obs) for obs in some_observations], ) segmentation_image = np.reshape(segmentation, img[:, :, 2].shape) @@ -33,7 +33,9 @@ def process_image(img, image_pub, clf): parser = argparse.ArgumentParser(usage="", description="") parser.add_argument( - dest="classifier", type=str, help="Name of the classifier to use." + dest="classifier", + type=str, + help="Name of the classifier to use.", ) parser.add_argument( dest="topic", diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/utils.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/utils.py index a296a5c88..55762f5fc 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/utils.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/utils.py @@ -25,13 +25,16 @@ def balanced_resample(data, labels): labels_buffered = np.hstack([labels_buffered, labels[in_this_label]]) single_data_resampled, single_labels_resampled = utils.resample( - data_buffered, labels_buffered, n_samples=int(num_required), replace=True + data_buffered, + labels_buffered, + n_samples=int(num_required), + replace=True, ) data_resampled.append(single_data_resampled) labels_resampled.append(single_labels_resampled) return np.vstack(data_resampled).astype(data.dtype), np.hstack( - labels_resampled + labels_resampled, ).astype(labels.dtype) @@ -58,7 +61,10 @@ def desample_binary(data, labels, oversample=5): def split(img, size): """Chunk an image""" - _split = lambda p: np.array_split(p, size, axis=1) + + def _split(p): + return np.array_split(p, size, axis=1) + split_x = np.array_split(img, size) split_y = map(_split, split_x) images = [] diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method.py index f85bb7730..4ceb7ef7f 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method.py @@ -30,7 +30,7 @@ print("-------------------------") print(f"Observing took {time() - tic_observation} seconds") tic_prediction = time() - segmentation = [x for x in [clf.predict(obs) for obs in some_observations]] + segmentation = [clf.predict(obs) for obs in some_observations] print(f"Predicting took {time() - tic_prediction} seconds") total_time = time() - tic_observation @@ -42,10 +42,10 @@ bool_predictions = segmentation_image == 1 true_positives = np.sum(bool_targets & bool_predictions) / np.sum( - bool_targets + bool_targets, ).astype(np.float32) false_positives = np.sum( - np.logical_not(bool_targets) & bool_predictions + np.logical_not(bool_targets) & bool_predictions, ) / np.sum(np.logical_not(bool_targets)).astype(np.float32) print(f"\tPercent correct: {true_positives}") @@ -60,7 +60,7 @@ print("Average accuracy: {}".format(np.average(attributes["true_positives"]))) print( - "Average false positives: {}".format(np.average(attributes["false_positives"])) + "Average false positives: {}".format(np.average(attributes["false_positives"])), ) print("Min accuracy: {}".format(np.min(attributes["true_positives"]))) print("Max false positives: {}".format(np.max(attributes["false_positives"]))) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_ada.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_ada.py index c1f76190c..30fac6621 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_ada.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_ada.py @@ -30,7 +30,7 @@ print(f"Observing took {time() - tic_observation} seconds") tic_prediction = time() segmentation = clf.predict( - some_observations.reshape(-1, some_observations.shape[1]) + some_observations.reshape(-1, some_observations.shape[1]), ) print(f"Predicting took {time() - tic_prediction} seconds") total_time = time() - tic_observation @@ -43,10 +43,10 @@ bool_predictions = segmentation_image == 1 true_positives = np.sum(bool_targets & bool_predictions) / np.sum( - bool_targets + bool_targets, ).astype(np.float32) false_positives = np.sum( - np.logical_not(bool_targets) & bool_predictions + np.logical_not(bool_targets) & bool_predictions, ) / np.sum(np.logical_not(bool_targets)).astype(np.float32) print(f"\tPercent correct: {true_positives}") @@ -61,7 +61,7 @@ print("Average accuracy: {}".format(np.average(attributes["true_positives"]))) print( - "Average false positives: {}".format(np.average(attributes["false_positives"])) + "Average false positives: {}".format(np.average(attributes["false_positives"])), ) print("Min accuracy: {}".format(np.min(attributes["true_positives"]))) print("Max false positives: {}".format(np.max(attributes["false_positives"]))) diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_auto.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_auto.py index 88d792fa5..cb9b3ee1f 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_auto.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/verify_method_auto.py @@ -52,7 +52,7 @@ def load_images(path, images_to_use=2): except KeyboardInterrupt: return None - except: + except Exception: print("There was an issue with loading an image. Skipping it...") return data @@ -87,7 +87,7 @@ def load_images(path, images_to_use=2): try: clf = cv2.Boost() clf.load(args.classpath + f_name) - except: + except Exception: print("Failed to load.") continue @@ -111,10 +111,8 @@ def load_images(path, images_to_use=2): tic_prediction = time() try: - segmentation = [ - x for x in [clf.predict(obs) for obs in some_observations] - ] - except: + segmentation = [clf.predict(obs) for obs in some_observations] + except Exception: print("Failed to load. File probably doesn't exist") break @@ -133,10 +131,10 @@ def load_images(path, images_to_use=2): continue true_positives = np.sum(bool_targets & bool_predictions) / np.sum( - bool_targets + bool_targets, ).astype(np.float32) false_positives = np.sum( - np.logical_not(bool_targets) & bool_predictions + np.logical_not(bool_targets) & bool_predictions, ) / np.sum(np.logical_not(bool_targets)).astype(np.float32) print(f"\tPercent correct: {true_positives}") @@ -153,34 +151,34 @@ def load_images(path, images_to_use=2): try: print( - "Average accuracy: {}".format(np.average(attributes["true_positives"])) + "Average accuracy: {}".format(np.average(attributes["true_positives"])), ) print( "Average false positives: {}".format( - np.average(attributes["false_positives"]) - ) + np.average(attributes["false_positives"]), + ), ) print("Min accuracy: {}".format(np.min(attributes["true_positives"]))) print( - "Max false positives: {}".format(np.max(attributes["false_positives"])) + "Max false positives: {}".format(np.max(attributes["false_positives"])), ) print("Average execution time: {}".format(np.average(attributes["times"]))) report_data["Type"].append(f_name) report_data["Average accuracy"].append( - np.average(attributes["true_positives"]) + np.average(attributes["true_positives"]), ) report_data["Average false positives"].append( - np.average(attributes["false_positives"]) + np.average(attributes["false_positives"]), ) report_data["Min accuracy"].append(np.min(attributes["true_positives"])) report_data["Max false positives"].append( - np.max(attributes["false_positives"]) + np.max(attributes["false_positives"]), ) report_data["Average execution time"].append( - np.average(attributes["times"]) + np.average(attributes["times"]), ) - except: + except Exception: print("Issue") # Give the results. diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py index 628169d9a..9261de0ac 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py @@ -30,7 +30,12 @@ class OccGridUtils: """ def __init__( - self, res, width, height, starting_pose, topic_name: str = "/search_grid" + self, + res, + width, + height, + starting_pose, + topic_name: str = "/search_grid", ): self.meta_data = MapMetaData() # Resolution is m/cell. Width is X, height is Y. @@ -44,7 +49,7 @@ def __init__( p = Point(x=-starting_pose.x * res, y=-starting_pose.y * res, z=0) q = Quaternion( - *tf.transformations.quaternion_from_euler(0, 0, starting_pose.theta) + *tf.transformations.quaternion_from_euler(0, 0, starting_pose.theta), ) self.meta_data.origin = Pose(position=p, orientation=q) @@ -65,12 +70,12 @@ def add_circle(self, center, radius): Also used to project the camera's view onto the grid because it is rotationally intolerant. """ center_offset = np.array(center) / self.meta_data.resolution - np.array( - [self.mid_x, self.mid_y] + [self.mid_x, self.mid_y], ) try: radius = int(radius / self.meta_data.resolution) - except: + except Exception: radius = 0 cv2.circle(self.searched, tuple(center_offset.astype(np.int32)), radius, 1, -1) @@ -84,19 +89,21 @@ def found_marker(self, pose_2d): TRENCH_WIDTH = 0.1524 / self.meta_data.resolution # cells (6 inches) center = np.array( - [pose_2d.x, pose_2d.y] + [pose_2d.x, pose_2d.y], ) # The negative all depends on how the center is returned rotation = -pose_2d.theta center_offset = center / self.meta_data.resolution - np.array( - [self.mid_x, self.mid_y] + [self.mid_x, self.mid_y], ) rot_top_point = np.dot( - np.array([TRENCH_LENGTH, 0]) / 2, make_2D_rotation(rotation) + np.array([TRENCH_LENGTH, 0]) / 2, + make_2D_rotation(rotation), ).astype(np.int32) rot_bottom_point = np.dot( - -np.array([TRENCH_LENGTH, 0]) / 2, make_2D_rotation(rotation) + -np.array([TRENCH_LENGTH, 0]) / 2, + make_2D_rotation(rotation), ).astype(np.int32) pos_top_point = np.int0(rot_top_point + center_offset) @@ -170,11 +177,12 @@ def return_pose(self, srv): # We search at 1.5 * r so that there is some overlay in the search feilds. np_pose = msg_helpers.pose_to_numpy(srv.intial_position) rot_mat = make_2D_rotation( - tf.transformations.euler_from_quaternion(np_pose[1])[2] + tf.transformations.euler_from_quaternion(np_pose[1])[2], ) coor = ( np.append( - np.dot(rot_mat, next(self.poly_generator)) * srv.search_radius * 1.75, 0 + np.dot(rot_mat, next(self.poly_generator)) * srv.search_radius * 1.75, + 0, ) + np_pose[0] ) @@ -211,7 +219,7 @@ def check_searched(self, search_center, search_radius): return 1 return len(masked_search[masked_search > 0.5]) / len( - circle_mask[circle_mask > 0.5] + circle_mask[circle_mask > 0.5], ) def polygon_generator(self, n=12): @@ -248,7 +256,12 @@ class MarkerOccGrid(OccGridUtils): """ def __init__( - self, image_sub, grid_res, grid_width, grid_height, grid_starting_pose + self, + image_sub, + grid_res, + grid_width, + grid_height, + grid_starting_pose, ): super(self.__class__, self).__init__( res=grid_res, @@ -329,12 +342,18 @@ def get_tf(self, timestamp=None): timestamp = rospy.Time() self.tf_listener.waitForTransform( - "map", "/downward", timestamp, rospy.Duration(5.0) + "map", + "/downward", + timestamp, + rospy.Duration(5.0), ) trans, rot = self.tf_listener.lookupTransform("map", "/downward", timestamp) x_y_position = trans[:2] self.tf_listener.waitForTransform( - "/ground", "/downward", timestamp, rospy.Duration(5.0) + "/ground", + "/downward", + timestamp, + rospy.Duration(5.0), ) trans, _ = self.tf_listener.lookupTransform("/ground", "/downward", timestamp) height = np.nan_to_num(trans[2]) @@ -372,10 +391,7 @@ def calculate_marker_area(self, height): # Get m/px on the ground floor. m = self.calculate_visual_radius(height) - if self.cam.cy() < self.cam.cx(): - px = self.cam.cy() - else: - px = self.cam.cx() + px = self.cam.cy() if self.cam.cy() < self.cam.cx() else self.cam.cx() m_px = m / px marker_area_m = MARKER_WIDTH * MARKER_LENGTH @@ -407,6 +423,9 @@ def calculate_visual_radius(self, height, second_point=None): if __name__ == "__main__": rospy.init_node("searcher") tr = MarkerOccGrid( - res=0.1, width=100, height=500, starting_pose=Pose2D(x=50, y=50, theta=0) + res=0.1, + width=100, + height=500, + starting_pose=Pose2D(x=50, y=50, theta=0), ) rospy.spin() diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/multi_observation.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/multi_observation.py index 5a69fac24..587b06168 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/multi_observation.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/multi_observation.py @@ -140,7 +140,7 @@ def test(): [1.0, 0.0, 0.0], [0.0, 0.0, 1.0], [0.0, -1.0, 0.0], - ] + ], ) else: @@ -152,7 +152,7 @@ def test(): projected = np.random.random(2) * np.array([640.0, 480.0]) else: projected_h = MO.K.dot( - np.dot(R.transpose(), real) - R.transpose().dot(camera_t) + np.dot(R.transpose(), real) - R.transpose().dot(camera_t), ) projected = projected_h[:2] / projected_h[2] diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/rviz.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/rviz.py index cc3f4c49e..c46dd18ea 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/rviz.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/rviz.py @@ -16,7 +16,12 @@ def __init__(self, topic="visualization/markers"): self.rviz_pub = rospy.Publisher(topic, visualization_msgs.Marker, queue_size=3) def draw_sphere( - self, position, color, scaling=(0.11, 0.11, 0.11), _id=4, frame="/front_stereo" + self, + position, + color, + scaling=(0.11, 0.11, 0.11), + _id=4, + frame="/front_stereo", ): pose = Pose( position=mil_ros_tools.numpy_to_point(position), @@ -69,7 +74,7 @@ def make_ray( frame="/base_link", _id=100, timestamp=None, - **kwargs + **kwargs, ): """Handle the frustration that Rviz cylinders are designated by their center, not base""" marker = visualization_msgs.Marker( @@ -80,8 +85,8 @@ def make_ray( action=visualization_msgs.Marker.ADD, color=ColorRGBA(*color), scale=Vector3(0.05, 0.05, 0.05), - points=map(lambda o: Point(*o), [base, direction * length]), + points=(Point(*o) for o in [base, direction * length]), lifetime=rospy.Duration(), - **kwargs + **kwargs, ) return marker diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/threshold_tools.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/threshold_tools.py index 4831dbc98..ea77a91dd 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/threshold_tools.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/threshold_tools.py @@ -54,7 +54,7 @@ def grow_cluster(image, prior_range): if __name__ == "__main__": import visual_threshold_tools from mayavi import mlab - from sklearn import cluster # noqa + from sklearn import cluster img = cv2.imread("/home/sub8/Pictures/Selection_001.png") cv2.imshow("ss", img) @@ -84,6 +84,10 @@ def grow_cluster(image, prior_range): # print clust.cluster_centers_ visual_threshold_tools.points_with_labels( - all_list[:, 0], all_list[:, 1], all_list[:, 2], clust.labels_, scale_factor=5.0 + all_list[:, 0], + all_list[:, 1], + all_list[:, 2], + clust.labels_, + scale_factor=5.0, ) mlab.show() diff --git a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/visual_threshold_tools.py b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/visual_threshold_tools.py index 04dba69e4..7ec7d04c9 100644 --- a/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/visual_threshold_tools.py +++ b/SubjuGator/perception/subjugator_perception/subjugator_vision_tools/visual_threshold_tools.py @@ -34,10 +34,11 @@ def mlab_color_imshow(image, **kwargs): image_LUT_array = np.c_[image.reshape(-1, 3), alpha] image_LUT_array[:, 0], image_LUT_array[:, 2] = np.copy( - image_LUT_array[:, 2] + image_LUT_array[:, 2], ), np.copy(image_LUT_array[:, 0]) LUT_lookup = np.arange(image.shape[0] * image.shape[1]).reshape( - image.shape[0], image.shape[1] + image.shape[0], + image.shape[1], ) mlab_imshow = mlab.imshow(LUT_lookup, colormap="binary", **kwargs) @@ -106,7 +107,7 @@ def update_extent(self): denormalize(self.z_min, self.data_z_min, self.data_z_max), denormalize(self.z_max, self.data_z_min, self.data_z_max), ], - ] + ], ) self.filter_box.mlab_source.x = self.ranges[0, :] self.filter_box.mlab_source.y = self.ranges[1, :] diff --git a/SubjuGator/perception/subjugator_perception/test/test_path_marker.py b/SubjuGator/perception/subjugator_perception/test/test_path_marker.py index e06fccf3d..4f3a621cc 100755 --- a/SubjuGator/perception/subjugator_perception/test/test_path_marker.py +++ b/SubjuGator/perception/subjugator_perception/test/test_path_marker.py @@ -33,7 +33,8 @@ def __init__(self, *args): rospy.wait_for_service("/vision/orange_rectangle/2D", 3.0) rospy.wait_for_service("/vision/orange_rectangle/enable", 3.0) self.service = rospy.ServiceProxy( - "/vision/orange_rectangle/2D", VisionRequest2D + "/vision/orange_rectangle/2D", + VisionRequest2D, ) enable = rospy.ServiceProxy("/vision/orange_rectangle/enable", SetBool) enable(SetBoolRequest(data=True)) @@ -84,7 +85,9 @@ def _test_bag(self, filename, duration, pts): correct_xy = np.array([correct.pose.x, correct.pose.y]) err = np.linalg.norm(res_xy - correct_xy) msg = "Marker pose (x,y) too much error Res={} Correct={} Error={}".format( - res_xy, correct_xy, err + res_xy, + correct_xy, + err, ) self.assertLess( err, @@ -97,7 +100,7 @@ def _test_bag(self, filename, duration, pts): np.arctan2( np.sin(res.pose.theta - correct.pose.theta), np.cos(res.pose.theta - correct.pose.theta), - ) + ), ) msg = "Marker pose angle (theta) too much error Res={} Correct={} Error={}".format( np.degrees(res.pose.theta), diff --git a/SubjuGator/perception/subjugator_pointcloud/CMakeLists.txt b/SubjuGator/perception/subjugator_pointcloud/CMakeLists.txt index a2fcc2b7a..cf12f7e7c 100644 --- a/SubjuGator/perception/subjugator_pointcloud/CMakeLists.txt +++ b/SubjuGator/perception/subjugator_pointcloud/CMakeLists.txt @@ -1,6 +1,6 @@ set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_pointcloud) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/simulation/subjugator_gazebo/CMakeLists.txt b/SubjuGator/simulation/subjugator_gazebo/CMakeLists.txt index 81699fce8..935d9f892 100644 --- a/SubjuGator/simulation/subjugator_gazebo/CMakeLists.txt +++ b/SubjuGator/simulation/subjugator_gazebo/CMakeLists.txt @@ -1,8 +1,11 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_gazebo) +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + # SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp -Wall") -# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") find_package(catkin REQUIRED COMPONENTS @@ -29,7 +32,7 @@ add_library( subjugator_buoyancy src/subjugator_buoyancy.cc ) -set_target_properties(subjugator_buoyancy PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(subjugator_buoyancy PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries( subjugator_buoyancy ${catkin_LIBRARIES} @@ -40,7 +43,7 @@ add_library( subjugator_liftdrag src/subjugator_liftdrag.cc ) -set_target_properties(subjugator_liftdrag PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(subjugator_liftdrag PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries( subjugator_liftdrag ${catkin_LIBRARIES} @@ -52,7 +55,7 @@ add_library( src/subjugator_thrusters.cc src/subjugator_thruster_config.cpp ) -set_target_properties(subjugator_thrusters PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(subjugator_thrusters PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries( subjugator_thrusters ${catkin_LIBRARIES} @@ -63,7 +66,7 @@ add_library( subjugator_state_set src/subjugator_state_set.cpp ) -set_target_properties(subjugator_state_set PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(subjugator_state_set PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries( subjugator_state_set ${catkin_LIBRARIES} @@ -93,7 +96,7 @@ add_library( subjugator_test src/subjugator_test.cc ) -set_target_properties(subjugator_test PROPERTIES COMPILE_FLAGS "-std=c++11 -Wall") +set_target_properties(subjugator_test PROPERTIES COMPILE_FLAGS "-std=c++17 -Wall") target_link_libraries( subjugator_test ${catkin_LIBRARIES} diff --git a/SubjuGator/simulation/subjugator_gazebo/config/teleport_locs.yaml b/SubjuGator/simulation/subjugator_gazebo/config/teleport_locs.yaml index e99d9b881..2566d281f 100644 --- a/SubjuGator/simulation/subjugator_gazebo/config/teleport_locs.yaml +++ b/SubjuGator/simulation/subjugator_gazebo/config/teleport_locs.yaml @@ -1,9 +1,12 @@ --- -bin: -24 14 -3.5 -buoy: 19 20 -1 +buoy: 6 -2 -1 octagon: 20 -20 -1 -navgate: 26 -13 -1.5 -startgate: 15 13 -1.5 -torpedoboard: 21 11 -2.75 +startgate: 1 0 0 +pathmarker: 5.3 0 -1.2 +# old ones +# bin: -24 14 -3.5 +# navgate: 26 -13 -1.5 +# torpedoboard: 21 11 -2.75 + # yamllint disable-line rule:line-length # Numbers represent X Y Z coordinates from Origin (center of transdeck) in Gazebo. diff --git a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/Bootlegger.png b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/Bootlegger.png new file mode 100644 index 000000000..63e54d402 Binary files /dev/null and b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/Bootlegger.png differ diff --git a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/G-Man.png b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/G-Man.png new file mode 100644 index 000000000..8701204a3 Binary files /dev/null and b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/G-Man.png differ diff --git a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.dae b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.dae index 6b55a521d..af3e88e80 100644 --- a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.dae +++ b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.dae @@ -1,58 +1,248 @@ - - + + - - + + Blender User + Blender 3.4.1 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5044 10188 30566 5085 10189 30567 5059 10189 30568 5042 10189 30569 5057 10190 30570 5071 10190 30571 5072 10190 30572 5082 10191 30573 5083 10191 30574 5039 10191 30575 5084 10192 30576 5085 10192 30577 5041 10192 30578 5028 10193 30579 5072 10193 30580 5073 10193 30581 5081 10194 30582 5082 10194 30583 5038 10194 30584 5077 10195 30585 5078 10195 30586 5034 10195 30587 5068 10196 30588 5054 10196 30589 5053 10196 30590 5053 10197 30591 5052 10197 30592 5067 10197 30593 5052 10198 30594 5066 10198 30595 5067 10198 30596

+ + + + + +

122 270 810 121 270 811 120 270 812 122 271 813 120 271 814 123 271 815 124 274 822 125 274 823 44 274 824 44 275 825 125 275 826 42 275 827 26 276 828 40 276 829 126 276 830 127 277 831 26 277 832 126 277 833 26 278 834 127 278 835 44 278 836 44 279 837 127 279 838 124 279 839 126 280 840 125 280 841 124 280 842 126 281 843 124 281 844 127 281 845 40 282 846 42 282 847 125 282 848 40 283 849 125 283 850 126 283 851

+ + + + + +

30 264 792 120 264 793 32 264 794 120 265 795 121 265 796 32 265 797 123 266 798 52 266 799 122 266 800 29 267 801 52 267 802 123 267 803 29 268 804 123 268 805 30 268 806 30 269 807 123 269 808 120 269 809 52 272 816 32 272 817 121 272 818 52 273 819 121 273 820 122 273 821

 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - + + + -4.32493e-8 -0.9999568 -0.009297679 0.1133527 0.9894295 0.001348254 -0.145008 0.05210352 0.1450143 -0.009199405 0.9893868 -0.4291151 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + - - + diff --git a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.sdf b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.sdf index 1f32c5bdd..8ae6751f7 100644 --- a/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.sdf +++ b/SubjuGator/simulation/subjugator_gazebo/models/start_gate_2022/start_gate.sdf @@ -5,7 +5,7 @@ 0 0 0 0 -0 0 - 1.30078 1.35363 2.40887 0 -0 0 + 1.30078 1.3563 2.40887 0 -0 0 13.5315 5.04877 diff --git a/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2022.world b/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2022.world index 7fb941707..3058401f4 100644 --- a/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2022.world +++ b/SubjuGator/simulation/subjugator_gazebo/worlds/robosub_2022.world @@ -1,4 +1,4 @@ - + 100 @@ -15,7 +15,7 @@ 5e-06 2.4e-05 3.9e-05 - -4 18 9 0 -0.75 0 + -4 18 9 0 -0.75 0 0.1 0.4 1 1 1 @@ -23,9 +23,14 @@ 0.1 0.1 0.1 1 0 0 -1 + + 0 + 0 + 0 + - 0 0 5 3.14 -0 0 + 0 0 5 3.14 -0 0 1 1 1 1 1 @@ -33,10 +38,15 @@ 0.1 0.1 0.1 1 0 0 -1 + + 0 + 0 + 0 + 1 - 0 0 10 0 -0 0 + 0 0 10 0 -0 0 0.8 0.8 0.8 1 0.2 0.2 0.2 1 @@ -46,9 +56,14 @@ 0.001 -0.5 0.1 -0.9 + + 0 + 0 + 0 + - 0.109933 -0.142384 1 0 -0 0 + 0.109933 -0.142384 1 0 -0 0 0.5 0.5 0.5 1 0.1 0.1 0.1 1 @@ -59,9 +74,14 @@ 0 0 0 -1 + + 0 + 0 + 0 + - -29.7505 -0.454729 1 0 -0 0 + -29.7505 -0.454729 1 0 -0 0 0.5 0.5 0.5 1 0.1 0.1 0.1 1 @@ -72,9 +92,14 @@ 0 0 0 -1 + + 0 + 0 + 0 + - 31.6112 -2.69613 1 0 -0 0 + 31.6112 -2.69613 1 0 -0 0 0.5 0.5 0.5 1 0.1 0.1 0.1 1 @@ -85,10 +110,15 @@ 0 0 0 -1 + + 0 + 0 + 0 + 1 - 0 0 0 3.14159 9.3e-05 3.14159 + 0 0 0 3.14159 9.3e-05 3.14159 0.8 @@ -111,7 +141,7 @@ - 0 0 0.5 0 -0 0 + 0 0 0.5 0 -0 0 1 @@ -173,7 +203,7 @@ 1e-05 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://markers/PathMarkers2018s.dae @@ -205,7 +235,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://markers/PathMarkers2018s.dae @@ -216,11 +246,11 @@ 0 0 - -0.11 0.1787 -1.49 0 -0 0 + -0.11 0.1787 -1.49 0 -0 0 1 - 15 0 -2 0 -0 0 + 15 0 -2 0 -0 0 @@ -237,7 +267,7 @@ 1 - 15 15 -2 0 -0 0 + 15 15 -2 0 -0 0 @@ -268,9 +298,9 @@ 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -282,7 +312,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -304,7 +334,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -316,14 +346,14 @@ 0 0 - 1.89831 -3.10654 0 0 -0 0 + 1.89831 -3.10654 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -335,7 +365,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -357,7 +387,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -369,14 +399,14 @@ 0 0 - 2.81731 -3.85937 0 0 -0 0 + 2.81731 -3.85937 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -388,7 +418,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -410,7 +440,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -422,14 +452,14 @@ 0 0 - 4.03178 -4.08252 0 0 -0 0 + 4.03178 -4.08252 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -441,7 +471,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -463,7 +493,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -475,14 +505,14 @@ 0 0 - 2.92241 -2.77317 0 0 -0 0 + 2.92241 -2.77317 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -494,7 +524,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -516,7 +546,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -528,13 +558,13 @@ 0 0 - 4.48097 -4.72555 0 0 -0 0 + 4.48097 -4.72555 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://octogon/octogon.dae @@ -555,7 +585,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://octogon/octogon.dae @@ -566,7 +596,7 @@ 0 0 - 6.25993 -4.43932 0 0 -0 0 + 6.25993 -4.43932 0 0 -0 0 0 @@ -574,167 +604,167 @@ 0 694175568 0 - 22.9712 -1.43185 0 0 -0 1.5708 + 22.9712 -1.43185 0 0 -0 1.5708 1 1 1 - 22.9712 -1.43185 -0 0 -0 1.5708 + 22.9712 -1.43185 -0 0 -0 1.5708 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 4.49659 0.1787 -2.92663 0 -0 0 + 4.49659 0.1787 -2.92663 0 -0 0 1 1 1 - 4.49659 0.1787 -2.92663 0 -0 0 + 4.49659 0.1787 -2.92663 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 8.80989 -4.68693 -2.97363 0.032661 -0.009562 2.8703 + 8.80989 -4.68693 -2.97363 0.032661 -0.009562 2.8703 1 1 1 - 8.80989 -4.68693 -2.97363 0.032661 -0.009562 2.8703 + 8.80989 -4.68693 -2.97363 0.032661 -0.009562 2.8703 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 10.3637 -4.17768 -1.1472 0 -0 1.57 + 10.3637 -4.17768 -1.1472 0 -0 1.57 1 1 1 - 10.3637 -4.17768 -1.1472 0 -0 1.57 + 10.3637 -4.17768 -1.1472 0 -0 1.57 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 8.31009 -2.03187 -1.21848 0 -0 0.785 + 8.31009 -2.03187 -1.21848 0 -0 0.785 1 1 1 - 8.31009 -2.03187 -1.21848 0 -0 0.785 + 8.31009 -2.03187 -1.21848 0 -0 0.785 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 7.74867 -2.53671 -1.24482 0 -0 0.785 + 7.74867 -2.53671 -1.24482 0 -0 0.785 1 1 1 - 7.74867 -2.53671 -1.24482 0 -0 0.785 + 7.74867 -2.53671 -1.24482 0 -0 0.785 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 14 2 -1.09014 0 0 -0.785 + 14 2 -1.09014 0 0 -0.785 1 1 1 - 14 2 -1.09014 0 0 -0.785 + 14 2 -1.09014 0 0 -0.785 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 14.433 1.43243 -0.989775 0 0 -0.785 + 14.433 1.43243 -0.989775 0 0 -0.785 1 1 1 - 14.433 1.43243 -0.989775 0 0 -0.785 + 14.433 1.43243 -0.989775 0 0 -0.785 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 10.3678 -4.9986 -1.2595 0 -0 1.57 + 10.3678 -4.9986 -1.2595 0 -0 1.57 1 1 1 - 10.3678 -4.9986 -1.2595 0 -0 1.57 + 10.3678 -4.9986 -1.2595 0 -0 1.57 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 3.52062 2.82876 -0.12531 0.119618 0.947618 -0.145634 + 4.55509 -0.018982 -0.205829 0.009062 0.031542 -1.57001 1 1 1 - 3.52062 2.82876 -0.12531 0.119618 0.947618 -0.145634 + 4.55509 -0.018982 -0.205829 0.009062 0.031542 -1.57001 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 0 0 0.5 0 -0 0 + 0 0 0.5 0 -0 0 1 1 1 - 0 0 0.5 0 -0 0 + 0 0 0.5 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 14 1 -2 0 -0 0 + 14 1 -2 0 -0 0 1 1 1 - 14 1 -2 0 -0 0 + 14 1 -2 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - 22 -2 -2 0 -0 0 + 22 -2 -2 0 -0 0 1 1 1 - 22 -2 -2 0 -0 0 + 22 -2 -2 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - -0.069528 0.449668 0 3.14159 9.3e-05 3.14159 + 0.194567 0.198111 0 3.14159 9.3e-05 3.14159 1 1 1 - -0.069528 0.449668 0 3.14159 9.3e-05 3.14159 + 0.194567 0.198111 0 3.14159 9.3e-05 3.14159 0 0 0 0 -0 0 0 0 0 0 -0 0 0 0 0 0 -0 0 - -4 18 9 0 -0.75 0 + -4 18 9 0 -0.75 0 - 0 0 5 3.14 -0 0 + 0 0 5 3.14 -0 0 - 0 0 10 0 -0 0 + 0 0 10 0 -0 0 - 0.109933 -0.142384 1 0 -0 0 + 0.109933 -0.142384 1 0 -0 0 - -29.7505 -0.454729 1 0 -0 0 + -29.7505 -0.454729 1 0 -0 0 - 31.6112 -2.69613 1 0 -0 0 + 31.6112 -2.69613 1 0 -0 0 - -12.7114 1.44508 14.1726 0 0.5818 -0.136649 + -6.58452 -11.5807 1.70121 -0 0.2418 0.923352 orbit perspective @@ -758,7 +788,7 @@ 1e-05 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://markers/PathMarkers2018s.dae @@ -790,7 +820,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://markers/PathMarkers2018s.dae @@ -801,14 +831,14 @@ 0 0 - 7.79991 -3.31658 0 0 -0 0 + 7.79991 -3.31658 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - -0.845799 0.235134 0.009916 0 -0 0 + -0.845799 0.235134 0.009916 0 -0 0 8.45052 0.978466 @@ -820,7 +850,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -842,7 +872,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 1 1 1 @@ -854,14 +884,14 @@ 0 0 - 12.3723 -3.83106 0 0 -0 0 + 12.3723 -3.83106 0 0 -0 0 1 - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 - 1.30078 1.35363 2.40887 0 -0 0 + 1.30078 1.35363 2.40887 0 -0 0 13.5315 5.04877 @@ -873,7 +903,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://start_gate_2022/start_gate.dae @@ -894,7 +924,7 @@ - 0 0 0 0 -0 0 + 0 0 0 0 -0 0 file://start_gate_2022/start_gate.dae @@ -905,7 +935,7 @@ 0 0 - -0.957126 1.98002 0 0 -0 0 + -0.957126 1.98002 0 0 -0 0 diff --git a/SubjuGator/simulation/subjugator_simulation/CMakeLists.txt b/SubjuGator/simulation/subjugator_simulation/CMakeLists.txt index 9d22b8054..6d384afd8 100644 --- a/SubjuGator/simulation/subjugator_simulation/CMakeLists.txt +++ b/SubjuGator/simulation/subjugator_simulation/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_simulation) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/utils/subjugator_build_tools/CMakeLists.txt b/SubjuGator/utils/subjugator_build_tools/CMakeLists.txt index 619b116ba..2d27a1d3a 100644 --- a/SubjuGator/utils/subjugator_build_tools/CMakeLists.txt +++ b/SubjuGator/utils/subjugator_build_tools/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_build_tools) # Any tools that aid in the building or debugging of source code can be built here diff --git a/SubjuGator/utils/subjugator_diagnostics/CMakeLists.txt b/SubjuGator/utils/subjugator_diagnostics/CMakeLists.txt index 5b77f9ff9..75b50158a 100644 --- a/SubjuGator/utils/subjugator_diagnostics/CMakeLists.txt +++ b/SubjuGator/utils/subjugator_diagnostics/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_diagnostics) find_package(catkin REQUIRED COMPONENTS diff --git a/SubjuGator/utils/subjugator_diagnostics/scripts/self_check.py b/SubjuGator/utils/subjugator_diagnostics/scripts/self_check.py index 04418e9ba..2552541cc 100755 --- a/SubjuGator/utils/subjugator_diagnostics/scripts/self_check.py +++ b/SubjuGator/utils/subjugator_diagnostics/scripts/self_check.py @@ -83,7 +83,8 @@ def err_msg(self, error, line_number): class ThrusterChecker(TemplateChecker): async def tx_init(self): self.thruster_topic = self.nh.subscribe( - "thrusters/thruster_status", ThrusterStatus + "thrusters/thruster_status", + ThrusterStatus, ) await self.thruster_topic.setup() @@ -94,14 +95,15 @@ async def tx_init(self): raise OSError(e) self.found_thrusters = {} - for thruster_name in thrusters.keys(): + for thruster_name in thrusters: self.found_thrusters[thruster_name] = False print(self.p.bold(" >>>> ").set_blue.bold("Thruster Check")) async def do_check(self): try: passed = await axros.util.wrap_timeout( - self.get_all_thrusters(), MESSAGE_TIMEOUT + self.get_all_thrusters(), + MESSAGE_TIMEOUT, ) except asyncio.TimeoutError: lost_thrusters = [x[0] for x in self.found_thrusters.items() if not x[1]] @@ -113,7 +115,7 @@ async def do_check(self): self.fail_check(err_msg) elif self.found_thrusters.values().count(False) == 1: err_msg += "one thruster is out ({}), things should still work.".format( - lost_thrusters + lost_thrusters, ) self.warn_check(err_msg) else: @@ -140,15 +142,18 @@ async def tx_init(self): self.front_cam_product_id = "1e10:3300" # should be changed if cameras change self.right = self.nh.subscribe("/camera/front/right/image_rect_color", Image) self.right_info = self.nh.subscribe( - "/camera/front/right/camera_info", CameraInfo + "/camera/front/right/camera_info", + CameraInfo, ) self.left = self.nh.subscribe("/camera/front/left/image_rect_color", Image) self.left_info = self.nh.subscribe("/camera/front/left/camera_info", CameraInfo) self.down = self.nh.subscribe( - "/camera/down/left/image_rect_color", Image + "/camera/down/left/image_rect_color", + Image, ) # TODO self.down_info = self.nh.subscribe( - "/camera/down/left/camera_info", CameraInfo + "/camera/down/left/camera_info", + CameraInfo, ) # TODO self.subs = [ @@ -177,7 +182,7 @@ async def do_check(self): err_str = "{} front camera{} not connected to usb port" try: count_front_cam_usb = subprocess.check_output( - ["/bin/sh", "-c", command] + ["/bin/sh", "-c", command], ).count("Point Grey") if count_front_cam_usb < 2: self.fail_check(err_str.format("One", "")) @@ -300,8 +305,8 @@ async def main(): p.bold("\n >>>>") .text(" Press return when ") .negative("sub8.launch") - .text(" is running.") - ) + .text(" is running."), + ), ) print(p.newline().set_blue.bold("-------- Running self checks...").newline()) diff --git a/SubjuGator/utils/subjugator_diagnostics/subjugator_exception/subjugator_exception.py b/SubjuGator/utils/subjugator_diagnostics/subjugator_exception/subjugator_exception.py index 840f6d209..5d7ffcc64 100644 --- a/SubjuGator/utils/subjugator_diagnostics/subjugator_exception/subjugator_exception.py +++ b/SubjuGator/utils/subjugator_diagnostics/subjugator_exception/subjugator_exception.py @@ -20,10 +20,7 @@ def __init__(self, *args, **kwargs): self.kwargs = kwargs def __repr__(self): - if len(self.args) == 0: - desc = "No description given" - else: - desc = self.args[0] + desc = "No description given" if len(self.args) == 0 else self.args[0] return desc + ". Parameters: " + self.kwargs.__repr__() diff --git a/SubjuGator/utils/subjugator_msgs/CMakeLists.txt b/SubjuGator/utils/subjugator_msgs/CMakeLists.txt index e2d32f943..b5547e745 100644 --- a/SubjuGator/utils/subjugator_msgs/CMakeLists.txt +++ b/SubjuGator/utils/subjugator_msgs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_msgs) find_package(catkin REQUIRED COMPONENTS diff --git a/deprecated/NaviGator/mission_systems/navigator_scan_the_code/CMakeLists.txt b/deprecated/NaviGator/mission_systems/navigator_scan_the_code/CMakeLists.txt index 23bc3d8d7..ed1883916 100644 --- a/deprecated/NaviGator/mission_systems/navigator_scan_the_code/CMakeLists.txt +++ b/deprecated/NaviGator/mission_systems/navigator_scan_the_code/CMakeLists.txt @@ -1,4 +1,4 @@ -# cmake_minimum_required(VERSION 2.8.3) +# cmake_minimum_required(VERSION 3.0.2) # project(navigator_scan_the_code) # find_package(catkin REQUIRED COMPONENTS # rospy diff --git a/deprecated/NaviGator/mission_systems/shooter/CMakeLists.txt b/deprecated/NaviGator/mission_systems/shooter/CMakeLists.txt index c5e7a8fa0..e36d4d79e 100644 --- a/deprecated/NaviGator/mission_systems/shooter/CMakeLists.txt +++ b/deprecated/NaviGator/mission_systems/shooter/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_shooter) find_package(catkin REQUIRED COMPONENTS diff --git a/deprecated/NaviGator/perception/navigator_lidar_oa/CMakeLists.txt b/deprecated/NaviGator/perception/navigator_lidar_oa/CMakeLists.txt index b58aa2166..9a32e2156 100644 --- a/deprecated/NaviGator/perception/navigator_lidar_oa/CMakeLists.txt +++ b/deprecated/NaviGator/perception/navigator_lidar_oa/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_lidar_oa) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) diff --git a/deprecated/NaviGator/simulation/navigator_2dsim/CMakeLists.txt b/deprecated/NaviGator/simulation/navigator_2dsim/CMakeLists.txt index 03fd00eed..6b0c4c8a4 100644 --- a/deprecated/NaviGator/simulation/navigator_2dsim/CMakeLists.txt +++ b/deprecated/NaviGator/simulation/navigator_2dsim/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_2dsim) catkin_package() diff --git a/deprecated/NaviGator/utils/navigator_emergency_control/CMakeLists.txt b/deprecated/NaviGator/utils/navigator_emergency_control/CMakeLists.txt index 84822cac5..fab48c920 100644 --- a/deprecated/NaviGator/utils/navigator_emergency_control/CMakeLists.txt +++ b/deprecated/NaviGator/utils/navigator_emergency_control/CMakeLists.txt @@ -1,6 +1,6 @@ # Catkin User Guide: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html # Catkin CMake Standard: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(navigator_emergency_control) # Load catkin and all dependencies required for this package # TODO: remove all from COMPONENTS that are not catkin packages. diff --git a/deprecated/NaviGator/xbox_joy_node/CMakeLists.txt b/deprecated/NaviGator/xbox_joy_node/CMakeLists.txt index f08c6fa9a..ead410ca6 100644 --- a/deprecated/NaviGator/xbox_joy_node/CMakeLists.txt +++ b/deprecated/NaviGator/xbox_joy_node/CMakeLists.txt @@ -1,5 +1,5 @@ # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(xbox_joy_node) # Load catkin and all dependencies required for this package diff --git a/deprecated/SubjuGator/drivers/sub8_videoray_m5_thruster/CMakeLists.txt b/deprecated/SubjuGator/drivers/sub8_videoray_m5_thruster/CMakeLists.txt index 7536482a3..b76eb0f6e 100644 --- a/deprecated/SubjuGator/drivers/sub8_videoray_m5_thruster/CMakeLists.txt +++ b/deprecated/SubjuGator/drivers/sub8_videoray_m5_thruster/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sub8_videoray_m5_thruster) find_package(catkin REQUIRED COMPONENTS rospy diff --git a/deprecated/SubjuGator/gnc/sub8_controller/CMakeLists.txt b/deprecated/SubjuGator/gnc/sub8_controller/CMakeLists.txt index db7ab69e6..b013ef90b 100644 --- a/deprecated/SubjuGator/gnc/sub8_controller/CMakeLists.txt +++ b/deprecated/SubjuGator/gnc/sub8_controller/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_controller) find_package(catkin REQUIRED COMPONENTS diff --git a/deprecated/SubjuGator/gnc/sub8_system_id/CMakeLists.txt b/deprecated/SubjuGator/gnc/sub8_system_id/CMakeLists.txt index 75b2e0104..94e4693f7 100644 --- a/deprecated/SubjuGator/gnc/sub8_system_id/CMakeLists.txt +++ b/deprecated/SubjuGator/gnc/sub8_system_id/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(subjugator_system_id) find_package(catkin REQUIRED COMPONENTS diff --git a/deprecated/SubjuGator/simulation/sub8_montecarlo/CMakeLists.txt b/deprecated/SubjuGator/simulation/sub8_montecarlo/CMakeLists.txt index ad8cebc4a..9caa897ec 100644 --- a/deprecated/SubjuGator/simulation/sub8_montecarlo/CMakeLists.txt +++ b/deprecated/SubjuGator/simulation/sub8_montecarlo/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sub8_montecarlo) find_package(catkin REQUIRED COMPONENTS rospy diff --git a/deprecated/SubjuGator/sub8_rqt/CMakeLists.txt b/deprecated/SubjuGator/sub8_rqt/CMakeLists.txt index 28d8d0b88..99648cc89 100644 --- a/deprecated/SubjuGator/sub8_rqt/CMakeLists.txt +++ b/deprecated/SubjuGator/sub8_rqt/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sub8_rqt) find_package(catkin REQUIRED COMPONENTS rospy diff --git a/docs/_static/custom.css b/docs/_static/custom.css index d868b51b5..dfd2b4ecd 100644 --- a/docs/_static/custom.css +++ b/docs/_static/custom.css @@ -777,7 +777,7 @@ main ol > li::before { content: counter(li) "."; counter-increment: li; top: -2px; - left: -1.1em; + left: -2em; width: 1.1em; padding: 4px 0; position: absolute; @@ -792,7 +792,7 @@ main li { main img { width: 100%; - max-width: 500px; + max-width: 80%; } main img.graphviz { diff --git a/docs/design/passive_sonar/passive_sonar.rst b/docs/design/passive_sonar/passive_sonar.rst index 31c04d2e5..522368705 100644 --- a/docs/design/passive_sonar/passive_sonar.rst +++ b/docs/design/passive_sonar/passive_sonar.rst @@ -28,10 +28,10 @@ _________________________________ Visualize Data in the Pipeline ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This pipline makes use of the ``mil_common/utils/mil_tools/mil_ros_tools/plotter.py`` utility to plot batches of data over on ROS Topics as CV2 images at most points in the processiong pipeline. +This pipeline makes use of the ``mil_common/utils/mil_tools/mil_ros_tools/plotter.py`` utility to plot batches of data over on ROS Topics as CV2 images at most points in the processiong pipeline. -To view all points of the triggering pipline -____________________________________________ +To view all points of the triggering pipeline +_____________________________________________ (raw, max convolution, gradient) that caused the most recent trigger (only hydrophone 0), look at ``/hydrophones/triggering/trigger_debug`` It should look something like this (30kHz): diff --git a/docs/extensions/attributetable.py b/docs/extensions/attributetable.py index 839e1e22b..bfee064d7 100644 --- a/docs/extensions/attributetable.py +++ b/docs/extensions/attributetable.py @@ -139,7 +139,7 @@ def parse_name(self, content): modulename = self.env.ref_context.get("py:module") if modulename is None: raise RuntimeError( - f"modulename somehow None for {content} in {self.env.docname}." + f"modulename somehow None for {content} in {self.env.docname}.", ) return modulename, name @@ -254,7 +254,7 @@ def build_lookup_table(env): "class", } - for fullname, _, objtype, docname, _, _ in domain.get_objects(): + for fullname, x, objtype, docname, y, z in domain.get_objects(): if objtype in ignored: continue @@ -337,10 +337,10 @@ def process_cppattributetable(app, doctree: Node, fromdocname): [ (_("Attributes"), []), (_("Functions"), []), - ] + ], ) - elif all([c in node.attributes["classes"] for c in ["cpp", "function"]]): + elif all(c in node.attributes["classes"] for c in ["cpp", "function"]): # Get the signature line of the function, where its name is stored try: descriptions = [ @@ -360,7 +360,7 @@ def process_cppattributetable(app, doctree: Node, fromdocname): .children[0] .attributes["ids"][0] ) - except: + except Exception: fullname = "" # Parse the function signature into just its name @@ -371,7 +371,7 @@ def process_cppattributetable(app, doctree: Node, fromdocname): badge["badge-type"] = _("function") if current_section: classes[current_section][_("Functions")].append( - TableElement(fullname=fullname, label=parsed, badge=badge) + TableElement(fullname=fullname, label=parsed, badge=badge), ) elif all(c in node.attributes["classes"] for c in ["cpp", "var"]): @@ -395,7 +395,7 @@ def process_cppattributetable(app, doctree: Node, fromdocname): # Make table element if current_section: classes[current_section][_("Attributes")].append( - TableElement(fullname=fullname, label=parsed, badge=None) + TableElement(fullname=fullname, label=parsed, badge=None), ) elif isinstance(node, nodes.section): @@ -421,14 +421,14 @@ def process_cppattributetable(app, doctree: Node, fromdocname): "a C++ class or struct and not any other data structure. Additionally, " "ensure that proper documentation was able to be generated without " "the attribute table being used. If an error occurred, please open " - "an issue on our GitHub repo." + "an issue on our GitHub repo.", ) for label, subitems in classes[target].items(): if not subitems: continue table.append( - class_results_to_node(label, sorted(subitems, key=lambda c: c.label)) + class_results_to_node(label, sorted(subitems, key=lambda c: c.label)), ) # Turn table into node @@ -461,7 +461,7 @@ def process_attributetable(app, doctree, fromdocname): if not subitems: continue table.append( - class_results_to_node(label, sorted(subitems, key=lambda c: c.label)) + class_results_to_node(label, sorted(subitems, key=lambda c: c.label)), ) table["python-class"] = fullname @@ -482,7 +482,7 @@ def get_class_results(lookup: dict, modulename: str, name: str, fullname: str): [ (_("Attributes"), []), (_("Methods"), []), - ] + ], ) # If the class has members, let's get them! If not, it has no members, and @@ -550,10 +550,10 @@ def class_results_to_node(key, elements): ref = nodes.reference( "", "", + *[nodes.Text(element.label)], internal=True, refuri=f"#{element.fullname}", anchorname="", - *[nodes.Text(element.label)], ) para = addnodes.compact_paragraph("", "", ref) if element.badge is not None: @@ -568,7 +568,8 @@ def setup(app): app.add_directive("attributetable", PyAttributeTable) app.add_directive("cppattributetable", CppAttributeTable) app.add_node( - attributetable, html=(visit_attributetable_node, depart_attributetable_node) + attributetable, + html=(visit_attributetable_node, depart_attributetable_node), ) app.add_node( attributetablecolumn, diff --git a/docs/extensions/builder.py b/docs/extensions/builder.py index dfadeb820..84de6d59d 100644 --- a/docs/extensions/builder.py +++ b/docs/extensions/builder.py @@ -34,7 +34,7 @@ def write_genindex(self) -> None: indexcounts = [] for _k, entries in genindex: indexcounts.append( - sum(1 + len(subitems) for _, (_, subitems, _) in entries) + sum(1 + len(subitems) for _, (_, subitems, _) in entries), ) genindexcontext = { diff --git a/docs/images/gazebo/Bottom_Toolbar.png b/docs/images/gazebo/Bottom_Toolbar.png new file mode 100644 index 000000000..de1fb6d98 Binary files /dev/null and b/docs/images/gazebo/Bottom_Toolbar.png differ diff --git a/docs/images/gazebo/Interface.png b/docs/images/gazebo/Interface.png new file mode 100644 index 000000000..b6f5018c4 Binary files /dev/null and b/docs/images/gazebo/Interface.png differ diff --git a/docs/images/gazebo/Labeled_Interface.png b/docs/images/gazebo/Labeled_Interface.png new file mode 100644 index 000000000..871ddca52 Binary files /dev/null and b/docs/images/gazebo/Labeled_Interface.png differ diff --git a/docs/images/gazebo/Menus.png b/docs/images/gazebo/Menus.png new file mode 100644 index 000000000..d6c39d62e Binary files /dev/null and b/docs/images/gazebo/Menus.png differ diff --git a/docs/images/gazebo/Model_Editor.png b/docs/images/gazebo/Model_Editor.png new file mode 100644 index 000000000..362f7cb16 Binary files /dev/null and b/docs/images/gazebo/Model_Editor.png differ diff --git a/docs/images/gazebo/Mouse.png b/docs/images/gazebo/Mouse.png new file mode 100644 index 000000000..728c8fc8f Binary files /dev/null and b/docs/images/gazebo/Mouse.png differ diff --git a/docs/images/gazebo/TrackPad.png b/docs/images/gazebo/TrackPad.png new file mode 100644 index 000000000..1231be57b Binary files /dev/null and b/docs/images/gazebo/TrackPad.png differ diff --git a/docs/images/gazebo/Upper_Toolbar.png b/docs/images/gazebo/Upper_Toolbar.png new file mode 100644 index 000000000..68e36e69a Binary files /dev/null and b/docs/images/gazebo/Upper_Toolbar.png differ diff --git a/docs/infrastructure/shipping.md b/docs/infrastructure/shipping.md index 068280f14..d0636bf21 100644 --- a/docs/infrastructure/shipping.md +++ b/docs/infrastructure/shipping.md @@ -34,3 +34,10 @@ ion base, many shipping carriers won't take batteries without special precaution You will need to review these in order to ship them through standard shipping. For some locations, it may be easier to buy batteries at the competition site rather than to take batteries with you. + +## Note + +Whenever a package is received in MIL, an email needs to be sent to Dr. Schwartz. +The email should contain the sender's name of the package, and a picture of the +packing receipt, if one is included. This should be done by the lab member who +opens up the package. diff --git a/docs/reference/alarms.rst b/docs/reference/alarms.rst index 59d046838..647d35220 100644 --- a/docs/reference/alarms.rst +++ b/docs/reference/alarms.rst @@ -94,11 +94,12 @@ ListenerCb .. doxygenstruct:: ros_alarms::ListenerCb -HeartbeatMonitor -~~~~~~~~~~~~~~~~ -.. cppattributetable:: ros_alarms::HeartbeatMonitor +.. Causes sphinx-doc/sphinx#10152 +.. HeartbeatMonitor +.. ~~~~~~~~~~~~~~~~ +.. .. cppattributetable:: ros_alarms::HeartbeatMonitor -.. doxygenclass:: ros_alarms::HeartbeatMonitor +.. .. doxygenclass:: ros_alarms::HeartbeatMonitor Subjugator-specific ^^^^^^^^^^^^^^^^^^^ diff --git a/docs/reference/can.rst b/docs/reference/can.rst index 22d1f0cd4..817163f78 100644 --- a/docs/reference/can.rst +++ b/docs/reference/can.rst @@ -3,8 +3,13 @@ .. automodule:: mil_usb_to_can +:mod:`mil_usb_to_can.sub8` - SubjuGator 8 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. automodule:: mil_usb_to_can.sub8 + Packet Format -^^^^^^^^^^^^^ +~~~~~~~~~~~~~ In order to reliably communicate with the USB to CAN board, a consistent packet format must be defined. @@ -73,7 +78,7 @@ other devices. - The checksum for the data. Checksums -^^^^^^^^^ +~~~~~~~~~ All messages contain a checksum to help verify data integrity. However, receiving packets also have a special byte containing a slightly modified checksum formula. @@ -81,11 +86,11 @@ The checksum in all packets is found by adding up all bytes in the byte string, including the start/end flags, and then using modulo 16 on this result. Exceptions -^^^^^^^^^^ +~~~~~~~~~~ Exception Hierarchy -~~~~~~~~~~~~~~~~~~~ -.. currentmodule:: mil_usb_to_can +""""""""""""""""""" +.. currentmodule:: mil_usb_to_can.sub8 .. exception_hierarchy:: @@ -99,7 +104,7 @@ Exception Hierarchy - :exc:`InvalidEndFlagException` Exception List -~~~~~~~~~~~~~~~~~~~ +""""""""""""""""""" .. autoclass:: ApplicationPacketWrongIdentifierException :members: @@ -122,64 +127,200 @@ Exception List :members: ApplicationPacket -^^^^^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.ApplicationPacket +~~~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.ApplicationPacket -.. autoclass:: mil_usb_to_can.ApplicationPacket +.. autoclass:: mil_usb_to_can.sub8.ApplicationPacket :members: USBtoCANBoard -^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.USBtoCANBoard +~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.USBtoCANBoard -.. autoclass:: mil_usb_to_can.USBtoCANBoard +.. autoclass:: mil_usb_to_can.sub8.USBtoCANBoard :members: CANDeviceHandle -^^^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.CANDeviceHandle +~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.CANDeviceHandle -.. autoclass:: mil_usb_to_can.CANDeviceHandle +.. autoclass:: mil_usb_to_can.sub8.CANDeviceHandle :members: USBtoCANDriver -^^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.USBtoCANDriver +~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.USBtoCANDriver -.. autoclass:: mil_usb_to_can.USBtoCANDriver +.. autoclass:: mil_usb_to_can.sub8.USBtoCANDriver :members: SimulatedCANDevice -^^^^^^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.SimulatedCANDevice +~~~~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.SimulatedCANDevice -.. autoclass:: mil_usb_to_can.SimulatedCANDevice +.. autoclass:: mil_usb_to_can.sub8.SimulatedCANDevice :members: SimulatedUSBtoCAN -^^^^^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.SimulatedUSBtoCAN +~~~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.SimulatedUSBtoCAN -.. autoclass:: mil_usb_to_can.SimulatedUSBtoCAN +.. autoclass:: mil_usb_to_can.sub8.SimulatedUSBtoCAN :members: Packet -^^^^^^ -.. attributetable:: mil_usb_to_can.Packet +~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.Packet -.. autoclass:: mil_usb_to_can.Packet +.. autoclass:: mil_usb_to_can.sub8.Packet :members: ReceivePacket -^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.ReceivePacket +~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.ReceivePacket -.. autoclass:: mil_usb_to_can.ReceivePacket +.. autoclass:: mil_usb_to_can.sub8.ReceivePacket :members: CommandPacket -^^^^^^^^^^^^^ -.. attributetable:: mil_usb_to_can.CommandPacket +~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub8.CommandPacket + +.. autoclass:: mil_usb_to_can.sub8.CommandPacket + :members: + +:mod:`mil_usb_to_can.sub9` - SubjuGator 9 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. automodule:: mil_usb_to_can.sub9 +.. currentmodule:: mil_usb_to_can.sub9 + +Packet Format +~~~~~~~~~~~~~ +In order to reliably communicate with the USB to CAN board, a consistent packet format +must be defined. + +Below is the USBtoCAN Packet Format. This packet format wraps every message being +sent over the serial connection to the USB to CAN board from ROS. + +.. list-table:: USBtoCAN Packet Format + :header-rows: 1 + + * - Name + - Length + - Description + * - Sync character 1 (``0x37``) + - 1 byte + - First sync character indicating the start of packets. + * - Sync character 2 (``0x01``) + - 1 byte + - Second sync character indicating the start of packets. + * - Class ID + - 1 byte + - Message class. Determines the family of messages the packet belongs to. + * - Subclass ID + - 1 byte + - Message subclass. In combination with class, determines specific qualities + of message. + * - Payload Length + - 2 bytes + - Length of payload. + * - Payload + - 0-65535 bytes + - Payload. Meaning of payload is determined by specific packet class/subclass. + * - Checksum A + - 1 byte + - First byte of Fletcher's checksum. + * - Checksum B + - 1 byte + - Second byte of Fletcher's checksum. + +Checksums +~~~~~~~~~ +All messages contain a checksum to help verify data integrity. However, receiving +packets also have a special byte containing a slightly modified checksum formula. + +The checksum in all packets is found by adding up all bytes in the byte string, +including the start/end flags, and then using modulo 16 on this result. + +Packet Listing +~~~~~~~~~~~~~~ +Below is a listing of all available packets. The payload format is the format +used by the :mod:`struct` module. For more information, see the Python documentation +on the :ref:`list of format characters`, and their corresponding +byte length. + ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| Message ID | Subclass ID | Payload Format | Class | ++============+==============+================+=========================================================================+ +| 0x00 | 0x00 | Empty | :class:`mil_usb_to_can.sub9.NackPacket` | ++ (Meta) +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x01 | Empty | :class:`mil_usb_to_can.sub9.AckPacket` | ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| 0x01 | 0x00 | Empty | :class:`sub8_thrust_and_kill_board.HeartbeatPacket` | ++ (Sub8 +--------------+----------------+-------------------------------------------------------------------------+ +| Thrust/ | 0x01 | ``Bf`` | :class:`sub8_thrust_and_kill_board.ThrustSetPacket` | ++ Kill) +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x02 | ``B`` | :class:`sub8_thrust_and_kill_board.KillSetPacket` | ++ +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x03 | ``B`` | :class:`sub8_thrust_and_kill_board.KillReceivePacket` | ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| 0x02 | 0x00 | Empty | :class:`sub9_thrust_and_kill_board.HeartbeatSetPacket` | ++ (Sub9 +--------------+----------------+-------------------------------------------------------------------------+ +| Thrust/ | 0x01 | Empty | :class:`sub9_thrust_and_kill_board.HeartbeatReceivePacket` | ++ Kill) +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x02 | ``Bf`` | :class:`sub9_thrust_and_kill_board.ThrustSetPacket` | ++ +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x03 | ``B`` | :class:`sub9_thrust_and_kill_board.KillSetPacket` | ++ +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x04 | ``B`` | :class:`sub9_thrust_and_kill_board.KillReceivePacket` | ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| 0x03 | 0x00 | Empty | :class:`sub8_battery_monitor_board.BatteryPollRequestPacket` | ++ (Battery +--------------+----------------+-------------------------------------------------------------------------+ +| Monitor) | 0x01 | ``ffff`` | :class:`sub8_battery_monitor_board.BatteryPollResponsePacket` | ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| 0x04 | 0x00 | ``BB`` | :class:`sub_actuator_board.ActuatorSetPacket` | ++ (Actuator +--------------+----------------+-------------------------------------------------------------------------+ +| Board) | 0x01 | Empty | :class:`sub_actuator_board.ActuatorPollRequestPacket` | ++ +--------------+----------------+-------------------------------------------------------------------------+ +| | 0x02 | ``B`` | :class:`sub_actuator_board.ActuatorPollResponsePacket` | ++------------+--------------+----------------+-------------------------------------------------------------------------+ +| 0x05 | 0x00 | Empty | :class:`sub9_system_status_board.SetLedRequestPacket` | +| (System | | | | +| Status) | | | | ++------------+--------------+----------------+-------------------------------------------------------------------------+ + +CANDeviceHandle +~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub9.CANDeviceHandle + +.. autoclass:: mil_usb_to_can.sub9.CANDeviceHandle + :members: + +SimulatedCANDeviceHandle +~~~~~~~~~~~~~~~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub9.SimulatedCANDeviceHandle + +.. autoclass:: mil_usb_to_can.sub9.SimulatedCANDeviceHandle + :members: + +Packet +~~~~~~ +.. attributetable:: mil_usb_to_can.sub9.Packet + +.. autoclass:: mil_usb_to_can.sub9.Packet + :members: + +NackPacket +~~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub9.NackPacket + +.. autoclass:: mil_usb_to_can.sub9.NackPacket + :members: + +AckPacket +~~~~~~~~~ +.. attributetable:: mil_usb_to_can.sub9.AckPacket -.. autoclass:: mil_usb_to_can.CommandPacket +.. autoclass:: mil_usb_to_can.sub9.AckPacket :members: diff --git a/docs/reference/messages.rst b/docs/reference/messages.rst index 963c7548d..ca5c762a3 100644 --- a/docs/reference/messages.rst +++ b/docs/reference/messages.rst @@ -43,9 +43,9 @@ Alarms Alarm ~~~~~ -.. attributetable:: ros_alarms.msg.Alarm +.. attributetable:: ros_alarms_msgs.msg.Alarm -.. class:: ros_alarms.msg.Alarm +.. class:: ros_alarms_msgs.msg.Alarm A message representing a ROS Alarm. diff --git a/docs/reference/services.rst b/docs/reference/services.rst index e772ef68b..272686e2f 100644 --- a/docs/reference/services.rst +++ b/docs/reference/services.rst @@ -503,9 +503,9 @@ Subsystems AlarmGet ~~~~~~~~ -.. attributetable:: ros_alarms.srv.AlarmGetRequest +.. attributetable:: ros_alarms_msgs.srv.AlarmGetRequest -.. class:: ros_alarms.srv.AlarmGetRequest +.. class:: ros_alarms_msgs.srv.AlarmGetRequest The request class for the ``ros_alarms/AlarmGet`` service. @@ -515,9 +515,9 @@ AlarmGet :type: str -.. attributetable:: ros_alarms.srv.AlarmGetResponse +.. attributetable:: ros_alarms_msgs.srv.AlarmGetResponse -.. class:: ros_alarms.srv.AlarmGetResponse +.. class:: ros_alarms_msgs.srv.AlarmGetResponse The response class for the ``ros_alarms/AlarmGet`` service. @@ -531,14 +531,14 @@ AlarmGet The response data about the requested alarm. - :type: ~ros_alarms.msg.Alarm + :type: ~ros_alarms_msgs.msg.Alarm AlarmSet ~~~~~~~~ -.. attributetable:: ros_alarms.srv.AlarmSetRequest +.. attributetable:: ros_alarms_msgs.srv.AlarmSetRequest -.. class:: ros_alarms.srv.AlarmSetRequest +.. class:: ros_alarms_msgs.srv.AlarmSetRequest The request class for the ``ros_alarms/AlarmSet`` service. @@ -546,11 +546,11 @@ AlarmSet The alarm to set. - :type: ~ros_alarms.msg.Alarm + :type: ~ros_alarms_msgs.msg.Alarm -.. attributetable:: ros_alarms.srv.AlarmSetResponse +.. attributetable:: ros_alarms_msgs.srv.AlarmSetResponse -.. class:: ros_alarms.srv.AlarmSetResponse +.. class:: ros_alarms_msgs.srv.AlarmSetResponse The response class for the ``ros_alarms/AlarmSet`` service. diff --git a/docs/software/gazebo_guide.md b/docs/software/gazebo_guide.md new file mode 100644 index 000000000..752147b10 --- /dev/null +++ b/docs/software/gazebo_guide.md @@ -0,0 +1,327 @@ +# Gazebo Guide + +This is a guide on how to use Gazebo, including launching the sub and +viewing it inside Gazebo, how Gazebo can be controlled and manipulated, how to +use Gazebo to make world files, and where you can find more info on Gazebo. + +## Brief Introduction + +Gazebo is an open-source 3D dynamic simulator, that allows us to design, model, +and test robots and their behavior in a virtual world. Similar to game engines +like Unity, Gazebo takes in scripts and models and performs physics simulations +on them. While it is similar, Gazebo offers physics simulations at a higher level +of fidelity, a suite of sensors, and interfaces for both users and programs. + +There are many versions of Gazebo, but this guide was written for **Gazebo +Classic 11** as this is the version of Gazebo currently being used at MIL. + +### Running Gazebo + +There are many ways run Gazebo. + +* Click the "Show Applications" button on Ubuntu (the apps button located in + the bottom left corner). Then search for the Gazebo Icon and press that icon + to open Gazebo. + +* You can press Alt + F2 (or Alt+Fn+F2) to bring up the "Run a Command" window. + Then type "gazebo" and press Enter to open Gazebo. + +* You can also open a terminal and type "gazebo" and it will open Gazebo. + +To launch Gazebo will all the necessary files for simulating Subjugator, +follow these steps: + +1. Open a terminal window and execute the following command. This command uses + ROS to start all the relevant ROS nodes and to load the world file for + subjugator. This also starts a Gazebo Sever. + + ```bash + roslaunch subjugator_launch gazebo.launch --screen + ``` + + :::{note} + `--screen` forces all ROS node output to the screen. It is used for debugging. + ::: + +1. Then in another terminal window run this command to start the Gazebo + graphical client, which connects to the Gazebo Sever. + + ```bash + gazebogui + ``` + +1. Then in another terminal window run this command and then press Shift-C to + unkill the sub to allow movement. + + ```bash + amonitor kill + ``` + +1. Execute the following command to start a specific mission, replacing + "StartGate2022" with the name of the desired mission: + + ```bash + mission run StartGate2022 + ``` + +## How to use Gazebo + +### User Interface + +When you launch Gazebo you will be greeted by its user interface. + +![Gazebo Interface](/images/gazebo/Interface.png) + +The Gazebo interface consists of three main sections: The **Left Panel**, the +**Scene**, and the **Right Panel**. By default the Right Panel is hidden. This +is because we do not have anything selected. To show the right panel you can +always Click and drag the bar on the right to open it. + +![Gazebo Labeled Interface](/images/gazebo/Labeled_Interface.png) + +#### Left Panel + +The Left Panel has three tabs, each with different features. You can see +these tabs at the top of the Left Panel. You can click on them to switch +between them. The tabs are: + +##### World Tab + +The World Tab displays the models that are currently in the scene. Within this +tab, you can view and modify various model parameters, like their pose (their +position and rotation). Additionally, you can expand the GUI option to adjust +the camera view angle by modifying the camera pose. + +##### Insert Tab + +The Insert Tab allows you to add new models (objects) to the Gazebo simulation. +Here, you will find a list of file paths where your models are saved. To view +the model list, click on the arrow located on the left side of each path to +expand the folder. Select the desired model and click again in the scene to +place it. + +##### Layers Tab + +The Layers tab organizes and displays different visualization groups within +the simulation. Layers can contain one or more models, and enabling or disabling +a layer will show or hide all the models within it. While not mandatory, layers +can be helpful for organizing your simulation. Note that this tab may be empty +if no layers are defined. + +To define a layer, you will need to edit a model's SDF file. To add an +object's visuals to a layer you will need to add a `` tag for information +and then a `` tag with the layer number under each `` tag. Below +is an example: + +```xml + + + 0 + + ... + +``` + +#### Scene + +The Scene is the main window where objects are animated, and you interact with +the environment. Two toolbars are available: + +##### The Upper Toolbar + +The Upper Toolbar consists of various buttons that allow you to select, move, +rotate, and scale objects. It also provides options to create simple shapes, +as well as copy and paste objects. + +![Gazebo Upper Toolbar](/images/gazebo/Upper_Toolbar.png) + +##### The Bottom Toolbar + +The Bottom Toolbar displays information about the simulation time and its +relationship to real time. It helps you track the progress of your simulation. + +![Gazebo Bottom Toolbar](/images/gazebo/Bottom_Toolbar.png) + +#### Right Panel + +The Right Panel is used to interact with the mobile parts (joints) of a +selected model. It provides controls and settings specific to manipulating +the joints of a model. + +#### Menus (File, Edit, Camera, View, Window, Help) + +Most Linux apps have menus. These menus are usually tabs (file, edit, ...) at +the top left of an application. If you don't see it move your cursor to the +top of the application window and the menus should appear. Below describes +the features of each menu that Gazebo has. + +![Gazebo Menus](/images/gazebo/Menus.png) + +#### Mouse + +It is recommended that you use a mouse when using Gazebo. Below is a diagram +showing all the mouse controls. + +![Gazebo Mouse Controls](/images/gazebo/Mouse.png) + +However, if you want to use a trackpad you can. Below are the controls for +the trackpad: + +![Gazebo Mouse Controls](/images/gazebo/TrackPad.png) + +## How to Create Models + +The structure for most models in Gazebo is that the model is a folder that +contains a .config file, .SDF file(s), and .dae or .stl file(s). The config +file contains meta information about the model. The .SDF file contains +important simulation information like model definitions, the model's +positioning, its physical properties, etc. The .dae or .stl files contain 3D +mesh information. When creating a model it's recommended that you have all +these components. + +### Model Editor + +You can use the **Model Editor** to create simple models all within Gazebo, +but for more complex models you will want to create/write your own SDF files +and .dae files. + +To enter the **Model Editor**, click on Edit in the menu bar and select Model Editor. + +The Model Editor Interface looks similar to the regular Gazebo UI with some +slight changes. The left panel and the top toolbar have been changed to +contain only buttons and features for editing and creating parts of a model. +The bottom toolbar is now hidden as the simulation is paused. + +![Gazebo Model Editor](/images/gazebo/Model_Editor.png) + +When entering the Model Editor all other models will turn white. This can make +it hard to see the model you are currently working on if you have a lot of +models in your scene. So it may be easier to open a blank Gazebo world and +create the model using the Model Editor there. Then when you exit the Model +Editor it will ask you to save the model. This will save the model as a folder +on your computer. Then you can go back to the original world and insert +this model, by going to the insert tab (note this is the regular insert tab, +not the one in the model editor) and adding that model folder's file path. + +:::{note} +When inserting a model, make sure that the file path you pick is the path to +the parent directory. This directory contains the model folder you want to +insert. Do not put the path to the model folder. Often this parent +directory will contain all the models you want to use. The file hierarchy +might look like this: where models is the parent directory and contains the +models model1 and buoys. + +``` + models/ + ├── model_1/ + │ ├── model.config + │ ├── model1.sdf + │ ├── model1.dae + │ └── ... + ├── buoys/ + │ ├── model.config + │ ├── green.sdf + │ ├── red.sdf + │ └── ... +``` + +::: + +#### Insert Tab + +The Insert Tab allows you to add new parts, including links and models, to +your model. You have two options for inserting shapes (links): + +* Simple Shapes: Click on the desired shape in the left panel and then click + again in the scene to place it. + +* Custom Shapes: You can add COLLADA (.dae), 3D Systems (.stl), Wavefront + (.obj), and W3C SVG (.svg) files as custom shapes. Create these shapes + using 3D modeling software like Blender. + +You can also insert other models into your model as nested models. These +models can be obtained from the Gazebo Model Database +(http://gazebosim.org/models/), which should be listed as one of your file +paths under Model Databases. For example, if you need a depth sensor, you can +add a depth sensor model from the database to your model. + +#### Model Tab + +The Model Tab displays the settings for the model you are creating. Here, you +can change the model's name and modify its basic parameters. Additionally, you +can add plugins to give your model functionality here as well. + +#### Placing Shapes + +Once you insert a shape, you can use the toolbar to move, rotate, and scale +it. For finer control, you can double-click the shape or right-click and +select "Open Link Inspector" to access the link inspector. In the link +inspector, you can modify the shape's position, rotation, and scale to +achieve the desired configuration. Make sure to adjust the scale in both the +Visual and Collision tabs. + +#### Adding Joints + +To constrain the motion between shapes, you can add joints. Follow these steps: + +* Click on the joint icon in the toolbar (a line connecting two points). + +* In the Joint Creation Window, select the parent and child links (shapes) + of the joint. + +* Select the type of joint you need in the Joint Types section near the top + of the window. + +* Select the joint axis. Some joints do not have an axis. + +* Align the link (shape). Use the align links section to align the parent + and the child with each other. + +#### Adding a Plugin + +To control your model, you need to create a plugin. You can do this in the +Model Tab by specifying the necessary details for the plugin. + +You can find more information on how to create your own custom plugins [here](https://classic.gazebosim.org/tutorials?tut=ros_gzplugins). + +#### Model Creation Workflow Example + +To illustrate the model creation process, let's consider creating a car model +using Blender: + +* Create .dae files for the wheels, chassis, and other parts in Blender. + +* Insert these shapes into the Model Editor. + +* Use the toolbar and link inspector to position each shape precisely. + +* Add joints between the shapes to enable motion constraints. + +* Finally, create a plugin to control the model's behavior. + +### World File + +A World in Gazebo is used to describe the collection of robots and objects, +and global parameters like the sky, ambient light, and physics properties. +A World is the entire virtual environment that you have been +working in. The World stores important information like where all the models +are, their properties, and important global properties. + +You can save the World file by selecting File and Save World As. + +:::{note} +When using roslaunch to start Gazebo, it is crucial to update the World file +if you make any changes to the simulation environment. At MIL, there is a +dedicated `worlds` folder where Gazebo World files are saved. When you update +a World file, ensure that you replace the old file in this folder. Failing +to do so will result in the continued use of the old World file when +launching Gazebo using roslaunch. +::: + +## More Info + +If you ever need more information on how any aspect of Gazebo works or how to +use ROS with Gazebo you can check out the official Gazebo Documentation [here](https://classic.gazebosim.org/tutorials). +Some of the images used in this guide are sourced from here and we are grateful +to the creators for their exceptional work, which has been instrumental in +writing this guide. diff --git a/docs/software/getting_started.md b/docs/software/getting_started.md index 2cbf49165..6e94e1653 100644 --- a/docs/software/getting_started.md +++ b/docs/software/getting_started.md @@ -16,11 +16,14 @@ If you are using a virtual machine, you can change the amount of RAM and the number of CPU cores allotted to the virtual machine by visiting the settings of your VM software. -## Installing Ubuntu +## Setting Up Ubuntu -You will need to install **Ubuntu 20.04 LTS**, the main operating system supported by -ROS and our tools. Our tools are not setup to work on other operating systems, including -other Linux distributions, macOS, and Windows. +### Choosing an Install Method + +You will need to install **Ubuntu 20.04 LTS** (disk image downloads linked below), +the main operating system supported by ROS and our tools. Our tools are not setup +to work on other operating systems, including other Linux distributions, macOS, +and Windows. To use Ubuntu in MIL, you have two options: @@ -44,38 +47,248 @@ virtual machine as these systems are not able to have two operating systems inst at once. Intel-based Macs may also experience some issues with dual-booting Ubuntu. ::: -Please follow the link that suits your best use case: +The following diagram should give you insight into which method is best for you. +Note that the diagram is only a recommendation. If you have installed Linux before, +or know of a technical issue with your computer, you may know that a different +method is best for you. -* **Dual-booting a Windows computer**: Dual-booting on windows is the best option -to install Ubuntu on a Windows computer. To complete the process, [look here](https://help.ubuntu.com/community/WindowsDualBoot). +![Installation Guide](/software/installation.png) -* **Using a virtual machine on Windows:** You could also use a virtual machine -software on Windows to run Ubuntu. These software include VirtualBox or VMWare. -Choose which virtualization software works best for you and find a tutorial on how -to install Ubuntu. +### Installing Ubuntu -* **Using Parallels on macOS**: Parallels is a favorited virtual machine software -available on MacOS. It is not free, although there is a student discount available. -To see how to install Ubuntu on MacOS with parallels, see -[here](https://peterwitham.com/videos/how-to-install-ubuntu-20-04-lts-on-parallels-for-mac/). +Here are the links to appropriate `.iso` (disk image) files. Note that you will +need to choose the correct disk image based on your computer's architecture. You +do not always need to download these files - they are only needed for some installation +methods. -* **Using UTM on macOS**: UTM is a virtual machine software that is compatible with -MacOS. The software is free, unlike Parallels, but requires more setup by the user. -For instructions on installing Ubuntu with UTM, -[see here](https://mac.getutm.app/gallery/ubuntu-20-04). +| Architecture | URL | +| ------------ | --- | +| AMD64 (most Windows computers, Intel-based Mac computers) | [focal-desktop-amd64.iso](https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-amd64.iso) | +| ARM64 (Apple Silicon Mac computers) | [focal-desktop-arm64.iso](https://cdimage.ubuntu.com/focal/daily-live/current/focal-desktop-arm64.iso) | -* **Use Distrobox on another Linux distribution**: If you use a Linux distribution -as your primary operating system, you can install -Ubuntu through [Distrobox](https://github.com/89luca89/distrobox). You can create a -Distrobox environment using `distrobox create --name mil --image ubuntu:focal --home ~/mil-home`. -This will allow you to keep a MIL-only environment. You will also have to set the -hostname to localhost manually by running `sudo hostname localhost` before running setup. +The following subsections cover various installation methods. Please choose the +installation option that best meets your use case. If you're not sure what the +best installation method is, please check the diagram above. After you have the operating system downloaded, you may need to configure it. This includes setting your preferred language and keyboard layout, along with your username and password. Set these settings up to your liking, but note that having a shorter username may save you some typing in the long run. +#### Option 1: Dual-booting a Windows computer + +A common choice for Windows computers is to dual-boot Linux onto them. This includes +installing Linux right alongside your host operating system, Windows, on a separate +partition on your computer's hard drive. If you need access to a bootable USB drive +containing Ubuntu Linux, feel free to stop by the lab. + +1. If your computer uses BitLocker (also known as advanced drive encryption), you + will need to disable this. To do this, you can usually search for "BitLocker" + or "drive encryption" in your Windows search bar. A control panel or Settings + application should open, at which point you can find the BitLocker setting + and disable it. + +1. If your computer uses Secure Boot, you will need to disable this. Secure Boot + is a security feature in Windows that prevents the loading of operating systems + other than Windows. While disabling Secure Boot will make your computer slightly + less secure, unless you are a secret spy, you should be okay. + + To disable secure boot, you will need to enter your computer's UEFI settings. + To do this, trigger an advanced restart of Windows. This can be done by holding + shift before clicking restart. Then, click + **Troubleshoot > Advanced Options > UEFI Firmware Settings**. Proceed into the + security section of your BIOS settings, and disable Secure Boot. + +1. Now, let's partition your hard drive to allocate space for your new Ubuntu setup. + Open Disk Manager by typing in "Disk Manager" in the Windows search bar. Right-click + on your computer's drive, and click **Shrink Volume**. Shrink your disk by + **50000 MB**, or 50 GB. + +1. Now, insert the bootable USB drive into your computer, and once again, do an + advanced restart by holding Shift and clicking **Restart** in your main Windows + menu. In the advanced restart menu, click **Use a device**, and then choose + the bootable USB drive. If you don't see the USB drive, check to make sure that + the USB is fully inserted, and try pulling it out and plugging it back in. + +1. You should now see the Linux boot menu. Boot into **Install Ubuntu** or **Ubuntu**, + not "Try Ubuntu without installing." You can proceed with all default configuration + options in the Ubuntu setup page, as you've already partitioned your disk. + +1. Ubuntu will take some time to install. Once the installation process is complete, + you should be able to access the Terminal using the nine dots in the bottom left + corner to proceed with the rest of the installation. + +#### Option 2: Using a virtual machine on Windows + +Using a virtual machine on Windows will make installation quicker and easier, but +will result in poorer performance and more strain on your system. If you'd like +to install Ubuntu through a virtual machine: + +1. Install [VirtualBox](https://www.virtualbox.org/). This virtualization software + will manage your virtual machines. + +1. Download the Ubuntu 20.04 `.iso` file linked above. This is a disk image, and + contains a copy of Ubuntu. Wait for the download to complete. + +1. Click on **New** in VirtualBox. Fill out the first page of the form, if one appears. + +1. When asked how much memory to allocate, you should move the marker to where the green meets + the red. Typically in MIL, when your virtual machine is launched, it will be + the only program you are using on your computer, and therefore, it's recommended + to give it as much memory and CPU as possible. The tick where the green meets + the red is the highest amount that is safe for your operating system. If you + cannot allocate more than 8192 MB, understand that your virtual machine may be + a little slow, but that's okay. + +1. Create a new virtual hard disk. Using VDI (VirtualBox Disk Image) is fine. + Make the disk dynamically allocated to save space on your computer. When asked + how much space to start with, we recommend 50GB. Certainly no less than 30GB. + +1. After you finish creating the new virtual machine, enter the settings of the virtual + machine and adjust the "Processor" bar to where the green meets the red. + +1. Visit the "Storage" settings of the virtual machine. Under "Controller IDE", + click the CD icon next to "Optical Drive" and click "Choose a disk file..." + Navigate to the `.iso` file you downloaded earlier, and select it. + +1. Click "OK" to save your settings. + +1. Click on "Start" near the top of your virtual machine details. This will launch + your virtual machine! + +1. After some time, you should see the Linux boot menu. Boot into + **Install Ubuntu** or **Ubuntu**, not "Try Ubuntu without installing." You + can proceed with all default configuration options in the Ubuntu setup page, + as you've already partitioned your disk. + +1. Ubuntu will take some time to install. Once the installation process is complete, + you should be able to access the Terminal using the nine dots in the bottom left + corner to proceed with the rest of the installation. + +#### Option 3: Using Parallels on macOS + +[Parallels Desktop](https://www.parallels.com/) is well-known as the best +virtual machine manager for macOS. Installing new virtual machines is quick, +performance is stellar, and the application comes bundled with a suite of tools +to make sharing resources between the virtual machine and macOS painless. However, +Parallels does cost $39.99/year for students. + +1. Purchase and download Parallels Desktop, linked above. If you use Homebrew, + you can install the Parallels with `brew install parallels --cask`. + +1. **Do not click "Install Ubuntu Linux" - this will install Ubuntu 22.04, not + Ubuntu 20.04!** Instead, download the appropriate `.iso` file linked above. + Macs using an M-series processor should install the ARM64 disk image, not the + AMD64. + +1. Choose "Install Windows or another OS from a DVD or image file." Select the `.iso` + file that you downloaded previously and start up your virtual machine. + +1. You can name your VM whatever you'd like (maybe something related to MIL?). + Click on "Configure..." and choose any options in the "Options" tab that you'd + like. In the "Hardware" tab, use the highest number of processors and highest + amount of memory recommended for your computer. + +1. Click "Continue" - this will launch the virtual machine and begin the installation + process. + +1. After some time, you should see the Linux boot menu. Boot into + **Install Ubuntu** or **Ubuntu**, not "Try Ubuntu without installing." You + can proceed with all default configuration options in the Ubuntu setup page, + as you've already partitioned your disk. + +1. Ubuntu will take some time to install. Once the installation process is complete, + you should be able to access the Terminal using the nine dots in the bottom left + corner to proceed with the rest of the installation. + +#### Option 4: Using UTM on macOS + +[UTM](https://mac.getutm.app/) is a popular open-source virtualization software +for macOS. It is free, but will provide less performance and support between +your host Mac and the VM. + +1. Download UTM, linked above. If you use Homebrew, you can install UTM with + `brew install utm --cask`. + +1. Download the appropriate `.iso` file for your computer, linked above. Macs using + an M-series processor should install the ARM64 disk image, not the AMD64. + +1. Click the "+" button to create a new virtual machine, and choose "Virtualize." + Next, choose "Linux." + +1. Under "Boot ISO Image", choose the disk image you downloaded earlier. + +1. Allocate half of your computer's memory to your VM. For example, if you have + a 16GB computer, then allocate 8GB to the VM. Allocate half of your computer's + CPU cores. For example, if you use a quad-core computer, then allocate two cores + to the VM. Enable hardware acceleration with OpenGL. + +1. Allocate 50GB of space to your VM. If you don't have too much space left on your + computer, you can allocate less, but do not go below 30GB. If you'd like to clean + up space on your computer, click the Apple logo in the top left corner of your + Mac, choose "About This Mac", head to "Storage", and then click "Manage." + +1. Click "Save." Before starting the VM, go into the control panel of the VM using + the options button in the top right. In "Display," enable "Retina Mode." + +1. Now, click the play button on your VM to turn the VM on! + +1. After some time, you should see the Linux boot menu. Boot into + **Install Ubuntu** or **Ubuntu**, not "Try Ubuntu without installing." You + can proceed with all default configuration options in the Ubuntu setup page, + as you've already partitioned your disk. + +1. Ubuntu will take some time to install. Once the installation process is complete, + you should be able to access the Terminal using the nine dots in the bottom left + corner to proceed with the rest of the installation. + +#### Option 5: Dual-boot a macOS computer + +While dual-booting macOS is not a common option of installation, for those with +lots of space and recently built computers, it can still be a viable option. You +may gain more performance from a dual-boot system versus a virtual machine. + +Dual-booting is only an option for members with an Intel-based Mac. M-series Macs +are not able to dual-boot. + +1. To start, you'll need to partition your hard drive. Open Disk Utility and choose + "View > Show All Devices." Select the highest-level drive, and choose "Partition." + +1. Use the "+" button to create a new partition. Click "Add Partition." Name it + whatever you'd like (maybe something related to MIL or Ubuntu?), and set the + format to "MS-DOS (FAT32)." Allocate 50GB. If you don't have enough space to allocate + 50GB, 30GB should suffice, but don't go below 30GB. Click "Apply" to create + a partition. + +1. Insert the bootable USB drive into your computer and restart your computer. Upon + restart, hold the Option key until you see the boot options. Select the bootable + USB drive. + +1. After some time, you should see the Linux boot menu. Boot into + **Install Ubuntu** or **Ubuntu**, not "Try Ubuntu without installing." You + can proceed with all default configuration options in the Ubuntu setup page, + as you've already partitioned your disk. + +1. Ubuntu will take some time to install. Once the installation process is complete, + you should be able to access the Terminal using the nine dots in the bottom left + corner to proceed with the rest of the installation. + +#### Option 6: Use Distrobox on another Linux distribution + +If you're already using another Linux distribution regularly, you can use Distrobox +to virtualize Ubuntu on this other distribution. This program is similar +to Docker or a virtual machine software, but is more lightweight and less computationally +heavy. + +1. Install Distrobox. The installation method will vary based on your host operating + system. + +1. Create a new Distrobox container using `distrobox create --name mil --image + ubuntu:focal --home ~/mil-home`. + +1. Enter the container using `distrobox enter --name mil`. You can proceed with + the MIL installation script from here. + ## Updating packages First, we will refresh the list of packages available for your computer. You diff --git a/docs/software/index.rst b/docs/software/index.rst index 61b036c7c..9e779a0eb 100644 --- a/docs/software/index.rst +++ b/docs/software/index.rst @@ -13,10 +13,12 @@ Various documentation related to practices followed by the MIL Software team. help zobelisk asyncio + rqt rostest Bash Style Guide C++ Style Guide Python Style Guide + Gazebo Guide Migrating to ROS Noetic Installing NVIDIA Drivers for RTX 2080 Installing Ubuntu 18.04 on an M-series Apple computer diff --git a/docs/software/installation.png b/docs/software/installation.png new file mode 100644 index 000000000..d98430063 Binary files /dev/null and b/docs/software/installation.png differ diff --git a/docs/software/rqt.md b/docs/software/rqt.md new file mode 100644 index 000000000..258c43522 --- /dev/null +++ b/docs/software/rqt.md @@ -0,0 +1,437 @@ +# Implementing GUI Based Tools Using `rqt` + +## Introduction + +RQT (ROS Qt-based GUI Framework) is a powerful tool that provides a graphical +user interface for ROS (Robot Operating System) applications. It allows users +to monitor ROS topics, interact with nodes, visualize data, and more. This +document serves as a user guide for understanding and effectively using RQT. + +### Benefits of RQT + +- **Graphical Interface**: RQT provides a user-friendly graphical interface, + making it easier to visualize data, monitor topics, and interact with nodes. + This is especially helpful for users who prefer a GUI based approach over + the command line. + +- **Centralized Tool**: RQT serves as a centralized tool for various ROS tasks, + including visualization, configuration, and debugging. This reduces the need + to switch between multiple terminals and tools, streamlining the development + process. + +- **Extensibility**: RQT's plugin architecture allows users to create custom + plugins to tailor the tool to their specific application needs. This + extensibility significantly enhances RQT's capabilities and to various + robotic systems. + +- **Integration with ROS**: RQT is tightly integrated with ROS, ensuring + seamless interaction with ROS nodes, topics, and services. This integration + simplifies the process of debugging and analyzing data in real-time. + +## Installation + +Before using RQT, make sure you have ROS installed on your system. If ROS is +not yet installed, follow the official ROS installation guide for your +operating system. Once ROS is installed, you can install RQT using the package +manager: + +```bash +sudo apt-get install ros-noetic-rqt +``` + +## Getting Started + +### Launching RQT + +To launch RQT, open a terminal and run the following command: + +```bash +rqt +``` + +This command will launch the RQT Graphical User Interface, displaying a +default layout with available plugins. + +## Monitoring Information with RQT + +RQT provides various plugins to monitor information published on specific ROS +topics. The most common plugin for this purpose is the Plot plugin. + +### Subscribing to Specific Topics + +1. Open RQT using the command mentioned in the previous section. +1. Click on the "Plugins" menu in the top toolbar and select "Topics" > + "Message Publisher." +1. A new "Message Publisher" tab will appear. Click on the "+" button to + subscribe to a specific topic. +1. Choose the desired topic from the list and click "OK." +1. Now, you can monitor the information published on the selected topic in + real-time. + +### Displaying Data with Plot Plugin + +1. Open RQT using the command mentioned earlier. +1. Click on the "Plugins" menu in the top toolbar and select + "Visualization" > "Plot." +1. A new "Plot" tab will appear. Click on the "+" button to add a plot. +1. Choose the topic you want to visualize from the list, select the message + field, and click "OK." +1. The plot will start displaying the data sent over the selected topic. + +## Configuring RQT + +RQT allows users to customize its appearance and layout to suit their preferences. + +### Theme Configuration + +1. Open RQT using the command mentioned earlier. +1. Click on the "View" menu in the top toolbar and select "Settings." +1. In the "Settings" window, go to the "Appearance" tab. +1. Here, you can change the color scheme, font size, and other visual settings. + +### Layout Configuration + +1. Open RQT using the command mentioned earlier. +1. Rearrange existing plugins by clicking on their tab and dragging them to + a new position. +1. To create a new tab, right-click on any existing tab and select "Add New Tab." +1. Drag and drop desired plugins onto the new tab. +1. Save your customized layout by going to the "View" menu and selecting + "Perspectives" > "Save Perspective." + +## Writing RQT Plugins + +RQT allows users to create their custom plugins to extend its functionality. +Writing RQT plugins is essential when the available plugins do not fully +meet your application's requirements. + +### Plugin Structure + +To write an RQT plugin, you need to follow a specific directory structure and +include Python or C++ code to implement the plugin's functionality. The +essential components of an RQT plugin are: + +- **Plugin XML (`plugin.xml`)**: This file defines the plugin and its + dependencies, specifying essential information like name, description, + and which ROS packages it depends on. + +- **Python or C++ Code**: This code contains the actual implementation of the + plugin's functionality. For Python plugins, the code should extend the + `rqt_gui_py::Plugin` class, while for C++ plugins, it should extend the + `rqt_gui_cpp::Plugin` class. + +### Implementing a Basic Plugin + +In this section, we will walk through an example of implementing a basic RQT +plugin. We will create a simple plugin to display the current time published +by a ROS topic. The plugin will consist of a label that updates with the +current time whenever a new message is received. + +#### Step 1: Create the Plugin Package + +Create a new ROS package for your plugin using the `catkin_create_pkg` command: + +```bash +catkin_create_pkg my_rqt_plugin rospy rqt_gui_py +``` + +The package dependencies `rospy` and `rqt_gui_py` are required to work with +ROS and create a Python-based RQT plugin. + +#### Step 2: Implement the Plugin Code + +Next, create a Python script for your plugin. In the `src` directory of your +package, create a file named `my_rqt_plugin.py` with the following content: + +```python +#!/usr/bin/env python + +import rospy +from rqt_gui_py.plugin import Plugin +from python_qt_binding.QtWidgets import QLabel, QVBoxLayout, QWidget +from std_msgs.msg import String +import time + +class MyRqtPlugin(Plugin): + + def __init__(self, context): + super(MyRqtPlugin, self).__init__(context) + self.setObjectName('MyRqtPlugin') + + # Create the main widget and layout + self._widget = QWidget() + layout = QVBoxLayout() + self._widget.setLayout(layout) + + # Create a label to display the current time + self._label = QLabel("Current Time: N/A") + layout.addWidget(self._label) + + # Subscribe to the topic that provides the current time + rospy.Subscriber('/current_time', String, self._update_time) + + # Add the widget to the context + context.add_widget(self._widget) + + def _update_time(self, msg): + # Update the label with the received time message + self._label.setText(f"Current Time: {msg.data}") + + def shutdown_plugin(self): + # Unregister the subscriber when the plugin is shut down + rospy.Subscriber('/current_time', String, self._update_time) + + def save_settings(self, plugin_settings, instance_settings): + # Save the plugin's settings when needed + pass + + def restore_settings(self, plugin_settings, instance_settings): + # Restore the plugin's settings when needed + pass + +``` + +In this code, we create a plugin class named `MyRqtPlugin`, which inherits +from `rqt_gui_py.Plugin`. The `__init__` method sets up the GUI elements, such +as a label, and subscribes to the `/current_time` topic to receive time updates. + +#### Step 3: Add the Plugin XML File + +Create a file named `plugin.xml` in the root of your package to define the +plugin. Add the following content to the `plugin.xml`: + +```xml + + + + A custom RQT plugin to display the current time. + + + + settings + Display the current time. + + + +``` + +This XML file defines the plugin class, its description, and the icon to be +displayed in the RQT GUI. + +#### Step 4: Build the Plugin + +Build your plugin package using `catkin_make`: + +```bash +catkin_make +``` + +#### Step 5: Launch RQT and Load the Plugin + +Launch RQT using the command mentioned earlier: + +```bash +rqt +``` + +Once RQT is open, navigate to the "Plugins" menu and select "My RQT Plugin" +from the list. The plugin will be loaded, and you should see the label +displaying the current time. + +### Adding Custom Functionality + +The example plugin we implemented is a simple demonstration of how to create +an RQT plugin. Depending on your application's requirements, you can add more +sophisticated features, such as custom data visualization, interactive +controls, and integration with other ROS elements. + +You can also improve the plugin by adding error handling, additional options +for time formatting, and the ability to pause/resume the time updates. + +## Implementing a More Advanced Plugin + +In this section, we will implement a more advanced RQT plugin that visualizes +data from multiple ROS topics using a 2D plot. This plugin will allow users to +choose which topics to plot and specify the message field to display on the X +and Y axes. Let's call this plugin "ROS Data Plotter." + +### Step 1: Create the Plugin Package + +Create a new ROS package for your plugin using the `catkin_create_pkg` command: + +```bash +catkin_create_pkg ros_data_plotter rospy rqt_gui_py matplotlib +``` + +The package dependencies `rospy`, `rqt_gui_py`, and `matplotlib` are required +to work with ROS, create a Python-based RQT plugin, and plot data, respectively. + +### Step 2: Implement the Plugin Code + +Next, create a Python script for your plugin. In the `src` directory of your +package, create a file named `ros_data_plotter.py` with the following content: + +```python +#!/usr/bin/env python + +import rospy +from rqt_gui_py.plugin import Plugin +from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QComboBox +from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas +from matplotlib.figure import Figure +from std_msgs.msg import Float32 # Modify this import based on your data type + +class ROSDataPlotter(Plugin): + + def __init__(self, context): + super(ROSDataPlotter, self).__init__(context) + self.setObjectName('ROSDataPlotter') + + # Create the main widget and layout + self._widget = QWidget() + layout = QVBoxLayout() + self._widget.setLayout(layout) + + # Create a combo box to select topics and message fields + self._topic_field_selector = QComboBox() + self._topic_field_selector.currentIndexChanged.connect(self._update_plot) + layout.addWidget(self._topic_field_selector) + + # Create the matplotlib figure and plot + self._figure = Figure() + self._canvas = FigureCanvas(self._figure) + layout.addWidget(self._canvas) + + # Initialize the plot + self._update_plot() + + # Add the widget to the context + context.add_widget(self._widget) + + def _update_plot(self): + # Clear the previous plot data + self._figure.clear() + axes = self._figure.add_subplot(111) + + # Get the selected topic and field from the combo box + selected_topic_field = self._topic_field_selector.currentText() + topic, field = selected_topic_field.split(' - ') + + # Subscribe to the selected topic + rospy.Subscriber(topic, Float32, self._plot_data) # Modify this based on your data type + + def _plot_data(self, msg): + # Get the selected topic and field from the combo box + selected_topic_field = self._topic_field_selector.currentText() + topic, field = selected_topic_field.split(' - ') + + # Plot the data on the graph + # Modify this part based on your data type and plot requirements + x_data = rospy.Time.now().to_sec() # Use timestamp as X-axis + y_data = getattr(msg, field) # Use the specified field from the message as Y-axis data + axes = self._figure.add_subplot(111) + axes.plot(x_data, y_data) + + # Refresh the plot + self._canvas.draw() + + def shutdown_plugin(self): + # Unsubscribe from the topic when the plugin is shut down + self._topic_field_selector.clear() + rospy.Subscriber(topic, Float32, self._plot_data) + + def save_settings(self, plugin_settings, instance_settings): + # Save the plugin's settings when needed + pass + + def restore_settings(self, plugin_settings, instance_settings): + # Restore the plugin's settings when needed + pass + +``` + +In this code, we create a plugin class named `ROSDataPlotter`, which inherits +from `rqt_gui_py.Plugin`. The `__init__` method sets up the GUI elements, +such as a combo box to select topics and message fields, and the matplotlib +figure to plot the data. The `_update_plot` method updates the plot whenever +a new topic or message field is selected from the combo box. The `_plot_data` +method is called when new messages are received on the selected topic, and it +plots the data on the graph. + +### Step 3: Add the Plugin XML File + +Create a file named `plugin.xml` in the root of your package to define the +plugin. Add the following content to the `plugin.xml`: + +```xml + + + + An advanced RQT plugin to plot data from multiple ROS topics. + + + + settings + Plot data from selected ROS topics. + + + +``` + +This XML file defines the plugin class, its description, and the icon +to be displayed in the RQT GUI. + +### Step 4: Build the Plugin + +Build your plugin package using `catkin_make`: + +```bash +catkin_make +``` + +### Step 5: Launch RQT and Load the Plugin + +Launch RQT + + using the command mentioned earlier: + +```bash +rqt +``` + +Once RQT is open, navigate to the "Plugins" menu and select "ROS Data Plotter" +from the list. The plugin will be loaded, and you should see a combo box to +select topics and fields, and a graph to display the plotted data. + +### Adding Custom Functionality + +In this more advanced example, we created an RQT plugin that allows users to +plot data from multiple ROS topics. The example focused on plotting Float32 +messages, but you can modify the `_plot_data` method to handle different +message types or plot multiple data series on the same graph. + +You can further enhance the plugin by adding features like legends, axis +labels, custom plot styles, data smoothing, and real-time updates. +Additionally, you can provide options to save the plotted data as CSV +or images for further analysis. + +With custom plugins, you have the freedom to tailor RQT to suit your +specific application's visualization needs, making it a versatile tool +for ROS developers. + +## External Resources + +- [ROS wiki page for rqt](https://wiki.ros.org/rqt) +- [GeorgiaTech RoboJacket's rqt tutorial](https://www.youtube.com/watch?v=o90IaCRje2I) +- [Creating Custom rqt Plugins](https://github.com/ChoKasem/rqt_tut) + +## Conclusion + +Congratulations! You have now learned the basics of using RQT, including +monitoring information sent over specific topics, configuring RQT to your +preferences, writing your custom plugins, and understanding the importance +of using RQT in ROS development. RQT provides a user-friendly and powerful +graphical interface for ROS applications, making it an essential tool for +developers and researchers working with ROS-based robotic systems. By +leveraging RQT's capabilities, you can streamline your development process +and gain valuable insights into your robot's behavior. diff --git a/docs/software/scripts.md b/docs/software/scripts.md index 8080c19c7..8aa5c1e25 100644 --- a/docs/software/scripts.md +++ b/docs/software/scripts.md @@ -21,16 +21,16 @@ The two nodes within the package can be run through ``rosrun``. ## Alarms **Clear an alarm:** - $ roscd ros_alarms && rosrun nodes/clear.py + $ roscd ros_alarms && rosrun nodes/clear **Monitor an alarm:** - $ roscd ros_alarms && rosrun nodes/monitor.py + $ roscd ros_alarms && rosrun nodes/monitor **Raise an alarm:** - $ roscd ros_alarms && rosrun nodes/raise.py + $ roscd ros_alarms && rosrun nodes/raise **Reports the status of an alarm:** - $ roscd ros_alarms && rosrun nodes/report.py + $ roscd ros_alarms && rosrun nodes/report diff --git a/docs/subjugator/index.rst b/docs/subjugator/index.rst index c34f4e7fd..7a9416713 100644 --- a/docs/subjugator/index.rst +++ b/docs/subjugator/index.rst @@ -15,6 +15,9 @@ SubjuGator 8 Simulating Enabling Cameras + PID Controller + Nav Tube + Watercooling electrical diff --git a/docs/subjugator/nav_tube.rst b/docs/subjugator/nav_tube.rst new file mode 100644 index 000000000..0456994ec --- /dev/null +++ b/docs/subjugator/nav_tube.rst @@ -0,0 +1,98 @@ +======== +Nav Tube +======== + +One of the major components of SubjuGator 8 is the navigation (nav tube). This pressure vessel is located right below the main pressure vessel and contains all of our navigation sensors and equipment. The navigation computer located inside the vessel allows access to the data from these components through a direct ethernet connection. + +.. warning:: + + This system was originally used on SubjuGator 7 and it was ported over with little to no changes in hardware. This does mean that the system will need a major overhaul for continued use of SubjuGator 8. + +Navigation Computer +=================== + +The navigation computer consists of a Gumstix Overo Computer-on-Module that mounts to a carrier board. The carrier board contains headers for the Teledyne Dopper Velocity Logger (DVL) connector board, Analog Devices Inertial Measurement Unit (IMU), and the pressure sensor. At one point, the navigation computer was also connected to a GPS antenna. + +.. warning:: + + No documentation or PCB design files exist for the navigation computer carrier board and there are no more functioning spare boards. Additionally, only the newer GumStix Overo COM boards are available to purchase (with a lead time of roughly 1 year) which may not be compatible with the current system. Be very careful when working inside of the navigation tube. + +Troubleshooting The Nav Tube Connection +--------------------------------------- + +If you cannot ping the Navigation Computer (192.168.37.61), please ensure (in the following order) that: + +* You are pinging 192.168.37.61. +* The ethernet subconn cable has been connected between both pressure vessels. +* You restart the sub at least once. +* That the proper ethernet interface is configured in /etc/netplan YAML file. You may need to check ifconfig for the 'enpXs0' interface (where X is a whole number) if you have unplugged and replugged anything in the sub recently (especially the graphics card). Make sure to test the netplan with ``sudo netplan try`` so that you don't get locked out of the sub because of a bad configuration! +* The ethernet cables are properly connected inside the main pressure vessel. +* The ethernet cables and other cables are properly connected inside the Nav tube. +* The navigation computer is receiving power AND is turned on (green AND blue light on the GumStix). Make sure to be extra careful and vigilent when opening and handling the navigation computer. + +ADIS16400/16405-BMLZ IMU & Magnetometer +=========================================== + +The `ADIS16400-BMLZ `_ / `ADIS16405-BMLZ `_ is the device responsible for tracking our position and orientation in the water. Currently, there is an ADIS16400 IMU in the sub, but it previously used an ADIS16405. + +.. warning:: + + These components are obsolete! It may be difficult to find replacement parts in the future if SubjuGator 8 will see continued use... + +Calibrating the Magnetometer +---------------------------- + +The magnetometer inside of the ADIS16400/16405 measures the strength of the magnetic field at the orientation it faces. We use this data in conjunction with the IMU's gyroscopes and accelerometers to determine the orientation of the sub in the water. The process of calibrating the magnetometer is called magnetic hardsoft compensation and essentially changes how we bias the data it gives us. + +.. note:: + + Calibrating the magnetometer must be done in a pool. + +To calibrate the magnetometer you must first collect magnetometer data (``/imu/mag_raw``) to use for the calibration script. This can be done through the following: + +.. code-block:: bash + + $ roslaunch subjugator_launch sub8.launch + +or if you prefer to not launch the entire sub: + +.. code-block:: bash + + $ roslaunch subjugator_launch nav_box.launch imu:=true + +Then, in a separate terminal window, navigate to a known directory start recording the rosbag by typing: + +.. code-block:: bash + + $ rosbag record -O .bag /imu/mag_raw + +where is a substitute for whatever name you want to give to your bag (I recommend something memorable, like Frank or Penelope). This will record the bag data in the directory that the terminal window is in. + +When you have started recording the bag, have members who are in the water rotate the sub. Only the sub should move, not the members holding onto the sub. The calibration can be done in any order, but you must complete a full roll, pitch, and yaw rotation plus have a few minutes of data with all three occurring at the same time. Once you are done collecting data, kill the recording window using ``ctrl+c``. + +Next, we must run the calibration script with our data. This script is located in ``SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts``. Type the following: + +.. code-block:: bash + + $ ./generate_config + +note that this is a python script, so + +.. code-block:: bash + + $ python3 generate_config + +is also valid. + +.. note:: + + If the script fails because of the ``fit_ellipsoid`` method and the points on the first figure are colinear or nearly colinear you may not have collected thorough enough data. The alternate possibility is a malfunctioning magnetometer. + +The output of the script should be a 3x3 matrix labeled ``scale`` and a length 3 vector labeled ``shift``. These values go into the ``scale`` and ``shift`` values located inside of ``subjugator_launch/launch/subsystems/nav_box.launch``. + +After running ``cm``, you will have (hopefully) successfully calibrated the magnetometer. Make sure to test the sub after calibration to see if the new configuration values are an improvement over the old ones. + +Important Links and Datasheets +============================== + +- `ADIS16400/ADIS16405 Datasheet `_ diff --git a/docs/subjugator/pid.rst b/docs/subjugator/pid.rst new file mode 100644 index 000000000..c2feeae29 --- /dev/null +++ b/docs/subjugator/pid.rst @@ -0,0 +1,26 @@ +PID Controller +-------------- + +SubjuGator 8 uses 6 PID controllers for its 6 degrees of freedom (x, y, z, roll, pitch, yaw). The gain for these PID controllers can be adjusted in ``adaptive_controller.yaml`` found in the ``subjugator_launch/config`` directory. Since the weight of the sub shifts with each component modified, the PID controller values have to be adjusted from time to time. There are two approaches to adjust PID values in the water: + +1. Have someone with experience in tuning PID controllers swim with the sub and use the sub's response to movement commands to adjust the gains. +2. Eliminate the error in each axis by adjusting the gains and evaluating the RMS error in each axis after sending the same movement commands. + +PID Controller Tuning Tips +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +* The learning gains (``ki`` and ``kd``) provide very little input to the wrenches applied to the sub, so it is better to treat it as a PD controller to start with. You can disable the learning gains using ``use_learned: false``. +* While you are tuning the PID values, keep a history of the values you have tried for further analysis during and after testing. You can use ``scp`` for this, but it may just be easier to take a screenshot or a photo. You can also take videos of the sub from the side of the pool to reference later. + +PID Debugging Data Collection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + $ roslaunch subjugator_launch bag_debugging_controller.launch prefix_name:="my_prefix" + +This launch file records a bag file containing adaptive controller ``pose_error``, ``twist_error``, ``adaptation``, ``dist``, and ``drag`` data along with ``wrench``, ``trajectory``, ``odom``, ``imu/data_raw``, and ``dvl/range`` data. This data is useful in determining if the PID values are getting better or worse using simulations. The resulting bag file will be located in ``gnc/subjugator_controller/debug_bags/``. This launch file was written by Andres Pulido. + +.. warning:: + + This launch file needs the sub launch file (``sub8.launch``) running in order to function properly. diff --git a/docs/subjugator/reference.rst b/docs/subjugator/reference.rst index a328730e9..2ed8e1296 100644 --- a/docs/subjugator/reference.rst +++ b/docs/subjugator/reference.rst @@ -47,11 +47,11 @@ Services SetValve ^^^^^^^^ -.. attributetable:: sub8_actuator_board.srv.SetValveRequest +.. attributetable:: sub_actuator_board.srv.SetValveRequest -.. class:: sub8_actuator_board.srv.SetValveRequest +.. class:: sub_actuator_board.srv.SetValveRequest - The request class for the ``sub8_actuator_board/SetValve`` service. + The request class for the ``sub_actuator_board/SetValve`` service. .. attribute:: actuator @@ -65,11 +65,11 @@ SetValve :type: bool -.. attributetable:: sub8_actuator_board.srv.SetValveResponse +.. attributetable:: sub_actuator_board.srv.SetValveResponse -.. class:: sub8_actuator_board.srv.SetValveResponse +.. class:: sub_actuator_board.srv.SetValveResponse - The response class for the ``sub8_actuator_board/SetValve`` service. + The response class for the ``sub_actuator_board/SetValve`` service. .. attribute:: success @@ -83,43 +83,46 @@ SetValve :type: bool -Exceptions ----------- -.. autoclass:: sub8_actuator_board.InvalidAddressException - Actuator Board -------------- ActuatorBoard ^^^^^^^^^^^^^ -.. attributetable:: sub8_actuator_board.ActuatorBoard +.. attributetable:: sub_actuator_board.ActuatorBoard -.. autoclass:: sub8_actuator_board.ActuatorBoard +.. autoclass:: sub_actuator_board.ActuatorBoard :members: ActuatorBoardSimulation ^^^^^^^^^^^^^^^^^^^^^^^ -.. attributetable:: sub8_actuator_board.ActuatorBoardSimulation +.. attributetable:: sub_actuator_board.ActuatorBoardSimulation -.. autoclass:: sub8_actuator_board.ActuatorBoardSimulation +.. autoclass:: sub_actuator_board.ActuatorBoardSimulation :members: -CommandMessage -^^^^^^^^^^^^^^ -.. attributetable:: sub8_actuator_board.CommandMessage +ActuatorSetPacket +^^^^^^^^^^^^^^^^^ +.. attributetable:: sub_actuator_board.ActuatorSetPacket -.. autoclass:: sub8_actuator_board.CommandMessage +.. autoclass:: sub_actuator_board.ActuatorSetPacket :members: -FeedbackMessage -^^^^^^^^^^^^^^^ -.. attributetable:: sub8_actuator_board.FeedbackMessage +ActuatorPollRequestPacket +^^^^^^^^^^^^^^^^^^^^^^^^^ +.. attributetable:: sub_actuator_board.ActuatorPollRequestPacket -.. autoclass:: sub8_actuator_board.FeedbackMessage +.. autoclass:: sub_actuator_board.ActuatorPollRequestPacket :members: -Thrust and Kill Board ---------------------- +ActuatorPollResponsePacket +^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. attributetable:: sub_actuator_board.ActuatorPollResponsePacket + +.. autoclass:: sub_actuator_board.ActuatorPollResponsePacket + :members: + +Sub8 Thrust and Kill Board +-------------------------- ThrusterAndKillBoard ^^^^^^^^^^^^^^^^^^^^ @@ -163,6 +166,51 @@ Thruster .. autoclass:: sub8_thrust_and_kill_board.Thruster :members: +Sub9 Thrust and Kill Board +-------------------------- + +HeartbeatSetPacket +^^^^^^^^^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.HeartbeatSetPacket + +.. autoclass:: sub9_thrust_and_kill_board.HeartbeatSetPacket + :members: + +HeartbeatReceivePacket +^^^^^^^^^^^^^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.HeartbeatReceivePacket + +.. autoclass:: sub9_thrust_and_kill_board.HeartbeatReceivePacket + :members: + +ThrustSetPacket +^^^^^^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.ThrustSetPacket + +.. autoclass:: sub9_thrust_and_kill_board.ThrustSetPacket + :members: + +KillStatus +^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.KillStatus + +.. autoclass:: sub9_thrust_and_kill_board.KillStatus + :members: + +KillSetPacket +^^^^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.KillSetPacket + +.. autoclass:: sub9_thrust_and_kill_board.KillSetPacket + :members: + +KillReceivePacket +^^^^^^^^^^^^^^^^^ +.. attributetable:: sub9_thrust_and_kill_board.KillReceivePacket + +.. autoclass:: sub9_thrust_and_kill_board.KillReceivePacket + :members: + Object Detection ---------------- diff --git a/docs/subjugator/simulating.rst b/docs/subjugator/simulating.rst index b87e299ba..e386b81ac 100644 --- a/docs/subjugator/simulating.rst +++ b/docs/subjugator/simulating.rst @@ -31,7 +31,7 @@ to run the gazebogui with special parameters: $ gazebogui -This will show you ground truth of the simulated environment. However, when debuggin robot behavior, it is usually more usful to have an idea of exactly what the robot knows, which is why there is also Rviz. +This will show you ground truth of the simulated environment. However, when debugging robot behavior, it is usually more usful to have an idea of exactly what the robot knows, which is why there is also Rviz. Run RVIZ ~~~~~~~~ diff --git a/docs/subjugator/watercooling.rst b/docs/subjugator/watercooling.rst new file mode 100644 index 000000000..5344e68bf --- /dev/null +++ b/docs/subjugator/watercooling.rst @@ -0,0 +1,70 @@ +============ +Watercooling +============ + +SubjuGator 8's hardware requires a watercooling loop for the CPU, graphics card, and ESCs. + +Filling the Water cooling Loop +============================== + +.. note:: + + Filling the water cooling loop requires at least 2 people. + +Materials +--------- + +* Sub Shore Power Supply +* Sub battery tube cover +* Sub battery cables +* Large Funnel +* Small Funnel +* Stool or Chair +* Deionized Water w/ Biocide +* Vacuum Pump +* Extra water cooling connectors and tubing +* Water cooling reservoir +* Bucket + +.. note:: + + While deionized water with biocide is preferred for longevity, distilled water will work fine. You should not use purified water. Bonus points if the water is dyed orange :) + +No-Pump Procedure +----------------- + +These steps should be taken when there is no external pump to help with the filling process. + +.. warning:: + + Exercise caution during steps 8 and 9 as the sub will be powered on with a water hazard nearby. + +#. Move the main vessel onto the wooden platform and down to the floor. +#. Set up the environment as shown in the picture below. +#. Gravity feed the system by filling the reservoir with water and letting the bubbles come out naturally. Move on when no more bubbles come out. +#. Empty the reservoir until the water is below the "stove pipe" (metal tube inside the reservoir). +#. Blow into the tube exposed to air to force the water into the loop while extracting the air inside of the loop. Make sure to fill the reservoir until the water is below the "stove pipe" when there is an air gap inside of the water inlet tube. Move on when you cannot remove any more bubbles. +#. Attach the vacuum pump to the tube exposed to air and pump until the pressure reaches around 10 PSI. Pinch the outlet tube and break the vacuum to allow water to fill the low pressure spots. Repeat this step until at least a decent amount of water makes it past the pump. +#. With water at the ready, connect the sub to shore power and fill the reservoir with water (you do not have to worry about the "stove pipe"). +#. Wiggle the sub around while the pump is running to extract any trapped bubbles. + +Emptying the Water Cooling Loop +=============================== + +The water cooling loop should be emptied before the sub is shipped anywhere. Emptying the water cooling loop is easier than filling it up. + +.. note:: + + Emptying the water cooling loop requires at least 2 people. + +Materials +--------- + +* Vacuum pump +* Extra water cooling connectors and tubing +* Water cooling reservoir +* Bucket + + +Procedure +--------- diff --git a/docs/testingprocedures.md b/docs/testingprocedures.md index 6b8a1c244..b1a6d4dc5 100644 --- a/docs/testingprocedures.md +++ b/docs/testingprocedures.md @@ -1,7 +1,9 @@ -# Testing Procedures +# SubjuGator Testing Procedures ## Before leaving +For best results, packing should be done at least one day before a testing session. This + ### Packing list * Power Strip * Table @@ -14,30 +16,34 @@ * Laptops * 7/16 wrench * 5/32 Allen Key -* Allen Key for paintball tank +* Duct tape and scissor +* Buoyancy foams for the sub * Pliers * Flat-head screwdriver * Kill wand +* Multimeter * Goggles / Snorkeling Tube * Pool noddles * Dive fins -* O'ring grease +* O'ring grease (Molykote 55) +* Cable grease (Molykote 44) * Hot glue gun -* Zip ties +* Hot glue sticks +* Large and small zip ties * clippers -* Towels - +* Towel(s) +* [Sunscreen](https://www.youtube.com/watch?v=sTJ7AzBIJoI) +* Tent (If going to Graham Pool or Florida Pool) +* Chairs (If going to Graham Pool) ### Software/Electrical Checklist -* Update and build code -* Verify all sensors output data -* Verify thrusters spin given command -* Verify kill (soft an hard) -* Grease all electrical connectors appropriately - +* Update (`git pull`) and build (`cm`) code. +* Verify all sensors output data. +* Verify that the correct thrusters spin given the appropriate command. +* Verify kill (soft and hard). +* Grease all electrical connectors appropriately. ## At testing site - * Get wall power to powerstrip. * Setup and connect to Network Box. * Roll tether and connect it to network box. **(DO NOT USE POE)** @@ -46,11 +52,11 @@ * SSH into sub. * Start tmux, write code. * Grease O-rings with Molykote 55 every time a pressure vessel is closed. -* Make sure ALL pneumatic tubes are inserted correctly. **(DO NOT FLOOD THE VALVE BOX)** -* Make sure all holes to paintball tank are sealed correctly. **(THIS WILL ALSO RESULT IN FLOODING IF NOT DONE)** +* * **ENSURE THAT THE RED PRESSURE RELIEF CAP ON THE BATTERY TUBE HAS BEEN SCREWED IN PLACE AFTER CHANGING BATTERIES** * Person getting into the pool must do backflip. -* Deploy sub. (check for bubbles, make sure buoyancy is correct) +* Deploy sub. (check for bubbles, make sure buoyancy is correct). * Verify odometry. -What happens when the valve box isn't closed: -![What happens when the valve box isn't closed.](/flooded_valve_box.jpg) +### Troubleshooting + +- :ref:`Troubleshooting The Nav Tube Connection` diff --git a/mil_common/axros b/mil_common/axros index 1b0399935..a4951d333 160000 --- a/mil_common/axros +++ b/mil_common/axros @@ -1 +1 @@ -Subproject commit 1b03999351fb5a61b202ff125f493229c2a1676b +Subproject commit a4951d33356c349856532ddef5c97c6ec6810c28 diff --git a/mil_common/drivers/mil_blueview_driver/CMakeLists.txt b/mil_common/drivers/mil_blueview_driver/CMakeLists.txt index cd055ab48..0e4c754a0 100644 --- a/mil_common/drivers/mil_blueview_driver/CMakeLists.txt +++ b/mil_common/drivers/mil_blueview_driver/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") project(mil_blueview_driver) diff --git a/mil_common/drivers/mil_blueview_driver/include/blueview_ros_driver.hpp b/mil_common/drivers/mil_blueview_driver/include/blueview_ros_driver.hpp index fdd19b4d4..0c9df8090 100644 --- a/mil_common/drivers/mil_blueview_driver/include/blueview_ros_driver.hpp +++ b/mil_common/drivers/mil_blueview_driver/include/blueview_ros_driver.hpp @@ -25,7 +25,7 @@ class BlueViewRosDriver private: ros::NodeHandle nh; BlueViewSonar sonar; - void loop(const ros::TimerEvent&); + void loop(const ros::TimerEvent &); void get_ping(); image_transport::ImageTransport image_transport; diff --git a/mil_common/drivers/mil_passive_sonar/CMakeLists.txt b/mil_common/drivers/mil_passive_sonar/CMakeLists.txt index af384af4b..8ec65d3e7 100644 --- a/mil_common/drivers/mil_passive_sonar/CMakeLists.txt +++ b/mil_common/drivers/mil_passive_sonar/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_passive_sonar) find_package(catkin REQUIRED COMPONENTS tf std_msgs message_runtime message_generation rospy geometry_msgs roscpp) catkin_python_setup() diff --git a/mil_common/drivers/mil_passive_sonar/scripts/hydrophones.py b/mil_common/drivers/mil_passive_sonar/scripts/hydrophones.py index e88a884ba..6f6a5e563 100755 --- a/mil_common/drivers/mil_passive_sonar/scripts/hydrophones.py +++ b/mil_common/drivers/mil_passive_sonar/scripts/hydrophones.py @@ -61,7 +61,9 @@ def process_ping(ping: Ping): template_periods = rospy.get_param("~template_periods", 3) pub = rospy.Publisher("hydrophones/processed", ProcessedPing, queue_size=10) pub_direction = rospy.Publisher( - "hydrophones/direction", Vector3Stamped, queue_size=10 + "hydrophones/direction", + Vector3Stamped, + queue_size=10, ) pub_debug = rospy.Publisher("hydrophones/debug", Debug, queue_size=10) diff --git a/mil_common/drivers/mil_passive_sonar/scripts/multilateration.py b/mil_common/drivers/mil_passive_sonar/scripts/multilateration.py index 695af4b71..25c650f15 100755 --- a/mil_common/drivers/mil_passive_sonar/scripts/multilateration.py +++ b/mil_common/drivers/mil_passive_sonar/scripts/multilateration.py @@ -6,7 +6,6 @@ import numpy as np import rospy import tf2_ros -from geometry_msgs.msg import PointStamped, Vector3Stamped from mil_ros_tools import numpy_to_point, rosmsg_to_numpy from std_srvs.srv import SetBool, SetBoolResponse, Trigger from tf2_geometry_msgs import PointStamped, Vector3Stamped @@ -31,10 +30,15 @@ def __init__(self): self.last_pos = None self.global_frame = rospy.get_param("~global_frame", default="enu") self.heading_sub = rospy.Subscriber( - "/hydrophones/direction", Vector3Stamped, self.heading_cb, queue_size=10 + "/hydrophones/direction", + Vector3Stamped, + self.heading_cb, + queue_size=10, ) self.position_pub = rospy.Publisher( - "/hydrophones/position", PointStamped, queue_size=1 + "/hydrophones/position", + PointStamped, + queue_size=1, ) self.enable_srv = rospy.Service("~enable", SetBool, self.enable_cb) self.reset_srv = rospy.Service("~reset", Trigger, self.reset_cb) @@ -53,7 +57,9 @@ def heading_cb(self, p_message): try: # Transform ping into global frame transformed_vec = self.tfBuffer.transform( - p_message, self.global_frame, rospy.Duration(2) + p_message, + self.global_frame, + rospy.Duration(2), ) transformed_origin = self.tfBuffer.lookup_transform( self.global_frame, @@ -87,7 +93,7 @@ def heading_cb(self, p_message): def publish_position(self): # Setup lines from samples line_array = np.array( - [(np.array(p[0][0:2]), np.array(p[1][0:2])) for p in self.vec_samples] + [(np.array(p[0][0:2]), np.array(p[1][0:2])) for p in self.vec_samples], ) # Calculate least squares intersection @@ -117,7 +123,7 @@ def ls_line_intersection2d(self, lines_array): # Filter out lobs that intersect with many other lobs close to their origin line_array = np.array([[0, 0, 0, 0]]) - line_intersecting_array = np.array([]) + np.array([]) for line1 in lines_array: line_intersections = 0 @@ -149,7 +155,7 @@ def ls_line_intersection2d(self, lines_array): [ line_array, np.array([line1[0][0], line1[0][1], line1[1][0], line1[1][1]]), - ] + ], ) line_array = line_array[1:] @@ -167,11 +173,14 @@ def line_segment_norm(line_end_pts): begin_pts = line_array[:, :2] diffs = line_array[:, 2:4] - begin_pts norms = np.apply_along_axis(line_segment_norm, 1, line_array).reshape( - diffs.shape[0], 1 + diffs.shape[0], + 1, ) rot_left_90 = np.array([[0, -1], [1, 0]]) perp_unit_vecs = np.apply_along_axis( - lambda unit_diffs: rot_left_90.dot(unit_diffs), 1, diffs / norms + lambda unit_diffs: rot_left_90.dot(unit_diffs), + 1, + diffs / norms, ) A_sum = np.zeros((2, 2)) Ap_sum = np.zeros((2, 1)) diff --git a/mil_common/drivers/mil_passive_sonar/scripts/ping_locator.py b/mil_common/drivers/mil_passive_sonar/scripts/ping_locator.py index 35a9a59ab..c4eadf2e6 100755 --- a/mil_common/drivers/mil_passive_sonar/scripts/ping_locator.py +++ b/mil_common/drivers/mil_passive_sonar/scripts/ping_locator.py @@ -64,7 +64,7 @@ def ping_cb(self, msg) -> None: [ correlate(data[:, 0], data[:, i], mode="same") for i in range(0, data.shape[1]) - ] + ], ).transpose() total_time = float(cross_corr.shape[0]) / rate @@ -73,12 +73,12 @@ def ping_cb(self, msg) -> None: deltas = np.zeros((4,)) maxes = np.array( - [np.argmax(cross_corr[:, i]) for i in range(cross_corr.shape[1])] + [np.argmax(cross_corr[:, i]) for i in range(cross_corr.shape[1])], ) if (maxes == cross_corr.shape[0] - 1).any() or (maxes == 0).any(): rospy.logerr( - "/hydrophones/ping_locator lack of features on one of the channels" + "/hydrophones/ping_locator lack of features on one of the channels", ) return @@ -92,7 +92,7 @@ def ping_cb(self, msg) -> None: plots = interweave(time, data.transpose()) titles = ["h%d" % i for i in range(data.shape[0])] vlines = np.array( - [-1 * deltas[i] + msg.trigger_time for i in range(deltas.shape[0])] + [-1 * deltas[i] + msg.trigger_time for i in range(deltas.shape[0])], ) self.debug_samples.publish_plots(plots, titles, vlines) @@ -100,7 +100,7 @@ def ping_cb(self, msg) -> None: vec = util.calculate_dir_pinger(deltas, self.dist_h, self.v_sound) except Exception as e: rospy.logwarn( - "/hydrophones/ping_locator could not calculate pinger direction %s" % e + "/hydrophones/ping_locator could not calculate pinger direction %s" % e, ) return diff --git a/mil_common/drivers/mil_passive_sonar/scripts/triggering.py b/mil_common/drivers/mil_passive_sonar/scripts/triggering.py index aa94a35aa..897a76949 100755 --- a/mil_common/drivers/mil_passive_sonar/scripts/triggering.py +++ b/mil_common/drivers/mil_passive_sonar/scripts/triggering.py @@ -72,10 +72,12 @@ def __init__(self): self.sub = rospy.Subscriber("samples", numpy_msg(Ping), self.hydrophones_cb) elif msg_type == "HydrophoneSamplesStamped": self.sub = rospy.Subscriber( - "samples", numpy_msg(HydrophoneSamplesStamped), self.hydrophones_cb + "samples", + numpy_msg(HydrophoneSamplesStamped), + self.hydrophones_cb, ) else: - ROS_FATAL("sample_msg_type not supported") + rospy.logfatal("sample_msg_type not supported") return self.pub = rospy.Publisher("pings", numpy_msg(Triggered), queue_size=1) rospy.Service("~filter_debug_trigger", Trigger, self.filter_response) @@ -105,7 +107,10 @@ def get_params(self): filt_order = 6000 # reset bandpass filter self.bandpass_filter = StreamedBandpass( - self.target - tolerance, self.target + tolerance, trans_width, filt_order + self.target - tolerance, + self.target + tolerance, + trans_width, + filt_order, ) # Physical Properties @@ -170,7 +175,10 @@ def filter_response(self, req: TriggerRequest) -> TriggerResponse: res.success = False return res x, y = util.find_freq_response( - self.bandpass_filter.h, self.rate, self.general_lower, self.general_upper + self.bandpass_filter.h, + self.rate, + self.general_lower, + self.general_upper, ) plots = np.vstack((x, y)) titles = ["frequency (Hz) vs Gain (dB)"] @@ -190,13 +198,11 @@ def hydrophones_cb(self, msg: Union[Ping, HydrophoneSamplesStamped]) -> None: # Record start time of cb to make sure we are running in real time start_cb = rospy.get_rostime() if isinstance(msg, numpy_msg(Ping)): - msg_header = msg.header msg_channels = msg.channels msg_samples = msg.samples msg_sample_rate = msg.sample_rate msg_data = msg.data elif isinstance(msg, numpy_msg(HydrophoneSamplesStamped)): - msg_header = msg.header msg_channels = msg.hydrophone_samples.channels msg_samples = msg.hydrophone_samples.samples msg_sample_rate = msg.hydrophone_samples.sample_rate @@ -225,13 +231,17 @@ def hydrophones_cb(self, msg: Union[Ping, HydrophoneSamplesStamped]) -> None: data = np.concatenate((self.prev_data, new_data)) # Time according to the passive sonar interface (assuming no missed messages) time = np.linspace( - self.time, self.time + data.shape[0] / float(self.rate), data.shape[0] + self.time, + self.time + data.shape[0] / float(self.rate), + data.shape[0], ) # only use hydrophone 0 to trigger, more efficient # do a max convolution on the data max_convolves = np.apply_along_axis( - lambda x: maximum_filter1d(x, self.window_size, axis=0), 0, data + lambda x: maximum_filter1d(x, self.window_size, axis=0), + 0, + data, ) max_convolve = max_convolves[:, 0] # NOTE: No need to crop because zero padding is used and we are doing a max convolution @@ -254,10 +264,10 @@ def hydrophones_cb(self, msg: Union[Ping, HydrophoneSamplesStamped]) -> None: ping_data = gradients[start:end] triggered_at_sample = triggered_at_idx + (self.window_size - 1) / 2 start_sample = triggered_at_sample - int( - 50 * self.rate * self.trigger_window_past + 50 * self.rate * self.trigger_window_past, ) end_sample = triggered_at_sample + int( - 50 * self.rate * self.trigger_window_future + 50 * self.rate * self.trigger_window_future, ) ping_samples = data[start_sample:end_sample] @@ -321,7 +331,7 @@ def hydrophones_cb(self, msg: Union[Ping, HydrophoneSamplesStamped]) -> None: if spare_time < 0: rospy.logwarn( "Spare Time After Callback: %f, Running slower than real time" - % spare_time + % spare_time, ) diff --git a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/algorithms.py b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/algorithms.py index 71d469f7e..90a4c8bf3 100644 --- a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/algorithms.py +++ b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/algorithms.py @@ -38,7 +38,10 @@ def run( samples = zero_mean(samples) freq, amplitude, samples_fft = compute_freq( - samples, sample_rate, numpy.array([5e3, 40e3]), plot=True + samples, + sample_rate, + numpy.array([5e3, 40e3]), + plot=True, ) fft_sharpness = amplitude**2 / numpy.sum(samples_fft) if DEBUG: @@ -47,7 +50,10 @@ def run( list(map(plt.plot, samples_fft)) upsamples, upsample_rate = preprocess(samples, sample_rate, 3e6) deltas, delta_errors, template_pos, template_width = compute_deltas( - upsamples, upsample_rate, max(dist_h, dist_h4) / v_sound, 20e-2 / v_sound + upsamples, + upsample_rate, + max(dist_h, dist_h4) / v_sound, + 20e-2 / v_sound, ) delta_errors = delta_errors / amplitude if len(deltas) == 3: @@ -64,20 +70,20 @@ def run( elif numpy.max(delta_errors) > 1e-3: errors.append("High template match error (%s)" % str(delta_errors)) - return dict( - errors=errors, - freq=freq, - amplitude=amplitude, - fft_sharpness=fft_sharpness, - samples_fft=samples_fft, - pos=pos, - deltas=deltas, - delta_errors=delta_errors, - upsamples=upsamples, - upsample_rate=upsample_rate, - template_pos=template_pos, - template_width=template_width, - ) + return { + "errors": errors, + "freq": freq, + "amplitude": amplitude, + "fft_sharpness": fft_sharpness, + "samples_fft": samples_fft, + "pos": pos, + "deltas": deltas, + "delta_errors": delta_errors, + "upsamples": upsamples, + "upsample_rate": upsample_rate, + "template_pos": template_pos, + "template_width": template_width, + } def zero_mean(samples: numpy.ndarray): @@ -95,7 +101,10 @@ def normalize(samples: numpy.ndarray): def compute_freq( - samples: numpy.ndarray, sample_rate: int, freq_range, plot: bool = False + samples: numpy.ndarray, + sample_rate: int, + freq_range, + plot: bool = False, ): """ Checks whether samples are likely a solid ping and returns the frequency. @@ -105,11 +114,13 @@ def compute_freq( # Compute fft, find peaks in desired range fft_length = samples.shape[1] samples_fft = numpy.absolute(numpy.fft.fft(samples_window, fft_length, axis=1))[ - :, : int(fft_length / 2) + :, + : int(fft_length / 2), ] bin_range = freq_to_bin(freq_range, sample_rate, fft_length).astype(int) peaks = bin_range[0] + numpy.argmax( - samples_fft[:, bin_range[0] : bin_range[1]], axis=1 + samples_fft[:, bin_range[0] : bin_range[1]], + axis=1, ) # Sort peaks, take mean of the middle @@ -248,7 +259,10 @@ def make_template(channel: numpy.ndarray, width: int): def match_template( - channel: numpy.ndarray, start: int, stop: int, template: numpy.ndarray + channel: numpy.ndarray, + start: int, + stop: int, + template: numpy.ndarray, ): """ Matches template to channel, returning the point where the start @@ -275,7 +289,10 @@ def match_template( def calculate_error( - channel: numpy.ndarray, start: int, stop: int, template: numpy.ndarray + channel: numpy.ndarray, + start: int, + stop: int, + template: numpy.ndarray, ): """ Slides the template along channel from start to stop, giving the @@ -315,7 +332,11 @@ def find_minimum(data: numpy.ndarray): def compute_pos_4hyd( - deltas: numpy.ndarray, sample_rate: int, v_sound: int, dist_h: float, dist_h4: float + deltas: numpy.ndarray, + sample_rate: int, + v_sound: int, + dist_h: float, + dist_h4: float, ): """ Solves the 4 hydrophone case (3 deltas) for heading, declination, @@ -360,7 +381,8 @@ def compute_pos_4hyd( samples = numpy.loadtxt(sys.argv[1], delimiter=",").transpose() else: samples = util.make_ping( - [0, 0.25, 1.234, -5], {"freq": 23e3, "sample_rate": sample_rate} + [0, 0.25, 1.234, -5], + {"freq": 23e3, "sample_rate": sample_rate}, ) r = run(samples, sample_rate, 1497, 2.286000e-02, 2.286000e-02) @@ -392,7 +414,8 @@ def compute_pos_4hyd( if r["template_pos"] is not None: period = int(round(r["upsample_rate"] / r["freq"])) template = r["upsamples"][ - 0, r["template_pos"] : r["template_pos"] + r["template_width"] + 0, + r["template_pos"] : r["template_pos"] + r["template_width"], ] plot_start = r["template_pos"] - 2 * period plot_stop = r["template_pos"] + r["template_width"] + 2 * period diff --git a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/streamed_bandpass.py b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/streamed_bandpass.py index a007d3d54..594ac51a4 100644 --- a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/streamed_bandpass.py +++ b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/streamed_bandpass.py @@ -78,7 +78,8 @@ def make_filter(self) -> None: """ if not self.is_ready_to_make_filter(): raise Exception( - "Some parameters have not been filled in yet: ", self.__dict__ + "Some parameters have not been filled in yet: ", + self.__dict__, ) self.h = scipy.signal.remez( self.size, @@ -105,7 +106,9 @@ def convolve(self, data: np.ndarray) -> np.ndarray: np.ndarray: The resulting filtered data. """ filtered_data = np.apply_along_axis( - lambda x: fftconvolve(x, self.h, "full"), 0, data + lambda x: fftconvolve(x, self.h, "full"), + 0, + data, ) if self.from_prev is not None: filtered_data[: self.size - 1] += self.from_prev diff --git a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/tx_interface.py b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/tx_interface.py index 92d823a41..c63482eb3 100644 --- a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/tx_interface.py +++ b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/tx_interface.py @@ -24,7 +24,9 @@ def __init__(self, nh: NodeHandle): nh (NodeHandle): The TxROS node handler. """ self._direction_sub = nh.subscribe( - "/hydrophones/direction", Vector3Stamped, callback=self.heading_cb + "/hydrophones/direction", + Vector3Stamped, + callback=self.heading_cb, ) self._enable_srv = nh.get_service_client("/multilateration/enable", SetBool) self._reset_srv = nh.get_service_client("/multilateration/reset", Trigger) diff --git a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/util.py b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/util.py index 571872489..b8f26f974 100644 --- a/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/util.py +++ b/mil_common/drivers/mil_passive_sonar/src/mil_passive_sonar/util.py @@ -22,9 +22,7 @@ def resample(x, p, q): delay = math.floor(math.ceil(Lhalf) / q) nz1 = 0 - while math.ceil(((Lx - 1) * p + len(h) + nz1) / q) - delay < math.ceil( - Lx * p / q - ): # noqa + while math.ceil(((Lx - 1) * p + len(h) + nz1) / q) - delay < math.ceil(Lx * p / q): nz1 = nz1 + 1 h = numpy.hstack([h, numpy.zeros(nz1)]) y = upfirdn(x, h, p, q) @@ -48,7 +46,13 @@ def upfirdn(x, h, p, q): def make_ping_channel( - delay=0, freq=25e3, offset=0x7FFF, ampl=200, zeros=64, count=1024, sample_rate=300e3 + delay=0, + freq=25e3, + offset=0x7FFF, + ampl=200, + zeros=64, + count=1024, + sample_rate=300e3, ): w = 2 * math.pi * freq / sample_rate sinwave = ampl * numpy.sin(w * (numpy.arange(count) - delay)) @@ -180,7 +184,7 @@ def calculate_dir_pinger(deltas, h_dist, v_sound): """ if numpy.max(deltas) > h_dist / float(v_sound): raise Exception( - "an impossible time delay was detected ( > %f)" % float(h_dist / v_sound) + "an impossible time delay was detected ( > %f)" % float(h_dist / v_sound), ) x = numpy.zeros((3,)) diff --git a/mil_common/drivers/mil_pneumatic_actuator/CMakeLists.txt b/mil_common/drivers/mil_pneumatic_actuator/CMakeLists.txt index 34b8ef522..9c50fe661 100644 --- a/mil_common/drivers/mil_pneumatic_actuator/CMakeLists.txt +++ b/mil_common/drivers/mil_pneumatic_actuator/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_pneumatic_actuator) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/board.py b/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/board.py index 6b2fa768f..0a9217691 100644 --- a/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/board.py +++ b/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/board.py @@ -32,7 +32,8 @@ class PnuematicActuatorDriverChecksumError(PnuematicActuatorDriverError): def __init__(self, checksum_is, checksum_should_be): message = "Invalid checksum. Recievied {}, should be {}".format( - hex(checksum_is), hex(checksum_should_be) + hex(checksum_is), + hex(checksum_should_be), ) super().__init__(message) @@ -46,7 +47,8 @@ class PnuematicActuatorDriverResponseError(PnuematicActuatorDriverError): def __init__(self, received, expected): message = "Unexpected response. Expected {}, received {}".format( - hex(received), hex(expected) + hex(received), + hex(expected), ) super().__init__(message) @@ -99,7 +101,8 @@ def _verify_checksum(cls, byte: int, checksum: int) -> None: """ if not Constants.verify_checksum(byte, checksum): raise PnuematicActuatorDriverChecksumError( - checksum, Constants.create_checksum(byte) + checksum, + Constants.create_checksum(byte), ) def _get_response(self) -> int: @@ -111,7 +114,7 @@ def _get_response(self) -> int: """ data = self.ser.read(2) if len(data) != 2: - raise PnuematicActuatorTimeoutError() + raise PnuematicActuatorTimeoutError response = Constants.deserialize_packet(data) data = response[0] chksum = response[1] diff --git a/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/constants.py b/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/constants.py index a196fefa3..d962ace20 100644 --- a/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/constants.py +++ b/mil_common/drivers/mil_pneumatic_actuator/mil_pneumatic_actuator/constants.py @@ -33,8 +33,7 @@ class Constants: PING_RESPONSE = 0x11 CHECKSUM_CODE = 0xFF - @classmethod - def create_checksum(cls, byte: int) -> int: + def create_checksum(self, byte: int) -> int: """ Creates a checksum given a piece of data. The checksum is calculated through the XOR operation. @@ -45,10 +44,9 @@ def create_checksum(cls, byte: int) -> int: Returns: int: The checksum. """ - return byte ^ cls.CHECKSUM_CODE + return byte ^ Constants.CHECKSUM_CODE - @classmethod - def verify_checksum(cls, byte: int, checksum: int) -> bool: + def verify_checksum(self, byte: int, checksum: int) -> bool: """ Verifies that two checksums are the same. @@ -59,20 +57,18 @@ def verify_checksum(cls, byte: int, checksum: int) -> bool: Returns: bool: Whether the two checksums are the same. """ - return checksum == cls.create_checksum(byte) + return checksum == self.create_checksum(byte) - @classmethod - def serialize_packet(cls, byte: int) -> bytes: + def serialize_packet(self, byte: int) -> bytes: """ Serializes a piece of data (an integer) into a bytes object. Returns: bytes: The serialized packet. """ - return struct.pack("BB", byte, cls.create_checksum(byte)) + return struct.pack("BB", byte, self.create_checksum(byte)) - @classmethod - def deserialize_packet(cls, data: bytes) -> Tuple[int, int]: + def deserialize_packet(self, data: bytes) -> Tuple[int, int]: """ Deserializes a piece of data (a bytes object) into a tuple of two numbers. The first number is the data carried by the packet, and the second is the checksum diff --git a/mil_common/drivers/mil_pneumatic_actuator/nodes/pneumatic_actuator_node b/mil_common/drivers/mil_pneumatic_actuator/nodes/pneumatic_actuator_node index 54a600897..bf8261177 100755 --- a/mil_common/drivers/mil_pneumatic_actuator/nodes/pneumatic_actuator_node +++ b/mil_common/drivers/mil_pneumatic_actuator/nodes/pneumatic_actuator_node @@ -17,7 +17,13 @@ class Actuator: """ def __init__( - self, type_str, open_id, open_default, close_id, close_default, pulse_time + self, + type_str, + open_id, + open_default, + close_id, + close_default, + pulse_time, ): self.pulse_time = pulse_time self.type = type_str @@ -38,7 +44,12 @@ class Actuator: close_id = config["ports"]["close_port"]["id"] close_default = config["ports"]["close_port"]["default"] return cls( - type_str, open_id, open_default, close_id, close_default, pulse_time + type_str, + open_id, + open_default, + close_id, + close_default, + pulse_time, ) return cls(type_str, open_id, open_default, -1, 0, pulse_time) @@ -97,8 +108,9 @@ class PnuematicActuatorNode: """ rospy.loginfo( "Setting valve {} to {}".format( - srv.actuator, "open" if srv.opened else "closed" - ) + srv.actuator, + "open" if srv.opened else "closed", + ), ) self.set_port(int(srv.actuator), srv.opened) return {"success": True} @@ -124,7 +136,9 @@ class PnuematicActuatorNode: if not self.connected: try: self.driver = PnuematicActuatorDriver( - self.port, baud=self.baud_rate, simulated=self.is_simulation + self.port, + baud=self.baud_rate, + simulated=self.is_simulation, ) except SerialException as e: rospy.logwarn(e) diff --git a/mil_common/drivers/mil_usb_to_can/CMakeLists.txt b/mil_common/drivers/mil_usb_to_can/CMakeLists.txt index 8752b24e7..dfd241d3c 100644 --- a/mil_common/drivers/mil_usb_to_can/CMakeLists.txt +++ b/mil_common/drivers/mil_usb_to_can/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_usb_to_can) find_package(catkin REQUIRED COMPONENTS rospy @@ -9,7 +9,7 @@ catkin_package() if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) - add_rostest(test/adder_device.test) - add_rostest(test/echo_device.test) + add_rostest(test/adder_device_sub9.test) + add_rostest(test/echo_device_sub9.test) add_rostest(test/basic.test) endif() diff --git a/mil_common/drivers/mil_usb_to_can/launch/example.launch b/mil_common/drivers/mil_usb_to_can/launch/example.launch index 68e69671f..630b8bd95 100644 --- a/mil_common/drivers/mil_usb_to_can/launch/example.launch +++ b/mil_common/drivers/mil_usb_to_can/launch/example.launch @@ -3,7 +3,7 @@ - + # Path of serial device diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/__init__.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/__init__.py index 86cce2fee..e69de29bb 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/__init__.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/__init__.py @@ -1,74 +0,0 @@ -#!/usr/bin/python3 -""" -The ``mil_usb_to_can`` package implements a driver and helper class for the -USB to CAN driver board. The package provides full functionality for communication -with the board, along with helper classes to provide a better, more structured use -of data being sent to and received from the board. - -To launch the driver, start ``driver.py``, an executable Python file. This file -will spin up a driver and interface to the board. If you are starting the driver -from a launch file, you can additionally provide information for the embedded -:class:`USBtoCANBoard` class, which handles connecting to the board. This information -can be provided through local ROS parameters: - -.. code-block:: xml - - - - - - # Path of serial device (default: "/dev/tty0") - port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A800GHCF-if00-port0 - # Baudrate of device (default: 115200) - baudrate: 115200 - # The CAN device id of the board (default: 0) - can_id: 0 - # List of python device handle classes (list of device id: python class implementation) - device_handles: - "18": sub8_thrust_and_kill_board.ThrusterAndKillBoard - "83": sub8_actuator_board.ActuatorBoard - simulated_devices: - "18": sub8_thrust_and_kill_board.ThrusterAndKillBoardSimulation - "83": sub8_actuator_board.ActuatorBoardSimulation - - - - -Many of the parameters shown are used to connect the driver to the physical board. -However, the final two parameters, ``device_handles`` and ``simulated_devices`` -are used to create device handles for specific devices. These device handles can -send and receive data from the board, and many be used to do both, or one or the -other. - -As suggested in the above XML, the package implements drivers for a physical run, -as well as a simulated run. Whether the simulated drivers are used is controlled -by the global ``/is_simulation`` parameter. The physical drivers implement -:class:`CANDeviceHandle`, whereas the simulated drivers implement from -:class:`SimulatedCANDevice`. More information on writing device handles can be -found in the documentation of each type of class. -""" - -from .application_packet import ( - ApplicationPacket, - ApplicationPacketWrongIdentifierException, -) -from .board import USBtoCANBoard -from .device import CANDeviceHandle, ExampleAdderDeviceHandle, ExampleEchoDeviceHandle -from .driver import USBtoCANDriver -from .simulation import ( - ExampleSimulatedAdderDevice, - ExampleSimulatedEchoDevice, - SimulatedCANDevice, - SimulatedUSBtoCAN, -) -from .utils import ( - ChecksumException, - CommandPacket, - InvalidEndFlagException, - InvalidFlagException, - InvalidStartFlagException, - Packet, - PayloadTooLargeException, - ReceivePacket, - USB2CANException, -) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/__init__.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/__init__.py new file mode 100644 index 000000000..30d817879 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/__init__.py @@ -0,0 +1,74 @@ +#!/usr/bin/python3 +""" +The ``mil_usb_to_can`` package implements a driver and helper class for the +USB to CAN driver board. The package provides full functionality for communication +with the board, along with helper classes to provide a better, more structured use +of data being sent to and received from the board. + +To launch the driver, start ``sub8_driver.py``, an executable Python file. This file +will spin up a driver and interface to the board. If you are starting the driver +from a launch file, you can additionally provide information for the embedded +:class:`USBtoCANBoard` class, which handles connecting to the board. This information +can be provided through local ROS parameters: + +.. code-block:: xml + + + + + + # Path of serial device (default: "/dev/tty0") + port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A800GHCF-if00-port0 + # Baudrate of device (default: 115200) + baudrate: 115200 + # The CAN device id of the board (default: 0) + can_id: 0 + # List of python device handle classes (list of device id: python class implementation) + device_handles: + "18": sub8_thrust_and_kill_board.ThrusterAndKillBoard + "83": sub8_actuator_board.ActuatorBoard + simulated_devices: + "18": sub8_thrust_and_kill_board.ThrusterAndKillBoardSimulation + "83": sub8_actuator_board.ActuatorBoardSimulation + + + + +Many of the parameters shown are used to connect the driver to the physical board. +However, the final two parameters, ``device_handles`` and ``simulated_devices`` +are used to create device handles for specific devices. These device handles can +send and receive data from the board, and many be used to do both, or one or the +other. + +As suggested in the above XML, the package implements drivers for a physical run, +as well as a simulated run. Whether the simulated drivers are used is controlled +by the global ``/is_simulation`` parameter. The physical drivers implement +:class:`CANDeviceHandle`, whereas the simulated drivers implement from +:class:`SimulatedCANDevice`. More information on writing device handles can be +found in the documentation of each type of class. +""" + +from .application_packet import ( + ApplicationPacket, + ApplicationPacketWrongIdentifierException, +) +from .board import USBtoCANBoard +from .device import CANDeviceHandle, ExampleAdderDeviceHandle, ExampleEchoDeviceHandle +from .simulation import ( + ExampleSimulatedAdderDevice, + ExampleSimulatedEchoDevice, + SimulatedCANDevice, + SimulatedUSBtoCAN, +) +from .sub8_driver import USBtoCANDriver +from .utils import ( + ChecksumException, + CommandPacket, + InvalidEndFlagException, + InvalidFlagException, + InvalidStartFlagException, + Packet, + PayloadTooLargeException, + ReceivePacket, + USB2CANException, +) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/application_packet.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/application_packet.py similarity index 93% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/application_packet.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/application_packet.py index 1965cc022..904867cfa 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/application_packet.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/application_packet.py @@ -83,7 +83,9 @@ def __bytes__(self) -> bytes: @classmethod def from_bytes( - cls: type[T], data: bytes, expected_identifier: int | None = None + cls: type[T], + data: bytes, + expected_identifier: int | None = None, ) -> T: """ Unpacks a series of packed bytes representing an application packet using @@ -108,16 +110,19 @@ def from_bytes( packet = cls(*struct.unpack(f"B{payload_len}s", data)) if expected_identifier is not None and expected_identifier != packet.identifier: raise ApplicationPacketWrongIdentifierException( - packet.identifier, expected_identifier + packet.identifier, + expected_identifier, ) return packet def __repr__(self): return "{}(identifier={}, payload={})".format( - self.__class__.__name__, self.identifier, self.payload + self.__class__.__name__, + self.identifier, + self.payload, ) def __eq__(self, other): if not isinstance(other, ApplicationPacket): - raise NotImplemented() + raise NotImplementedError return self.identifier == other.identifier and self.payload == other.payload diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/board.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/board.py similarity index 94% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/board.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/board.py index 63b60226b..285332e32 100755 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/board.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/board.py @@ -5,8 +5,9 @@ from typing import Optional import serial -from mil_usb_to_can.simulation import SimulatedUSBtoCAN -from mil_usb_to_can.utils import ( # causes error if relative import used - GH-731 + +from .simulation import SimulatedUSBtoCAN +from .utils import ( # causes error if relative import used - GH-731 CommandPacket, ReceivePacket, ) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/device.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/device.py similarity index 97% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/device.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/device.py index ca0e25293..f9014b2d2 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/device.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/device.py @@ -95,7 +95,7 @@ def srv_req(self, req: TriggerRequest): self.send_new_string(8) except PayloadTooLargeException: pass - except: + except Exception: return TriggerResponse(False, "Testing large strings failed.") return TriggerResponse(True, "Complete!") @@ -105,7 +105,7 @@ def on_data(self, data): raise RuntimeError(f"Received {data} but have not yet sent anything") elif data.decode() != self.last_sent[0]: raise ValueError( - f"ERROR! Received {data.decode()} but last sent {self.last_sent}" + f"ERROR! Received {data.decode()} but last sent {self.last_sent}", ) else: self.count += 1 @@ -143,7 +143,8 @@ def on_service_req(self, req): if rospy.Time.now() - start > rospy.Duration(1): return -1 res = ApplicationPacket.from_bytes( - self.response_received, expected_identifier=37 + self.response_received, + expected_identifier=37, ) my_sum = struct.unpack("i", res.payload) return my_sum diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/simulation.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/simulation.py similarity index 97% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/simulation.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/simulation.py index 40e259b4f..498f72634 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/simulation.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/simulation.py @@ -85,7 +85,9 @@ class SimulatedUSBtoCAN(SimulatedSerial): """ def __init__( - self, devices: dict[int, type[SimulatedCANDevice]] | None = None, can_id=-1 + self, + devices: dict[int, type[SimulatedCANDevice]] | None = None, + can_id=-1, ): """ Args: diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/driver.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py similarity index 91% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/driver.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py index ef32f5dbc..c03b318d2 100755 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/driver.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py @@ -3,12 +3,15 @@ from typing import TYPE_CHECKING, Any, Dict, Generator, Optional, Tuple import rospy -from mil_usb_to_can.board import ( - USBtoCANBoard, # relative import causes import error with rosrun - GH-731 -) -from mil_usb_to_can.utils import USB2CANException from serial import SerialException +from mil_usb_to_can.sub8.board import ( + USBtoCANBoard, +) + +# relative import causes import error with rosrun - GH-731 +from mil_usb_to_can.sub8.utils import USB2CANException + if TYPE_CHECKING: from .device import CANDeviceHandle @@ -36,12 +39,12 @@ def __init__(self): # If simulation mode, load simulated devices if simulation: rospy.logwarn( - "CAN2USB driver in simulation! Will not talk to real hardware." + "CAN2USB driver in simulation! Will not talk to real hardware.", ) devices = dict( list( - self.parse_module_dictionary(rospy.get_param("~simulated_devices")) - ) + self.parse_module_dictionary(rospy.get_param("~simulated_devices")), + ), ) self.board = USBtoCANBoard( port=port, @@ -57,7 +60,7 @@ def __init__(self): self.handles: Dict[int, CANDeviceHandle] = { device_id: cls(self, device_id) for device_id, cls in self.parse_module_dictionary( - rospy.get_param("~device_handles") + rospy.get_param("~device_handles"), ) } @@ -82,9 +85,7 @@ def read_packet(self) -> bool: self.handles[packet.device].on_data(packet.data) else: rospy.logwarn( - "Message received for device {}, but no handle registered".format( - packet.device - ) + f"Message received for device {packet.device}, but no handle registered", ) return True @@ -112,7 +113,7 @@ def send_data(self, *args, **kwargs) -> Optional[Exception]: @staticmethod def parse_module_dictionary( - d: Dict[str, Any] + d: Dict[str, Any], ) -> Generator[Tuple[int, Any], None, None]: """ Generator to load classes from module strings specified in a dictionary. diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/utils.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py similarity index 96% rename from mil_common/drivers/mil_usb_to_can/mil_usb_to_can/utils.py rename to mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py index 7867020b1..0ef0cf9a1 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/utils.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py @@ -26,9 +26,7 @@ class ChecksumException(USB2CANException): def __init__(self, calculated, expected): super().__init__( - "Checksum was calculated as {} but reported as {}".format( - calculated, expected - ) + f"Checksum was calculated as {calculated} but reported as {expected}", ) @@ -40,7 +38,7 @@ class PayloadTooLargeException(USB2CANException): def __init__(self, length): super().__init__( - f"Payload is {length} bytes, which is greater than the maximum of 8" + f"Payload is {length} bytes, which is greater than the maximum of 8", ) @@ -171,7 +169,8 @@ def __repr__(self): @classmethod def read_packet( - cls: type[T], stream: serial.Serial | SimulatedUSBtoCAN + cls: type[T], + stream: serial.Serial | SimulatedUSBtoCAN, ) -> T | None: """ Read a packet with a known size from a serial device @@ -274,7 +273,11 @@ def create_receive_packet(cls, device_id: int, payload: bytes) -> ReceivePacket: raise PayloadTooLargeException(len(payload)) checksum = cls._calculate_checksum(device_id, payload) data = struct.pack( - f"BB{len(payload)}sB", device_id, len(payload), payload, checksum + f"BB{len(payload)}sB", + device_id, + len(payload), + payload, + checksum, ) return cls(data) @@ -378,7 +381,10 @@ def data(self) -> bytes: @classmethod def _create_command_packet( - cls, length_byte: int, filter_id: int, data: bytes = b"" + cls, + length_byte: int, + filter_id: int, + data: bytes = b"", ) -> CommandPacket: """ Creates a command packet. @@ -423,7 +429,9 @@ def create_send_packet(cls, data: bytes, can_id: int = 0) -> CommandPacket: @classmethod def create_request_packet( - cls, filter_id: int, receive_length: int + cls, + filter_id: int, + receive_length: int, ) -> CommandPacket: """ Creates a command packet to request data from a CAN device. @@ -483,5 +491,7 @@ def __bytes__(self) -> bytes: def __str__(self): return "CommandPacket(filter_id={}, is_receive={}, receive_length={})".format( - self.filter_id, self.is_receive, self.length + self.filter_id, + self.is_receive, + self.length, ) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py new file mode 100644 index 000000000..2501f364e --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py @@ -0,0 +1,2 @@ +from .device import CANDeviceHandle, SimulatedCANDeviceHandle +from .packet import AckPacket, NackPacket, Packet diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/device.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/device.py new file mode 100644 index 000000000..1e7638e75 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/device.py @@ -0,0 +1,87 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +if TYPE_CHECKING: + from .packet import Packet + from .sub9_driver import SimulatedUSBtoCANStream, USBtoCANDriver + + +class SimulatedCANDeviceHandle: + """ + Simulates a CAN device, with functions to be overridden to handle data requests + and sends from motherboard. + + Child classes can inherit from this class to implement a simulated CAN device. + + Attributes: + inbound_packets (type[Packet]): The types of packets listened to by this device. + Packets of this type will be routed to the :meth:`~.on_data` method of + the device handle. + """ + + def __init__( + self, + sim_board: SimulatedUSBtoCANStream, + inbound_packets: list[type[Packet]], + ): + self._sim_board = sim_board + self.inbound_packets = inbound_packets + + def send_data(self, data: bytes): + """ + Sends data over the serial connection. + """ + self._sim_board.send_to_bus(data) + + def on_data(self, packet: Packet): + """ + Called when an relevant incoming packet is received over the serial + connection. Relevant packets are those listed in :attr:`~.inbound_packets`. + + Partial data (ie, incomplete packets) are not sent through this event. + + Args: + packet (Packet): The incoming packet. + """ + del packet + + +class CANDeviceHandle: + """ + Base class to allow developers to write handles for communication with a + particular CAN device. The two methods of the handle allow the handle to listen + to incoming data, as well as send data. + """ + + def __init__(self, driver: USBtoCANDriver): + """ + Args: + driver (USBtoCANBoard): Driver that is used to communicate with the board. + device_id (int): The CAN ID of the device this class will handle. Not currently used. + """ + self._driver = driver + + def on_data(self, data: Packet): + """ + Called when a return packet is sent over the serial connection. In the + USB to CAN protocol, it is assumed that packets will be returned to the + motherboard in the order they are sent out. Therefore, the type of packet + sent through this event is not guaranteed, and is only determined by the + message and subclass ID sent by the individual board. + + Partial data (ie, incomplete packets) are not sent through this event. + + Args: + packet (Packet): The incoming packet. + """ + del data + + def send_data(self, data: Packet): + """ + Sends a packet over the serial connection. + + Args: + data (Packet): The packet to send. + """ + return self._driver.send_data(self, data) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/example.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/example.py new file mode 100644 index 000000000..d0467b41d --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/example.py @@ -0,0 +1,148 @@ +import random +import string +from dataclasses import dataclass + +import rospy +from rospy_tutorials.srv import AddTwoInts +from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse + +from .device import CANDeviceHandle, SimulatedCANDeviceHandle +from .packet import Packet + + +@dataclass +class ExampleEchoRequestPacket( + Packet, + msg_id=0x99, + subclass_id=0x00, + payload_format="10s", +): + my_special_string: bytes + + +@dataclass +class ExampleEchoResponsePacket( + Packet, + msg_id=0x99, + subclass_id=0x01, + payload_format="10s", +): + my_special_string: bytes + + +@dataclass +class ExampleAdderRequestPacket( + Packet, + msg_id=0x99, + subclass_id=0x02, + payload_format="BB", +): + num_one: int + num_two: int + + +@dataclass +class ExampleAdderResponsePacket( + Packet, + msg_id=0x99, + subclass_id=0x03, + payload_format="B", +): + response: int + + +class ExampleEchoDeviceHandle(CANDeviceHandle): + """ + An example implementation of a CANDeviceHandle which will handle + a device that echos back any data sent to it. + """ + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.last_sent = None + self.count = 0 + self._srv = rospy.Service("start_echo", Trigger, self.srv_req) + + def srv_req(self, req: TriggerRequest): + while self.count < 10: + if not self.send_new_string(10): + return TriggerResponse(False, "Unable to send string of length ten.") + return TriggerResponse(True, "Complete!") + + def on_data(self, data: ExampleEchoRequestPacket): + response = data.my_special_string.decode() + if self.last_sent is None: + raise RuntimeError(f"Received {data} but have not yet sent anything") + elif response != self.last_sent[0]: + raise ValueError( + f"ERROR! Received {response} but last sent {self.last_sent}", + ) + else: + self.count += 1 + + def send_new_string(self, length: int = 10): + # Example string to test with + test = "".join([random.choice(string.ascii_letters) for _ in range(length)]) + self.last_sent = (test, rospy.Time.now()) + self.send_data(ExampleEchoRequestPacket(test.encode())) + start = rospy.Time.now() + count_now = self.count + while self.count == count_now: + if rospy.Time.now() - start > rospy.Duration(1): + return False + return True + + +class ExampleAdderDeviceHandle(CANDeviceHandle): + """ + An example implementation of a CANDeviceHandle which will handle + a device that echos back any data sent to it. + """ + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.response_received = None + self._srv = rospy.Service("add_two_ints", AddTwoInts, self.on_service_req) + + def on_service_req(self, req): + self.response_received = None + self.send_data(ExampleAdderRequestPacket(req.a, req.b)) + start = rospy.Time.now() + while self.response_received is None: + if rospy.Time.now() - start > rospy.Duration(1): + return -1 + return self.response_received.response + + def on_data(self, data: ExampleAdderResponsePacket): + self.response_received = data + + +class ExampleSimulatedEchoDevice(SimulatedCANDeviceHandle): + """ + Example implementation of a SimulatedCANDevice. + On sends, stores the transmitted data in a buffer. + When data is requested, it echos this data back. + """ + + def __init__(self, handle, inbound_packets): + # Call parent classes constructor + super().__init__(handle, inbound_packets) + + def on_data(self, data: ExampleEchoRequestPacket): + # Echo data received back onto the bus + self.send_data(bytes(ExampleEchoResponsePacket(data.my_special_string))) + + +class ExampleSimulatedAdderDevice(SimulatedCANDeviceHandle): + """ + Example implementation of a SimulatedCANDevice. + On sends, stores the transmitted data in a buffer. + When data is requested, it echos this data back. + """ + + def __init__(self, handle, inbound_packets): + # Call parent classes constructor + super().__init__(handle, inbound_packets) + + def on_data(self, data: ExampleAdderRequestPacket): + self.send_data(bytes(ExampleAdderResponsePacket(data.num_one + data.num_two))) diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py new file mode 100644 index 000000000..59ddc3a72 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py @@ -0,0 +1,170 @@ +from __future__ import annotations + +import struct +from dataclasses import dataclass +from enum import Enum +from functools import lru_cache +from typing import ClassVar, get_type_hints + +SYNC_CHAR_1 = ord("3") +SYNC_CHAR_2 = ord("7") + +_packet_registry: dict[int, dict[int, type[Packet]]] = {} + + +def hexify(data: bytes) -> str: + return ":".join(f"{c:02x}" for c in data) + + +@lru_cache(maxsize=None) +def get_cache_hints(cls): + return get_type_hints(cls) + + +class ChecksumException(OSError): + def __init__( + self, + packet: type[Packet], + received: tuple[int, int], + expected: tuple[int, int], + ): + super().__init__( + f"Invalid checksum in packet of type {packet.__qualname__}: received {received}, expected {expected}", + ) + + +@dataclass +class Packet: + """ + Represents one packet sent or received by a device handle communicating to/from + the USB to CAN board. This class is able to handle packaging unique data + values into a :class:`bytes` object for sending over a data stream. + + This class should be overridden to implement unique packet payloads. Note + that this class supports three subclass arguments to assign unique message IDs, + subclass IDs, and payload formats. Note that all subclasses must be decorated + with :meth:`dataclasses.dataclass`. + + If any class members are annotated with a subclass of :class:`enum.Enum`, + the class will always make an attempt to convert the raw data value to an + instance of the enum before constructing the rest of the values in the class. + + .. code-block:: python + + from dataclasses import dataclass + + @dataclass + class ExamplePacket(Packet, msg_id = 0x02, subclass_id = 0x01, payload_format = "BHHf"): + example_char: int + example_short: int + example_short_two: int + example_float: float + + .. container:: operations + + .. describe:: bytes(x) + + Returns a :class:`bytes` object representing the data of the packet + in the specified packet format. + + Arguments: + msg_id (int): The message ID. Can be between 0 and 255. + subclass_id (int): The message subclass ID. Can be between 0 and 255. + payload_format (str): The format for the payload. This determines how + the individual payload is assembled. Each character in the format + string represents the position of one class variable. The class variables + are assembled in the order they are defined in. + """ + + msg_id: ClassVar[int] + subclass_id: ClassVar[int] + payload_format: ClassVar[str] + + def __init_subclass__(cls, msg_id: int, subclass_id: int, payload_format: str = ""): + cls.msg_id = msg_id + cls.subclass_id = subclass_id + cls.payload_format = payload_format + packets = [p for mid in _packet_registry.values() for p in mid.values()] + for packet in packets: + if packet.msg_id == msg_id and packet.subclass_id == subclass_id: + raise ValueError( + f"Cannot reuse msg_id 0x{msg_id:0x} and subclass_id 0x{subclass_id}, already used by {packet.__qualname__}", + ) + _packet_registry.setdefault(msg_id, {})[subclass_id] = cls + + def __post_init__(self): + for name, field_type in get_cache_hints(self.__class__).items(): + if ( + name + not in [ + "msg_id", + "subclass_id", + "payload_format", + ] + and not isinstance(self.__dict__[name], field_type) + and issubclass(field_type, Enum) + ): + setattr(self, name, field_type(self.__dict__[name])) + + @classmethod + def _calculate_checksum(cls, data: bytes) -> tuple[int, int]: + sum1, sum2 = 0, 0 + for byte in data: + sum1 = (sum1 + byte) % 255 + sum2 = (sum2 + sum1) % 255 + return sum1, sum2 + + def __bytes__(self): + payload = struct.pack(self.payload_format, *self.__dict__.values()) + data = struct.pack( + f"BBBBH{len(payload)}s", + SYNC_CHAR_1, + SYNC_CHAR_2, + self.msg_id, + self.subclass_id, + len(payload), + payload, + ) + checksum = self._calculate_checksum(data[2:]) + return data + struct.pack("BB", *checksum) + + @classmethod + def from_bytes(cls, packed: bytes) -> Packet: + """ + Constructs a packet from a packed packet in a :class:`bytes` object. + If a packet is found with the corresponding message and subclass ID, + then an instance of that packet class will be returned, else :class:`Packet` + will be returned. + """ + msg_id = packed[2] + subclass_id = packed[3] + if msg_id in _packet_registry and subclass_id in _packet_registry[msg_id]: + subclass = _packet_registry[msg_id][subclass_id] + payload = packed[6:-2] + if struct.unpack("BB", packed[-2:]) != cls._calculate_checksum( + packed[2:-2], + ): + raise ChecksumException( + subclass, + struct.unpack("BB", packed[-2:]), + cls._calculate_checksum(packed[2:-2]), + ) + unpacked = struct.unpack(subclass.payload_format, payload) + return subclass(*unpacked) + raise LookupError( + f"Attempted to reconstruct packet with msg_id 0x{msg_id:02x} and subclass_id 0x{subclass_id:02x}, but no packet with IDs was found.", + ) + + +@dataclass +class AckPacket(Packet, msg_id=0x00, subclass_id=0x01, payload_format=""): + """ + Common acknowledgment packet. Should only be found in response operations. + """ + + +@dataclass +class NackPacket(Packet, msg_id=0x00, subclass_id=0x00, payload_format=""): + """ + Common not-acknowledged packet. Should only be found in response operations. + """ diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/sub9_driver.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/sub9_driver.py new file mode 100755 index 000000000..59db73c99 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/sub9_driver.py @@ -0,0 +1,276 @@ +#!/usr/bin/python3 +from __future__ import annotations + +import importlib +from collections import deque +from threading import Lock +from typing import TYPE_CHECKING, Literal, overload + +import rospy +import serial +from mil_misc_tools.serial_tools import SimulatedSerial +from serial import SerialException + +from mil_usb_to_can.sub9.device import CANDeviceHandle, SimulatedCANDeviceHandle +from mil_usb_to_can.sub9.packet import SYNC_CHAR_1, Packet + +if TYPE_CHECKING: + HandlePacketListing = tuple[ + type[SimulatedCANDeviceHandle | CANDeviceHandle], + list[Packet], + ] + + +class SimulatedUSBtoCANStream(SimulatedSerial): + """ + Simulates the USB to CAN board. Is supplied with a dictionary of simulated + CAN devices to simulate the behavior of the whole CAN network. + """ + + _devices: list[SimulatedCANDeviceHandle] + + def __init__( + self, + devices: list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]] + | None = None, + ): + """ + Args: + devices (List[Tuple[Type[SimulatedCANDeviceHandle], List[Type[Packet]]]]): List of + the simulated device handles, along with the list of packets each handle + is listening for. + """ + if devices is None: + devices = [] + + self._devices = [device(self, packet_list) for device, packet_list in devices] + super().__init__() + + def send_to_bus(self, data: bytes, *, from_mobo=False): + """ + Sends data onto the simulated bus from a simulated device. + + Args: + data (bytes): The payload to send on to the bus. + from_mobo (bool): Whether the data is from the motherboard. Defaults to + False. + """ + # Deconstruct packet + p = Packet.from_bytes(data) + + if not from_mobo: + self.buffer += data + + # Send packet to appropriate handle + sent = False + for device in self._devices: + if type(p) in device.inbound_packets: + device.on_data(p) + sent = True + + if not sent and from_mobo: + rospy.logerr( + f"{sent}, {from_mobo}: Received packet of type {p.__class__.__qualname__} on simulated bus, but no one is listening for it...", + ) + + def write(self, data: bytes) -> None: + """ + Sends data to the bus. This method should only be called by the driver. + """ + self.send_to_bus(data, from_mobo=True) + + +class USBtoCANDriver: + """ + ROS Driver which implements the USB to CAN board. Allow users to specify a dictionary of + device handle classes to be loaded at runtime to handle communication with + specific devices. + """ + + _packet_deque: deque[ + SimulatedCANDeviceHandle | CANDeviceHandle + ] # Used to keep track of who gets incoming packets + _inbound_listing: dict[type[Packet], CANDeviceHandle] + + def __init__(self): + port = rospy.get_param("~port", "/dev/tty0") + baud = rospy.get_param("~baudrate", 115200) + rospy.get_param("~can_id", 0) + simulation = rospy.get_param("/is_simulation", False) + self.lock = Lock() + self._packet_deque = deque() + # If simulation mode, load simulated devices + if simulation: + rospy.logwarn( + "CAN2USB driver in simulation! Will not talk to real hardware.", + ) + devices = self.read_devices(simulated=True) + self.stream = SimulatedUSBtoCANStream(devices=devices) + else: + self.stream = serial.Serial(port=port, baudrate=baud, timeout=0.1) + + self.stream.reset_output_buffer() + self.stream.reset_input_buffer() + + self.handles = [] + self._inbound_listing = {} + for device in self.read_devices(simulated=False): + handle = device[0](self) + self.handles.append(handle) + for packet in device[1]: + self._inbound_listing[packet] = handle + + self.timer = rospy.Timer(rospy.Duration(1.0 / 20.0), self.process_in_buffer) + + def read_from_stream(self) -> bytes | None: + # Read until SOF is encourntered in case buffer contains the end of a previous packet + sof = None + for _ in range(10): + sof = self.stream.read(1) + if not len(sof): + continue + sof_int = int.from_bytes(sof, byteorder="big") + if sof_int == SYNC_CHAR_1: + break + if not isinstance(sof, bytes): + raise TimeoutError("No SOF received in one second.") + sof_int = int.from_bytes(sof, byteorder="big") + if sof_int != SYNC_CHAR_1: + print("Where da start char at?") + data = sof + # Read sync char 2, msg ID, subclass ID + data += self.stream.read(3) + length = self.stream.read(2) # read payload length + data += length + data += self.stream.read( + int.from_bytes(length, byteorder="little") + 2, + ) # read data and checksum + return data + + def read_packet(self) -> bool: + """ + Attempt to read a packet from the board. If the packet has an appropriate device + handler, then the packet is passed to the ``on_data`` method of that handler. + + Returns: + bool: The success in reading a packet. + """ + try: + with self.lock: + if self.stream.in_waiting == 0: + return False + packed_packet = self.read_from_stream() + assert isinstance(packed_packet, bytes) + # rospy.logerr(f"raw: {hexify(packed_packet)}") + packet = Packet.from_bytes(packed_packet) + except SerialException as e: + rospy.logerr(f"Error reading packet: {e}") + return False + if packet is None: + return False + if packet.__class__ in self._inbound_listing: + self._inbound_listing[packet.__class__].on_data(packet) + elif not self._packet_deque: + rospy.logwarn( + f"Message of type {packet.__class__.__qualname__} received, but no device ready to accept", + ) + else: + self._packet_deque.popleft().on_data(packet) + return True + + def process_in_buffer(self, *args) -> None: + """ + Read all available packets in the board's in-buffer. + """ + while True: + try: + self.read_packet() + except Exception as e: + rospy.logerr(f"Error when reading packets: {e}") + + def send_data( + self, + handle: CANDeviceHandle | SimulatedCANDeviceHandle, + packet: Packet, + ) -> Exception | None: + """ + Sends data using the :meth:`USBtoCANBoard.send_data` method. + + Returns: + Optional[Exception]: If data was sent successfully, nothing is returned. + Otherwise, the exception that was raised in sending is returned. + """ + try: + with self.lock: + self.stream.write(bytes(packet)) + self._packet_deque.append(handle) + return None + except SerialException as e: + rospy.logerr(f"Error writing packet: {e}") + return e + + @overload + def read_devices( + self, + *, + simulated: Literal[True], + ) -> list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]]: + ... + + @overload + def read_devices( + self, + *, + simulated: Literal[False], + ) -> list[tuple[type[CANDeviceHandle], list[type[Packet]]]]: + ... + + def read_devices( + self, + *, + simulated: bool, + ) -> list[ + tuple[ + type[SimulatedCANDeviceHandle] | type[CANDeviceHandle], + list[type[Packet]], + ], + ]: + """ + Generator to load classes from module strings specified in a dictionary. + Imports all found classes. + + Yields: + Generator[Tuple[int, Any], None, None]: Yields tuples containing the device + ID and the associated class. + """ + d = {} + res: list[ + tuple[type[SimulatedCANDeviceHandle | CANDeviceHandle], list[type[Packet]]] + ] = [] + if simulated: + d = rospy.get_param("~simulated_devices") + else: + d = rospy.get_param("~device_handles") + + for module_name, packet_list in d.items(): + # Split module from class name, import module, and get class from module + module_name, cls = module_name.rsplit(".", 1) + module = importlib.import_module(module_name) + imported_class = getattr(module, cls) + if simulated: + assert issubclass(imported_class, SimulatedCANDeviceHandle) + else: + assert issubclass(imported_class, CANDeviceHandle) + packets: list[type[Packet]] = [] + for packet in packet_list: + module_name, cls = packet.rsplit(".", 1) + module = importlib.import_module(module_name) + packets.append(getattr(module, cls)) + res.append((imported_class, packets)) + return res + + +if __name__ == "__main__": + rospy.init_node("usb_to_can_driver") + driver = USBtoCANDriver() + rospy.spin() diff --git a/mil_common/drivers/mil_usb_to_can/test/adder_device.test b/mil_common/drivers/mil_usb_to_can/test/adder_device_sub8.test similarity index 53% rename from mil_common/drivers/mil_usb_to_can/test/adder_device.test rename to mil_common/drivers/mil_usb_to_can/test/adder_device_sub8.test index 54bcafd37..5dc44b94b 100644 --- a/mil_common/drivers/mil_usb_to_can/test/adder_device.test +++ b/mil_common/drivers/mil_usb_to_can/test/adder_device_sub8.test @@ -2,14 +2,14 @@ - + device_handles: - "8": mil_usb_to_can.ExampleAdderDeviceHandle + "8": mil_usb_to_can.sub8.ExampleAdderDeviceHandle simulated_devices: - "8": mil_usb_to_can.ExampleSimulatedAdderDevice + "8": mil_usb_to_can.sub8.ExampleSimulatedAdderDevice - + diff --git a/mil_common/drivers/mil_usb_to_can/test/adder_device_sub9.test b/mil_common/drivers/mil_usb_to_can/test/adder_device_sub9.test new file mode 100644 index 000000000..6f8abe6ff --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/test/adder_device_sub9.test @@ -0,0 +1,15 @@ + + + + + + + device_handles: + mil_usb_to_can.sub9.example.ExampleAdderDeviceHandle: [mil_usb_to_can.sub9.example.ExampleAdderResponsePacket] + simulated_devices: + mil_usb_to_can.sub9.example.ExampleSimulatedAdderDevice: [mil_usb_to_can.sub9.example.ExampleAdderRequestPacket] + + + + + diff --git a/mil_common/drivers/mil_usb_to_can/test/adder_device_test.py b/mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub8.py similarity index 87% rename from mil_common/drivers/mil_usb_to_can/test/adder_device_test.py rename to mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub8.py index 798bf84fb..bc1486086 100755 --- a/mil_common/drivers/mil_usb_to_can/test/adder_device_test.py +++ b/mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub8.py @@ -33,8 +33,8 @@ def test_2service_works(self): if __name__ == "__main__": - rospy.init_node("adder_device_test", anonymous=True) + rospy.init_node("adder_device_test_sub8", anonymous=True) import rostest - rostest.rosrun("mil_usb_to_can", "adder_device_test", AdderDeviceTest) + rostest.rosrun("mil_usb_to_can", "adder_device_test_sub8", AdderDeviceTest) unittest.main() diff --git a/mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub9.py b/mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub9.py new file mode 100755 index 000000000..7d55a15b8 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/test/adder_device_test_sub9.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +import unittest + +import rospy +from rospy_tutorials.srv import AddTwoInts, AddTwoIntsRequest + + +class AdderDeviceTestSub9(unittest.TestCase): + """ + Integration test for CAN2USB board driver. Talks + to a simulated CAN device which should add two integers + """ + + def __init__(self, *args): + self.srv = rospy.ServiceProxy("add_two_ints", AddTwoInts) + super().__init__(*args) + + def test_1service_exists(self): + """ + Test raising/clearing kill alarm (user kill) will cause same change in hw-kill + """ + try: + self.srv.wait_for_service(5) + except rospy.ServiceException as e: + self.fail(f"Service error: {e}") + + def test_2service_works(self): + a = 3 + b = 6 + correct_sum = a + b + res = self.srv(AddTwoIntsRequest(a=a, b=b)) + self.assertEqual(res.sum, correct_sum) + + +if __name__ == "__main__": + rospy.init_node("adder_device_test_sub9", anonymous=True) + import rostest + + rostest.rosrun("mil_usb_to_can", "adder_device_test_sub9", AdderDeviceTestSub9) + unittest.main() diff --git a/mil_common/drivers/mil_usb_to_can/test/basic.test b/mil_common/drivers/mil_usb_to_can/test/basic.test index 02b7e1969..ef4b8100b 100644 --- a/mil_common/drivers/mil_usb_to_can/test/basic.test +++ b/mil_common/drivers/mil_usb_to_can/test/basic.test @@ -1,3 +1,4 @@ + diff --git a/mil_common/drivers/mil_usb_to_can/test/echo_device.test b/mil_common/drivers/mil_usb_to_can/test/echo_device_sub8.test similarity index 52% rename from mil_common/drivers/mil_usb_to_can/test/echo_device.test rename to mil_common/drivers/mil_usb_to_can/test/echo_device_sub8.test index ae64c9b54..f5c2ca2c9 100644 --- a/mil_common/drivers/mil_usb_to_can/test/echo_device.test +++ b/mil_common/drivers/mil_usb_to_can/test/echo_device_sub8.test @@ -2,14 +2,14 @@ - + device_handles: - "8": mil_usb_to_can.ExampleEchoDeviceHandle + "8": mil_usb_to_can.sub8.ExampleEchoDeviceHandle simulated_devices: - "8": mil_usb_to_can.ExampleSimulatedEchoDevice + "8": mil_usb_to_can.sub8.ExampleSimulatedEchoDevice - + diff --git a/mil_common/drivers/mil_usb_to_can/test/echo_device_sub9.test b/mil_common/drivers/mil_usb_to_can/test/echo_device_sub9.test new file mode 100644 index 000000000..64d79fd44 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/test/echo_device_sub9.test @@ -0,0 +1,15 @@ + + + + + + + device_handles: + mil_usb_to_can.sub9.example.ExampleEchoDeviceHandle: [mil_usb_to_can.sub9.example.ExampleEchoResponsePacket] + simulated_devices: + mil_usb_to_can.sub9.example.ExampleSimulatedEchoDevice: [mil_usb_to_can.sub9.example.ExampleEchoRequestPacket] + + + + + diff --git a/mil_common/drivers/mil_usb_to_can/test/echo_device_test.py b/mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub8.py similarity index 83% rename from mil_common/drivers/mil_usb_to_can/test/echo_device_test.py rename to mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub8.py index 48a5c7a31..cbf698b3a 100755 --- a/mil_common/drivers/mil_usb_to_can/test/echo_device_test.py +++ b/mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub8.py @@ -24,8 +24,8 @@ def test_correct_response(self): if __name__ == "__main__": - rospy.init_node("echo_device_test", anonymous=True) + rospy.init_node("echo_device_test_sub9", anonymous=True) import rostest - rostest.rosrun("mil_usb_to_can", "echo_device_test", EchoDeviceTest) + rostest.rosrun("mil_usb_to_can", "echo_device_test_sub9", EchoDeviceTest) unittest.main() diff --git a/mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub9.py b/mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub9.py new file mode 100755 index 000000000..d99ccd236 --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/test/echo_device_test_sub9.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python3 +import unittest + +import rospy +from std_srvs.srv import Trigger, TriggerRequest + + +class EchoDeviceTestSub9(unittest.TestCase): + """ + Integration test for CAN2USB board driver. Talks + to a simulated CAN device which should add two integers + """ + + def __init__(self, *args): + self.srv = rospy.ServiceProxy("start_echo", Trigger) + super().__init__(*args) + + def test_correct_response(self): + """ + Test we can get correct data through CAN bus at least ten times. + """ + self.srv.wait_for_service(1) + self.assertTrue(self.srv(TriggerRequest())) + + +if __name__ == "__main__": + rospy.init_node("echo_device_test_sub9", anonymous=True) + import rostest + + rostest.rosrun("mil_usb_to_can", "echo_device_test_sub9", EchoDeviceTestSub9) + unittest.main() diff --git a/mil_common/drivers/mil_usb_to_can/test/test_application_packets.py b/mil_common/drivers/mil_usb_to_can/test/test_application_packets.py index b3ee379dc..e4e4c90ae 100755 --- a/mil_common/drivers/mil_usb_to_can/test/test_application_packets.py +++ b/mil_common/drivers/mil_usb_to_can/test/test_application_packets.py @@ -5,7 +5,7 @@ import unittest import rostest -from mil_usb_to_can import ApplicationPacket, CommandPacket +from mil_usb_to_can.sub8 import ApplicationPacket, CommandPacket class BasicApplicationPacketTest(unittest.IsolatedAsyncioTestCase): @@ -29,7 +29,8 @@ def test_format(self): packet = ApplicationPacket(37, letter.encode()) self.assertEqual(bytes(packet), struct.pack("B1s", 37, letter.encode())) self.assertEqual( - ApplicationPacket.from_bytes(bytes(packet), expected_identifier=37), packet + ApplicationPacket.from_bytes(bytes(packet), expected_identifier=37), + packet, ) def test_assembled(self): @@ -45,6 +46,8 @@ def test_assembled(self): if __name__ == "__main__": rostest.rosrun( - "mil_usb_to_can", "test_application_packets", BasicApplicationPacketTest + "mil_usb_to_can", + "test_application_packets", + BasicApplicationPacketTest, ) unittest.main() diff --git a/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py new file mode 100755 index 000000000..01c1dc47a --- /dev/null +++ b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py @@ -0,0 +1,56 @@ +#! /usr/bin/env python3 +import unittest +from dataclasses import dataclass + +import rostest +from mil_usb_to_can.sub9 import Packet +from mil_usb_to_can.sub9.packet import SYNC_CHAR_1, SYNC_CHAR_2 + + +@dataclass +class TestPacket(Packet, msg_id=0x47, subclass_id=0x44, payload_format="BHf"): + example_bool: bool + example_int: int + example_float: float + + +class BasicApplicationPacketTest(unittest.IsolatedAsyncioTestCase): + """ + Tests basic application packt functionality. + """ + + def test_simple_packet(self): + packet = TestPacket(False, 42, 3.14) + self.assertEqual(packet.msg_id, 0x47) + self.assertEqual(packet.subclass_id, 0x44) + self.assertEqual(packet.payload_format, "BHf") + self.assertEqual(packet.example_bool, False) + self.assertEqual(packet.example_int, 42) + self.assertEqual(packet.example_float, 3.14) + + def test_assembled_packet(self): + packet = TestPacket(False, 42, 3.14) + assembled = bytes(TestPacket(False, 42, 3.14)) + self.assertEqual(assembled[0], SYNC_CHAR_1) + self.assertEqual(assembled[1], SYNC_CHAR_2) + self.assertEqual(assembled[2], packet.msg_id) + self.assertEqual(assembled[3], packet.subclass_id) + + def test_comparisons(self): + packet = TestPacket(False, 42, 3.14) + packet_two = TestPacket(False, 42, 3.14) + self.assertEqual(packet, packet_two) + with self.assertRaises(TypeError): + packet < packet_two + with self.assertRaises(TypeError): + packet > packet_two + + +if __name__ == "__main__": + packet = TestPacket(False, 42, 3.14) + rostest.rosrun( + "mil_usb_to_can", + "test_application_packets_sub9", + BasicApplicationPacketTest, + ) + unittest.main() diff --git a/mil_common/drivers/sabertooth2x12/CMakeLists.txt b/mil_common/drivers/sabertooth2x12/CMakeLists.txt index 3a500e76b..bccec3fd6 100644 --- a/mil_common/drivers/sabertooth2x12/CMakeLists.txt +++ b/mil_common/drivers/sabertooth2x12/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(sabertooth2x12) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/drivers/sabertooth2x12/nodes/sabertooth2x12ros b/mil_common/drivers/sabertooth2x12/nodes/sabertooth2x12ros index 91b82271d..05bcc94f0 100755 --- a/mil_common/drivers/sabertooth2x12/nodes/sabertooth2x12ros +++ b/mil_common/drivers/sabertooth2x12/nodes/sabertooth2x12ros @@ -25,10 +25,16 @@ class Sabertooth2x12ROSNode: self.timer = rospy.Timer(self.timeout / 2.0, self.timer_cb) self.motor1_sub = rospy.Subscriber( - "motor1/cmd", Float64, self.motor1_cb, queue_size=1 + "motor1/cmd", + Float64, + self.motor1_cb, + queue_size=1, ) self.motor2_sub = rospy.Subscriber( - "motor2/cmd", Float64, self.motor2_cb, queue_size=1 + "motor2/cmd", + Float64, + self.motor2_cb, + queue_size=1, ) @thread_lock(lock) diff --git a/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py b/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py index 1392058d4..476a4f0df 100644 --- a/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py +++ b/mil_common/drivers/sabertooth2x12/sabertooth2x12/board.py @@ -17,7 +17,11 @@ class Sabertooth2x12: """ def __init__( - self, filename: str, address: int = 128, baudrate: int = 9600, sim: bool = False + self, + filename: str, + address: int = 128, + baudrate: int = 9600, + sim: bool = False, ): """ Args: @@ -74,10 +78,7 @@ def set_motor1(self, speed: float) -> None: Args: speed (float): The speed to set the first motor to. """ - if speed < 0: - command = 1 - else: - command = 0 + command = 1 if speed < 0 else 0 data = int(min(1.0, abs(speed)) * 127) self.send_packet(command, data) @@ -89,9 +90,6 @@ def set_motor2(self, speed: float) -> None: Args: speed (float): The speed to set the second motor to. """ - if speed < 0: - command = 5 - else: - command = 4 + command = 5 if speed < 0 else 4 data = int(min(1.0, abs(speed)) * 127) self.send_packet(command, data) diff --git a/mil_common/gnc/mil_bounds/CMakeLists.txt b/mil_common/gnc/mil_bounds/CMakeLists.txt index 4f726fa75..97686fca7 100644 --- a/mil_common/gnc/mil_bounds/CMakeLists.txt +++ b/mil_common/gnc/mil_bounds/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_bounds) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/gnc/mil_bounds/mil_bounds/bounds.py b/mil_common/gnc/mil_bounds/mil_bounds/bounds.py index f8bb1b7b4..eae8532e5 100755 --- a/mil_common/gnc/mil_bounds/mil_bounds/bounds.py +++ b/mil_common/gnc/mil_bounds/mil_bounds/bounds.py @@ -4,9 +4,10 @@ from dynamic_reconfigure.client import Client from dynamic_reconfigure.server import Server from geometry_msgs.msg import Point -from mil_bounds.cfg import BoundsConfig from visualization_msgs.msg import Marker +from mil_bounds.cfg import BoundsConfig + def config_to_tuple(config, index): return (config["x%d" % index], config["y%d" % index], config["z%d" % index]) @@ -26,7 +27,10 @@ class BoundsServer: def __init__(self): self.marker_pub = rospy.Publisher( - "~visualization", Marker, latch=True, queue_size=1 + "~visualization", + Marker, + latch=True, + queue_size=1, ) self.server = Server(BoundsConfig, self.update_config) diff --git a/mil_common/gnc/mil_bounds/nodes/bounds_from_rviz b/mil_common/gnc/mil_bounds/nodes/bounds_from_rviz index 32f604111..5da4e189a 100755 --- a/mil_common/gnc/mil_bounds/nodes/bounds_from_rviz +++ b/mil_common/gnc/mil_bounds/nodes/bounds_from_rviz @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import rospy -import tf2_geometry_msgs # pylint: disable=unused-import +import tf2_geometry_msgs # noqa import tf2_ros from geometry_msgs.msg import PointStamped from mil_bounds import BoundsClient @@ -16,7 +16,10 @@ class BoundsFromRVIZ(BoundsClient): self.ignore_stamp = ignore_stamp self.points = [] self.sub = rospy.Subscriber( - "clicked_point", PointStamped, self._cb, queue_size=4 + "clicked_point", + PointStamped, + self._cb, + queue_size=4, ) def _cb(self, msg): @@ -25,7 +28,9 @@ class BoundsFromRVIZ(BoundsClient): if self.frame is not None and msg.header.frame_id != self.frame: try: msg = self.tf_buffer.transform( - msg, self.frame, timeout=rospy.Duration(10, 0) + msg, + self.frame, + timeout=rospy.Duration(10, 0), ) except tf2_ros.TransformException as err: rospy.logerr(f"Transform error: {err}") diff --git a/mil_common/gnc/mil_bounds/test/test_bounds.py b/mil_common/gnc/mil_bounds/test/test_bounds.py index 06afe1dcc..7eec75213 100755 --- a/mil_common/gnc/mil_bounds/test/test_bounds.py +++ b/mil_common/gnc/mil_bounds/test/test_bounds.py @@ -32,7 +32,8 @@ def test_it_works(self): c = BoundsClient() bounds = c.get_bounds() correct = np.array( - [[-1, 0, 0], [9, 0, 0], [9, 10, 0], [-1, 10, 0]], dtype=float + [[-1, 0, 0], [9, 0, 0], [9, 10, 0], [-1, 10, 0]], + dtype=float, ) self.assertTrue(np.all(bounds == correct)) diff --git a/mil_common/gnc/odom_estimator/CMakeLists.txt b/mil_common/gnc/odom_estimator/CMakeLists.txt index 375a1e40a..83dc1e4fa 100644 --- a/mil_common/gnc/odom_estimator/CMakeLists.txt +++ b/mil_common/gnc/odom_estimator/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(odom_estimator) find_package(catkin diff --git a/mil_common/gnc/odometry_utils/CMakeLists.txt b/mil_common/gnc/odometry_utils/CMakeLists.txt index af7d78fd1..8b56afe02 100644 --- a/mil_common/gnc/odometry_utils/CMakeLists.txt +++ b/mil_common/gnc/odometry_utils/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(odometry_utils) find_package(catkin diff --git a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp index d2ec5a6bf..953f0fcbd 100644 --- a/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp +++ b/mil_common/gnc/odometry_utils/src/odometry_to_tf.cpp @@ -4,7 +4,9 @@ #include #include +#include #include +#include namespace odometry_utils { @@ -13,11 +15,17 @@ class odometry_to_tf : public nodelet::Nodelet private: ros::Subscriber odom_sub; tf::TransformBroadcaster tf_br; + std::map _last_tf_stamps; void handle_odom(const nav_msgs::Odometry::ConstPtr& msg) { tf::Transform transform; poseMsgToTF(msg->pose.pose, transform); + if (_last_tf_stamps.count(msg->header.frame_id) && _last_tf_stamps[msg->header.frame_id] <= msg->header.stamp) + { + return; + } + _last_tf_stamps[msg->header.frame_id] = msg->header.stamp; tf::StampedTransform stamped_transform(transform, msg->header.stamp, msg->header.frame_id, msg->child_frame_id); tf_br.sendTransform(stamped_transform); } diff --git a/mil_common/gnc/rawgps_common/CMakeLists.txt b/mil_common/gnc/rawgps_common/CMakeLists.txt index 82d37ca6b..ff558c433 100644 --- a/mil_common/gnc/rawgps_common/CMakeLists.txt +++ b/mil_common/gnc/rawgps_common/CMakeLists.txt @@ -1,6 +1,6 @@ # Catkin User Guide: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html # Catkin CMake Standard: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(rawgps_common) # Load catkin and all dependencies required for this package # TODO: remove all from COMPONENTS that are not catkin packages. diff --git a/mil_common/gnc/rawgps_common/src/rawgps_common/glonass.py b/mil_common/gnc/rawgps_common/src/rawgps_common/glonass.py index da495ee14..c29c81ebb 100644 --- a/mil_common/gnc/rawgps_common/src/rawgps_common/glonass.py +++ b/mil_common/gnc/rawgps_common/src/rawgps_common/glonass.py @@ -17,7 +17,7 @@ def inertial_from_ecef(t, tup): x * math.cos(th) - y * math.sin(th), x * math.sin(th) + y * math.cos(th), z, - ] + ], ) @@ -30,7 +30,7 @@ def inertial_vel_from_ecef_vel(t, tup, inertial_point): x * math.cos(th) - y * math.sin(th) - w_E * inertial_point[1], x * math.sin(th) + y * math.cos(th) + w_E * inertial_point[0], z, - ] + ], ) @@ -42,7 +42,7 @@ def ecef_from_inertial(t, tup): +x * math.cos(th) + y * math.sin(th), -x * math.sin(th) + y * math.cos(th), z, - ] + ], ) @@ -56,7 +56,7 @@ def ecef_vel_from_inertial_vel(t, tup, inertial_point): +x * math.cos(th) + y * math.sin(th), -x * math.sin(th) + y * math.cos(th), z, - ] + ], ) @@ -124,7 +124,7 @@ def F(t, tup): 1 - 5 * pos_bar[2] ** 2, 1 - 5 * pos_bar[2] ** 2, 3 - 5 * pos_bar[2] ** 2, - ] + ], ) + a ) diff --git a/mil_common/gnc/rawgps_common/src/rawgps_common/gps.py b/mil_common/gnc/rawgps_common/src/rawgps_common/gps.py index d53677e50..81393bb3f 100644 --- a/mil_common/gnc/rawgps_common/src/rawgps_common/gps.py +++ b/mil_common/gnc/rawgps_common/src/rawgps_common/gps.py @@ -6,10 +6,11 @@ import numpy import yaml from geometry_msgs.msg import Point, PointStamped, Vector3 -from rawgps_common.msg import Measurements, Satellite from std_msgs.msg import Header from tf import transformations +from rawgps_common.msg import Measurements, Satellite + from . import bitstream @@ -40,7 +41,7 @@ def ecef_from_latlongheight(latitude, longitude, height): (N + height) * cos(latitude) * cos(longitude), (N + height) * cos(latitude) * sin(longitude), (N * (1 - e**2) + height) * sin(latitude), - ] + ], ) @@ -71,9 +72,9 @@ def latlongheight_from_ecef(tup): def enu_from_ecef_tf(ecef_pos): up_ecef = transformations.unit_vector( ecef_from_latlongheight( - *latlongheight_from_ecef(ecef_pos) + numpy.array([0, 0, 1]) + *latlongheight_from_ecef(ecef_pos) + numpy.array([0, 0, 1]), ) - - ecef_pos + - ecef_pos, ) east_ecef = transformations.unit_vector(numpy.cross([0, 0, 1], up_ecef)) north_ecef = numpy.cross(up_ecef, east_ecef) @@ -105,7 +106,7 @@ class Time: def __init__(self, WN, TOW): self.WN = WN self.TOW = TOW - while self.TOW >= week_length: + while week_length <= self.TOW: self.WN += 1 self.TOW -= week_length while self.TOW < 0: @@ -353,8 +354,7 @@ def predict_pos_deltat_r(self, t): assert abs(t_k) < week_length / 2 if not (abs(t_k) < 6 * 60 * 60): print( - "ERROR: ephemeris predicting more than 6 hours from now (%f hours)" - % (t_k / 60 / 60,) + f"ERROR: ephemeris predicting more than 6 hours from now ({t_k / 60 / 60:f} hours)", ) n = n_0 + self.Deltan M_k = self.M_0 + n * t_k @@ -466,7 +466,7 @@ def tropospheric_model(ground_pos_ecef, sat_pos_ecef): # returns meters E = math.asin(sat_dir_enu[2]) return 2.312 / math.sin(math.sqrt(E * E + 1.904e-3)) + 0.084 / math.sin( - math.sqrt(E * E + 0.6854e-3) + math.sqrt(E * E + 0.6854e-3), ) @@ -481,7 +481,10 @@ def __init__(self, frame_id, pub, pos_pub): if home == "~": raise AssertionError("home path expansion didn't work") self._ionospheric_model_path = os.path.join( - home, ".ros", "rawgps_common", "ionospheric_model.yaml" + home, + ".ros", + "rawgps_common", + "ionospheric_model.yaml", ) if os.path.exists(self._ionospheric_model_path): with open(self._ionospheric_model_path, "rb") as f: @@ -501,10 +504,10 @@ def _set_ionospheric_model(self, ionospheric_model): os.makedirs(os.path.dirname(self._ionospheric_model_path)) with open(self._ionospheric_model_path, "wb") as f: yaml.dump( - dict( - a=self.ionospheric_model.a, - b=self.ionospheric_model.b, - ), + { + "a": self.ionospheric_model.a, + "b": self.ionospheric_model.b, + }, f, ) @@ -538,7 +541,8 @@ def handle_raw_measurements(self, stamp, gps_time, sats, sync=nan): if len(satellites) >= 4: pos_estimate = estimate_pos( - satellites, use_corrections=self._last_pos is not None + satellites, + use_corrections=self._last_pos is not None, ) self.pos_pub.publish( PointStamped( @@ -547,7 +551,7 @@ def handle_raw_measurements(self, stamp, gps_time, sats, sync=nan): frame_id="/ecef", ), point=Point(*pos_estimate), - ) + ), ) else: pos_estimate = None @@ -594,11 +598,11 @@ def handle_raw_measurements(self, stamp, gps_time, sats, sync=nan): sync_WN=gps_time.WN, sync=gps_time.TOW, position=Point( - *pos_estimate if pos_estimate is not None else (0, 0, 0) + *pos_estimate if pos_estimate is not None else (0, 0, 0), ), position_valid=pos_estimate is not None, satellites=satellites, - ) + ), ) print @@ -608,14 +612,14 @@ def handle_subframe(self, stamp, prn, data): if subframe.HOW.subframe_ID in [1, 2, 3]: self.ephemeris_data.setdefault(prn, {}).setdefault( - subframe.IODE, [None] * 3 + subframe.IODE, + [None] * 3, )[subframe.HOW.subframe_ID - 1] = subframe self._ephemeris_think(prn, subframe.IODE) - elif subframe.HOW.subframe_ID == 4: - if subframe.sv_id == 56: # page 18 - self._set_ionospheric_model( - IonosphericModel(subframe.alpha, subframe.beta) - ) + elif subframe.HOW.subframe_ID == 4 and subframe.sv_id == 56: # page 18 + self._set_ionospheric_model( + IonosphericModel(subframe.alpha, subframe.beta), + ) def _ephemeris_think(self, prn, iode): subframes = self.ephemeris_data[prn][iode] @@ -670,12 +674,13 @@ def generate_satellite_message( T_tropo = tropospheric_model(approximate_receiver_position, sat_pos) / c sat_pos_enu = enu_from_ecef( - sat_pos - approximate_receiver_position, approximate_receiver_position + sat_pos - approximate_receiver_position, + approximate_receiver_position, ) sat_dir_enu = sat_pos_enu / numpy.linalg.norm(sat_pos_enu) E = math.asin(sat_dir_enu[2]) - if E < math.radians(5): + if math.radians(5) > E: return None return Satellite( @@ -714,7 +719,10 @@ def find_minimum(x0, residuals): # print sum(r) if not quiet: print( - "|r|", numpy.linalg.norm(r) / math.sqrt(len(r)), use_corrections, x + "|r|", + numpy.linalg.norm(r) / math.sqrt(len(r)), + use_corrections, + x, ) # print 'J', J try: @@ -743,7 +751,7 @@ def residuals(x): return [ numpy.linalg.norm( glonass.inertial_from_ecef(t, pos) - - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)) + - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)), ) - (t - sat.time - (sat.T_iono + sat.T_tropo if use_corrections else 0)) * c for sat in sats @@ -752,25 +760,25 @@ def residuals(x): [ transformations.unit_vector( glonass.inertial_from_ecef(t, pos) - - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)) + - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)), ).dot(glonass.inertial_from_ecef(t, [1, 0, 0])), transformations.unit_vector( glonass.inertial_from_ecef(t, pos) - - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)) + - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)), ).dot(glonass.inertial_from_ecef(t, [0, 1, 0])), transformations.unit_vector( glonass.inertial_from_ecef(t, pos) - - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)) + - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)), ).dot(glonass.inertial_from_ecef(t, [0, 0, 1])), transformations.unit_vector( glonass.inertial_from_ecef(t, pos) - - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)) + - glonass.inertial_from_ecef(sat.time, xyz_array(sat.position)), ).dot(glonass.inertial_vel_from_ecef_vel(t, [0, 0, 0], pos)) / c - 1, ] for sat in sats - ] + ], ) x = find_minimum( @@ -799,7 +807,7 @@ def residuals(x): math.cos(math.radians(20)) * math.sin(math.radians(210)), math.cos(math.radians(20)) * math.cos(math.radians(210)), math.sin(math.radians(20)), - ] + ], ) print("sat_pos_enu", sat_pos_enu) sat_pos = ecef_from_enu(sat_pos_enu, station_pos) + station_pos diff --git a/mil_common/mil_missions/CMakeLists.txt b/mil_common/mil_missions/CMakeLists.txt index 2250cc5ae..b56124214 100644 --- a/mil_common/mil_missions/CMakeLists.txt +++ b/mil_common/mil_missions/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_missions) find_package(catkin REQUIRED genmsg actionlib_msgs actionlib) catkin_python_setup() diff --git a/mil_common/mil_missions/mil_missions_core/base_mission.py b/mil_common/mil_missions/mil_missions_core/base_mission.py index bc41dc62c..e6e5e01df 100644 --- a/mil_common/mil_missions/mil_missions_core/base_mission.py +++ b/mil_common/mil_missions/mil_missions_core/base_mission.py @@ -121,6 +121,7 @@ def send_feedback(self, message: str) -> None: mission is a child mission, it will call the send_feedback_child of its parent, allowing missions to choose how to use the feedback from its children. """ + message = str(message) if self.parent: self.parent.send_feedback_child(message, self) else: diff --git a/mil_common/mil_missions/mil_missions_core/chain_with_timeout.py b/mil_common/mil_missions/mil_missions_core/chain_with_timeout.py index 1e7422e3b..34678a11c 100644 --- a/mil_common/mil_missions/mil_missions_core/chain_with_timeout.py +++ b/mil_common/mil_missions/mil_missions_core/chain_with_timeout.py @@ -29,7 +29,10 @@ class ChainWithTimeout(base): """ async def run_submission_with_timeout( - self, mission: str, timeout: float, parameters: str + self, + mission: str, + timeout: float, + parameters: str, ): """ Runs a child mission, throwing an exception if more time than specified in timeout @@ -54,7 +57,8 @@ async def run_submission_with_timeout( return result timeout_fut = self.nh.sleep(timeout) result, index = await asyncio.wait( - [submission, timeout_fut], return_when=asyncio.FIRST_COMPLETED + [submission, timeout_fut], + return_when=asyncio.FIRST_COMPLETED, ) if index == 0: timeout_fut.cancel() @@ -95,19 +99,20 @@ def decode_parameters(cls, parameters: str) -> Dict[Any, Any]: raise Exception('invalid parameters, missing attribute "mission"') if not cls.has_mission(mission["mission"]): raise Exception( - 'mission "{}" not available'.format(mission["mission"]) + 'mission "{}" not available'.format(mission["mission"]), ) if "parameters" not in mission: mission["parameters"] = "" try: mission["parameters"] = cls.get_mission( - mission["mission"] + mission["mission"], ).decode_parameters(mission["parameters"]) except Exception as e: raise ParametersException( "Invalid parameters for {}: {}".format( - mission["mission"], str(e) - ) + mission["mission"], + str(e), + ), ) if "timeout" not in mission: mission["timeout"] = 0 @@ -135,23 +140,27 @@ def cb(final): if isinstance(final, failure.Failure): self.send_feedback( "{} FAILED: {}".format( - mission["mission"], final.getErrorMessage() - ) + mission["mission"], + final.getErrorMessage(), + ), ) if mission[ "required" ]: # Fail whole chain if a required mission times out or fails raise SubmissionException( - mission["mission"], final.getErrorMessage() + mission["mission"], + final.getErrorMessage(), ) else: self.send_feedback( - "{} SUCCEEDED: {}".format(mission["mission"], final) + "{} SUCCEEDED: {}".format(mission["mission"], final), ) print("NO FAIL BRO") fut = self.run_submission_with_timeout( - mission["mission"], mission["timeout"], mission["parameters"] + mission["mission"], + mission["timeout"], + mission["parameters"], ) fut.add_done_callback(cb) await fut diff --git a/mil_common/mil_missions/mil_missions_core/exceptions.py b/mil_common/mil_missions/mil_missions_core/exceptions.py index 2216ab561..5a178b578 100644 --- a/mil_common/mil_missions/mil_missions_core/exceptions.py +++ b/mil_common/mil_missions/mil_missions_core/exceptions.py @@ -92,7 +92,7 @@ def __init__(self, mission: BaseMission, exception: Exception): self.mission = mission self.exception = exception super().__init__( - f"A {exception.__class__.__name__} exception occurred while running {mission}." + f"A {exception.__class__.__name__} exception occurred while running {mission}.", ) def __str__(self): diff --git a/mil_common/mil_missions/mil_missions_core/mission_client.py b/mil_common/mil_missions/mil_missions_core/mission_client.py index d885ef90e..efbd9159a 100644 --- a/mil_common/mil_missions/mil_missions_core/mission_client.py +++ b/mil_common/mil_missions/mil_missions_core/mission_client.py @@ -74,5 +74,8 @@ def run_mission( """ goal = DoMissionGoal(mission=mission, parameters=parameters) return self.send_goal( - goal, done_cb=done_cb, active_cb=active_cb, feedback_cb=feedback_cb + goal, + done_cb=done_cb, + active_cb=active_cb, + feedback_cb=feedback_cb, ) diff --git a/mil_common/mil_missions/mil_missions_examples/failing_mission.py b/mil_common/mil_missions/mil_missions_examples/failing_mission.py index 3c30a55a3..9a4883b57 100644 --- a/mil_common/mil_missions/mil_missions_examples/failing_mission.py +++ b/mil_common/mil_missions/mil_missions_examples/failing_mission.py @@ -10,4 +10,4 @@ async def run(self, parameters): class CancelledMission(ExampleBaseMission): async def run(self, parameters): - raise asyncio.CancelledError() + raise asyncio.CancelledError diff --git a/mil_common/mil_missions/mil_missions_gui/dashboard.py b/mil_common/mil_missions/mil_missions_gui/dashboard.py index 60f0e169f..440dc85b9 100755 --- a/mil_common/mil_missions/mil_missions_gui/dashboard.py +++ b/mil_common/mil_missions/mil_missions_gui/dashboard.py @@ -22,7 +22,11 @@ class ExtendedGoalManager(GoalManager): def init_observe_goal(self, action_goal, transition_cb=None, feedback_cb=None): csm = CommStateMachine( - action_goal, transition_cb, feedback_cb, self.send_goal_fn, self.cancel_fn + action_goal, + transition_cb, + feedback_cb, + self.send_goal_fn, + self.cancel_fn, ) with self.list_mutex: self.statuses.append(weakref.ref(csm)) @@ -88,10 +92,13 @@ def goal_cb(self, msg): self.observe_goals[msg.goal_id.id] = self.manager.init_observe_goal( msg, transition_cb=lambda msg, _goal=msg.goal_id: self._observer_transition_cb( - _goal, msg + _goal, + msg, ), feedback_cb=lambda handler, feedback, _goal=msg.goal_id: self._observer_feedback_cb( - _goal, handler, feedback + _goal, + handler, + feedback, ), ) @@ -152,7 +159,9 @@ def __init__(self, context): # Extend the widget with all attributes and children in the UI file ui_file = os.path.join( - rospkg.RosPack().get_path("mil_missions"), "resource", "dashboard.ui" + rospkg.RosPack().get_path("mil_missions"), + "resource", + "dashboard.ui", ) loadUi(ui_file, self._widget) @@ -171,7 +180,7 @@ def __init__(self, context): # Deals with problem when they're multiple instances of Dashboard plugin if context.serial_number() > 1: self._widget.setWindowTitle( - self._widget.windowTitle() + (" (%d)" % context.serial_number()) + self._widget.windowTitle() + (" (%d)" % context.serial_number()), ) # Add widget to the user interface @@ -186,9 +195,10 @@ def ui_log(self, string): """ self.lock.acquire() date_time = datetime.datetime.fromtimestamp(rospy.Time.now().to_time()) - time_str = "{}:{}:{}".format( - date_time.hour, date_time.minute, date_time.second - ).ljust(12, " ") + time_str = f"{date_time.hour}:{date_time.minute}:{date_time.second}".ljust( + 12, + " ", + ) formatted = time_str + string self.feedback_list.addItem(formatted) self.lock.release() @@ -231,9 +241,7 @@ def transition_cb(self, goal, handler): self.current_mission_status = terminal_state self.current_mission_status_label.setText(self.current_mission_status) self.ui_log( - "FINISHED: mission finished ({})".format( - self.current_mission_status - ) + f"FINISHED: mission finished ({self.current_mission_status})", ) def reload_available_missions(self, _): @@ -242,15 +250,15 @@ def reload_available_missions(self, _): button is hit and once on startup. Also clears the chained pane as it may now be invalid. """ if not rospy.has_param( - "/available_missions" + "/available_missions", ): # If the param is not there, log this self.ui_log( - "ERROR: /available_missions param not set. Perhaps mission runner is not running?" + "ERROR: /available_missions param not set. Perhaps mission runner is not running?", ) return self.missions = rospy.get_param("/available_missions") self.missions = sorted( - self.missions + self.missions, ) # Ensure missions appear in lexographic order self.available_missions_list.clear() for i in reversed(range(self.chained_missions_table.rowCount())): @@ -286,7 +294,9 @@ def chained_missions_drop_cb(self, event): selected_index += 1 for i in range(self.chained_missions_table.columnCount()): self.chained_missions_table.setCellWidget( - idx, i, self.chained_missions_table.cellWidget(selected_index, i) + idx, + i, + self.chained_missions_table.cellWidget(selected_index, i), ) self.chained_missions_table.removeRow(selected_index) @@ -331,7 +341,7 @@ def get_chained_missions(self): "timeout": timeout, "required": required, "parameters": parameters, - } + }, ) return missions @@ -432,52 +442,61 @@ def connect_ui(self): self.save_button = self._widget.findChild(QtWidgets.QToolButton, "save_button") self.load_button = self._widget.findChild(QtWidgets.QToolButton, "load_button") self.save_button.setIcon( - self._widget.style().standardIcon(QtWidgets.QStyle.SP_DialogSaveButton) + self._widget.style().standardIcon(QtWidgets.QStyle.SP_DialogSaveButton), ) self.load_button.setIcon( - self._widget.style().standardIcon(QtWidgets.QStyle.SP_DialogOpenButton) + self._widget.style().standardIcon(QtWidgets.QStyle.SP_DialogOpenButton), ) self.save_button.clicked.connect(self.save_file) self.load_button.clicked.connect(self.load_file) self.chained_missions_table = self._widget.findChild( - QtWidgets.QFrame, "chained_missions_table" + QtWidgets.QFrame, + "chained_missions_table", ) self.chained_missions_table.setDragDropMode( - QtWidgets.QAbstractItemView.DragDrop + QtWidgets.QAbstractItemView.DragDrop, ) self.chained_missions_table.dropEvent = self.chained_missions_drop_cb self.chained_missions_table.setColumnWidth( - 1, 55 + 1, + 55, ) # Make required header just big enough for check box self.available_missions_list = self._widget.findChild( - QtWidgets.QFrame, "available_missions" + QtWidgets.QFrame, + "available_missions", ) self.available_missions_list.setDragEnabled(True) self.available_missions_list.setDragDropMode( - QtWidgets.QAbstractItemView.DragDrop + QtWidgets.QAbstractItemView.DragDrop, ) self.available_missions_list.dropEvent = self.available_missions_drop_cb self.run_chained_button = self._widget.findChild( - QtWidgets.QPushButton, "run_chained_button" + QtWidgets.QPushButton, + "run_chained_button", ) self.run_chained_button.clicked.connect(self.run_chained_cb) self.single_mission_button = self._widget.findChild( - QtWidgets.QPushButton, "single_mission_button" + QtWidgets.QPushButton, + "single_mission_button", ) self.single_mission_button.clicked.connect(self.run_single_cb) self.cancel_button = self._widget.findChild( - QtWidgets.QPushButton, "cancel_mission_button" + QtWidgets.QPushButton, + "cancel_mission_button", ) self.cancel_button.clicked.connect(self.cancel_mission_cb) self.single_mission_parameters = self._widget.findChild( - QtWidgets.QLineEdit, "single_mission_parameters" + QtWidgets.QLineEdit, + "single_mission_parameters", ) self.current_mission_label = self._widget.findChild( - QtWidgets.QLabel, "current_mission_label" + QtWidgets.QLabel, + "current_mission_label", ) self.current_mission_status_label = self._widget.findChild( - QtWidgets.QLabel, "current_status_label" + QtWidgets.QLabel, + "current_status_label", ) self.feedback_list = self._widget.findChild(QtWidgets.QListWidget, "log_list") self.feedback_list.setAlternatingRowColors(True) # easier to read @@ -485,10 +504,12 @@ def connect_ui(self): self.feedback_list_scrollbar = self.feedback_list.verticalScrollBar() self.result_label = self._widget.findChild(QtWidgets.QLabel, "result_label") self.clear_log_button = self._widget.findChild( - QtWidgets.QPushButton, "clear_log_button" + QtWidgets.QPushButton, + "clear_log_button", ) self.clear_log_button.clicked.connect(self.clear_log) self.refresh_missions_button = self._widget.findChild( - QtWidgets.QPushButton, "refresh_missions_button" + QtWidgets.QPushButton, + "refresh_missions_button", ) self.refresh_missions_button.clicked.connect(self.reload_available_missions) diff --git a/mil_common/mil_missions/nodes/mission_client b/mil_common/mil_missions/nodes/mission_client index 95eded696..230547f8e 100755 --- a/mil_common/mil_missions/nodes/mission_client +++ b/mil_common/mil_missions/nodes/mission_client @@ -30,9 +30,7 @@ class MissionClientCli: missions = MissionClient.available_missions() if not missions: print( - "{} param not set. Is mission runner running?".format( - MissionClient.LIST_PARAM - ) + f"{MissionClient.LIST_PARAM} param not set. Is mission runner running?", ) return print("Available Missions:") @@ -91,7 +89,7 @@ class MissionClientCli: def main(): argv = rospy.myargv() parser = argparse.ArgumentParser( - description="Runs a mission on the mission_runner server" + description="Runs a mission on the mission_runner server", ) subparser = parser.add_subparsers() diff --git a/mil_common/mil_missions/nodes/mission_server b/mil_common/mil_missions/nodes/mission_server index 99a283f0d..0009b8b8e 100755 --- a/mil_common/mil_missions/nodes/mission_server +++ b/mil_common/mil_missions/nodes/mission_server @@ -2,6 +2,7 @@ from __future__ import annotations import asyncio +import contextlib import importlib import inspect import json @@ -28,8 +29,10 @@ class MissionRunner: missions_loaded: bool base_mission: type[BaseMission] missions: dict[str, type[BaseMission]] + _running_tasks: set[asyncio.Task] def __init__(self): + self._running_tasks = set() pass async def init(self): @@ -49,7 +52,9 @@ class MissionRunner: # 1) The missions module can not be imported quickly. # 2) The base mission is not being initialized fully. await util.wrap_time_notice( - self.load_missions(), 10, "Loading missions in mission runner" + self.load_missions(), + 10, + "Loading missions in mission runner", ) # Set current mission to None @@ -58,7 +63,10 @@ class MissionRunner: # Start a service to refresh missions self.refresh_service = Service( - self.nh, "~refresh_missions", Trigger, self.refresh_missions_cb + self.nh, + "~refresh_missions", + Trigger, + self.refresh_missions_cb, ) await self.refresh_service.setup() @@ -90,17 +98,12 @@ class MissionRunner: async def _shutdown_missions(self): # If we've already loaded missions, we need to shutdown existing missions if self.missions_loaded: - try: + with contextlib.suppress(AttributeError): await asyncio.wait_for(self.base_mission.shutdown_base(), timeout=10) - except AttributeError: - pass for _, mission in self.missions.items(): - try: + with contextlib.suppress(AttributeError): await mission.shutdown() - except AttributeError: - # The mission class may not need to be shutdown (this is okay!) - pass async def load_missions(self): """ @@ -111,7 +114,9 @@ class MissionRunner: All missions from the module are saved to ``self.missions``. """ await axros.wrap_time_notice( - self._shutdown_missions(), 3, "Shutting down missions" + self._shutdown_missions(), + 3, + "Shutting down missions", ) self.missions = {} @@ -119,7 +124,8 @@ class MissionRunner: mission_module_name = await self.nh.get_param("~missions_module") base_mission_name = await self.nh.get_param("~base_mission") assert isinstance(mission_module_name, str) and isinstance( - base_mission_name, str + base_mission_name, + str, ) if self.missions_loaded: self.mission_module = importlib.reload(self.mission_module) @@ -150,7 +156,9 @@ class MissionRunner: and name not in self.missions ): await axros.wrap_time_notice( - cls.setup(), 1, f"Setting up the {name} mission" + cls.setup(), + 1, + f"Setting up the {name} mission", ) self.missions[cls.name()] = cls @@ -190,7 +198,7 @@ class MissionRunner: if not self.has_mission(goal.mission): print(f"TASK RUNNER: unrecognized mission '{goal.mission}'") self.server.set_aborted( - result=DoMissionResult(success=False, result="mission unknown") + result=DoMissionResult(success=False, result="mission unknown"), ) return @@ -199,7 +207,7 @@ class MissionRunner: parameters = self.missions[goal.mission].decode_parameters(goal.parameters) except Exception as e: self.server.set_aborted( - result=DoMissionResult(success=False, result=str(e)) + result=DoMissionResult(success=False, result=str(e)), ) return @@ -207,6 +215,7 @@ class MissionRunner: self.mission = self.missions[goal.mission]() self.mission_future = asyncio.create_task(self.run_with_callback(parameters)) self.mission_future.add_done_callback(self.mission_finished_cb) + self._running_tasks.add(self.mission_future) async def run_with_callback(self, parameters): try: @@ -220,10 +229,12 @@ class MissionRunner: comes in. """ # If cancel request came in, cancel current mission - if self.mission_future is not None and self.server.is_cancel_requested(): - self.mission_future.cancel() # If a new mission came in, cancel current mission - elif self.mission_future is not None and self.server.is_preempt_requested(): + if ( + self.mission_future is not None + and self.server.is_cancel_requested() + or (self.mission_future is not None and self.server.is_preempt_requested()) + ): self.mission_future.cancel() # Try to accept a new mission self.do_new_mission() @@ -234,12 +245,13 @@ class MissionRunner: mission, or raises an exception. Publishes the correct result to the action clients. """ result = DoMissionResult() + self._running_tasks.remove(task) try: task_result = task.result() except asyncio.CancelledError: print( - f"Instance of {self.mission.__class__.__name__} mission was cancelled." + f"Instance of {self.mission.__class__.__name__} mission was cancelled.", ) result.result = "mission cancelled" self.server.set_aborted(result=result, text=result.result) diff --git a/mil_common/mil_missions/test/test_import_missions.py b/mil_common/mil_missions/test/test_import_missions.py index f2b3005f6..c09c8f13b 100755 --- a/mil_common/mil_missions/test/test_import_missions.py +++ b/mil_common/mil_missions/test/test_import_missions.py @@ -21,9 +21,7 @@ def test_import_missions(self): if not hasattr(mission_module, self.base_class): self.fail( - msg="{} doesn't have base mission {}".format( - self.module, self.base_class - ) + msg=f"{self.module} doesn't have base mission {self.base_class}", ) base_mission = getattr(mission_module, self.base_class) diff --git a/mil_common/perception/mil_mlp/CMakeLists.txt b/mil_common/perception/mil_mlp/CMakeLists.txt index eade2d562..aa2b6b7f8 100644 --- a/mil_common/perception/mil_mlp/CMakeLists.txt +++ b/mil_common/perception/mil_mlp/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_mlp) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/perception/mil_mlp/ldp/generate_tfrecord.py b/mil_common/perception/mil_mlp/ldp/generate_tfrecord.py index c70bcc6a2..2f935d020 100755 --- a/mil_common/perception/mil_mlp/ldp/generate_tfrecord.py +++ b/mil_common/perception/mil_mlp/ldp/generate_tfrecord.py @@ -100,8 +100,8 @@ def create_tf_example(group, path): "image/object/bbox/ymax": float_list_feature(ymaxs), "image/object/class/text": bytes_list_feature(classes_text), "image/object/class/label": int64_list_feature(classes), - } - ) + }, + ), ) return tf_example diff --git a/mil_common/perception/mil_mlp/ldp/labelbox2pascal/__init__.py b/mil_common/perception/mil_mlp/ldp/labelbox2pascal/__init__.py index 16498ee24..dda1979e3 100644 --- a/mil_common/perception/mil_mlp/ldp/labelbox2pascal/__init__.py +++ b/mil_common/perception/mil_mlp/ldp/labelbox2pascal/__init__.py @@ -17,7 +17,10 @@ def __init__(self, label_format): def from_json( - labeled_data, annotations_output_dir, images_output_dir, label_format="WKT" + labeled_data, + annotations_output_dir, + images_output_dir, + label_format="WKT", ): """Convert Labelbox JSON export to Pascal VOC format. @@ -38,7 +41,7 @@ def from_json( try: annotations_output_dir = os.path.abspath(annotations_output_dir) assert os.path.isdir(annotations_output_dir) - except AssertionError as e: + except AssertionError: logging.exception("Annotation output directory does not exist") return None @@ -58,21 +61,26 @@ def from_json( annotations_output_dir, ) - except requests.exceptions.MissingSchema as e: + except requests.exceptions.MissingSchema: logging.exception( '"Labeled Data" field must be a URL. ' - "Support for local files coming soon" + "Support for local files coming soon", ) continue - except requests.exceptions.ConnectionError as e: + except requests.exceptions.ConnectionError: logging.exception( - "Failed to fetch image from {}".format(data["Labeled Data"]) + "Failed to fetch image from {}".format(data["Labeled Data"]), ) continue def write_label( - label_id, image_url, labels, label_format, images_output_dir, annotations_output_dir + label_id, + image_url, + labels, + label_format, + images_output_dir, + annotations_output_dir, ): "Writes a Pascal VOC formatted image and label pair to disk." # Download image and save it @@ -96,11 +104,17 @@ def write_label( for category_name, wkt_data in labels.items(): if label_format == "WKT": xml_writer = _add_pascal_object_from_wkt( - xml_writer, img_height=height, wkt_data=wkt_data, label=category_name + xml_writer, + img_height=height, + wkt_data=wkt_data, + label=category_name, ) elif label_format == "XY": xml_writer = _add_pascal_object_from_xy( - xml_writer, img_height=height, polygons=wkt_data, label=category_name + xml_writer, + img_height=height, + polygons=wkt_data, + label=category_name, ) else: e = UnknownFormatError(label_format=label_format) @@ -114,7 +128,7 @@ def write_label( def _add_pascal_object_from_wkt(xml_writer, img_height, wkt_data, label): polygons = [] if isinstance(wkt_data, list): # V3+ - polygons = map(lambda x: wkt.loads(x["geometry"]), wkt_data) + polygons = (wkt.loads(x["geometry"]) for x in wkt_data) else: # V2 polygons = wkt.loads(wkt_data) @@ -135,7 +149,7 @@ def _add_pascal_object_from_xy(xml_writer, img_height, polygons, label): polygon = polygon["geometry"] try: assert isinstance(polygon, list) # V2 and V3 - except: + except Exception: print("Only one value of polygon, skipping...") continue diff --git a/mil_common/perception/mil_mlp/ldp/labelbox2pascal/pascal_voc_writer/__init__.py b/mil_common/perception/mil_mlp/ldp/labelbox2pascal/pascal_voc_writer/__init__.py index 78a4954aa..2d62b867a 100644 --- a/mil_common/perception/mil_mlp/ldp/labelbox2pascal/pascal_voc_writer/__init__.py +++ b/mil_common/perception/mil_mlp/ldp/labelbox2pascal/pascal_voc_writer/__init__.py @@ -7,7 +7,8 @@ class Writer: def __init__(self, path, width, height, depth=3, database="Unknown", segmented=0): environment = Environment( loader=PackageLoader( - "labelbox2pascal", package_path="pascal_voc_writer/templates" + "labelbox2pascal", + package_path="pascal_voc_writer/templates", ), keep_trailing_newline=True, ) @@ -48,7 +49,7 @@ def addObject(self, name, xy_coords, pose="Unspecified", truncated=0, difficult= "pose": pose, "truncated": truncated, "difficult": difficult, - } + }, ) def save(self, annotation_path): diff --git a/mil_common/perception/mil_mlp/ldp/labelbox_to_tfrecord.py b/mil_common/perception/mil_mlp/ldp/labelbox_to_tfrecord.py index e29087ef1..58bc61bfd 100644 --- a/mil_common/perception/mil_mlp/ldp/labelbox_to_tfrecord.py +++ b/mil_common/perception/mil_mlp/ldp/labelbox_to_tfrecord.py @@ -45,7 +45,7 @@ def main(_): gtfr.create_dict() if FLAGS.output_path == "default": writer = tf.python_io.TFRecordWriter( - "../docker_tf/transfer_learning/data/" + (folder + ".record") + "../docker_tf/transfer_learning/data/" + (folder + ".record"), ) else: writer = tf.python_io.TFRecordWriter(FLAGS.output_path) @@ -68,11 +68,11 @@ def main(_): if FLAGS.check_tfrecords: print( - "Checking Validity of TFRecords. Expect image encoding alongside label data." + "Checking Validity of TFRecords. Expect image encoding alongside label data.", ) if FLAGS.output_path == "default": for example in tf.python_io.tf_record_iterator( - "../docker_tf/transfer_learning/data/" + (folder + ".record") + "../docker_tf/transfer_learning/data/" + (folder + ".record"), ): result = tf.train.Example.FromString(example) print(result) diff --git a/mil_common/perception/mil_mlp/ldp/ldp_utils.py b/mil_common/perception/mil_mlp/ldp/ldp_utils.py index 25dd4a3e9..b8f13b3ad 100755 --- a/mil_common/perception/mil_mlp/ldp/ldp_utils.py +++ b/mil_common/perception/mil_mlp/ldp/ldp_utils.py @@ -20,7 +20,10 @@ def split_data( - image_dir="Images", ann_dir="Annotations", resize=False, size=[256, 150] + image_dir="Images", + ann_dir="Annotations", + resize=False, + size=[256, 150], ): if resize: imgs_jpg = glob.glob(image_dir + "/*.png") @@ -47,7 +50,10 @@ def split_data( X = sorted(glob.glob(image_dir + "/*")) X_train, X_test, Y_train, Y_test = train_test_split( - X, Y, test_size=0.30, random_state=10 + X, + Y, + test_size=0.30, + random_state=10, ) if not os.path.exists("train"): diff --git a/mil_common/perception/mil_mlp/ldp/verify_data.py b/mil_common/perception/mil_mlp/ldp/verify_data.py index 820c90a42..4777bfe85 100644 --- a/mil_common/perception/mil_mlp/ldp/verify_data.py +++ b/mil_common/perception/mil_mlp/ldp/verify_data.py @@ -16,7 +16,11 @@ img = cv2.imread("test/" + row["filename"]) prev_img = row["filename"] cv2.rectangle( - img, (row["xmin"], row["ymin"]), (row["xmax"], row["ymax"]), (0, 0, 255), 5 + img, + (row["xmin"], row["ymin"]), + (row["xmax"], row["ymax"]), + (0, 0, 255), + 5, ) cv2.imshow("image", img) cv2.waitKey(0) @@ -26,7 +30,11 @@ img = cv2.imread("train/" + row["filename"]) prev_img = row["filename"] cv2.rectangle( - img, (row["xmin"], row["ymin"]), (row["xmax"], row["ymax"]), (0, 0, 255), 5 + img, + (row["xmin"], row["ymin"]), + (row["xmax"], row["ymax"]), + (0, 0, 255), + 5, ) cv2.imshow("image", img) k = cv2.waitKey(50) diff --git a/mil_common/perception/mil_vision/CMakeLists.txt b/mil_common/perception/mil_vision/CMakeLists.txt index 648906219..ba099743f 100644 --- a/mil_common/perception/mil_vision/CMakeLists.txt +++ b/mil_common/perception/mil_vision/CMakeLists.txt @@ -1,6 +1,6 @@ set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_vision) # set c++11 as default, override with target_compile_options() diff --git a/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp b/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp index 2deb7ef25..63f4c4c12 100644 --- a/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp +++ b/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame.hpp @@ -211,7 +211,7 @@ class CameraFrame bool _rectified = false; // Scale of the image compared to that which would be generated by projecting using the camera - // geometry expresed in the associated camera model object + // geometry expressed in the associated camera model object float_t _img_scale = 1.0f; // Stores the pixel data type diff --git a/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp b/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp index 577ce5abf..9a9dd9287 100644 --- a/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp +++ b/mil_common/perception/mil_vision/include/mil_vision_lib/image_acquisition/camera_frame_sequence.hpp @@ -38,12 +38,12 @@ class CameraFrameSequence /** * Forbidden copy constructor. Set to the delete operator. */ - CameraFrameSequence(const CameraFrameSequence&) = delete; // Forbid copy construction + CameraFrameSequence(const CameraFrameSequence &) = delete; // Forbid copy construction /** * Forbidden move constructor. Set to the delete operator. */ - CameraFrameSequence(CameraFrameSequence&&) = delete; // Forbid move construction + CameraFrameSequence(CameraFrameSequence &&) = delete; // Forbid move construction virtual ~CameraFrameSequence() = default; diff --git a/mil_common/perception/mil_vision/mil_vision_tools/camera_calibration.py b/mil_common/perception/mil_vision/mil_vision_tools/camera_calibration.py index 2645b89d7..676f246db 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/camera_calibration.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/camera_calibration.py @@ -16,11 +16,13 @@ def __init__(self): self.checkerboard = (6, 9) # measured from inner corners self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) self.objp = np.zeros( - (1, self.checkerboard[0] * self.checkerboard[1], 3), np.float32 + (1, self.checkerboard[0] * self.checkerboard[1], 3), + np.float32, ) self.objp[0, :, :2] = ( np.mgrid[0 : self.checkerboard[0], 0 : self.checkerboard[1]].T.reshape( - -1, 2 + -1, + 2, ) * 25.4 ) @@ -43,7 +45,11 @@ def calculatePoints(self, image): if ret is True: corners2 = cv2.cornerSubPix( - gray, corners, (11, 11), (-1, -1), self.criteria + gray, + corners, + (11, 11), + (-1, -1), + self.criteria, ) img = cv2.drawChessboardCorners(image, self.checkerboard, corners2, ret) self.image_pub.publish(img) @@ -68,10 +74,10 @@ def undistort(self, image): 0, 1, ], - ] + ], ) dst = np.asarray( - [[0.06689877, -0.13360559, 0.0073066, -0.00161229, 0.07727962]] + [[0.06689877, -0.13360559, 0.0073066, -0.00161229, 0.07727962]], ) newmtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dst, (w, h), 1, (w, h)) dist = cv2.undistort(image, mtx, dst, None, newmtx) @@ -88,7 +94,11 @@ def calculate_matrix(self): obj = list(self.objpoints) img = list(self.imgpoints) ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera( - obj, img, self.shape, None, None + obj, + img, + self.shape, + None, + None, ) print("done") print(mtx) diff --git a/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py b/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py index 6c53bd7ea..df48a5881 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py @@ -61,7 +61,7 @@ def FEATURES(cls) -> List[str]: For example, an example overload might return ``['red_mean', 'blue_mean', 'green_mean']``. """ - raise NotImplemented() + raise NotImplementedError @abstractmethod def get_features(self, img: np.ndarray, mask: np.ndarray) -> np.ndarray: @@ -248,11 +248,13 @@ def save_csv( classes = np.array(classes) classes = classes.reshape((classes.shape[0], 1)) data = np.hstack((classes, features)) - df = pandas.DataFrame(data=data, columns=["Class"] + self.FEATURES) + df = pandas.DataFrame(data=data, columns=["Class", *self.FEATURES]) df.to_csv(training_file) def extract_labels( - self, labelfile: Optional[str] = None, image_dir: Optional[str] = None + self, + labelfile: Optional[str] = None, + image_dir: Optional[str] = None, ) -> Tuple[np.ndarray, np.ndarray]: """ Extract features and labeled classes from a project labeled on labelbox.io. @@ -275,16 +277,17 @@ def extract_labels( label_classes = [] def labeled_img_cb(label, img): - for l in label["Label"]: - if l in self.classes: - for single_label in label["Label"][l]: + for lab in label["Label"]: + if lab in self.classes: + for single_label in label["Label"][lab]: points = LabelBoxParser.label_to_contour( - single_label, img.shape[0] + single_label, + img.shape[0], ) mask = contour_mask(points, img.shape) features = self.get_features(img, mask) label_features.append(features) - label_classes.append(self.classes.index(l)) + label_classes.append(self.classes.index(lab)) labler.get_labeled_images(labeled_img_cb) if len(label_features) == 0: @@ -321,13 +324,15 @@ def main(self, params, description="Interface with a contour classifier class"): help="Path to directory containing images for datasets labeled by label file", ) score = subparser.add_parser( - "score", help="Print a accuracy score based on saved training file" + "score", + help="Print a accuracy score based on saved training file", ) score.set_defaults(cmd="score") args = parser.parse_args(params) if args.cmd == "extract": features, classes = self.extract_labels( - labelfile=args.label_file, image_dir=args.image_dir + labelfile=args.label_file, + image_dir=args.image_dir, ) self.save_csv(features, classes, training_file=args.training_file) if args.cmd == "score": diff --git a/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py b/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py index 3fa811595..42b6112b2 100644 --- a/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py @@ -5,6 +5,7 @@ import numpy as np import rospy import tf.transformations as trns +from image_geometry import PinholeCameraModel __author__ = "Kevin Allen" @@ -51,10 +52,12 @@ def __init__( AttributeError: No conversion code could be determined. """ assert isinstance( - low, (tuple, list, np.ndarray) + low, + (tuple, list, np.ndarray), ), "param lower must be a tuple/list/np.ndarray" assert isinstance( - high, (tuple, list, np.ndarray) + high, + (tuple, list, np.ndarray), ), "param upper must be a tuple/list/np.ndarray" self.low = np.array(low) self.high = np.array(high) @@ -68,14 +71,15 @@ def __init__( raise AttributeError( "Could not determine conversion code from params.\ Are [{}, {}] valid OpenCV colorspaces?".format( - in_space, thresh_space - ) + in_space, + thresh_space, + ), ) else: self.conversion_code = conversion_code @classmethod - def from_dict(cls, d, in_space: str = "BGR", thresh_space: str = None): + def from_dict(cls, d, in_space: str = "BGR", thresh_space: Optional[str] = None): """ Loads thresholds from a dictionary. See examples for valid dictionaries. @@ -107,12 +111,10 @@ def from_dict(cls, d, in_space: str = "BGR", thresh_space: str = None): pass raise AttributeError( "No valid colorspace found in dictionary. Are {} valid OpenCV colorspaces?".format( - d.keys() - ) + d.keys(), + ), ) - assert thresh_space in d, "{} color space not in dictionary".format( - thresh_space - ) + assert thresh_space in d, f"{thresh_space} color space not in dictionary" inner = d[thresh_space] if "low" in inner and "high" in inner: return cls( @@ -126,7 +128,10 @@ def from_dict(cls, d, in_space: str = "BGR", thresh_space: str = None): @classmethod def from_param( - cls, param: str, in_space: str = "BGR", thresh_space: Optional[str] = None + cls, + param: str, + in_space: str = "BGR", + thresh_space: Optional[str] = None, ): """ Loads thresholds from a ROS parameter name. The value of the parameter is @@ -139,7 +144,9 @@ def from_param( to ``None``. """ return cls.from_dict( - rospy.get_param(param), in_space=in_space, thresh_space=thresh_space + rospy.get_param(param), + in_space=in_space, + thresh_space=thresh_space, ) def threshold(self, img: np.ndarray): @@ -187,10 +194,15 @@ def set_thresh(t, i, x): def __str__(self): if self.conversion_code is not None: return "Threshold from {} to {} using conversion code {}".format( - self.low, self.high, self.conversion_code + self.low, + self.high, + self.conversion_code, ) return "Threshold {} images in {} colorspace from {} to {}".format( - self.in_space, self.thresh_space, self.low, self.high + self.in_space, + self.thresh_space, + self.low, + self.high, ) def __repr__(self): @@ -341,7 +353,9 @@ def points_in_image(camera: "PinholeCameraModel", points: np.ndarray) -> np.ndar def roi_enclosing_points( - camera: "PinholeCameraModel", points: np.ndarray, border: Tuple[int, int] = (0, 0) + camera: "PinholeCameraModel", + points: np.ndarray, + border: Tuple[int, int] = (0, 0), ) -> Optional[Tuple[slice, slice]]: """ Gets region of interest in image which encloses the projected 3D points. Output @@ -368,16 +382,16 @@ def roi_enclosing_points( return None resolution = camera.fullResolution() xmin = int( - np.clip(np.round(np.min(img_points[:, 0]) - border[0]), 0, resolution[0]) + np.clip(np.round(np.min(img_points[:, 0]) - border[0]), 0, resolution[0]), ) xmax = int( - np.clip(np.round(np.max(img_points[:, 0]) + border[0]), 0, resolution[0]) + np.clip(np.round(np.max(img_points[:, 0]) + border[0]), 0, resolution[0]), ) ymin = int( - np.clip(np.round(np.min(img_points[:, 1]) - border[1]), 0, resolution[1]) + np.clip(np.round(np.min(img_points[:, 1]) - border[1]), 0, resolution[1]), ) ymax = int( - np.clip(np.round(np.max(img_points[:, 1]) + border[1]), 0, resolution[1]) + np.clip(np.round(np.max(img_points[:, 1]) + border[1]), 0, resolution[1]), ) return (slice(ymin, ymax), slice(xmin, xmax)) diff --git a/mil_common/perception/mil_vision/mil_vision_tools/image_mux.py b/mil_common/perception/mil_vision/mil_vision_tools/image_mux.py index 8b2b4858b..ffc471a4a 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/image_mux.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/image_mux.py @@ -137,7 +137,10 @@ def _apply_decorations(self) -> None: continue tup = self._index_to_tuple(i) (text_width, text_height), _ = cv2.getTextSize( - label, self.text_font, self.text_scale, self.text_thickness + label, + self.text_font, + self.text_scale, + self.text_thickness, ) x = int(self.pane_size[1] * tup[1]) y = int(self.pane_size[0] * tup[0] + text_height) @@ -233,15 +236,15 @@ def image( """ ImageMux is intended to be used as a class, not an executable. The following is an example of how to use it in a python program. - Creates a 2x2 grid of Racoon images with labels, using some custom parameters. + Creates a 2x2 grid of Raccoon images with labels, using some custom parameters. To run this yourself, download some images, put them in $HOME/Pictures/[1.jpg, 2.jpg, 3.jpg, 4.jpg] """ import os labels = [ - "Chubby Racoon", - "Kiddo Racoons", + "Chubby Raccoon", + "Kiddo Raccoons", "wide", "tall", "big wide", diff --git a/mil_common/perception/mil_vision/mil_vision_tools/image_proc.py b/mil_common/perception/mil_vision/mil_vision_tools/image_proc.py index 47e1618c7..8b5ba3496 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/image_proc.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/image_proc.py @@ -54,7 +54,7 @@ class ImageProc: bridge (CvBridge): The ROS bridge to OpenCV. """ - # https://github.com/ros-perception/image_pipeline/blob/indigo/image_proc/include/image_proc/processor.h # noqa + # https://github.com/ros-perception/image_pipeline/blob/indigo/image_proc/include/image_proc/processor.h # Flags to select which images should be outputted RAW = 0 @@ -68,7 +68,10 @@ class ImageProc: @staticmethod def process( - raw_msg: Image, model: Optional[PinholeCameraModel], out: ImageSet, flags: int + raw_msg: Image, + model: Optional[PinholeCameraModel], + out: ImageSet, + flags: int, ) -> None: """ Given an original image message (sensor_msgs/Image), fill in the out ImageSet diff --git a/mil_common/perception/mil_vision/mil_vision_tools/labelbox_parser.py b/mil_common/perception/mil_vision/mil_vision_tools/labelbox_parser.py index a7f0b03e7..36f4ea065 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/labelbox_parser.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/labelbox_parser.py @@ -67,8 +67,8 @@ def cb(label, img): if not found: raise Exception( "Could not find image {} in image dir".format( - label["External ID"] - ) + label["External ID"], + ), ) img = cv2.imread(imgname) cb(label, img) @@ -82,10 +82,12 @@ def cb(label, img): import argparse parser = argparse.ArgumentParser( - description="Example of labelbox reader class. Displays images with label" + description="Example of labelbox reader class. Displays images with label", ) parser.add_argument( - "labels", type=str, help="JSON file with labels exported from labelbox.io" + "labels", + type=str, + help="JSON file with labels exported from labelbox.io", ) parser.add_argument( "dir", diff --git a/mil_common/perception/mil_vision/mil_vision_tools/objects_tracker.py b/mil_common/perception/mil_vision/mil_vision_tools/objects_tracker.py index f52f8fead..3c3525319 100644 --- a/mil_common/perception/mil_vision/mil_vision_tools/objects_tracker.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/objects_tracker.py @@ -45,7 +45,10 @@ def __init__( self.update(stamp, features, data) def update( - self, stamp: rospy.Time, features: list[Any], data: np.ndarray | None = None + self, + stamp: rospy.Time, + features: list[Any], + data: np.ndarray | None = None, ) -> None: """ Update an object's metadata. @@ -73,7 +76,9 @@ def age(self): def __str__(self): return "TrackedObject(id={}, observations={}, age={}s)".format( - self.id, self.observations, self.age.to_sec() + self.id, + self.observations, + self.age.to_sec(), ) @@ -113,7 +118,10 @@ def __init__(self, expiration_seconds: int = 5, max_distance: float = 0): self.objects = [] def add_observation( - self, stamp: rospy.Time, features: list[Any], data: Any | None = None + self, + stamp: rospy.Time, + features: list[Any], + data: Any | None = None, ) -> TrackedObject: """ Add a new observation to the tracked objects. @@ -152,11 +160,13 @@ def clear_expired(self, now: rospy.Time | None = None): if now is None: now = rospy.Time.now() self.objects = list( - filter(lambda obj: now - obj.stamp < self.expiration_seconds, self.objects) + filter(lambda obj: now - obj.stamp < self.expiration_seconds, self.objects), ) def get_persistent_objects( - self, min_observations: int = 10, min_age: rospy.Duration = rospy.Duration(0) + self, + min_observations: int = 10, + min_age: rospy.Duration = rospy.Duration(0), ) -> list[TrackedObject]: """ Get a list of objects which have persisted sufficiently long. @@ -174,7 +184,7 @@ def get_persistent_objects( filter( lambda obj: obj.age >= min_age and obj.observations >= min_observations, self.objects, - ) + ), ) @abc.abstractmethod diff --git a/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py b/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py index f212ed8aa..5ba5f78cb 100644 --- a/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py @@ -226,10 +226,7 @@ def get_pose_3D( # get a pose estimate in camera frame if cam is not None: intrinsics = cam.intrinsicMatrix() - if rectified: - dist_coeffs = np.zeros((5, 1)) - else: - dist_coeffs = cam.distortionCoeffs() + dist_coeffs = np.zeros((5, 1)) if rectified else cam.distortionCoeffs() assert intrinsics is not None assert dist_coeffs is not None _, rvec, tvec = cv2.solvePnP(self.model_3D, corners, intrinsics, dist_coeffs) @@ -257,7 +254,9 @@ def get_pose_2D(self, corners: np.ndarray) -> tuple[Any, Any]: return (center, vector) def draw_model( - self, size: tuple[int, int] = (500, 500), border: int = 25 + self, + size: tuple[int, int] = (500, 500), + border: int = 25, ) -> np.ndarray: """ Returns a 1 channel image displaying the internal model of the rectangle. diff --git a/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py b/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py index 81169a83e..d1c8d37e9 100755 --- a/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/vision_node.py @@ -90,7 +90,9 @@ class VisionNode(metaclass=abc.ABCMeta): def __init__(self): self._objects_pub = rospy.Publisher( - "~identified_objects", ObjectsInImage, queue_size=3 + "~identified_objects", + ObjectsInImage, + queue_size=3, ) self._camera_info = None self.camera_model = None @@ -131,7 +133,7 @@ def _img_cb(self, img): len(msg.objects) and not isinstance(msg.objects[0], ObjectInImage) ): rospy.logwarn( - "find_objects did not return a list of mil_msgs/ObjectInImage message. Ignoring." + "find_objects did not return a list of mil_msgs/ObjectInImage message. Ignoring.", ) self._objects_pub.publish(msg) @@ -170,7 +172,9 @@ def find_objects(self, img): blurred = cv2.blur(img, (5, 5)) edges = cv2.Canny(blurred, 100, 200) _, contours, _ = cv2.findContours( - edges, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE + edges, + cv2.RETR_TREE, + cv2.CHAIN_APPROX_SIMPLE, ) contours = np.array(contours) objects = [] @@ -186,19 +190,21 @@ def find_objects(self, img): except ZeroDivisionError: continue objects.append( - create_object_msg("contour", center=center, attributes="green") + create_object_msg("contour", center=center, attributes="green"), ) # Demonstration of adding an object where the entire contour outline can be identified if idx % 3 == 1: objects.append( - create_object_msg("contour", contour=contour, confidence=0.5) + create_object_msg("contour", contour=contour, confidence=0.5), ) # Demonstration of adding an object where a bounding rectangle can be identified if idx % 3 == 2: objects.append( create_object_msg( - "contour", rect=cv2.boundingRect(contour), confidence=0.8 - ) + "contour", + rect=cv2.boundingRect(contour), + confidence=0.8, + ), ) # Log that an image has been received for debugging this demo diff --git a/mil_common/perception/mil_vision/object_classification/lidar_to_image.py b/mil_common/perception/mil_vision/object_classification/lidar_to_image.py index 14749a13a..247cf3276 100644 --- a/mil_common/perception/mil_vision/object_classification/lidar_to_image.py +++ b/mil_common/perception/mil_vision/object_classification/lidar_to_image.py @@ -59,7 +59,7 @@ def _info_cb(self, info): def _get_2d_points(self, points_3d): # xmin, ymin, zmin = self._get_top_left_point(points_3d) - points_2d = map(lambda x: self.camera_model.project3dToPixel(x), points_3d) + points_2d = (self.camera_model.project3dToPixel(x) for x in points_3d) return points_2d def _get_bounding_rect(self, points_2d, img): @@ -105,7 +105,7 @@ async def get_object_rois(self, name=None): o = obj.objects[0] points_3d = await self.get_3d_points(o) - points_2d_all = map(lambda x: self.camera_model.project3dToPixel(x), points_3d) + points_2d_all = (self.camera_model.project3dToPixel(x) for x in points_3d) points_2d = self._get_2d_points(points_3d) xmin, ymin, xmax, ymax = self._get_bounding_rect(points_2d, img) xmin, ymin, xmax, ymax = int(xmin), int(ymin), int(xmax), int(ymax) @@ -186,13 +186,15 @@ def _resize_image(self, img): async def get_3d_points(self, perc_obj): trans = await self.my_tf.get_transform( - "/stereo_right_cam", "/enu", perc_obj.header.stamp + "/stereo_right_cam", + "/enu", + perc_obj.header.stamp, ) stereo_points = [] for point in perc_obj.points: stereo_points.append(np.array([point.x, point.y, point.z, 1])) - stereo_points = map(lambda x: trans.as_matrix().dot(x), stereo_points) + stereo_points = (trans.as_matrix().dot(x) for x in stereo_points) points = [] for p in stereo_points: if p[3] < 1e-15: diff --git a/mil_common/perception/mil_vision/object_classification/median_flow.py b/mil_common/perception/mil_vision/object_classification/median_flow.py index 9444371a3..beaf6b033 100644 --- a/mil_common/perception/mil_vision/object_classification/median_flow.py +++ b/mil_common/perception/mil_vision/object_classification/median_flow.py @@ -13,11 +13,11 @@ class MedianFlow: def __init__(self, elimination_amount=0.6, winSize=(15, 15), maxLevel=2): self.prev_points = None self.prev_frame = None - self.lk_params = dict( - winSize=winSize, - maxLevel=maxLevel, - criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 2, 0.03), - ) + self.lk_params = { + "winSize": winSize, + "maxLevel": maxLevel, + "criteria": (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 2, 0.03), + } self.tracking_points = deque() self.tracking_frames = deque() self.bboxs = deque() @@ -80,7 +80,11 @@ def _calculate_forward_backward_error(self, prev_frame, prev_points): for i in range(self.TRACKING_LENGTH - 1, -1, -1): _frame = self.tracking_frames[i] _points, status, err = cv2.calcOpticalFlowPyrLK( - prev_frame, _frame, prev_points, None, **self.lk_params + prev_frame, + _frame, + prev_points, + None, + **self.lk_params, ) prev_frame = _frame prev_points = _points @@ -141,7 +145,7 @@ def _eliminate_points(self, points, frame): # If the mean fb error is > 2 and the amount of frames tracked is > 20, then the model has failed. # Also if the number of points in the model is 2 and self._amount_mdn_flow_tracked > 20) or len( - points + points, ) < 3: self._is_effective = False @@ -169,7 +173,7 @@ def _update_bbox(self, curr_points): if i >= len(curr_comb): # This should never happen raise ValueError( - "The previous points and current points are not synchronized" + "The previous points and current points are not synchronized", ) prev_point_A = prev_comb[i][0] prev_point_B = prev_comb[i][1] @@ -212,12 +216,16 @@ def track(self, frame): raise TypeError("The frame is invalid") points, status, err = cv2.calcOpticalFlowPyrLK( - self.prev_frame, frame, self.prev_points, None, **self.lk_params + self.prev_frame, + frame, + self.prev_points, + None, + **self.lk_params, ) points = self._eliminate_points(points, frame) try: self._update_bbox(points) - except: + except Exception: return None self.bboxs.append(self.bbox) diff --git a/mil_common/perception/mil_vision/object_classification/object_classification.py b/mil_common/perception/mil_vision/object_classification/object_classification.py index 8cf729bd1..b634235fc 100644 --- a/mil_common/perception/mil_vision/object_classification/object_classification.py +++ b/mil_common/perception/mil_vision/object_classification/object_classification.py @@ -35,7 +35,7 @@ def get_imgs(self, val): rois = [] print(roi) - for b in roi.bag_to_rois.keys(): + for b in roi.bag_to_rois: frames = roi.bag_to_rois[b] bc = BagCrawler(b) topic = bc.image_topics[0] diff --git a/mil_common/perception/mil_vision/object_classification/roi_generator.py b/mil_common/perception/mil_vision/object_classification/roi_generator.py index 2f3d2d0fa..b727c37a5 100644 --- a/mil_common/perception/mil_vision/object_classification/roi_generator.py +++ b/mil_common/perception/mil_vision/object_classification/roi_generator.py @@ -123,7 +123,7 @@ def go(self): r = dict(self.rects) self.mycoll.append(r) clone = self.image.copy() - for key in self.rects.keys(): + for key in self.rects: r = self.rects[key] color = (255, 0, 0) if key == self.sel_rect: @@ -153,7 +153,7 @@ def mouse_roi(self, event, x, y, flags, params): r = min( list(self.rects.items()), key=lambda rect: np.linalg.norm( - np.array([rect[1][0], rect[1][1]]) - np.array([x, y]) + np.array([rect[1][0], rect[1][1]]) - np.array([x, y]), ), ) r = r[0] @@ -179,7 +179,7 @@ def mouse_roi(self, event, x, y, flags, params): self.sel_rect = min( list(self.rects.items()), key=lambda rect: np.linalg.norm( - np.array([rect[1][0], rect[1][1]]) - np.array([x, y]) + np.array([rect[1][0], rect[1][1]]) - np.array([x, y]), ), ) self.sel_rect = self.sel_rect[0] @@ -199,7 +199,9 @@ def mouse_roi(self, event, x, y, flags, params): parser.add_argument("bag", type=str, help="The bag you would like to use") parser.add_argument("name", type=str, help="The name of the output file") parser.add_argument( - "--load", action="store_true", help="The name of the output file" + "--load", + action="store_true", + help="The name of the output file", ) args = parser.parse_args(sys.argv[1:]) diff --git a/mil_common/perception/mil_vision/ros_tools/colorspaces.py b/mil_common/perception/mil_vision/ros_tools/colorspaces.py index 276f29630..b53089373 100755 --- a/mil_common/perception/mil_vision/ros_tools/colorspaces.py +++ b/mil_common/perception/mil_vision/ros_tools/colorspaces.py @@ -76,7 +76,7 @@ def flatten_channels(img, labels): cv2.cvtColor(rgb_small, cv2.COLOR_BGR2LAB), ], labels, - ) + ), ) # If enabled, show specific color information at current cursor location @@ -93,7 +93,10 @@ def flatten_channels(img, labels): ) ) (t_w, t_h), _ = cv2.getTextSize( - text, cv2.FONT_HERSHEY_PLAIN, 2.3 * viz_scale, 1 + text, + cv2.FONT_HERSHEY_PLAIN, + 2.3 * viz_scale, + 1, ) t_y += t_h * 2 cv2.putText( @@ -107,11 +110,15 @@ def flatten_channels(img, labels): ) # Set 3x3 grid of single channel images from 3 3-channel images - make_3deep = lambda x: np.repeat( - x[:, :, np.newaxis], 3, axis=2 - ) # Needed for displaying in color + def make_3deep(x): + return np.repeat( + x[:, :, np.newaxis], + 3, + axis=2, + ) # Needed for displaying in color + viz[:, w:] = np.vstack( - list(map(make_3deep, map(lambda x: flatten_channels(*x), images_and_labels))) + list(map(make_3deep, (flatten_channels(*x) for x in images_and_labels))), ) # If enabled, display a color histogram in each panel @@ -146,7 +153,11 @@ def get_hist_curves(img): parser.add_argument("-v", "--use_video", help="Use video", type=str) parser.add_argument("-r", "--use_ros_topic", help="Use ROS topic", type=str) parser.add_argument( - "-s", "--scale", help="Scale for image processing", type=float, default=0.5 + "-s", + "--scale", + help="Scale for image processing", + type=float, + default=0.5, ) args = parser.parse_args() diff --git a/mil_common/perception/mil_vision/ros_tools/easy_thresh.py b/mil_common/perception/mil_vision/ros_tools/easy_thresh.py index ebbce7df9..101b0683d 100755 --- a/mil_common/perception/mil_vision/ros_tools/easy_thresh.py +++ b/mil_common/perception/mil_vision/ros_tools/easy_thresh.py @@ -18,10 +18,14 @@ parser = argparse.ArgumentParser(usage=usage_msg, description=desc_msg) parser.add_argument( - dest="topic_name", help="The topic name you'd like to listen to", choices=topics + dest="topic_name", + help="The topic name you'd like to listen to", + choices=topics, ) parser.add_argument( - "--hsv", action="store_true", help="Would you like to look at hsv instead of bgr?" + "--hsv", + action="store_true", + help="Would you like to look at hsv instead of bgr?", ) argcomplete.autocomplete(parser) @@ -51,15 +55,14 @@ def __init__(self): self.state = 0 def mouse_cb(self, event, x, y, flags, param): - if event == cv2.EVENT_LBUTTONDOWN: - if not self.is_done: - print("click") - self.corners.append(np.array([x, y])) - self.state += 1 - if self.state >= 4: - print("done") - self.is_done = True - self.state = 0 + if event == cv2.EVENT_LBUTTONDOWN and not self.is_done: + print("click") + self.corners.append(np.array([x, y])) + self.state += 1 + if self.state >= 4: + print("done") + self.is_done = True + self.state = 0 if event == cv2.EVENT_RBUTTONDOWN: pass @@ -111,10 +114,7 @@ def wait_for_image(self): frame_unblurred = frame_initial[::2, ::2, :] frame = frame_unblurred - if args.hsv: - analysis_image = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) - else: - analysis_image = frame + analysis_image = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) if args.hsv else frame draw_image = np.copy(frame_unblurred) seg_image = np.zeros_like(frame_unblurred[:, :, 0]) @@ -146,7 +146,8 @@ def wait_for_image(self): ) thresholder = visual_threshold_tools.make_extent_dialog( - ranges=visual_threshold_tools.color_ranges[prefix], image=analysis_image + ranges=visual_threshold_tools.color_ranges[prefix], + image=analysis_image, ) while not rospy.is_shutdown(): diff --git a/mil_common/perception/mil_vision/ros_tools/on_the_fly_thresholder.py b/mil_common/perception/mil_vision/ros_tools/on_the_fly_thresholder.py index 2b9f3a24f..74fbc58dd 100755 --- a/mil_common/perception/mil_vision/ros_tools/on_the_fly_thresholder.py +++ b/mil_common/perception/mil_vision/ros_tools/on_the_fly_thresholder.py @@ -30,7 +30,11 @@ def __init__(self, thresh_type): ] [ cv2.createTrackbar( - name + "_low", "parameters", 0, 255 if name != "h" else 179, lambda a: a + name + "_low", + "parameters", + 0, + 255 if name != "h" else 179, + lambda a: a, ) for name in self.thresh_type ] @@ -42,13 +46,13 @@ def get_bounds(self): [ cv2.getTrackbarPos(name + "_high", "parameters") for name in self.thresh_type - ] + ], ) lower_bounds = np.array( [ cv2.getTrackbarPos(name + "_low", "parameters") for name in self.thresh_type - ] + ], ) return lower_bounds, upper_bounds @@ -128,7 +132,8 @@ def do_parsing(): parser = argparse.ArgumentParser(usage=usage_msg, description=desc_msg) parser.add_argument( - dest="topic_name", help="The topic name you'd like to listen to." + dest="topic_name", + help="The topic name you'd like to listen to.", ) parser.add_argument( dest="parameter_family", diff --git a/mil_common/perception/point_cloud_object_detection_and_recognition/CMakeLists.txt b/mil_common/perception/point_cloud_object_detection_and_recognition/CMakeLists.txt index 3bae3e2e2..fc2306573 100644 --- a/mil_common/perception/point_cloud_object_detection_and_recognition/CMakeLists.txt +++ b/mil_common/perception/point_cloud_object_detection_and_recognition/CMakeLists.txt @@ -1,6 +1,6 @@ set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(point_cloud_object_detection_and_recognition) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/ros_alarms/CMakeLists.txt b/mil_common/ros_alarms/CMakeLists.txt index 0fc53be04..384c83326 100644 --- a/mil_common/ros_alarms/CMakeLists.txt +++ b/mil_common/ros_alarms/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(ros_alarms) ## Find catkin macros and libraries @@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation message_runtime std_msgs + ros_alarms_msgs roscpp rospy ) @@ -15,18 +16,18 @@ find_package(catkin REQUIRED COMPONENTS catkin_python_setup() # Generate messages in the 'msg' folder -add_message_files( - FILES - Alarm.msg - Alarms.msg -) +#add_message_files( +# FILES +# Alarm.msg +# Alarms.msg +#) ## Generate services in the 'srv' folder -add_service_files( - FILES - AlarmGet.srv - AlarmSet.srv -) +#add_service_files( +# FILES +# AlarmGet.srv +# AlarmSet.srv +#) # Generate added messages and services with any dependencies listed here generate_messages( @@ -40,6 +41,7 @@ catkin_package( LIBRARIES ros_alarms CATKIN_DEPENDS + ros_alarms_msgs roscpp rospy message_generation diff --git a/mil_common/ros_alarms/include/ros_alarms/alarm_proxy.hpp b/mil_common/ros_alarms/include/ros_alarms/alarm_proxy.hpp index 796c64059..4aacaf922 100644 --- a/mil_common/ros_alarms/include/ros_alarms/alarm_proxy.hpp +++ b/mil_common/ros_alarms/include/ros_alarms/alarm_proxy.hpp @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include @@ -44,14 +44,14 @@ struct AlarmProxy * * @param msg The message to construct the class from. */ - AlarmProxy(ros_alarms::Alarm msg); + AlarmProxy(ros_alarms_msgs::Alarm msg); /** * Converts the Alarm Proxy object to an :class:`Alarm` message. * * @return The constructed message. */ - Alarm as_msg(); // convert to ros msg + ros_alarms_msgs::Alarm as_msg(); // convert to ros msg /** * Prints a readable representation of the class. Normally prints the alarm name, diff --git a/mil_common/ros_alarms/include/ros_alarms/broadcaster.hpp b/mil_common/ros_alarms/include/ros_alarms/broadcaster.hpp index d31b95fab..df268cee6 100644 --- a/mil_common/ros_alarms/include/ros_alarms/broadcaster.hpp +++ b/mil_common/ros_alarms/include/ros_alarms/broadcaster.hpp @@ -1,8 +1,8 @@ #pragma once #include -#include -#include +#include +#include #include #include diff --git a/mil_common/ros_alarms/include/ros_alarms/listener.hpp b/mil_common/ros_alarms/include/ros_alarms/listener.hpp index 27366f805..f5b68e6ae 100644 --- a/mil_common/ros_alarms/include/ros_alarms/listener.hpp +++ b/mil_common/ros_alarms/include/ros_alarms/listener.hpp @@ -6,8 +6,8 @@ #include #include -#include -#include +#include +#include #include #include @@ -80,7 +80,7 @@ struct ListenerCb * Overloads the ``()`` operator to execute the callback function only if the * specified conditions are met. */ - void operator()(ros_alarms::Alarm msg) + void operator()(ros_alarms_msgs::Alarm msg) { // Only call if alarm status matches the call_scenario bool call_scenario_match = call_scenario == CallScenario::always || @@ -315,12 +315,12 @@ class AlarmListener ros::Time __last_update{ 0, 0 }; std::string __object_name; void __addCb(callable_t cb, int severity_lo, int severity_hi, CallScenario call_scenario); - void __alarmUpdate(ros_alarms::Alarm); + void __alarmUpdate(ros_alarms_msgs::Alarm); }; template AlarmListener::AlarmListener(ros::NodeHandle &nh, std::string alarm_name) -try : __nh(nh), __alarm_name(alarm_name), __get_alarm(__nh.serviceClient("/alarm/get")), +try : __nh(nh), __alarm_name(alarm_name), __get_alarm(__nh.serviceClient("/alarm/get")), __async_spinner(1, &__cb_queue) { @@ -385,7 +385,7 @@ template AlarmProxy AlarmListener::getAlarm() { // Create Query msg - ros_alarms::AlarmGet alarm_query; + ros_alarms_msgs::AlarmGet alarm_query; alarm_query.request.alarm_name = __alarm_name; // Query alarm server @@ -453,7 +453,7 @@ void AlarmListener::__addCb(callable_t cb, int severity_lo, int seve } template -void AlarmListener::__alarmUpdate(ros_alarms::Alarm alarm_msg) +void AlarmListener::__alarmUpdate(ros_alarms_msgs::Alarm alarm_msg) { if (alarm_msg.alarm_name == __alarm_name) { diff --git a/mil_common/ros_alarms/nodes/alarm_server.py b/mil_common/ros_alarms/nodes/alarm_server.py index c1d1f814f..bb602304c 100755 --- a/mil_common/ros_alarms/nodes/alarm_server.py +++ b/mil_common/ros_alarms/nodes/alarm_server.py @@ -4,8 +4,8 @@ import rospy from ros_alarms import Alarm, HandlerBase -from ros_alarms.msg import Alarm as AlarmMsg -from ros_alarms.srv import ( +from ros_alarms_msgs.msg import Alarm as AlarmMsg +from ros_alarms_msgs.srv import ( AlarmGet, AlarmGetRequest, AlarmGetResponse, @@ -38,7 +38,10 @@ def __init__(self): rospy.loginfo(msg.format(rospy.get_param("/known_alarms", []))) self._alarm_pub = rospy.Publisher( - "/alarm/updates", AlarmMsg, latch=True, queue_size=100 + "/alarm/updates", + AlarmMsg, + latch=True, + queue_size=100, ) self._create_meta_alarms() @@ -90,7 +93,8 @@ def _on_get_alarm(self, srv: AlarmGetRequest) -> AlarmGetResponse: """ rospy.logdebug(f"Got request for alarm: {srv.alarm_name}") return self.alarms.get( - srv.alarm_name, Alarm.blank(srv.alarm_name) + srv.alarm_name, + Alarm.blank(srv.alarm_name), ).as_srv_resp() def make_tagged_alarm(self, name: str) -> Alarm: @@ -131,8 +135,8 @@ def _handle_meta_alarm(self, meta_alarm, sub_alarms): else: rospy.logwarn( "Meta alarm callback for {} failed to return an Alarm or boolean".format( - meta_alarm - ) + meta_alarm, + ), ) return self.set_alarm(alarm) diff --git a/mil_common/ros_alarms/nodes/clear.py b/mil_common/ros_alarms/nodes/clear similarity index 97% rename from mil_common/ros_alarms/nodes/clear.py rename to mil_common/ros_alarms/nodes/clear index c658020db..2715539dc 100755 --- a/mil_common/ros_alarms/nodes/clear.py +++ b/mil_common/ros_alarms/nodes/clear @@ -22,7 +22,7 @@ for name, value in split: try: params[name] = eval(value) - except: + except Exception: params[name] = value if args.alarm_name == "all": diff --git a/mil_common/ros_alarms/nodes/monitor b/mil_common/ros_alarms/nodes/monitor index 888665ac5..14ec57b4a 100755 --- a/mil_common/ros_alarms/nodes/monitor +++ b/mil_common/ros_alarms/nodes/monitor @@ -91,13 +91,15 @@ class AlarmMonitor: return center = height // 2 if width >= len( - self.alarm_name + self.alarm_name, ): # If box is wide enough, display alarm name in center status_window.addstr( - center - 1, (width - len(self.alarm_name)) // 2, self.alarm_name + center - 1, + (width - len(self.alarm_name)) // 2, + self.alarm_name, ) if width >= len( - status_str + status_str, ): # If box is wide enough, display status text in center status_window.addstr(center, (width - len(status_str)) // 2, status_str) if ( @@ -106,7 +108,9 @@ class AlarmMonitor: and height >= 4 ): status_window.addstr( - center + 1, (width - len(description_str)) // 2, description_str + center + 1, + (width - len(description_str)) // 2, + description_str, ) def _read_key(self): @@ -140,7 +144,7 @@ class AlarmMonitor: self._draw() if key in self.RAISE_KEYS: self.broadcaster.raise_alarm( - problem_description="User raised from amonitor" + problem_description="User raised from amonitor", ) elif key in self.CLEAR_KEYS: self.broadcaster.clear_alarm() diff --git a/mil_common/ros_alarms/nodes/raise.py b/mil_common/ros_alarms/nodes/raise similarity index 91% rename from mil_common/ros_alarms/nodes/raise.py rename to mil_common/ros_alarms/nodes/raise index f2391153c..b85cd6469 100755 --- a/mil_common/ros_alarms/nodes/raise.py +++ b/mil_common/ros_alarms/nodes/raise @@ -35,7 +35,7 @@ for name, value in split: try: params[name] = eval(value) - except: + except Exception: params[name] = value # Clip severity between [0, 5] @@ -46,6 +46,8 @@ ab.wait_for_server() ab.raise_alarm( - parameters=params, severity=severity, problem_description=args.description + parameters=params, + severity=severity, + problem_description=args.description, ) rospy.loginfo("Alarm raised!") diff --git a/mil_common/ros_alarms/nodes/report.py b/mil_common/ros_alarms/nodes/report similarity index 83% rename from mil_common/ros_alarms/nodes/report.py rename to mil_common/ros_alarms/nodes/report index 266058594..c4eb40326 100755 --- a/mil_common/ros_alarms/nodes/report.py +++ b/mil_common/ros_alarms/nodes/report @@ -12,8 +12,10 @@ def print_alarm(alarm): rospy.loginfo( "Alarm: {} ({}) ({})".format( - alarm.alarm_name, "raised" if alarm.raised else "clear", alarm.severity - ) + alarm.alarm_name, + "raised" if alarm.raised else "clear", + alarm.severity, + ), ) for name, value in alarm.parameters.items(): rospy.loginfo(f"\t{name} = {value}") diff --git a/mil_common/ros_alarms/package.xml b/mil_common/ros_alarms/package.xml index 9d54ae8b5..8b34b3f0c 100644 --- a/mil_common/ros_alarms/package.xml +++ b/mil_common/ros_alarms/package.xml @@ -9,9 +9,11 @@ catkin message_generation message_runtime + ros_alarms_msgs roscpp rospy std_msgs + ros_alarms_msgs roscpp rospy std_msgs diff --git a/mil_common/ros_alarms/ros_alarms/alarms.py b/mil_common/ros_alarms/ros_alarms/alarms.py index c3e78f521..73237c4fe 100644 --- a/mil_common/ros_alarms/ros_alarms/alarms.py +++ b/mil_common/ros_alarms/ros_alarms/alarms.py @@ -5,8 +5,8 @@ from typing import Callable import rospy -from ros_alarms.msg import Alarm as AlarmMsg -from ros_alarms.srv import ( +from ros_alarms_msgs.msg import Alarm as AlarmMsg +from ros_alarms_msgs.srv import ( AlarmGet, AlarmGetRequest, AlarmGetResponse, @@ -53,7 +53,10 @@ def _make_callback_error_string(alarm_name, backtrace=""): def wait_for_service( - service, warn_time=1.0, warn_msg="Waiting for service..", timeout=None + service, + warn_time=1.0, + warn_msg="Waiting for service..", + timeout=None, ): """ A fancy extension of wait for service that will warn with a message if it is taking a while. @@ -184,7 +187,7 @@ def from_msg(cls, msg: AlarmMsg) -> Alarm: ) def _severity_cb_check(self, severity): - if isinstance(severity, tuple) or isinstance(severity, list): + if isinstance(severity, (tuple, list)): return severity[0] <= self.severity <= severity[1] # Not a tuple, just an int. The severities should match @@ -228,8 +231,9 @@ def add_callback( except Exception: rospy.logwarn( _make_callback_error_string( - self.alarm_name, traceback.format_exc() - ) + self.alarm_name, + traceback.format_exc(), + ), ) if call_when_cleared: @@ -241,8 +245,9 @@ def add_callback( except Exception: rospy.logwarn( _make_callback_error_string( - self.alarm_name, traceback.format_exc() - ) + self.alarm_name, + traceback.format_exc(), + ), ) def update(self, srv: Alarm): @@ -267,8 +272,9 @@ def update(self, srv: Alarm): rospy.loginfo( "Updating alarm: {}, {}.".format( - self.alarm_name, "raised" if self.raised else "cleared" - ) + self.alarm_name, + "raised" if self.raised else "cleared", + ), ) # Run the callbacks for that alarm cb_list = self.raised_cbs if srv.raised else self.cleared_cbs @@ -282,7 +288,10 @@ def update(self, srv: Alarm): cb(self) except Exception: rospy.logwarn( - _make_callback_error_string(self.alarm_name, traceback.format_exc()) + _make_callback_error_string( + self.alarm_name, + traceback.format_exc(), + ), ) def as_msg(self) -> AlarmMsg: @@ -361,7 +370,12 @@ def wait_for_server(self, timeout=None): rospy.logdebug("alarm server connected") def _generate_request( - self, raised, node_name=None, problem_description="", parameters={}, severity=0 + self, + raised, + node_name=None, + problem_description="", + parameters={}, + severity=0, ): request = AlarmSetRequest() request.alarm.alarm_name = self._alarm_name @@ -546,7 +560,7 @@ def _severity_cb_check(self, severity): if self._last_alarm is None: return False - if isinstance(severity, tuple) or isinstance(severity, list): + if isinstance(severity, (tuple, list)): return severity[0] <= self._last_alarm.severity <= severity[1] # Not a tuple or list, just an int. The severities should match @@ -587,8 +601,9 @@ def add_callback( except Exception: rospy.logwarn( _make_callback_error_string( - self._alarm_name, traceback.format_exc() - ) + self._alarm_name, + traceback.format_exc(), + ), ) if call_when_cleared: @@ -601,8 +616,9 @@ def add_callback( except Exception: rospy.logwarn( _make_callback_error_string( - self._alarm_name, traceback.format_exc() - ) + self._alarm_name, + traceback.format_exc(), + ), ) def clear_callbacks(self): @@ -629,8 +645,9 @@ def _alarm_update(self, alarm: AlarmMsg): except Exception: rospy.logerr( _make_callback_error_string( - self._alarm_name, traceback.format_exc() - ) + self._alarm_name, + traceback.format_exc(), + ), ) diff --git a/mil_common/ros_alarms/ros_alarms/handler_template.py b/mil_common/ros_alarms/ros_alarms/handler_template.py index 867978fc5..90ae49350 100644 --- a/mil_common/ros_alarms/ros_alarms/handler_template.py +++ b/mil_common/ros_alarms/ros_alarms/handler_template.py @@ -1,6 +1,6 @@ from typing import Optional, Union -from ros_alarms.msg import Alarm as AlarmMsg +from ros_alarms_msgs.msg import Alarm as AlarmMsg from .alarms import Alarm @@ -19,7 +19,7 @@ class HandlerBase: alarm_server = None @classmethod - def _init(cls, alarm_server: "AlarmServer"): + def _init(cls, alarm_server): """ Called by the alarm server to give each handler a reference to the alarm server, so it can efficiently get and set alarms. @@ -105,4 +105,4 @@ def meta_predicate(self, meta_alarm: Alarm, alarms) -> Union[bool, Alarm]: should be raised, or a new Alarm object which the calling alarm should update itself to. """ - return any([alarm.raised for name, alarm in alarms.items()]) + return any(alarm.raised for name, alarm in alarms.items()) diff --git a/mil_common/ros_alarms/ros_alarms/tx_alarms.py b/mil_common/ros_alarms/ros_alarms/tx_alarms.py index c30e1e112..d595a599c 100644 --- a/mil_common/ros_alarms/ros_alarms/tx_alarms.py +++ b/mil_common/ros_alarms/ros_alarms/tx_alarms.py @@ -1,10 +1,11 @@ import asyncio +import contextlib import json import traceback import axros -from ros_alarms.msg import Alarm -from ros_alarms.srv import AlarmGet, AlarmGetRequest, AlarmSet, AlarmSetRequest +from ros_alarms_msgs.msg import Alarm +from ros_alarms_msgs.srv import AlarmGet, AlarmGetRequest, AlarmSet, AlarmSetRequest """ Alarms implementation for axros (https://github.com/axros/axros) @@ -51,7 +52,11 @@ def __init__(self, nh, name, node_name): print(f"Created alarm broadcaster for alarm {name}") def _generate_request( - self, raised, problem_description="", parameters={}, severity=0 + self, + raised, + problem_description="", + parameters={}, + severity=0, ): request = AlarmSetRequest() request.alarm.alarm_name = self._alarm_name @@ -98,7 +103,9 @@ def __init__(self, nh, name, alarm_client, callback_funct, **kwargs): self._raised_cbs = [] # [(severity_for_cb1, cb1), (severity_for_cb2, cb2), ...] self._cleared_cbs = [] self.update_sub = self._nh.subscribe( - "/alarm/updates", Alarm, self._alarm_update + "/alarm/updates", + Alarm, + self._alarm_update, ) if callback_funct is not None: @@ -132,7 +139,7 @@ async def get_alarm(self): return resp.alarm def _severity_cb_check(self, severity): - if isinstance(severity, tuple) or isinstance(severity, list): + if isinstance(severity, (tuple, list)): return severity[0] <= self._last_alarm.severity <= severity[1] # Not a tuple, just an int. The severities should match @@ -186,10 +193,8 @@ def _alarm_update(self, alarm): # Try to run the callback, absorbing any errors try: - try: + with contextlib.suppress(Exception): alarm.parameters = json.loads(alarm.parameters) - except: - pass cb(self._nh, alarm) except Exception as e: diff --git a/mil_common/ros_alarms/src/ros_alarms/alarm_proxy.cpp b/mil_common/ros_alarms/src/ros_alarms/alarm_proxy.cpp index 147ebc77e..6001eead9 100644 --- a/mil_common/ros_alarms/src/ros_alarms/alarm_proxy.cpp +++ b/mil_common/ros_alarms/src/ros_alarms/alarm_proxy.cpp @@ -24,7 +24,7 @@ AlarmProxy::AlarmProxy(string _alarm_name, bool _raised, string _problem, string *this = AlarmProxy(_alarm_name, _raised, ros::this_node::getName(), _problem, _json, _severity); } -AlarmProxy::AlarmProxy(ros_alarms::Alarm msg) +AlarmProxy::AlarmProxy(ros_alarms_msgs::Alarm msg) { alarm_name = msg.alarm_name; raised = msg.raised; @@ -34,9 +34,9 @@ AlarmProxy::AlarmProxy(ros_alarms::Alarm msg) severity = msg.severity; } -Alarm AlarmProxy::as_msg() +ros_alarms_msgs::Alarm AlarmProxy::as_msg() { - ros_alarms::Alarm a; + ros_alarms_msgs::Alarm a; a.alarm_name = alarm_name; a.raised = raised; a.node_name = node_name; diff --git a/mil_common/ros_alarms/src/ros_alarms/broadcaster.cpp b/mil_common/ros_alarms/src/ros_alarms/broadcaster.cpp index d8a127588..096014b22 100644 --- a/mil_common/ros_alarms/src/ros_alarms/broadcaster.cpp +++ b/mil_common/ros_alarms/src/ros_alarms/broadcaster.cpp @@ -8,7 +8,7 @@ AlarmBroadcaster::AlarmBroadcaster(ros::NodeHandle& nh, AlarmProxy* alarm) : __nh(nh) , __alarm_ptr(alarm) , __alarm_proxy("uninitialized_alarm", false, "", "", 5) - , __set_alarm(__nh.serviceClient("/alarm/set")) + , __set_alarm(__nh.serviceClient("/alarm/set")) { // Broadcaster should use the AlarmProxy allocated internally if the user did // not provide an external one to use @@ -23,11 +23,11 @@ AlarmBroadcaster::AlarmBroadcaster(ros::NodeHandle& nh, AlarmProxy* alarm) bool AlarmBroadcaster::publish() { - ros_alarms::Alarm a = + ros_alarms_msgs::Alarm a = AlarmProxy(__alarm_ptr->alarm_name, __alarm_ptr->raised, __alarm_ptr->node_name, __alarm_ptr->problem_description, __alarm_ptr->json_parameters, __alarm_ptr->severity) .as_msg(); - ros_alarms::AlarmSet srv; + ros_alarms_msgs::AlarmSet srv; srv.request.alarm = a; bool success = __set_alarm.call(srv); if (!success) diff --git a/mil_common/ros_alarms/test/axros/tx_heartbeat_test.py b/mil_common/ros_alarms/test/axros/tx_heartbeat_test.py index c1cb72a0e..a4c16a0eb 100755 --- a/mil_common/ros_alarms/test/axros/tx_heartbeat_test.py +++ b/mil_common/ros_alarms/test/axros/tx_heartbeat_test.py @@ -25,7 +25,11 @@ async def main(): alarm_name = "test_alarm123" hbm = await TxHeartbeatMonitor.init( - nh, alarm_name, "/heartbeat", String, nowarn=True + nh, + alarm_name, + "/heartbeat", + String, + nowarn=True, ) monitor_df = asyncio.create_task(hbm.start_monitor()) diff --git a/mil_common/ros_alarms/test/rospy/server_set_get_test.py b/mil_common/ros_alarms/test/rospy/server_set_get_test.py index 0c5e5e38f..84e4187b7 100755 --- a/mil_common/ros_alarms/test/rospy/server_set_get_test.py +++ b/mil_common/ros_alarms/test/rospy/server_set_get_test.py @@ -4,7 +4,7 @@ import numpy as np import rospy -from ros_alarms.srv import AlarmGet, AlarmGetRequest, AlarmSet, AlarmSetRequest +from ros_alarms_msgs.srv import AlarmGet, AlarmGetRequest, AlarmSet, AlarmSetRequest # Dummy params to pass in parameters = {"testing": True, "not_real": 3, "a_list": [1, 2, 3]} @@ -29,8 +29,9 @@ def raise_some(setter, count=20): setter(a) rospy.loginfo( "{} '{}' alarm".format( - "Raised" if a.alarm.raised else "Cleared", a.alarm.alarm_name - ) + "Raised" if a.alarm.raised else "Cleared", + a.alarm.alarm_name, + ), ) if a.alarm.raised: raised.append(a.alarm.alarm_name) diff --git a/mil_common/ros_alarms_msgs/CMakeLists.txt b/mil_common/ros_alarms_msgs/CMakeLists.txt new file mode 100644 index 000000000..e8b6c572f --- /dev/null +++ b/mil_common/ros_alarms_msgs/CMakeLists.txt @@ -0,0 +1,219 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ros_alarms_msgs) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + message_generation + message_runtime + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +add_message_files( + FILES + Alarm.msg + Alarms.msg +) + +## Generate services in the 'srv' folder + add_service_files( + FILES + AlarmSet.srv + AlarmGet.srv + ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + std_msgs # Or other packages containing msgs + ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS +# include +# LIBRARIES +# ros_alarms + CATKIN_DEPENDS + roscpp + rospy + message_generation + message_runtime +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/ros_alarms_msg.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/ros_alarms_msg_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_alarms_msg.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/mil_common/ros_alarms/msg/Alarm.msg b/mil_common/ros_alarms_msgs/msg/Alarm.msg similarity index 100% rename from mil_common/ros_alarms/msg/Alarm.msg rename to mil_common/ros_alarms_msgs/msg/Alarm.msg diff --git a/mil_common/ros_alarms/msg/Alarms.msg b/mil_common/ros_alarms_msgs/msg/Alarms.msg similarity index 100% rename from mil_common/ros_alarms/msg/Alarms.msg rename to mil_common/ros_alarms_msgs/msg/Alarms.msg diff --git a/mil_common/ros_alarms_msgs/package.xml b/mil_common/ros_alarms_msgs/package.xml new file mode 100644 index 000000000..72584fa85 --- /dev/null +++ b/mil_common/ros_alarms_msgs/package.xml @@ -0,0 +1,23 @@ + + + ros_alarms_msgs + 1.0.0 + The ros_alarms_msgs package + Matt Langford + David Soto + MIT + catkin + message_generation + message_runtime + roscpp + rospy + std_msg + roscpp + rospy + std_msg + message_generation + message_runtime + roscpp + rospy + std_msg + diff --git a/mil_common/ros_alarms/srv/AlarmGet.srv b/mil_common/ros_alarms_msgs/srv/AlarmGet.srv similarity index 100% rename from mil_common/ros_alarms/srv/AlarmGet.srv rename to mil_common/ros_alarms_msgs/srv/AlarmGet.srv diff --git a/mil_common/ros_alarms/srv/AlarmSet.srv b/mil_common/ros_alarms_msgs/srv/AlarmSet.srv similarity index 100% rename from mil_common/ros_alarms/srv/AlarmSet.srv rename to mil_common/ros_alarms_msgs/srv/AlarmSet.srv diff --git a/mil_common/simulation/mil_gazebo/CMakeLists.txt b/mil_common/simulation/mil_gazebo/CMakeLists.txt index 79e7942f5..453353db6 100644 --- a/mil_common/simulation/mil_gazebo/CMakeLists.txt +++ b/mil_common/simulation/mil_gazebo/CMakeLists.txt @@ -1,6 +1,8 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_gazebo) -add_compile_options(-std=c++11) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) find_package(catkin REQUIRED COMPONENTS gazebo_dev diff --git a/mil_common/simulation/mil_gazebo/nodes/set_gazebo_rtf b/mil_common/simulation/mil_gazebo/nodes/set_gazebo_rtf index 2bfbba6b6..76f05a619 100755 --- a/mil_common/simulation/mil_gazebo/nodes/set_gazebo_rtf +++ b/mil_common/simulation/mil_gazebo/nodes/set_gazebo_rtf @@ -12,5 +12,5 @@ if __name__ == "__main__": rospy.init_node("dynamic_client", anonymous=True) client = dynamic_reconfigure.client.Client("gazebo", timeout=30) client.update_configuration( - {"max_update_rate": args.rtf / args.step_time, "time_step": args.step_time} + {"max_update_rate": args.rtf / args.step_time, "time_step": args.step_time}, ) diff --git a/mil_common/utils/mil_msgs/CMakeLists.txt b/mil_common/utils/mil_msgs/CMakeLists.txt index 0cf7b8960..0152eab0d 100644 --- a/mil_common/utils/mil_msgs/CMakeLists.txt +++ b/mil_common/utils/mil_msgs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_msgs) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/utils/mil_poi/CMakeLists.txt b/mil_common/utils/mil_poi/CMakeLists.txt index 671bfde1b..8532c7d71 100644 --- a/mil_common/utils/mil_poi/CMakeLists.txt +++ b/mil_common/utils/mil_poi/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_poi) find_package(catkin REQUIRED COMPONENTS diff --git a/mil_common/utils/mil_poi/mil_poi/server.py b/mil_common/utils/mil_poi/mil_poi/server.py index f62e27ea5..bf7fee2cd 100644 --- a/mil_common/utils/mil_poi/mil_poi/server.py +++ b/mil_common/utils/mil_poi/mil_poi/server.py @@ -7,6 +7,16 @@ import tf2_ros from geometry_msgs.msg import Point, PointStamped, Pose, Quaternion from interactive_markers.interactive_marker_server import InteractiveMarkerServer +from mil_ros_tools.msg_helpers import numpy_to_point +from mil_tools import thread_lock +from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse +from visualization_msgs.msg import ( + InteractiveMarker, + InteractiveMarkerControl, + InteractiveMarkerFeedback, + Marker, +) + from mil_poi.msg import POI, POIArray from mil_poi.srv import ( AddPOI, @@ -19,15 +29,6 @@ MovePOIRequest, MovePOIResponse, ) -from mil_ros_tools.msg_helpers import numpy_to_point -from mil_tools import thread_lock -from std_srvs.srv import Trigger, TriggerRequest, TriggerResponse -from visualization_msgs.msg import ( - InteractiveMarker, - InteractiveMarkerControl, - InteractiveMarkerFeedback, - Marker, -) # Mutex for POIServer lock = Lock() @@ -59,7 +60,10 @@ def __init__(self): # Create publisher to notify clients of updates and interactive marker server self.pub = rospy.Publisher( - "points_of_interest", POIArray, queue_size=1, latch=True + "points_of_interest", + POIArray, + queue_size=1, + latch=True, ) self.interactive_marker_server = InteractiveMarkerServer("points_of_interest") @@ -85,7 +89,9 @@ def __init__(self): self.delete_poi_server = rospy.Service("~delete", DeletePOI, self.delete_poi_cb) self.move_poi_service = rospy.Service("~move", MovePOI, self.move_poi_cb) self.save_to_param = rospy.Service( - "~save_to_param", Trigger, self.save_to_param_cb + "~save_to_param", + Trigger, + self.save_to_param_cb, ) def transform_position(self, ps: PointStamped) -> Optional[Point]: @@ -106,14 +112,18 @@ def transform_position(self, ps: PointStamped) -> Optional[Point]: return ps.point try: ps_tf = self.tf_buffer.transform( - ps, self.global_frame, timeout=rospy.Duration(5) + ps, + self.global_frame, + timeout=rospy.Duration(5), ) return ps_tf.point except tf2_ros.TransformException as e: rospy.logwarn( 'Error transforming "{}" to "{}": {}'.format( - ps.header.frame_id, self.global_frame, e - ) + ps.header.frame_id, + self.global_frame, + e, + ), ) return None diff --git a/mil_common/utils/mil_poi/mil_poi/tx_interface.py b/mil_common/utils/mil_poi/mil_poi/tx_interface.py index 540c3e4c3..206b4eaa3 100644 --- a/mil_common/utils/mil_poi/mil_poi/tx_interface.py +++ b/mil_common/utils/mil_poi/mil_poi/tx_interface.py @@ -5,9 +5,10 @@ import numpy as np from axros import NodeHandle -from mil_poi.msg import POIArray from mil_ros_tools.msg_helpers import rosmsg_to_numpy +from mil_poi.msg import POIArray + class TxPOIClient: """ @@ -46,14 +47,16 @@ def _cb(self, msg): if poi.name not in self.futures: continue position, orientation = rosmsg_to_numpy(poi.pose.position), rosmsg_to_numpy( - poi.pose.orientation + poi.pose.orientation, ) futures = self.futures.pop(poi.name) while len(futures): futures.pop().set_result((position, orientation)) async def get( - self, name: str, only_fresh: bool = False + self, + name: str, + only_fresh: bool = False, ) -> tuple[np.ndarray, np.ndarray]: """ Get the position of POI in the global frame as a 3x1 numpy array. @@ -67,7 +70,7 @@ async def get( for poi in self.last_msg.pois: if poi.name == name: position, orientation = rosmsg_to_numpy( - poi.pose.position + poi.pose.position, ), rosmsg_to_numpy(poi.pose.orientation) return (position, orientation) res = asyncio.Future() diff --git a/mil_common/utils/mil_tools/CMakeLists.txt b/mil_common/utils/mil_tools/CMakeLists.txt index 8381f3ee8..a86a5070f 100644 --- a/mil_common/utils/mil_tools/CMakeLists.txt +++ b/mil_common/utils/mil_tools/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(mil_tools) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -pedantic -Wall -std=c++11") diff --git a/mil_common/utils/mil_tools/include/mil_tools/topic_recorder.hpp b/mil_common/utils/mil_tools/include/mil_tools/topic_recorder.hpp index 0fc12e4fc..12320f29a 100644 --- a/mil_common/utils/mil_tools/include/mil_tools/topic_recorder.hpp +++ b/mil_common/utils/mil_tools/include/mil_tools/topic_recorder.hpp @@ -17,7 +17,7 @@ Default behavior (direct implementation) every message on that topic is recordde Designed to be inherited and the Callback function overloaded so that messages are reorder according to an arbitrary function ie: - time:record every so many seconds(periodic) or location: every 1 m change in location(spacial). + time:record every so many seconds(periodic) or location: every 1 m change in location(spatial). see indyav_path path_recorder.cpp for an implementation example */ diff --git a/mil_common/utils/mil_tools/mil_misc_tools/__init__.py b/mil_common/utils/mil_tools/mil_misc_tools/__init__.py index f2c5ac23f..6af3874c4 100644 --- a/mil_common/utils/mil_tools/mil_misc_tools/__init__.py +++ b/mil_common/utils/mil_tools/mil_misc_tools/__init__.py @@ -4,3 +4,4 @@ from .system_tools import * from .terminal_input import * from .text_effects import * +from .times import datetime_to_rospy, rospy_to_datetime diff --git a/mil_common/utils/mil_tools/mil_misc_tools/download.py b/mil_common/utils/mil_tools/mil_misc_tools/download.py index dabc4a3d8..85001f69a 100644 --- a/mil_common/utils/mil_tools/mil_misc_tools/download.py +++ b/mil_common/utils/mil_tools/mil_misc_tools/download.py @@ -31,7 +31,7 @@ def download_and_unzip(url: str, output_dir: str): """ try: html = download(url) - except: + except Exception: raise OSError(f"Could not load file at {url}") fake_file = StringIO.StringIO(html) diff --git a/mil_common/utils/mil_tools/mil_misc_tools/text_effects.py b/mil_common/utils/mil_tools/mil_misc_tools/text_effects.py index e04664b07..4bdccfa8d 100644 --- a/mil_common/utils/mil_tools/mil_misc_tools/text_effects.py +++ b/mil_common/utils/mil_tools/mil_misc_tools/text_effects.py @@ -40,13 +40,13 @@ def __init__(self, string: Optional[str] = "", autospace: bool = False): # Text effects self.underline = lambda text: Printer( - self._string + Colors.underline + str(text) + Colors.reset + self._string + Colors.underline + str(text) + Colors.reset, ) self.bold = lambda text: Printer( - self._string + Colors.bold + str(text) + Colors.reset + self._string + Colors.bold + str(text) + Colors.reset, ) self.negative = lambda text: Printer( - self._string + Colors.negative + str(text) + Colors.reset + self._string + Colors.negative + str(text) + Colors.reset, ) # For passing in custom formatting @@ -130,17 +130,20 @@ def __init__( newline: int = 1, ): assert time is None or callable( - time + time, ), "`time` should be `None` for no printing or a function that generates a timestamp." assert msg_color is None or isinstance( - msg_color, str + msg_color, + str, ), "`msg_color` should be `None` for default printing or a string color." assert isinstance( - auto_bold, bool + auto_bold, + bool, ), "`auto_bold` should be true or false if messages should be printed\ as bold by default or not" assert newline is None or isinstance( - newline, int + newline, + int, ), "`newline` should be the number of newlines after the text (default 1)" # All these can be overwritten if not specified here diff --git a/mil_common/utils/mil_tools/mil_misc_tools/times.py b/mil_common/utils/mil_tools/mil_misc_tools/times.py new file mode 100644 index 000000000..554e8fbd8 --- /dev/null +++ b/mil_common/utils/mil_tools/mil_misc_tools/times.py @@ -0,0 +1,11 @@ +import datetime + +import rospy + + +def rospy_to_datetime(time: rospy.Time) -> datetime.datetime: + return datetime.datetime.utcfromtimestamp(time.to_sec()) + + +def datetime_to_rospy(dt: datetime.datetime) -> rospy.Time: + return rospy.Time.from_sec(dt.replace(tzinfo=datetime.timezone.utc).timestamp()) diff --git a/mil_common/utils/mil_tools/mil_ros_tools/bag_crawler.py b/mil_common/utils/mil_tools/mil_ros_tools/bag_crawler.py index 3edca0c68..a7fa3d0a4 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/bag_crawler.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/bag_crawler.py @@ -128,8 +128,6 @@ def image_info_topics(self, cam: str = "right") -> List[str]: if __name__ == "__main__": - import cv2 - bag = "test.bag" bc = BagCrawler(bag) diff --git a/mil_common/utils/mil_tools/mil_ros_tools/catkin_tests_directory.py b/mil_common/utils/mil_tools/mil_ros_tools/catkin_tests_directory.py index 96f9c70d6..37cd1edec 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/catkin_tests_directory.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/catkin_tests_directory.py @@ -36,7 +36,7 @@ def run_tests(tests): if __name__ == "__main__": # parse configuration from arguments parser = argparse.ArgumentParser( - description="Prints all catkin test targets in a specified directory" + description="Prints all catkin test targets in a specified directory", ) parser.add_argument( "directory", diff --git a/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py b/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py index b6da80cd0..22e52987c 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py @@ -150,15 +150,11 @@ def get_camera_model(bag: str, topic: str): _, msg, _ = next(bag.read_messages(topics=camera_info_topic)) except StopIteration: raise Exception( - "no camera info messages found on topic {} in {}".format( - camera_info_topic, bag - ) + f"no camera info messages found on topic {camera_info_topic} in {bag}", ) if msg._type != "sensor_msgs/CameraInfo": raise Exception( - "msg on topic {} are not camera info in bag {}".format( - camera_info_topic, bag - ) + f"msg on topic {camera_info_topic} are not camera info in bag {bag}", ) model = PinholeCameraModel() model.fromCameraInfo(msg) @@ -216,9 +212,7 @@ def extract_images(self, source_dir=".", image_dir=".", verbose=False): """ if verbose: print( - "\tExtracting images from topic {} in {}".format( - self.topic, self.filename - ) + f"\tExtracting images from topic {self.topic} in {self.filename}", ) filename = os.path.join(source_dir, self.filename) b = rosbag.Bag(filename) @@ -233,7 +227,9 @@ def extract_images(self, source_dir=".", image_dir=".", verbose=False): next_time = start prefix = slugify(str(self.filename)) + "_" + slugify(str(self.topic)) for _, msg, time in b.read_messages( - topics=self.topic, start_time=start, end_time=stop + topics=self.topic, + start_time=start, + end_time=stop, ): if time >= next_time: next_time = time + interval @@ -316,7 +312,9 @@ def extract_images(self, source_dir=".", image_dir=".", verbose=False): os.makedirs(image_dir) for source in self.sources: source.extract_images( - source_dir=source_dir, image_dir=image_dir, verbose=verbose + source_dir=source_dir, + image_dir=image_dir, + verbose=verbose, ) @@ -363,7 +361,9 @@ def from_dict(cls, d): for dataset in d["datasets"]: datasets.append(BagImageExtractorDatasets.from_dict(dataset)) return cls( - datasets, source_dir=d.get("source_dir"), image_dir=d.get("image_dir") + datasets, + source_dir=d.get("source_dir"), + image_dir=d.get("image_dir"), ) def extract_images(self, verbose=False): @@ -377,14 +377,16 @@ def extract_images(self, verbose=False): """ for dataset in self.datasets: dataset.extract_images( - source_dir=self.source_dir, image_dir=self.image_dir, verbose=verbose + source_dir=self.source_dir, + image_dir=self.image_dir, + verbose=verbose, ) if __name__ == "__main__": parser = argparse.ArgumentParser( description="Extracts images from ROS bags into image files according to a configuration.\n\ - Designed to be used to create labelbox.io projects for segmentation/classification." + Designed to be used to create labelbox.io projects for segmentation/classification.", ) parser.add_argument( "config", @@ -411,7 +413,10 @@ def extract_images(self, verbose=False): Defaults to current directory.", ) parser.add_argument( - "--verbose", "-v", action="store_true", help="Print status info along the way" + "--verbose", + "-v", + action="store_true", + help="Print status info along the way", ) args = parser.parse_args() diff --git a/mil_common/utils/mil_tools/mil_ros_tools/fix_bag.py b/mil_common/utils/mil_tools/mil_ros_tools/fix_bag.py index 99392d55c..f4796ace9 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/fix_bag.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/fix_bag.py @@ -21,10 +21,10 @@ def fix_topic(self, topic): def fix_tf(self, tf): for i, t in enumerate(tf.transforms): tf.transforms[i].header.frame_id = self.fix_frame( - tf.transforms[i].header.frame_id + tf.transforms[i].header.frame_id, ) tf.transforms[i].child_frame_id = self.fix_frame( - tf.transforms[i].child_frame_id + tf.transforms[i].child_frame_id, ) return tf @@ -87,14 +87,17 @@ def valid_topic(self, topic): if topic in self.ignore_topics: return False if self.keep_topics is not None and len(self.keep_topics): - for t in self.keep_topics: - if topic.find(t) == 0: - return True - return False + return any(topic.find(t) == 0 for t in self.keep_topics) return True def __init__( - self, topic_map={}, frame_map={}, start=None, stop=None, keep=[], ignore=[] + self, + topic_map={}, + frame_map={}, + start=None, + stop=None, + keep=[], + ignore=[], ): if ignore is None: ignore = [] @@ -109,7 +112,12 @@ def __init__( if __name__ == "__main__": parser = argparse.ArgumentParser(description="Fix bag topics/frame_ids") parser.add_argument( - "--in", "-i", dest="infile", type=str, required=True, help="Bag to read and fix" + "--in", + "-i", + dest="infile", + type=str, + required=True, + help="Bag to read and fix", ) parser.add_argument( "--out", diff --git a/mil_common/utils/mil_tools/mil_ros_tools/geometry_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/geometry_helpers.py index 1cc832cd2..1d6114159 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/geometry_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/geometry_helpers.py @@ -130,7 +130,8 @@ def normalize(vector) -> npt.NDArray: def compose_transformation( - rotation: npt.NDArray, translation: npt.NDArray + rotation: npt.NDArray, + translation: npt.NDArray, ) -> np.ndarray: """ Compose a transformation from a rotation matrix and a translation matrix. diff --git a/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py index 9ac5f21e2..22f8eac56 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py @@ -118,12 +118,18 @@ def callback(im): self.last_image_time = None self.last_image = None self.im_sub = rospy.Subscriber( - topic, Image, self.convert, queue_size=queue_size + topic, + Image, + self.convert, + queue_size=queue_size, ) root_topic, image_subtopic = path.split(rospy.remap_name(topic)) self.info_sub = rospy.Subscriber( - root_topic + "/camera_info", CameraInfo, self.info_cb, queue_size=queue_size + root_topic + "/camera_info", + CameraInfo, + self.info_cb, + queue_size=queue_size, ) self.bridge = CvBridge() @@ -141,7 +147,7 @@ def wait_for_camera_info(self, timeout: int = 10): Exception: No camera info was found after the timeout had finished. """ rospy.logwarn( - "Blocking -- waiting at most %d seconds for camera info." % timeout + "Blocking -- waiting at most %d seconds for camera info." % timeout, ) timeout = rospy.Duration(timeout) @@ -305,16 +311,21 @@ def callback(image_left, image_right): # Use message_filters library to set up synchronized subscriber to both image topics if slop is None: self._image_sub = message_filters.TimeSynchronizer( - [image_sub_left, image_sub_right], queue_size + [image_sub_left, image_sub_right], + queue_size, ) else: self._image_sub = message_filters.ApproximateTimeSynchronizer( - [image_sub_left, image_sub_right], queue_size, slop + [image_sub_left, image_sub_right], + queue_size, + slop, ) self._image_sub.registerCallback(self._image_callback) def wait_for_camera_info( - self, timeout: int = 10, unregister: bool = True + self, + timeout: int = 10, + unregister: bool = True, ) -> Tuple[CameraInfo, CameraInfo]: """ Blocks until camera info has been received. @@ -360,10 +371,12 @@ def _image_callback(self, left_img: Image, right_img: Image): self.last_image_time_left = left_img.header.stamp self.last_image_time_right = right_img.header.stamp img_left = self.bridge.imgmsg_to_cv2( - left_img, desired_encoding=self.encoding + left_img, + desired_encoding=self.encoding, ) img_right = self.bridge.imgmsg_to_cv2( - right_img, desired_encoding=self.encoding + right_img, + desired_encoding=self.encoding, ) self.callback(img_left, img_right) except CvBridgeError as e: diff --git a/mil_common/utils/mil_tools/mil_ros_tools/init_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/init_helpers.py index 07ae2c06d..0a8541fd6 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/init_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/init_helpers.py @@ -10,7 +10,9 @@ def wait_for_param( - param_name: str, timeout: Optional[float] = None, poll_rate: float = 0.1 + param_name: str, + timeout: Optional[float] = None, + poll_rate: float = 0.1, ) -> Optional[Any]: """ Blocking wait for a parameter named to exist. Polls at the frequency of poll_rate. @@ -36,9 +38,8 @@ def wait_for_param( return rospy.get_param(param_name) # If we exceed a defined timeout, return None - if timeout is not None: - if time.time() - start_time > timeout: - return None + if timeout is not None and time.time() - start_time > timeout: + return None # Continue to poll at poll_rate rate.sleep() @@ -65,7 +66,8 @@ def wait_for_subscriber(node_name: str, topic: str, timeout: float = 5.0) -> boo # Wait for time-out or ros-shutdown while (time.time() < end_time) and (not rospy.is_shutdown()): subscribed = rostest.is_subscriber( - rospy.resolve_name(topic), rospy.resolve_name(node_name) + rospy.resolve_name(topic), + rospy.resolve_name(node_name), ) # Success scenario: node subscribes if subscribed: @@ -75,7 +77,8 @@ def wait_for_subscriber(node_name: str, topic: str, timeout: float = 5.0) -> boo # Could do this with a while/else # But chose to explicitly check success = rostest.is_subscriber( - rospy.resolve_name(topic), rospy.resolve_name(node_name) + rospy.resolve_name(topic), + rospy.resolve_name(node_name), ) return success diff --git a/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py b/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py index fc382bae1..4e6c7231c 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py @@ -136,7 +136,10 @@ def _annotations_directory(self, name, topic): the bag config name and a topic """ return os.path.join( - self.labelme_dir, "Annotations", name, self._name_encode(topic) + self.labelme_dir, + "Annotations", + name, + self._name_encode(topic), ) def read_bags(self): @@ -181,7 +184,9 @@ def _read_bag(self, config): # Crawl through bag in configured time and frequency, writing images into labelme next_time = start + interval for topic, msg, time in bag.read_messages( - topics=config.topics, start_time=start, end_time=stop + topics=config.topics, + start_time=start, + end_time=stop, ): if time >= next_time: img = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough") @@ -205,7 +210,7 @@ def _extract_labels_bag(self, bag): # Open output bag to write labels (along with original content) to outfilename = os.path.join(self.outdir, bag.outfile) if os.path.exists( - outfilename + outfilename, ): # If output bag already exists, only override if force glag is set if self.force: self._print(f"{outfilename} already exists. OVERRIDING") @@ -258,15 +263,15 @@ def completion_report(self): total_img_count += i if total_img_count == 0: print( - "{}/{} TOTAL images labeled (0%)".format( - total_xml_count, total_img_count - ) + f"{total_xml_count}/{total_img_count} TOTAL images labeled (0%)", ) else: print( "{}/{} TOTAL images labeled ({:.1%})".format( - total_xml_count, total_img_count, total_xml_count / total_img_count - ) + total_xml_count, + total_img_count, + total_xml_count / total_img_count, + ), ) def _completion_bag(self, bag): @@ -293,7 +298,10 @@ def _completion_bag(self, bag): img_count += 1 if img_count == 0: self._print( - "\t{}/{} images labeled in {} (0%)", xml_count, img_count, bag.name + "\t{}/{} images labeled in {} (0%)", + xml_count, + img_count, + bag.name, ) else: self._print( @@ -335,7 +343,7 @@ def label_to_msg(filename): if __name__ == "__main__": parser = argparse.ArgumentParser( - description="Generates rosbags based on LabelMe data and visa/versa" + description="Generates rosbags based on LabelMe data and visa/versa", ) parser.add_argument( "config", diff --git a/mil_common/utils/mil_tools/mil_ros_tools/mag_to_marker.py b/mil_common/utils/mil_tools/mil_ros_tools/mag_to_marker.py index 642bed82b..00fa3599f 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/mag_to_marker.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/mag_to_marker.py @@ -68,10 +68,12 @@ def publish(self, vec: MagneticField): if __name__ == "__main__": parser = argparse.ArgumentParser( - description="Publishes a rviz marker representing a MagneticField message" + description="Publishes a rviz marker representing a MagneticField message", ) parser.add_argument( - "mag_topic", type=str, help="Topic of magnetic field to subscribe to" + "mag_topic", + type=str, + help="Topic of magnetic field to subscribe to", ) parser.add_argument( "marker_topic", diff --git a/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py index 4dd6d5fab..8ab315818 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py @@ -58,9 +58,7 @@ def rosmsg_to_numpy(rosmsg, keys=None): break assert ( len(output_array) != 0 - ), "Input type {} has none of these attributes {}.".format( - type(rosmsg).__name__, keys - ) + ), f"Input type {type(rosmsg).__name__} has none of these attributes {keys}." return np.array(output_array).astype(np.float32) else: @@ -229,7 +227,8 @@ def numpy_to_quaternion(np_quaternion: np.ndarray) -> geometry_msgs.Quaternion: def numpy_to_twist( - linear_vel: np.ndarray, angular_vel: np.ndarray + linear_vel: np.ndarray, + angular_vel: np.ndarray, ) -> geometry_msgs.Twist: """ Turns two :class:`np.ndarray`s into a :class:`Twist` message. @@ -287,7 +286,8 @@ def numpy_matrix_to_quaternion(np_matrix: np.ndarray): def numpy_pair_to_pose( - np_translation: np.ndarray, np_rotation_matrix: np.ndarray + np_translation: np.ndarray, + np_rotation_matrix: np.ndarray, ) -> geometry_msgs.Pose: """ Convert a rotation matrix and point pair to a Pose message. @@ -306,7 +306,8 @@ def numpy_pair_to_pose( def numpy_quat_pair_to_pose( - np_translation: np.ndarray, np_quaternion: np.ndarray + np_translation: np.ndarray, + np_quaternion: np.ndarray, ) -> geometry_msgs.Pose: """ Convert a quaternion array and point array pair to a Pose message. @@ -439,14 +440,17 @@ def make_wrench_stamped(force: List[float], torque: List[float], frame: str = "/ wrench = geometry_msgs.WrenchStamped( header=make_header(frame), wrench=geometry_msgs.Wrench( - force=geometry_msgs.Vector3(*force), torque=geometry_msgs.Vector3(*torque) + force=geometry_msgs.Vector3(*force), + torque=geometry_msgs.Vector3(*torque), ), ) return wrench def make_pose_stamped( - position: List[float], orientation: List[float], frame: str = "/body" + position: List[float], + orientation: List[float], + frame: str = "/body", ) -> geometry_msgs.WrenchStamped: """ Makes a PoseStamped message. diff --git a/mil_common/utils/mil_tools/mil_ros_tools/plotter.py b/mil_common/utils/mil_tools/mil_ros_tools/plotter.py index c958a7b7c..92c8efed9 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/plotter.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/plotter.py @@ -59,7 +59,11 @@ class Plotter: # Can be enables/disabled via the _enable service call def __init__( - self, topic_name: str, width: int = 20, height: int = 20, dpi: int = 150 + self, + topic_name: str, + width: int = 20, + height: int = 20, + dpi: int = 150, ): matplotlib.rcParams.update({"font.size": 22}) self.pub = rospy.Publisher(topic_name, Image, queue_size=1) @@ -115,7 +119,8 @@ def publish_plots( if self.is_go(): self.thread = threading.Thread( - target=self.publish_plots_, args=(plots, titles, v_lines) + target=self.publish_plots_, + args=(plots, titles, v_lines), ) self.thread.daemon = True self.thread.start() diff --git a/mil_common/utils/mil_tools/mil_ros_tools/pointcloud_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/pointcloud_helpers.py index ab810beef..c30f3c9c7 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/pointcloud_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/pointcloud_helpers.py @@ -6,7 +6,9 @@ def numpy_to_pointcloud2( - points: np.ndarray, stamp: Optional[Time] = None, frame_id: Optional[str] = None + points: np.ndarray, + stamp: Optional[Time] = None, + frame_id: Optional[str] = None, ) -> PointCloud2: """ Create a sensor_msgs.PointCloud2 from an array of points. diff --git a/mil_common/utils/mil_tools/mil_ros_tools/rviz_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/rviz_helpers.py index f50faa474..fdbc6d788 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/rviz_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/rviz_helpers.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 from typing import List, Tuple -import mil_ros_tools import numpy as np import rospy import visualization_msgs.msg as visualization_msgs @@ -9,6 +8,8 @@ from image_geometry import PinholeCameraModel from std_msgs.msg import ColorRGBA +import mil_ros_tools + rviz_pub = rospy.Publisher("visualization", visualization_msgs.Marker, queue_size=3) @@ -90,7 +91,7 @@ def make_ray( color: List[float], frame: str = "/base_link", m_id: int = 0, - **kwargs + **kwargs, ) -> visualization_msgs.Marker: """ Makes a ray from a base with a direction. The ray is constructed in the ``wamv`` @@ -115,6 +116,6 @@ def make_ray( scale=Vector3(0.05, 0.05, 0.05), points=[Point(*o) for o in [base, direction * length]], lifetime=rospy.Duration(), - **kwargs + **kwargs, ) return marker diff --git a/mil_common/utils/mil_tools/mil_ros_tools/vector_to_marker.py b/mil_common/utils/mil_tools/mil_ros_tools/vector_to_marker.py index a926b3d93..96330d57a 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/vector_to_marker.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/vector_to_marker.py @@ -72,7 +72,9 @@ def publish(self, vec): if __name__ == "__main__": parser = argparse.ArgumentParser(description="Publishes a rviz marker") parser.add_argument( - "vector_topic", type=str, help="Topic of vector to subscribe to" + "vector_topic", + type=str, + help="Topic of vector to subscribe to", ) parser.add_argument( "marker_topic", @@ -100,6 +102,9 @@ def publish(self, vec): args = parser.parse_args(args[1:]) rospy.init_node("vector_to_marker") VectorToMarker( - args.vector_topic, args.marker_topic, length=args.length, color=args.color + args.vector_topic, + args.marker_topic, + length=args.length, + color=args.color, ) rospy.spin() diff --git a/mil_common/utils/mil_tools/nodes/online_bagger.py b/mil_common/utils/mil_tools/nodes/online_bagger.py index d67c636a3..5a0c6bb32 100755 --- a/mil_common/utils/mil_tools/nodes/online_bagger.py +++ b/mil_common/utils/mil_tools/nodes/online_bagger.py @@ -69,11 +69,9 @@ def get_subscriber_list(self, status): Outputs each topics: time_buffer(float in seconds), subscribe_statue(bool), topic(string) """ sub_list = "" - for topic in self.subscriber_list.keys(): + for topic in self.subscriber_list: if self.subscriber_list[topic][1] == status: - sub_list = sub_list + "\n{:13}, {}".format( - self.subscriber_list[topic], topic - ) + sub_list = sub_list + f"\n{self.subscriber_list[topic]:13}, {topic}" return sub_list def get_params(self): @@ -87,7 +85,8 @@ def get_params(self): self.stream_time = rospy.get_param("~stream_time", default=30) # seconds self.resubscribe_period = rospy.get_param( - "~resubscribe_period", default=3.0 + "~resubscribe_period", + default=3.0, ) # seconds self.dated_folder = rospy.get_param("~dated_folder", default=True) # bool @@ -110,7 +109,7 @@ def add_env_var(var): # Add topics from MIL bag script environment variables if "BAG_ALWAYS" in os.environ: add_env_var(os.environ["BAG_ALWAYS"]) - for key in os.environ.keys(): + for key in os.environ: if key[0:4] == "bag_": add_env_var(os.environ[key]) @@ -153,7 +152,7 @@ class SliceableDeque(deque): def __getitem__(self, index): if isinstance(index, slice): return type(self)( - itertools.islice(self, index.start, index.stop, index.step) + itertools.islice(self, index.start, index.stop, index.step), ) return deque.__getitem__(self, index) @@ -183,10 +182,11 @@ def subscribe_loop(self): self.successful_subscription_count, len(self.subscriber_list), self.resubscribe_period, - ) + ), ) self.resubscriber = rospy.Timer( - rospy.Duration(self.resubscribe_period), self.subscribe + rospy.Duration(self.resubscribe_period), + self.subscribe, ) def subscribe(self, time_info=None): @@ -284,7 +284,7 @@ def bagger_callback(self, msg, topic): topic, self.get_topic_message_count(topic), round(time_diff.to_sec(), 2), - ) + ), ) while ( @@ -307,9 +307,9 @@ def get_total_message_count(self): """ total_message_count = 0 - for topic in self.topic_messages.keys(): + for topic in self.topic_messages: total_message_count = total_message_count + self.get_topic_message_count( - topic + topic, ) return total_message_count @@ -460,7 +460,9 @@ def bag(self, timeout=rospy.Duration(0)): bar_format="{desc} {bar} {percentage:3.0f}%", ) self.client.send_goal( - self.goal, done_cb=self._done_cb, feedback_cb=self._feedback_cb + self.goal, + done_cb=self._done_cb, + feedback_cb=self._feedback_cb, ) while self.result is None and not rospy.is_shutdown(): rospy.sleep(0.1) @@ -477,7 +479,7 @@ def bag(self, timeout=rospy.Duration(0)): argv = rospy.myargv() parser = argparse.ArgumentParser( description="ROS node to maintain buffers to create bags of the past\ - and client to call this node." + and client to call this node.", ) parser.add_argument( "-c", @@ -514,10 +516,7 @@ def bag(self, timeout=rospy.Duration(0)): args = parser.parse_args(argv[1:]) if args.client: # Run as actionclient rospy.init_node("online_bagger_client", anonymous=True) - if args.topics is None: - topics = "" - else: - topics = "".join(args.topics) + topics = "" if args.topics is None else "".join(args.topics) client = OnlineBaggerClient(name=args.name, topics=topics, time=args.time) client.bag() else: # Run as OnlineBagger server diff --git a/mil_common/utils/mil_tools/nodes/tf_fudger.py b/mil_common/utils/mil_tools/nodes/tf_fudger.py index e8b336170..0ae508c98 100755 --- a/mil_common/utils/mil_tools/nodes/tf_fudger.py +++ b/mil_common/utils/mil_tools/nodes/tf_fudger.py @@ -45,9 +45,7 @@ ang_res = ang_range / ang_max print( - "Distance resolution: {} meters\nAngular resolution: {} radians".format( - x_res, ang_res - ) + f"Distance resolution: {x_res} meters\nAngular resolution: {ang_res} radians", ) cv2.createTrackbar("x", "tf", 0, x_max, lambda x: x) @@ -93,10 +91,15 @@ def toCvAng(x): rpy_original = (0, 0, 0) try: listener.waitForTransform( - args.tf_parent, args.tf_child, rospy.Time(0), rospy.Duration(1) + args.tf_parent, + args.tf_child, + rospy.Time(0), + rospy.Duration(1), ) (trans, rot) = listener.lookupTransform( - args.tf_parent, args.tf_child, rospy.Time(0) + args.tf_parent, + args.tf_child, + rospy.Time(0), ) euler = trns.euler_from_quaternion(rot) p_original = trans @@ -138,12 +141,14 @@ def reset(): ) q = tf.transformations.quaternion_from_euler(*rpy) - if (not p == p_last) or (not rpy == rpy_last): + if (p != p_last) or (rpy != rpy_last): rpy_feedback = "xyz: {}, euler: {}".format( - [round(e, 5) for e in p], [round(np.degrees(f), 5) for f in rpy] + [round(e, 5) for e in p], + [round(np.degrees(f), 5) for f in rpy], ) q_feedback = "xyz: {}, q: {}".format( - [round(x, 5) for e in p], [round(f, 5) for f in q] + [round(x, 5) for e in p], + [round(f, 5) for f in q], ) print(q_feedback if q_mode else rpy_feedback) p_last = p @@ -212,6 +217,10 @@ def reset(): print( "\n", tf_line.format( - child=args.tf_child, p=p, q=np.round(q, 5), parent=args.tf_parent, prd=prd + child=args.tf_child, + p=p, + q=np.round(q, 5), + parent=args.tf_parent, + prd=prd, ), ) diff --git a/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py b/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py index ac4ea5d8f..9363d3c4f 100755 --- a/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py +++ b/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py @@ -16,24 +16,29 @@ def main(): print("============= TRANSFORMS ================") for frame_id in listener.getFrameStrings(): (trans, rot) = listener.lookupTransform( - tf_parent, frame_id, rospy.Time(0) + tf_parent, + frame_id, + rospy.Time(0), ) print("--") print(f"Transform {tf_parent} {frame_id}") if do_cam_fix: rot = tf.transformations.quaternion_multiply(rot, cam_fix_quat) print( - "(qx={}, qy={} , qz={}, qw={})".format( - rot[0], rot[1], rot[2], rot[3] - ) + f"(qx={rot[0]}, qy={rot[1]} , qz={rot[2]}, qw={rot[3]})", ) print(f"(x={trans[0]}, y={trans[1]}, z={trans[2]})") euler = tf.transformations.euler_from_quaternion(rot) print(f"(Roll={euler[0]}, Pitch={euler[1]}, Yaw={euler[2]})") print( " {} {} {} {} {} {} ".format( - trans[0], trans[1], trans[2], euler[0], euler[1], euler[2] - ) + trans[0], + trans[1], + trans[2], + euler[0], + euler[1], + euler[2], + ), ) except ( tf.LookupException, diff --git a/mil_common/utils/mil_tools/nodes/video_player.py b/mil_common/utils/mil_tools/nodes/video_player.py index bb445a219..7b07ec3e7 100755 --- a/mil_common/utils/mil_tools/nodes/video_player.py +++ b/mil_common/utils/mil_tools/nodes/video_player.py @@ -102,8 +102,11 @@ def __init__(self): ) rospy.loginfo( "Playing {} at {}fps starting at frame {} ({} Total Frames)".format( - self.filename, self.fps, self.start_frame, self.num_frames - ) + self.filename, + self.fps, + self.start_frame, + self.num_frames, + ), ) def run(self): @@ -111,7 +114,7 @@ def run(self): while not rospy.is_shutdown() and self.cap.isOpened() and not self.ended: if self.slider: k = cv2.waitKey(1) & 0xFF - if not k == self.last_key: + if k != self.last_key: self.last_key = k if k == 27: return @@ -147,7 +150,8 @@ def one_frame(self): y1 = self.roi_y_offset y2 = y1 + self.roi_height frame_roied = frame[ - y1 : min(y2, frame.shape[0]), x1 : min(x2, frame.shape[1]) + y1 : min(y2, frame.shape[0]), + x1 : min(x2, frame.shape[1]), ] self.image_pub.publish(self.bridge.cv2_to_imgmsg(frame_roied, "bgr8")) diff --git a/mil_common/utils/mil_tools/scripts/param_sever.py b/mil_common/utils/mil_tools/scripts/param_sever.py index ea0e11639..f9044a4af 100755 --- a/mil_common/utils/mil_tools/scripts/param_sever.py +++ b/mil_common/utils/mil_tools/scripts/param_sever.py @@ -24,7 +24,8 @@ def represent_mapping(self, tag, mapping, flow_style=False): p = rospy.get_param(file_basepath) data = yaml.dump( - {k: v for k, v in p.items() if k in param_paths}, Dumper=MyDumper + {k: v for k, v in p.items() if k in param_paths}, + Dumper=MyDumper, ) if os.path.exists(filename): diff --git a/mil_common/utils/mil_tools/scripts/stream_tcp_dump.py b/mil_common/utils/mil_tools/scripts/stream_tcp_dump.py index 011eb8d83..3ad8e7fbf 100755 --- a/mil_common/utils/mil_tools/scripts/stream_tcp_dump.py +++ b/mil_common/utils/mil_tools/scripts/stream_tcp_dump.py @@ -5,7 +5,7 @@ import time parser = argparse.ArgumentParser( - description="Creates a TCP server and send any client whom connects the full contents of the specified binary file" + description="Creates a TCP server and send any client whom connects the full contents of the specified binary file", ) parser.add_argument("file", help="name of file to playback") parser.add_argument("--port", default=10001, type=int, help="Port to bind to") @@ -17,7 +17,10 @@ help="Number of samples to send at a time (in bytes), 0 for all available", ) parser.add_argument( - "--rate", default=0, type=float, help="Number of times to send a batch per second" + "--rate", + default=0, + type=float, + help="Number of times to send a batch per second", ) parser.add_argument( "--advance_on_arrow", diff --git a/mil_common/utils/mil_tools/test/math_helpers_test.py b/mil_common/utils/mil_tools/test/math_helpers_test.py index 99f7c729d..667cc3647 100644 --- a/mil_common/utils/mil_tools/test/math_helpers_test.py +++ b/mil_common/utils/mil_tools/test/math_helpers_test.py @@ -25,7 +25,9 @@ def test_normalize_vector(self): # Test that the norm is 1 np.testing.assert_almost_equal( - norm, 1.0, err_msg="The normalized vector did not have length 1" + norm, + 1.0, + err_msg="The normalized vector did not have length 1", ) def test_quat_to_euler(self): @@ -35,7 +37,9 @@ def test_quat_to_euler(self): numpy_array = quat_to_euler(q) truth = np.array([1.57079633, 0.0, 0.0]) np.testing.assert_almost_equal( - numpy_array, truth, err_msg="Quaternion to euler conversion incorrect" + numpy_array, + truth, + err_msg="Quaternion to euler conversion incorrect", ) def test_compose_transformation(self): @@ -48,7 +52,9 @@ def test_compose_transformation(self): test = compose_transformation(R, t) np.testing.assert_almost_equal( - test, truth, err_msg="Error composing transformation" + test, + truth, + err_msg="Error composing transformation", ) def test_euler_to_quat(self): @@ -61,7 +67,9 @@ def test_euler_to_quat(self): testing = np.array([testing.x, testing.y, testing.z, testing.w]) truth = np.array([0.70710678, 0.0, 0.0, 0.70710678]) np.testing.assert_almost_equal( - testing, truth, err_msg="Incorrect euler to quaternion conversion" + testing, + truth, + err_msg="Incorrect euler to quaternion conversion", ) diff --git a/mil_common/utils/mil_tools/test/test_ros_tools.py b/mil_common/utils/mil_tools/test/test_ros_tools.py index f83e2ce10..bbcc5511b 100644 --- a/mil_common/utils/mil_tools/test/test_ros_tools.py +++ b/mil_common/utils/mil_tools/test/test_ros_tools.py @@ -1,8 +1,12 @@ #!/usr/bin/env python3 +import random +import time import unittest import numpy as np +import rospy from geometry_msgs.msg import Pose2D, Quaternion, Vector3 +from mil_misc_tools import datetime_to_rospy, rospy_to_datetime from mil_ros_tools import ( get_image_msg, make_image_msg, @@ -46,8 +50,8 @@ def test_make_wrench_stamped(self): torque = np.random.random(3) * 10 wrench_msg = make_wrench_stamped(force, torque, frame="/enu") - msg_force = rosmsg_to_numpy(wrench_msg.wrench.force) # noqa - msg_torque = rosmsg_to_numpy(wrench_msg.wrench.torque) # noqa + msg_force = rosmsg_to_numpy(wrench_msg.wrench.force) + msg_torque = rosmsg_to_numpy(wrench_msg.wrench.torque) self.assertIsNotNone(msg_force) self.assertIsNotNone(msg_torque) @@ -90,7 +94,8 @@ def lock_test(a): self.assertTrue(fake_lock.entry, msg="Thread was never locked") self.assertTrue(fake_lock.exit, msg="Thread was never released") self.assertTrue( - result, msg="Thread was not locked while the function was executed" + result, + msg="Thread was not locked while the function was executed", ) def test_skew_symmetric_cross(self): @@ -103,7 +108,7 @@ def test_skew_symmetric_cross(self): [+0, -3, +2], [+3, +0, -1], [-2, +1, +0], - ] + ], ) np.testing.assert_allclose( skew_sym, @@ -127,11 +132,14 @@ def test_make_rotation(self): np.cross(p_rotated, q), atol=1e-5, err_msg="The generated rotation matrix did not align the input vectors, {} to {}".format( - p, q + p, + q, ), ) self.assertGreater( - np.dot(p_rotated, q), 0.0, msg="The rotation did wacky inversion" + np.dot(p_rotated, q), + 0.0, + msg="The rotation did wacky inversion", ) def test_normalize_vector(self): @@ -147,9 +155,19 @@ def test_normalize_vector(self): # Test that the norm is 1 np.testing.assert_almost_equal( - norm, 1.0, err_msg="The normalized vector did not have length 1" + norm, + 1.0, + err_msg="The normalized vector did not have length 1", ) + def test_datetime_conv(self): + """Test datetime to rospy.Time conversion.""" + for _ in range(10): + unix_stamp = random.randrange(0, int(time.time())) + rp1 = rospy.Time(unix_stamp) + dt1 = rospy_to_datetime(rp1) + self.assertEqual(datetime_to_rospy(dt1), rp1) + if __name__ == "__main__": suite = unittest.TestLoader().loadTestsFromTestCase(TestROSTools) diff --git a/requirements.txt b/requirements.txt index 7a6d801fe..88d330b91 100644 --- a/requirements.txt +++ b/requirements.txt @@ -11,18 +11,18 @@ pandas==1.4.1 numpy==1.22.3 # Machine Learning -scipy==1.7.3 +scipy==1.10.0 scikit-learn==1.1.1 # Computer Vision -Pillow==9.3.0 +Pillow==10.0.1 # File Handling PyYAML==6.0 urdf-parser-py==0.0.4 # Internet -aiohttp==3.8.1 +aiohttp==3.8.5 aiohttp-xmlrpc==1.5.0 # Documentation @@ -48,4 +48,4 @@ torchvision>=0.13.1 opencv-python==4.6.0.66 seaborn==0.11.2 thop==0.1.1.post2207130030 -requests==2.22.0 +requests==2.31.0 diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 000000000..0ec9c21f1 --- /dev/null +++ b/ruff.toml @@ -0,0 +1,45 @@ +extend-select = [ + "UP", # pyupgrade + "I", # isort + "RUF", # ruff-specific rules + "RSE", # flake8-raise (exceptions) + "COM", # flake8-comma + "C4", # flake8-comprehensions + "SIM", # flake8-simplify +] + +extend-exclude = [ + "deprecated", + # submodules + "mil_common/perception/yolov7-ros", + "NaviGator/gnc/navigator_path_planner/lqRRT", + "mil_common/drivers/pointgrey_camera_driver", + "mil_common/drivers/roboteq", + "mil_common/drivers/LMS1xx", + "mil_common/axros", + "NaviGator/simulation/VRX/vrx", + "NaviGator/simulation/VRX/vrx-docker", + "mil_common/perception/yolov7-ros", + # sub simulation + "SubjuGator/simulation", + # docker contents + "docker", +] + +target-version = "py38" + +ignore = [ + "E501", # Line length + "F405", # Unknown import + "F403", # Unknown names + "D212", # we use second line! + "D200", # one line docstrings are not shortened! + "SIM115", # too many for now... + "RUF012", # too many for now, adds obvious ClassVar statements +] + +[per-file-ignores] +"__init__.py" = ["F401"] + +[pydocstyle] +convention = "google" diff --git a/scripts/build_docs b/scripts/build_docs index 7653f5df9..a8b27c573 100755 --- a/scripts/build_docs +++ b/scripts/build_docs @@ -1,4 +1,5 @@ #!/bin/bash +set -e usage="$(basename "$0") [-h | --help] [-s | --scratch] [-n | --no-source] [-d | --doxygen] -- build MIL docs @@ -56,9 +57,9 @@ fi if [ "$SCRATCH" = true ]; then #Doxygen - NO_SOURCE="$NO_SOURCE" sphinx-build -E -b html -d "$BUILD_DIR"/doctrees "$MIL_DIR"/docs "$BUILD_DIR"/html + NO_SOURCE="$NO_SOURCE" sphinx-build -W -E -b html -d "$BUILD_DIR"/doctrees "$MIL_DIR"/docs "$BUILD_DIR"/html else - NO_SOURCE="$NO_SOURCE" sphinx-build -b html -d "$BUILD_DIR"/doctrees "$MIL_DIR"/docs "$BUILD_DIR"/html + NO_SOURCE="$NO_SOURCE" sphinx-build -W -b html -d "$BUILD_DIR"/doctrees "$MIL_DIR"/docs "$BUILD_DIR"/html fi # Then Sphinx build diff --git a/scripts/install.sh b/scripts/install.sh index d1cabb8b1..8a95fdf55 100755 --- a/scripts/install.sh +++ b/scripts/install.sh @@ -235,11 +235,15 @@ mil_user_install_dependencies() { git \ tmux \ vim \ + htop \ + tmuxinator \ awscli \ net-tools \ cifs-utils \ nmap \ - tmuxinator + fd-find \ + ripgrep \ + fzf } # Add line to user's bashrc which source the repo's setup files diff --git a/scripts/setup.bash b/scripts/setup.bash index ebf7e3a3e..97d54f7da 100755 --- a/scripts/setup.bash +++ b/scripts/setup.bash @@ -84,6 +84,7 @@ alias search_root='sudo find / \ -print | grep -i' alias search='find . -print | grep -i' +alias fd="fdfind" # Gazebo aliases alias gazebogui="rosrun gazebo_ros gzclient __name:=gzclient" diff --git a/test.py b/test.py deleted file mode 100644 index eeebf97f2..000000000 --- a/test.py +++ /dev/null @@ -1,17 +0,0 @@ -import asyncio - - -async def main(): - count = 0 - while True: - await asyncio.sleep(1) - count += 1 - print("*" * count) - - -if __name__ == "__main__": - # uvloop.install() - try: - asyncio.run(main()) - except KeyboardInterrupt: - pass