diff --git a/.gitignore b/.gitignore index 2473751..63292a1 100644 --- a/.gitignore +++ b/.gitignore @@ -10,7 +10,5 @@ venv *$py.class # Protobuf auto-generated bindings -firmware/src/protocol.pb.[ch] -firmware/src/nanopb.pb.[ch] -cartpole/device/protocol_pb2.py -cartpole/device/nanopb_pb2.py +firmware/src/proto +cartpole/device/proto diff --git a/cartpole/__main__.py b/cartpole/__main__.py index d02a0ef..3f621f5 100644 --- a/cartpole/__main__.py +++ b/cartpole/__main__.py @@ -12,23 +12,38 @@ def parse_args(): common = argparse.ArgumentParser( - prog='cartpole', - description='cartpole control experiments' + prog='cartpole', description='cartpole control experiments' ) - subparsers = common.add_subparsers(title='commands', dest='command', required=True, help='command help') + subparsers = common.add_subparsers( + title='commands', dest='command', required=True, help='command help' + ) # common arguments - common.add_argument('-S', '--simulation', action='store_true', help='simulation mode') + common.add_argument( + '-S', '--simulation', action='store_true', help='simulation mode' + ) common.add_argument('-c', '--config', type=str, help='cartpole yaml config file') common.add_argument('-m', '--mcap', type=str, default='', help='mcap log file') - common.add_argument('-a', '--advance', type=float, default=0.01, help='advance simulation time (seconds)') + common.add_argument( + '-a', + '--advance', + type=float, + default=0.01, + help='advance simulation time (seconds)', + ) # eval arguments eval = subparsers.add_parser('eval', help='system identification') - eval.add_argument('-d', '--duration', type=float, default=10.0, help='experiment duration (seconds)') + eval.add_argument( + '-d', + '--duration', + type=float, + default=10.0, + help='experiment duration (seconds)', + ) eval.add_argument('-O', '--output', type=str, help='output yaml config file') return common.parse_args() @@ -36,6 +51,7 @@ def parse_args(): def evaluate(device: CartPoleBase, config: Config, args: argparse.Namespace) -> None: log.info('parameters evaluation') + random.seed(0) position_margin = 0.01 position_tolerance = 0.005 @@ -48,8 +64,10 @@ def evaluate(device: CartPoleBase, config: Config, args: argparse.Namespace) -> log.info(f'run calibration session for {duration:.2f} seconds') device.reset() + time.sleep(5) start = device.get_state() + print(start) state = start target = Target(position=0, velocity=0, acceleration=0) @@ -59,25 +77,29 @@ def evaluate(device: CartPoleBase, config: Config, args: argparse.Namespace) -> state = device.get_state() if abs(target.position - state.cart_position) < position_tolerance: - position = random.uniform(position_max/2, position_max) + position = random.uniform(position_max / 2, position_max) target.position = position if target.position < 0 else -position - target.velocity = random.uniform(velocity_max/2, velocity_max) - target.acceleration = random.uniform(acceleration_max/2, acceleration_max) + target.velocity = random.uniform(velocity_max / 2, velocity_max) + target.acceleration = random.uniform(acceleration_max / 2, acceleration_max) log.info(f'target {target}') - device.set_target(target) + state = device.set_target(target) - log.publish('/cartpole/state', state, state.stamp) - log.publish('/cartpole/target', target, state.stamp) - log.publish('/cartpole/info', device.get_info(), state.stamp) + log.publish('/cartpole/state', state) + log.publish('/cartpole/target', target) + # log.publish('/cartpole/info', device.get_info(), state.stamp) states.append(state) device.advance(advance) if args.simulation: - time.sleep(advance) # simulate real time + time.sleep(advance) # simulate real time + + if state.error: + print('ERR', state.error) log.info(f'find parameters') + print(len(states)) parameters = find_parameters(states, config.parameters.gravity) log.info(f'parameters: {parameters}') @@ -106,10 +128,12 @@ def main(): if args.simulation: log.info('simulation mode') - device = Simulator(integration_step=min(args.advance/20, 0.001)) + device = Simulator(integration_step=min(args.advance / 20, 0.001)) else: - raise NotImplementedError() - + from cartpole.device import CartPoleDevice + + device = CartPoleDevice(hard_reset=True) + if args.config: log.debug(f'config file: {args.config}') config = Config.from_yaml_file(args.config) @@ -117,7 +141,6 @@ def main(): log.warning('no config file specified, using defaults') config = Config() - device.set_config(config) if args.command == 'eval': @@ -125,5 +148,6 @@ def main(): else: raise NotImplementedError() + if __name__ == "__main__": main() diff --git a/cartpole/common.py b/cartpole/common.py index 111f38b..10f87f4 100644 --- a/cartpole/common.py +++ b/cartpole/common.py @@ -3,10 +3,11 @@ import torch from pydantic import BaseModel, Field -from typing import Any +from typing import Any, Optional import json import yaml +import time class Limits(BaseModel): @@ -152,7 +153,7 @@ class State(BaseModel): pole_angle - absolute accumulated pole angle (rad) pole_angular_velocity - pole angular velocity (rad/s) - stamp - system time stamp (s) + stamp - system time stamp in seconds error - system error code ''' @@ -163,25 +164,9 @@ class State(BaseModel): pole_angle: float = 0.0 pole_angular_velocity: float = 0.0 - stamp: float = 0.0 + stamp: float = Field(default_factory=time.perf_counter) error: Error = Error.NO_ERROR - class Config: - @staticmethod - def json_schema_extra(schema: Any, model: Any) -> None: - # make schema lightweight - schema.pop('definitions', None) - - properties = schema['properties'] - for name in properties: - properties[name].pop('title', None) - - # simplify schema for foxglove - properties['error'] = { - 'type': 'integer', - 'enum': [e.value for e in Error] - } - def validate(self, config: Config) -> None: ''' Validates state against limits. @@ -240,9 +225,9 @@ class Target(BaseModel): If velocity/accleration is not specified (absolute value needed), use control limit as a default. ''' - position: float | None = None - velocity: float | None = None - acceleration: float | None = None + position: Optional[float] = None + velocity: Optional[float] = None + acceleration: Optional[float] = None def acceleration_or(self, default: float) -> float: ''' diff --git a/cartpole/device/__init__.py b/cartpole/device/__init__.py index 787bfe8..abcb42a 100644 --- a/cartpole/device/__init__.py +++ b/cartpole/device/__init__.py @@ -1 +1 @@ -from cartpole.device._device import * +from cartpole.device.device import CartPoleDevice diff --git a/cartpole/device/_device.py b/cartpole/device/_device.py deleted file mode 100644 index 15e0780..0000000 --- a/cartpole/device/_device.py +++ /dev/null @@ -1,79 +0,0 @@ -import logging -import math -import time - -from cartpole.common import util -from cartpole.common.interface import ( - Config, - State, - CartPoleBase, -) -from cartpole.device.wire_interface import ( - WireInterface, - ProtobufWireInterface, - DeviceTarget, - DeviceConfig, - DeviceState, -) - - -LOGGER = logging.getLogger(__name__) - - -class CartPoleDevice(CartPoleBase): - def __init__(self, interface: WireInterface = None, target_key='acceleration') -> None: - self.interface = interface or ProtobufWireInterface() - self.step_count = 0 - self.target_key = target_key - self.zero_angle = 0 - self.prev_angle = 0 - self.rotations = 0 - - def reset(self, config: Config = None) -> None: - self.interface.reset() - config = config or Config.default() - config.__class__ = DeviceConfig - self.interface.set(config) - self.step_count = 0 - - def get_state(self) -> State: - new_state: State = self.interface.get(DeviceState.full()) - new_state.pole_angle -= self.zero_angle - if new_state.pole_angle < 0: - new_state.pole_angle += 2 * math.pi - - curr = new_state.pole_angle - prev = self.prev_angle - max_delta = math.pi - - delta = curr - prev - if delta > max_delta: - self.rotations -= 1 - elif delta < -max_delta: - self.rotations += 1 - abs_angle = 2 * math.pi * self.rotations + curr - self.prev_angle = curr - - new_state.pole_angle = abs_angle - return new_state - - def get_info(self) -> dict: - return {util.STEP_COUNT: self.step_count} - - def get_target(self) -> float: - request = DeviceTarget(**{self.target_key: True}) - target = self.interface.get(request) - return getattr(target, self.target_key) - - def set_target(self, target: float) -> None: - request = DeviceTarget(**{self.target_key: target}) - self.interface.set(request) - - def timestamp(self): - return time.time() - - def advance(self, delta) -> None: - pass # TODO: ??? - - def close(self) -> None: - self.interface.close() diff --git a/cartpole/device/device.py b/cartpole/device/device.py new file mode 100644 index 0000000..e574276 --- /dev/null +++ b/cartpole/device/device.py @@ -0,0 +1,274 @@ +try: + from cartpole.device import proto + from cartpole.device.proto import RequestType +except ImportError as err: + raise RuntimeError( + "Failed to import protobuf bindings. " + "Maybe you forgot to run scripts/compile_protobuf.py?" + ) from err + +import logging +import time +from typing import NamedTuple, Optional, Union + +from betterproto import Casing, Message +from pydantic import BaseModel, BaseSettings +from pathlib import Path +from serial import Serial +from serial.tools.list_ports import comports + +from cartpole.common import CartPoleBase, State, Target, Config, Error +from cartpole.device import framing +import threading + + +class ConnectionSettings(BaseSettings): + """ + Device connection settings. Can be set via environment variables, or overriden + directly by passing kwargs to CartPoleDevice constructor. + + - serial_port: path to serial device (e.g. /dev/serial/by-id/xxx) + - serial_speed: serial baud rate (bits/s) + - serial_timeout: serial read timeout (s) + - hard_reset: whether to perform hard device reset upon connecting + """ + + serial_port: Path = None + serial_speed: int = 500000 + serial_timeout: float = 0.2 + hard_reset: bool = True + + @classmethod + def with_overrides(cls, **kwargs): + kwargs = {k: v for k, v in kwargs.items() if v is not None} + return cls(**kwargs) + + +class TypeMapping(NamedTuple): + """ + Helper structure to define request/response arguments and mapping between python + dataclasses (pydantic models) and protobuf (betterproto) messages. Setting some + argument to None means request/response does not accept (return) any data (e.g. + reset command). + """ + + req_model: Optional[BaseModel] = None + req_message: Optional[Message] = None + res_model: Optional[BaseModel] = None + res_message: Optional[Message] = None + + +class DeviceState(State): + hardware_errors: int + + +class DeviceConfig(Config, proto.Config): + pass # Use protobuf type as-is (for now) + + +class CartPoleDevice(CartPoleBase): + REQUEST_MAPPING = { + # Reset command: accepts nothing, returns state + RequestType.RESET: TypeMapping(None, None, State, proto.State), + # Set target command: accepts target, returns state + RequestType.TARGET: TypeMapping(Target, proto.Target, DeviceState, proto.State), + # Set config command: accepts config, returns config + RequestType.CONFIG: TypeMapping( + DeviceConfig, proto.Config, proto.Config, proto.Config + ), + } + RESET_DELAY = 0.3 + HOMING_TIMEOUT = 10 + + def __init__(self, **kwargs): + cfg = ConnectionSettings.with_overrides(**kwargs) + cfg.serial_port = cfg.serial_port or self._detect_port() + logging.info(f"Serial: {cfg.serial_port} @ {cfg.serial_speed} bits/s") + self._port = Serial( + port=str(cfg.serial_port), + baudrate=cfg.serial_speed, + timeout=cfg.serial_timeout, + exclusive=True, + ) + if cfg.hard_reset: + self._hard_reset() + self._request_lock = threading.Lock() + self._last_state = None + self._last_state_time = time.perf_counter() + + def _detect_port(self): + all_ports = list(comports()) + if len(all_ports) == 0: + raise RuntimeError("No serial ports detected") + if len(all_ports) > 1: + msg = "Too many serial ports, please select one via SERIAL_PORT env var:" + for port, desc, hwid in all_ports: + msg += f"\n- {port} : {desc} [{hwid}]" + raise RuntimeError(msg) + return all_ports[0][0] + + def _hard_reset(self): + logging.info("Hard-resetting device...") + self._port.rts = True + self._port.dtr = False + time.sleep(self.RESET_DELAY) + self._port.rts = False + time.sleep(self.RESET_DELAY) + data = self._port.read_all() + logging.debug(f"Purged data: {data.decode(errors='ignore')!r}") + + def _request(self, type: RequestType, payload: Union[BaseModel, Message] = None): + logging.debug(f"SEND: {type!r} request with payload: {payload}") + mapping = self.REQUEST_MAPPING[type] + if payload is not None: + if not isinstance(payload, Message): + payload = mapping.req_message(**payload.dict()) + assert isinstance(payload, mapping.req_message) + data = framing.encode(type, payload) + self._port.write(data) + logging.debug(f"SEND (raw): {data}") + data = self._port.read_until(framing.FRAME_DELIMITER) + logging.debug(f"RECV (raw): {data}") + if not data: + logging.error(f"{type!r} request timeout") + raise TimeoutError + try: + response_type, response = framing.decode(data, mapping.res_message) + except Exception as err: + raise RuntimeError(f"Failed to decode:\n{data!r}") from err + assert type == response_type, "Unexpected response type" + if response is not None: + response = mapping.res_model(**response.to_dict(Casing.SNAKE)) + logging.debug(f"RECV: {response_type} response with payload: {response}") + return response + + def reset(self, state: State = State()): + self._request(RequestType.RESET) + start = time.perf_counter() + state: State = self.get_state(force=True) + while state.error != Error.NO_ERROR: + state = self.get_state() + if time.perf_counter() - start > self.HOMING_TIMEOUT: + raise RuntimeError(f"Device homing timeout. Last known state: {state}") + # time.sleep(5.0) + # if state.cart_position != 0: + # # TODO: Move to position (if specified) + # raise NotImplementedError + + def _push_state(self, state: DeviceState): + self._last_state = state + self._last_state_time = time.perf_counter() + + def set_target(self, target: Target) -> State: + state = self._request(RequestType.TARGET, target) + self._push_state(state) + return state + + def get_state(self, force: bool = False) -> State: + # if self._last_state is not None and not force: + # # with self._lock: + # if time.perf_counter() - self._last_state_time < 0.02: + # return self._last_state + state = self._request(RequestType.TARGET, Target()) + # self._push_state(state) + return state + + def set_config(self, config: Config): + print("set_config not implemented (fixme)") + pass + + def get_config(self) -> Config: + return self._request(RequestType.CONFIG, proto.Config()) + + def advance(self, delta: float): + pass + + +if __name__ == "__main__": + from logging import basicConfig + + basicConfig(level="INFO") + + ### SIMPLE COMM TEST + # device = CartPoleDevice() + # target = Target(position=1, velocity=2, acceleration=3) + # state = device.set_target(target) + # print(state) + + ### ENCODER TEST + FOXGLOVE + from cartpole import log + + log.setup(log_path="untracked/realtime_true.mcap") + logger = log.get_logger() + device = CartPoleDevice(hard_reset=True) + + # def state_update_loop(): + # while True: + # state = device.get_state() + # # print(f"errors: {state.error}, flags: {bin(state.hardware_errors)}") + # logger.publish("/cartpole/state", state) + # time.sleep(1 / 100) + + # t = threading.Thread(target=state_update_loop, daemon=True) + # t.start() + + state = device.get_state() + device.reset() + time.sleep(5) + + def wait_position_reached(target: Target): + state = device.get_state() + while abs(target.position - state.cart_position) > 0.001: + # time.sleep(0.01) + state = device.get_state() + logger.publish("/cartpole/state", state) + + x = 0.15 + v = 1.0 + a = 2.0 + + for a in [0.1, 0.2, 0.5, 1.0]: + target = Target(position=-x, velocity=v, acceleration=a) + state = device.set_target(target) + logger.publish("/cartpole/state", state) + wait_position_reached(target) + + target = Target(position=+x, velocity=v, acceleration=a) + state = device.set_target(target) + logger.publish("/cartpole/state", state) + wait_position_reached(target) + + # target = Target(position=0, velocity=v, acceleration=0.1) + # device.set_target(target) + # wait_position_reached(target) + + # device._request(RequestType.RESET) + # time.sleep(10) + + # times = [] + # min_rps = float("inf") + # max_rps = float("-inf") + # while True: + # start = time.perf_counter() + # state: DeviceState = device.set_target(Target(position=1, velocity=2, acceleration=3)) + # duration = time.perf_counter() - start + # min_rps = min(min_rps, 1 / duration) + # max_rps = max(max_rps, 1 / duration) + # times.append(duration) + # times = times[-100:] + # mean_rps = 1 / (sum(times) / len(times)) + # # print(f"{state.pole_angle:.3f}, {state.pole_angular_velocity:.3f} ({mean_rps:.0f} Hz, {min_rps:.0f} min, {max_rps:.0f} max)") + # print(f"{state.pole_angle:.3f}, {state.pole_angular_velocity:.3f}, {state.hardware_error}") + # logger.publish("/cartpole/state", state) + + ### PERF TEST + # iterations = 1000 + # start = time.perf_counter() + # device = CartPoleDevice() + # for _ in range(iterations): + # state = device._request( + # RequestType.TARGET, Target(position=1, velocity=2, acceleration=3) + # ) + # duration = time.perf_counter() - start + # print(f"{duration / iterations:.3f} seconds per iteration") + # device._port.close() diff --git a/cartpole/device/framing.py b/cartpole/device/framing.py new file mode 100644 index 0000000..08736a9 --- /dev/null +++ b/cartpole/device/framing.py @@ -0,0 +1,51 @@ +from typing import Tuple + +import crc +from betterproto import Message +from cobs import cobs + +from cartpole.device import proto + +FRAME_DELIMITER = b"\x00" +BYTEORDER = "little" +CRC_CALCULATOR = crc.Calculator(crc.Crc8.CCITT) + + +def encode(type: proto.RequestType, payload: Message = None) -> bytes: + # Frame: [TYPE] [LEN+1] [DATA] [CRC] [EOF] + payload_encoded = bytes(payload) if payload is not None else b"" + frame = bytearray() + frame.extend(type.to_bytes(length=1, byteorder=BYTEORDER)) + frame.extend(len(payload_encoded).to_bytes(length=1, byteorder=BYTEORDER)) + frame.extend(payload_encoded) + checksum = CRC_CALCULATOR.checksum(frame) + frame.extend(checksum.to_bytes(length=1, byteorder=BYTEORDER)) + return cobs.encode(frame) + FRAME_DELIMITER + + +def decode(data: bytes, payload_type: Message = None) -> Tuple[proto.RequestType, Message]: + # Frame: [TYPE] [LEN+1] [DATA] [CRC] [EOF] + data = data.rstrip(FRAME_DELIMITER) + data = cobs.decode(data) + assert len(data) >= 3, f"Incorrect frame length ({len(data)}): {data}" + checksum_ok = CRC_CALCULATOR.verify(data[:-1], data[-1]) + assert checksum_ok, "CRC checksum mismatch" + type = proto.RequestType(data[0]) + payload_length = data[1] + assert payload_length >= 0, "Incorrect payload length" + payload = None + if payload_type is not None: + payload = payload_type.FromString(data[2 : 2 + payload_length]) + return type, payload + + +if __name__ == "__main__": + # TODO: Move to tests + request_type = proto.RequestType.TARGET + request_payload = proto.Target(position=1, velocity=2, acceleration=3) + data = encode(request_type, request_payload) + print("Encoded frame:", data) + response_type, response_payload = decode(data, proto.Target) + assert request_type == response_type + assert request_payload == response_payload + print("All checks passed") diff --git a/cartpole/device/tests/__init__.py b/cartpole/device/tests/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/cartpole/device/tests/functional/__main__.py b/cartpole/device/tests/functional/__main__.py deleted file mode 100644 index fd1c15c..0000000 --- a/cartpole/device/tests/functional/__main__.py +++ /dev/null @@ -1,197 +0,0 @@ -#!/usr/bin/env python - -''' -Functional tests for cart pole device serial interface and logic. - -At the beginning of most tests it is presumed that caret is centered -as if right after homing procedure. -''' - -import logging -import time - -from cartpole.device.wire_interface import ( - WireInterface, - DeviceTarget, - DeviceState, - DeviceConfig, -) -from cartpole.common.interface import Error - - -LOGGER = logging.getLogger(__name__) -EPS = 1e-3 - - -def test_homing(interface: WireInterface) -> None: - interface.reset() - time.sleep(0.5) - s: DeviceState = interface.get(DeviceState.full()) - assert abs(s.position) < EPS - assert abs(s.velocity) < EPS - assert abs(s.acceleration) < EPS - # assert abs(s.pole_angle) < EPS - # assert abs(s.pole_angular_velocity) < EPS - assert s.error_code == Error.NO_ERROR - - t: DeviceTarget = interface.get(DeviceTarget.full()) - assert abs(t.position) < EPS - assert abs(t.velocity) < EPS - assert abs(t.acceleration) < EPS - - -def test_move_by_acceleration(interface: WireInterface) -> None: - a = 0.4 - t = DeviceTarget(acceleration=a) - for _ in range(20): - interface.set(t) - - for i in range(5): - time.sleep(0.1) - _ = interface.get(DeviceState.full()) - - t.acceleration = -t.acceleration - interface.set(t) - - for i in range(5): - time.sleep(0.1) - _ = interface.get(DeviceState.full()) - - interface.set(DeviceTarget(position=0)) - - -def test_command_logging(interface: WireInterface) -> None: - pass - - -def test_run_left_right(interface: WireInterface) -> None: - c: DeviceConfig = interface.get(DeviceConfig(max_position=True)) - x = c.max_position * 0.9 - acceptable_target = c.max_position * 0.7 - interface.set(DeviceTarget(position=x)) - time.sleep(1) - - s: DeviceState = interface.get(DeviceState(position=True)) - assert s.position > acceptable_target, f'Run to right has not achieved DeviceTarget position of {acceptable_target}' - - interface.set(DeviceTarget(position=-x)) - time.sleep(2) - - s: DeviceState = interface.get(DeviceState(position=True)) - assert s.position < -acceptable_target, f'Run to left has not achieved DeviceTarget position of {-acceptable_target}' - - interface.set(DeviceTarget(position=0)) - time.sleep(1) - - s: DeviceState = interface.get(DeviceState(position=True)) - assert abs(s.position) < EPS, f'Run to center has not achieved DeviceTarget position of 0.0' - - -def test_change_max_pos_and_run(interface: WireInterface) -> None: - try: - interface.set(DeviceTarget(position=100500)) - assert False, 'Expected RuntimeError raised' - except RuntimeError: - pass - interface.reset() # reset to drop error code - - -def test_change_speed_and_run(interface: WireInterface) -> None: - c: DeviceConfig = interface.get(DeviceConfig(max_position=True, max_velocity=True, max_acceleration=True)) - target = c.max_position * 0.9 - - velocity = c.max_velocity * 0.25 - increased_velocity = velocity * 2 - decreased_velocity = velocity * 0.5 - - run_delay = 0.75 - run_back_delay = 2 - - # set baseline velocity - interface.set(DeviceConfig(max_velocity=velocity)) - - # make a run with basic velocity constraint - interface.set(DeviceTarget(position=target)) - time.sleep(run_delay) - s: DeviceState = interface.get(DeviceState(position=True, velocity=True, acceleration=True)) - interface.set(DeviceTarget(position=0.0)) - baseline_position = s.position - time.sleep(run_back_delay) - - LOGGER.info(f'Baseline position = {baseline_position}') - - # increase velocity - interface.set(DeviceConfig(max_velocity=increased_velocity)) - - # make a run with increased velocity constraint - interface.set(DeviceTarget(position=target)) - time.sleep(run_delay) - s: DeviceState = interface.get(DeviceState(position=True, velocity=True, acceleration=True)) - interface.set(DeviceTarget(position=0.0)) - iv_position = s.position - time.sleep(run_back_delay) - - LOGGER.info(f'Increased velocity position = {iv_position}') - - # decrease velocity - interface.set(DeviceConfig(max_velocity=decreased_velocity)) - - # make a run with decreased velocity constraint - interface.set(DeviceTarget(position=target)) - time.sleep(run_delay) - s: DeviceState = interface.get(DeviceState(position=True, velocity=True, acceleration=True)) - interface.set(DeviceTarget(position=0.0)) - dv_position = s.position - time.sleep(run_back_delay) - - LOGGER.info(f'Decreased velocity position = {dv_position}') - - interface.set(DeviceConfig(max_velocity=c.max_velocity, max_acceleration=c.max_acceleration)) - - assert 1.75 * baseline_position < iv_position < 2.25 * baseline_position, \ - 'Increased velocity position is out of expected range' - - assert 0.25 * baseline_position < dv_position < 0.75 * baseline_position, \ - 'Decreased velocity position is out of expected range' - - -def test_x_overflow(interface: WireInterface) -> None: - pass - - -def test_halt_on_error(interface: WireInterface) -> None: - pass - - -def test_rapid_movement(interface: WireInterface) -> None: - interface.set(DeviceConfig(max_velocity=1, max_acceleration=2)) - target = 0.1 - for i in range(50): - interface.set(DeviceTarget(position=target)) - time.sleep(0.5) - target = -target - - -def main(): - logging.basicConfig(level=logging.DEBUG, encoding='utf-8') - logging.getLogger('cart_pole.operator.wire_interface').setLevel(logging.ERROR) - - interface = WireInterface() - - test_homing(interface) - # test_move_by_acceleration(interface) - # test_command_logging(interface) - # test_run_left_right(interface) - # test_change_max_pos_and_run(interface) - # test_change_speed_and_run(interface) - # test_x_overflow(interface) - # test_halt_on_error(interface) - test_rapid_movement(interface) - - interface.close() - - LOGGER.info('PASSED') - - -assert __name__ == '__main__' -main() diff --git a/cartpole/device/tests/test_device.py b/cartpole/device/tests/test_device.py deleted file mode 100644 index fe48573..0000000 --- a/cartpole/device/tests/test_device.py +++ /dev/null @@ -1,44 +0,0 @@ -from unittest import mock - -from cartpole.common.interface import State, Config -from cartpole.device import CartPoleDevice - - -EPS = 1e-6 - -class TestCartPoleDevice: - @staticmethod - def get_device(): - return CartPoleDevice(interface=mock.MagicMock()) - - def test_reset(self): - op = self.get_device() - op.reset(Config()) - assert op.interface.reset.called_once - - def test_get_state(self): - op = self.get_device() - op.get_state() - - assert op.interface.get.called_once - assert len(op.interface.get.call_args.args) == 1 - assert isinstance(op.interface.get.call_args.args[0], State) - - def test_get_target(self): - op = self.get_device() - op.get_target() - - assert op.interface.get.called_once - assert len(op.interface.get.call_args.args) == 1 - assert isinstance(op.interface.get.call_args.args[0], Target) - - def test_set_target(self): - op = self.get_device() - target = 1 - op.set_target(target) - - assert op.interface.set.called_once - assert len(op.interface.set.call_args.args) == 1 - arg = op.interface.set.call_args.args[0] - assert isinstance(arg, Target) - assert arg.position == target diff --git a/cartpole/device/wire_interface.py b/cartpole/device/wire_interface.py deleted file mode 100644 index bde3cb9..0000000 --- a/cartpole/device/wire_interface.py +++ /dev/null @@ -1,327 +0,0 @@ -import dataclasses as dc -import logging -import time - -import google.protobuf.message -import serial -import varint -import threading -from typing import Union, Type, Any - -import cartpole.device.protocol_pb2 as proto -from cartpole.common.interface import Error, Config, State -import os - -LOGGER = logging.getLogger(__name__) -RAW_COMMANDS_LOGGER = logging.getLogger('raw_commands') - - -class DeviceVariableGroup: - ''' - Mixin intended to be used with @dataclass-decorated classes. Subclass should - represent a variable group in a controller protocol spec. Group name should be - set by overriding `GROUP_NAME` classvar. Mixin provides methods - for convertion to and from wire formats. - ''' - - # Should be overridden in subclass - GROUP_NAME: str = None - SERIALIZATION_MAP: dict = None - - # Field formatters (value -> string) - _to_string_lookup = { - float: lambda v: f'{v:.5f}', - bool: lambda v: 'true' if v else 'false', - int: lambda v: str(v), - Error: lambda v: str(v.value), - } - - # Field parsers (string -> value) - _from_string_lookup = { - float: lambda s: float(s), - bool: lambda s: s == 'true', - int: lambda s: int(s), - Error: lambda s: Error(int(s)), - } - - def __init_subclass__(cls) -> None: - super().__init_subclass__() - assert cls.GROUP_NAME is not None, 'GROUP_NAME is not set' - assert cls.SERIALIZATION_MAP is not None, 'SERIALIZATION_MAP is not set' - - @classmethod - def full(cls) -> 'DeviceVariableGroup': - ''' - Constructs instance initialized with filler value - ''' - return cls(**{field.name: True for field in dc.fields(cls)}) - - @classmethod - def _type_lookup(cls, type: Type, kv: dict): - for possible_type, value in kv.items(): - if issubclass(type, possible_type): - return value - raise ValueError(f'No matching item for type {type}') - - def to_dict_format(self) -> str: - ''' - Serializes current dataclass instance to '=' format - as used in 'set' method of the protocol. - - Returns: - Command string in dict wire format. - ''' - return ' '.join( - f'{self.SERIALIZATION_MAP[field.name]}={self._type_lookup(field.type, self._to_string_lookup)(getattr(self, field.name))}' - for field in dc.fields(self) - if getattr(self, field.name) is not None - ) - - def to_list_format(self) -> str: - ''' - Serializes current dataclass instance to '' format - as used in 'get' method of the protocol. - - Returns: - Command string in list wire format. - ''' - return ' '.join( - self.SERIALIZATION_MAP[field.name] for field in dc.fields(self) if - getattr(self, field.name) is not None) - - @classmethod - def from_dict_format(cls, text: str) -> 'DeviceVariableGroup': - ''' - Parses input text into new class instance. - - Returns: - Class instance, constructed from wire format representation. - ''' - field_lookup = {cls.SERIALIZATION_MAP[field.name]: field for field in - dc.fields(cls)} - data_dict = {} - for pair in text.split(): - wire_name, value = pair.split('=') - field = field_lookup[wire_name] - from_string = cls._type_lookup(field.type, cls._from_string_lookup) - data_dict[field.name] = from_string(value) - return cls(**data_dict) - - -@dc.dataclass -class DeviceConfig(DeviceVariableGroup, Config): - GROUP_NAME = 'config' - SERIALIZATION_MAP = { - 'max_position': 'max_x', - 'max_velocity': 'max_v', - 'max_acceleration': 'max_a', - 'hard_max_position': 'hw_max_x', - 'hard_max_velocity': 'hw_max_v', - 'hard_max_acceleration': 'hw_max_a', - 'clamp_position': 'clamp_x', - 'clamp_velocity': 'clamp_v', - 'clamp_acceleration': 'clamp_a', - 'debug_led': 'debug_led' - } - - debug_led: bool = dc.field(default=None) - - -@dc.dataclass -class DeviceState(DeviceVariableGroup, State): - GROUP_NAME = 'state' - SERIALIZATION_MAP = { - 'cart_position': 'curr_x', - 'cart_velocity': 'curr_v', - 'cart_acceleration': 'curr_a', - 'pole_angle': 'pole_x', - 'pole_angular_velocity': 'pole_v', - 'error': 'errcode', - 'accelerometer_value': 'imu_a', - 'motor_angle': 'motor_x', - 'motor_velocity': 'motor_v', - } - - accelerometer_value: float = dc.field(default=None) - motor_angle: float = dc.field(default=None) - motor_velocity: float = dc.field(default=None) - - -@dc.dataclass -class DeviceTarget(DeviceVariableGroup): - GROUP_NAME = 'target' - SERIALIZATION_MAP = { - 'position': 'trgt_x', - 'velocity': 'trgt_v', - 'acceleration': 'trgt_a', - } - - position: float = dc.field(default=None) - velocity: float = dc.field(default=None) - acceleration: float = dc.field(default=None) - - -class WireInterface: - def __init__(self, - port: str = None, - baud_rate: int = None, - read_timeout: float = 3, - write_timeout: float = 3, - ) -> None: - port = port or os.environ.get('SERIAL_PORT') - assert port is not None, 'Please set "port" argument or "SERIAL_PORT" env var' - baud_rate = baud_rate or int(os.environ.get('SERIAL_SPEED')) - self.serial = serial.Serial(port=port, baudrate=baud_rate, timeout=read_timeout, - write_timeout=write_timeout, exclusive=True) - self._lock = threading.Lock() - self.serial.flushInput() - self.serial.flushOutput() - LOGGER.info(f'Opened serial connection to {self.serial.name}') - - def close(self): - self.serial.close() - - def request(self, command: str) -> str: - with self._lock: - command = command.strip() - - LOGGER.debug(f'Request to serial connection "{command}"') - RAW_COMMANDS_LOGGER.debug(command) - self.serial.write((command + '\n').encode('utf-8')) - - while True: - received = self.serial.readline().decode('utf-8').strip() - if received == '': - LOGGER.error(f'Serial read timeout during "{command}" request') - continue - - RAW_COMMANDS_LOGGER.debug(received) - - if received.startswith('~'): - LOGGER.debug( - f'Received processing message during "{command}" request') - continue - - stripped = received[1:].strip() - if received.startswith('#'): - LOGGER.debug( - f'Received log message during "{command}" request: {stripped}') - continue - elif received.startswith('!'): - LOGGER.error( - f'Received error response during "{command}" request: {stripped}') - raise RuntimeError(f'Received error response: {stripped}') - elif received.startswith('+'): - LOGGER.debug(f'Responding to request "{command}" with "{received}"') - return stripped - else: - LOGGER.debug(f'Received unknown response line: {received}') - - def _command(self, command: str, group: str = '', args: str = '') -> str: - return self.request(f'{command} {group} {args}') - - def set(self, params: Union[DeviceConfig, DeviceTarget]) -> DeviceVariableGroup: - response = self._command('set', params.GROUP_NAME, params.to_dict_format()) - return params.from_dict_format(response) - - def get(self, params: Union[ - DeviceConfig, DeviceState, DeviceTarget]) -> DeviceVariableGroup: - response = self._command('get', params.GROUP_NAME, params.to_list_format()) - return params.from_dict_format(response) - - def reset(self) -> None: - _ = self._command('reset') - - -class ProtobufWireInterface(WireInterface): - def set(self, params: Union[DeviceConfig, DeviceTarget]) -> DeviceVariableGroup: - if isinstance(params, DeviceConfig): - config = self._dataclass_to_protobuf(params, proto.Config()) - res = self._request(proto.RequestType.SET_CONFIG, config=config) - return self._protobuf_to_dataclass(DeviceConfig(), res.config) - if isinstance(params, DeviceTarget): - target = self._dataclass_to_protobuf(params, proto.Target()) - res = self._request(proto.RequestType.SET_TARGET, target=target) - return self._protobuf_to_dataclass(DeviceTarget(), res.target) - raise NotImplementedError - - def get(self, params: Union[DeviceConfig, DeviceState, DeviceTarget]) -> DeviceVariableGroup: - if isinstance(params, DeviceConfig): - res = self._request(proto.RequestType.GET_CONFIG) - return self._protobuf_to_dataclass(DeviceConfig(), res.config) - if isinstance(params, DeviceState): - res = self._request(proto.RequestType.GET_STATE) - return self._protobuf_to_dataclass(DeviceState(), res.state) - if isinstance(params, DeviceTarget): - res = self._request(proto.RequestType.GET_TARGET) - return self._protobuf_to_dataclass(DeviceTarget(), res.target) - raise NotImplementedError - - def reset(self) -> None: - self._request(proto.RequestType.RESET) - - def _protobuf_to_dataclass(self, dataclass, proto_obj): - assert proto_obj is not None - for field in dc.fields(dataclass): - wire_name = dataclass.SERIALIZATION_MAP.get(field.name, field.name) - value = getattr(proto_obj, wire_name, None) - if value is not None: - setattr(dataclass, field.name, value) - return dataclass - - def _dataclass_to_protobuf(self, dataclass, proto_obj): - for field in dc.fields(dataclass): - wire_name = dataclass.SERIALIZATION_MAP.get(field.name) - value = getattr(dataclass, field.name, None) - if wire_name is not None and value is not None: - setattr(proto_obj, wire_name, value) - return proto_obj - - def _error(self, message): - LOGGER.error(message) - raise RuntimeError(message) - - def _request( - self, type: proto.RequestType, config=None, state=None, target=None - ) -> proto.Response: - with self._lock: - request = proto.Request() - request.type = type - if config is not None: - request.config.CopyFrom(config) - if state is not None: - request.state.CopyFrom(state) - if target is not None: - request.target.CopyFrom(target) - payload = request.SerializeToString() - LOGGER.debug(f'Serial TX payload size: {len(payload)}') - data = varint.encode(len(payload)) + payload - LOGGER.debug(f'Serial TX data: {data!r}') - self.serial.write(data) - return self._read_loop() - - def _read_loop(self): - while True: - try: - size = varint.decode_stream(self.serial) - except TypeError: - self._error('Varint decode failed ') - LOGGER.debug(f'Serial RX payload size: {size}') - data = self.serial.read(size) - LOGGER.debug(f'Serial RX data: {data!r}') - if len(data) < size: - self._error('Serial read timeout') - try: - response = proto.Response() - response.ParseFromString(data) - except google.protobuf.message.DecodeError: - self._error(f'Protobuf parse error (data: {data!r})') - if response.status == proto.ResponseStatus.PROCESSING: - LOGGER.info('Received processing message...') - continue - if response.status == proto.ResponseStatus.DEBUG: - LOGGER.info(f'Received debug message: {response.message}') - continue - if response.status == proto.ResponseStatus.ERROR: - self._error(f'Received error message: {response.message}') - return response diff --git a/cartpole/log.py b/cartpole/log.py index 7c10f06..946e301 100644 --- a/cartpole/log.py +++ b/cartpole/log.py @@ -4,21 +4,23 @@ import json import logging import time +import jsonref from threading import Event, Thread from foxglove_websocket.server import FoxgloveServer from mcap.writer import CompressionType, Writer from pydantic import BaseModel from typing import Any, Dict +import os class Level(enum.IntEnum): UNKNOWN = 0 - DEBUG = 1 - INFO = 2 + DEBUG = 1 + INFO = 2 WARNING = 3 - ERROR = 4 - FATAL = 5 + ERROR = 4 + FATAL = 5 def pylog_level(level: Level) -> int: @@ -35,14 +37,14 @@ def pylog_level(level: Level) -> int: elif level == Level.FATAL: return logging.CRITICAL else: - raise ValueError(f'Unknown log level {level}') + raise ValueError(f"Unknown log level {level}") -FOXGLOVE_LOG_TOPIC = '/log' +FOXGLOVE_LOG_TOPIC = "/log" -FOXGLOVE_LOG_MSG_TYPE = 'foxglove.Log' +FOXGLOVE_LOG_MSG_TYPE = "foxglove.Log" -FOXGLOVE_LOGM_SG_SCHEMA = ''' +FOXGLOVE_LOGM_SG_SCHEMA = """ { "title": "foxglove.Log", "description": "A log message", @@ -114,31 +116,31 @@ def pylog_level(level: Level) -> int: } } } -''' +""" NANO: int = 1000000000 def to_ns(t: float) -> int: - ''' + """ Convert time in seconds (float) to nanoseconds (int) - ''' + """ return int(t * NANO) def to_stamp(t: int) -> tuple[int, int]: - ''' + """ Convert time in nanoseconds to (seconds, nanoseconds). - ''' - return (t // NANO, t % NANO) + """ + return divmod(t, NANO) -def this_or_now(t: float|None) -> float: - ''' +def this_or_now(t: float | None) -> float: + """ Return provided time or current time - ''' - return t if t is not None else time.time() + """ + return t if t is not None else time.perf_counter() class Registration(BaseModel): @@ -147,13 +149,13 @@ class Registration(BaseModel): def get_pylogger(name: str, level: Level) -> logging.Logger: - ''' + """ Create python or get existing logger. Log Level is translated from foxglove to python. Args: name: logger name level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ logger = logging.getLogger(name) logger.setLevel(pylog_level(level)) @@ -161,14 +163,37 @@ def get_pylogger(name: str, level: Level) -> logging.Logger: # naive check that logger is configured if not logger.hasHandlers(): handler = logging.StreamHandler() - handler.setFormatter(logging.Formatter("[%(name)s] [%(levelname)s] %(message)s")) + handler.setFormatter( + logging.Formatter("[%(name)s] [%(levelname)s] %(message)s") + ) logger.addHandler(handler) return logger +# JSON schema helper functions, TODO: preffity + + +def _remove_allof(schema): + if not isinstance(schema, dict): + return schema + if "allOf" in schema: + items = schema.pop("allOf") + assert len(items) == 1, "Union types are not supported" + assert isinstance(items[0], dict), "allOf members must be dicts" + schema.update(items[0]) + return {key: _remove_allof(value) for key, value in schema.items()} + + +def _model_to_schema(model: BaseModel) -> str: + schema = jsonref.replace_refs(model.schema(), proxies=False) + schema = _remove_allof(schema) + schema = jsonref.dumps(schema) + return schema + + class MCAPLogger: - ''' + """ Logger to mcap file. Usage: @@ -176,30 +201,30 @@ class MCAPLogger: obj = ... # some pydantic object log.publish('/topic', obj, stamp) log.info('message') - ''' + """ - def __init__(self, log_path: str, level: Level=Level.INFO, compress=True): - ''' + def __init__(self, log_path: str, level: Level = Level.INFO, compress=True): + """ Args: log_path: path to mcap log file level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) compress: enable compression - ''' + """ - self._pylog = get_pylogger('cartpole.mcap', level) + self._pylog = get_pylogger("cartpole.mcap", level) self._writer = Writer( - open(log_path, "wb"), - CompressionType.ZSTD if compress else CompressionType.NONE) + output=open(log_path, "wb"), + compression=CompressionType.ZSTD if compress else CompressionType.NONE, + ) self._writer.start() self._topic_to_registration: Dict[str, Registration] = {} # preventive topic creation self.registration_log = self._register( - FOXGLOVE_LOG_TOPIC, - FOXGLOVE_LOG_MSG_TYPE, - FOXGLOVE_LOGM_SG_SCHEMA) + FOXGLOVE_LOG_TOPIC, FOXGLOVE_LOG_MSG_TYPE, FOXGLOVE_LOGM_SG_SCHEMA + ) def __enter__(self): return self @@ -207,75 +232,81 @@ def __enter__(self): def _register(self, topic_name: str, name: str, schema: str) -> Registration: if topic_name in self._topic_to_registration: cached = self._topic_to_registration[topic_name] - assert cached.name == name, f'Topic {topic_name} registered with {cached.name}' + assert ( + cached.name == name + ), f"Topic {topic_name} registered with {cached.name}" return cached schema_id = self._writer.register_schema( - name=name, - encoding="jsonschema", - data=schema.encode()) + name=name, encoding="jsonschema", data=schema.encode() + ) channel_id = self._writer.register_channel( - schema_id=schema_id, - topic=topic_name, - message_encoding="json") + schema_id=schema_id, topic=topic_name, message_encoding="json" + ) cached = Registration(name=name, channel_id=channel_id) self._topic_to_registration[topic_name] = cached - self._pylog.debug('id=%i topic=\'%s\', type=\'%s\'', channel_id, topic_name, name) + self._pylog.debug("id=%i topic='%s', type='%s'", channel_id, topic_name, name) return cached def _register_class(self, topic_name: str, cls: Any) -> Registration: name = cls.__name__ - assert issubclass(cls, BaseModel), 'Required pydantic model, but got {name}' - return self._register(topic_name, name, cls.schema_json()) + if name in self._topic_to_registration: + return self._topic_to_registration[name] + assert issubclass(cls, BaseModel), "Required pydantic model, but got {name}" + schema = _model_to_schema(cls) + return self._register(topic_name, name, schema) def publish(self, topic_name: str, obj: BaseModel, stamp: float) -> None: - ''' + """ Publish object to topic. Args: topic_name: topic name obj: object to dump (pydantic model) - stamp: timestamp in nanoseconds (float) - ''' + stamp: timestamp in seconds (float) + """ registation = self._register_class(topic_name, type(obj)) + stamp_ns = to_ns(stamp) self._writer.add_message( - channel_id=registation.channel_id, - log_time=to_ns(stamp), - data=obj.json().encode(), - publish_time=to_ns(stamp)) - + channel_id=registation.channel_id, + log_time=stamp_ns, + data=obj.json().encode(), + publish_time=stamp_ns, + ) + def log(self, msg: str, stamp: float, level: Level) -> None: - ''' + """ Print message to topic /log. Args: msg: message to print - stamp: timestamp in nanoseconds (float) + stamp: timestamp in seconds (float) level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ - sec, nsec = to_stamp(stamp) stamp_ns = to_ns(stamp) - + sec, nsec = to_stamp(stamp_ns) + obj = { "timestamp": {"sec": sec, "nsec": nsec}, "level": int(level), "message": msg, "name": "cartpole", "file": "/dev/null", - "line": 0 + "line": 0, } self._writer.add_message( - channel_id=self.registration_log.channel_id, - log_time=stamp_ns, - data=json.dumps(obj).encode(), - publish_time=stamp_ns) - + channel_id=self.registration_log.channel_id, + log_time=stamp_ns, + data=json.dumps(obj).encode(), + publish_time=stamp_ns, + ) + def debug(self, msg: str, stamp: float) -> None: self.log(msg, stamp, Level.DEBUG) @@ -298,161 +329,127 @@ def __exit__(self, exc_type, exc_value, traceback): self.close() -async def _foxglove_async_entrypoint(queue: asyncio.Queue, stop: Event, level: Level) -> None: - logger = get_pylogger('cartpole.foxglove', level) - - async with FoxgloveServer("0.0.0.0", 8765, "CartPole", logger=logger) as server: - topic_to_registration = {} - - async def register(topic_name, name, schema) -> Registration: - if topic_name in topic_to_registration: - cached = topic_to_registration[topic_name] - assert cached.name == name, f'Topic {topic_name} registered with {cached.name}' - return cached - - spec = { - "topic": topic_name, - "encoding": "json", - "schemaName": name, - "schema": schema, - } - - channel_id = await server.add_channel(spec) - cached = Registration(name=name, channel_id=channel_id) - topic_to_registration[topic_name] = cached - - logger.debug('id=%i topic=\'%s\', type=\'%s\'', channel_id, topic_name, name) - return cached - - - async def register_class(topic_name, cls) -> Registration: - name = cls.__name__ - assert issubclass(cls, BaseModel), f'Required pydantic model, but got {name}' - return await register(topic_name, name, cls.schema_json()) - - # preventive topic creation - registration_log = await register( - FOXGLOVE_LOG_TOPIC, - FOXGLOVE_LOG_MSG_TYPE, - FOXGLOVE_LOGM_SG_SCHEMA) - - while not stop.is_set(): - try: - topic_name, stamp, obj = await asyncio.wait_for(queue.get(), timeout=0.2) - - if topic_name == FOXGLOVE_LOG_TOPIC: - # special logic for logs - assert isinstance(obj, str), f'Expected string, but got {type(obj)}' - registration = registration_log - sec, nsec = to_stamp(stamp) - - msg = { - "timestamp": {"sec": sec, "nsec": nsec}, - "level": int(level), - "message": obj, - "name": "cartpole", - "file": "/dev/null", - "line": 0 - } - - data = json.dumps(msg).encode() - else: - registration = await register_class(topic_name, type(obj)) - data = obj.json().encode() - - await server.send_message(registration.channel_id, to_ns(stamp), data) - - except asyncio.TimeoutError: - pass - - -async def _foxglove_async_wrapping( - input_queue: asyncio.Queue, - stop: Event, - exception_queue: asyncio.Queue, - level: int) -> None: - try: - await _foxglove_async_entrypoint(input_queue, stop, level) - except Exception as e: - await exception_queue.put(e) - - -def foxglove_main( - loop: asyncio.AbstractEventLoop, - input_queue: asyncio.Queue, - stop: Event, - exception_queue: asyncio.Queue, - level: int) -> None: - asyncio.set_event_loop(loop) - loop.run_until_complete(_foxglove_async_wrapping(input_queue, stop, exception_queue, level)) - - class FoxgloveWebsocketLogger: - ''' - Logger to foxglove websocket, messages are available in real time. - Class will start new thread with asyncio event loop. - - Usage: - with FoxgloveWebsocketLogger() as log: - obj = ... # some pydantic object - log.publish('/topic', obj, stamp) - log.info('message') - ''' - def __init__(self, level: int = Level.INFO): - ''' - Args: - level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' - self._loop = asyncio.new_event_loop() - self._input_queue = asyncio.Queue() + # self._input_queue = asyncio.Queue() + self._input_queue = [] self._exception_queue = asyncio.Queue() self._stop = Event() - args = (self._loop, self._input_queue, self._stop, self._exception_queue, level) + self._server = None + self._topic_to_registration = {} - self._foxlgove_thread = Thread( - target=foxglove_main, - name='foxglove_main_loop', + self._thread = Thread( + target=self.foxglove_main, + name="foxglove_main_loop", daemon=True, - args=args) - - self._foxlgove_thread.start() + ) + self._thread.start() + + def foxglove_main(self): + asyncio.set_event_loop(self._loop) + self._loop.run_until_complete(self._foxglove_async_wrapping()) + + async def _foxglove_async_wrapping(self): + try: + await self._foxglove_async_entrypoint() + except Exception as e: + await self._exception_queue.put(e) + + async def _register(self, topic_name, name, schema) -> Registration: + spec = { + "topic": topic_name, + "encoding": "json", + "schemaName": name, + "schema": schema, + } - def __enter__(self): - return self + channel_id = await self._server.add_channel(spec) + cached = Registration(name=name, channel_id=channel_id) + self._topic_to_registration[topic_name] = cached - def publish(self, topic_name: str, obj: BaseModel, stamp: float) -> None: - ''' - Publish object to topic. + # logger.debug("id=%i topic='%s', type='%s'", channel_id, topic_name, name) + return cached - Args: - topic_name: topic name - obj: object to dump (pydantic model) - stamp: timestamp in nanoseconds (float) - ''' + async def _register_class(self, topic_name, cls) -> Registration: + name = cls.__name__ + if topic_name in self._topic_to_registration: + cached = self._topic_to_registration[topic_name] + assert ( + cached.name == name + ), f"Topic {topic_name} registered with {cached.name}" + return cached + assert issubclass(cls, BaseModel), f"Required pydantic model, but got {name}" + schema = _model_to_schema(cls) + return await self._register(topic_name, name, schema) + + async def _foxglove_async_entrypoint(self): + # logger = get_pylogger("cartpole.foxglove", level) + + async with FoxgloveServer("0.0.0.0", 8765, "CartPole") as self._server: + # preventive topic creation + # registration_log = await self._register( + # FOXGLOVE_LOG_TOPIC, FOXGLOVE_LOG_MSG_TYPE, FOXGLOVE_LOGM_SG_SCHEMA + # ) + + while not self._stop.is_set(): + await asyncio.sleep(0.1) + # try: + # if not len(queue): + # await asyncio.sleep(0.01) + # continue + # topic_name, stamp, obj = queue.pop(0) + # stamp_ns = to_ns(stamp) + # sec, nsec = to_stamp(stamp_ns) + + # if topic_name == FOXGLOVE_LOG_TOPIC: + # # special logic for logs + # assert isinstance(obj, str), f'Expected string, but got {type(obj)}' + # registration = registration_log + + # msg = { + # "timestamp": {"sec": sec, "nsec": nsec}, + # "level": int(level), + # "message": obj, + # "name": "cartpole", + # "file": "/dev/null", + # "line": 0 + # } + + # data = json.dumps(msg).encode() + # else: + # if topic_name in topic_to_registration: + # registration = topic_to_registration[topic_name] + # else: + # registration = await register_class(topic_name, type(obj)) + # data = obj.json().encode() + + # await server.send_message(registration.channel_id, stamp_ns, data) + + # except asyncio.TimeoutError: + # pass + + async def _direct_publish(self, topic_name, stamp, obj): + reg = await self._register_class(topic_name, type(obj)) + data = obj.json().encode() + await self._server.send_message(reg.channel_id, to_ns(stamp), data) - if not (self._loop.is_running() and self._foxlgove_thread.is_alive()): + def publish(self, topic_name: str, obj: BaseModel, stamp: float) -> None: + if not (self._loop.is_running() and self._thread.is_alive()): if not self._exception_queue.empty(): raise self._exception_queue.get_nowait() + raise AssertionError("Foxglove logger is not running") - raise AssertionError('Foxglove logger is not running') - - item = (topic_name, stamp, obj) - asyncio.run_coroutine_threadsafe(self._input_queue.put(item), self._loop) + # item = (topic_name, stamp, obj) + # self._input_queue.append(item) + # asyncio.ensure_future(self._direct_publish(topic_name, stamp, obj), loop=self._loop) + asyncio.run_coroutine_threadsafe( + self._direct_publish(topic_name, stamp, obj), self._loop + ) def log(self, msg: str, stamp: float, level: int) -> None: - ''' - Print message to topic /log. - - Args: - msg: message to print - stamp: timestamp in nanoseconds (float) - level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' - - self.publish('/log', msg, stamp) + self.publish("/log", msg, stamp) def debug(self, msg: str, stamp: float) -> None: self.log(msg, stamp, Level.DEBUG) @@ -471,14 +468,17 @@ def fatal(self, msg: str, stamp: float) -> None: def close(self): self._stop.set() - self._foxlgove_thread.join() + self._thread.join() - def __exit__(self, exc_type, exc_value, traceback): + def __enter__(self): + return self + + def __exit__(self, *_): self.close() class Logger: - ''' + """ Compound Logger class that logs to console, foxglove and mcap. Usage: @@ -487,47 +487,54 @@ class Logger: log.publish('/topic', obj) log.info('message') - ''' + """ - def __init__(self, log_path: str = '', level: Level = Level.INFO): - ''' + def __init__(self, log_path: str = "", level: Level = Level.INFO): + """ Args: * log_path: path to mcap log file, if not provided, no mcap log will be created * level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ - self._pylog = get_pylogger('cartpole', level) - self._foxglove_log = FoxgloveWebsocketLogger() + self._pylog = get_pylogger("cartpole", level) + self._foxglove_log = None + # TODO: Prettify + # if os.environ.get("FOXGLOVE_ENABLE", "false").lower() == "true": + # self._foxglove_log = FoxgloveWebsocketLogger() self._mcap_log = None if log_path: self._mcap_log = MCAPLogger(log_path, level=level) - def publish(self, topic_name: str, obj: BaseModel, stamp: float) -> None: - ''' + def publish(self, topic_name: str, obj: BaseModel, stamp: float = None) -> None: + """ Args: topic_name: topic name obj: pydantic object - stamp: timestamp in nanoseconds (float), if not provided, current time used - ''' + stamp: timestamp in seconds (float), if not provided, current time used + """ + if stamp is None: + stamp = time.perf_counter() if self._mcap_log: self._mcap_log.publish(topic_name, obj, stamp) - self._foxglove_log.publish(topic_name, obj, stamp) + if self._foxglove_log: + self._foxglove_log.publish(topic_name, obj, stamp) def log(self, msg: str, stamp: float, level: Level = Level.INFO) -> None: - ''' + """ Print message to console and topic /log. Args: msg: message to print stamp: timestamp in nanoseconds (float), if not provided, current time used level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ - self._pylog.log(pylog_level(level), f'{stamp:.3f}: {msg}') - self._foxglove_log.log(msg, stamp, level) + self._pylog.log(pylog_level(level), f"{stamp:.3f}: {msg}") + if self._foxglove_log: + self._foxglove_log.log(msg, stamp, level) if self._mcap_log: self._mcap_log.log(msg, stamp, level) @@ -548,11 +555,11 @@ def fatal(self, msg: str, stamp: float) -> None: self.log(msg, stamp, Level.FATAL) def close(self): - ''' + """ Close logger - ''' - - self._foxglove_log.close() + """ + if self._foxglove_log: + self._foxglove_log.close() if self._mcap_log: self._mcap_log.close() @@ -563,12 +570,12 @@ def __exit__(self): __logger = None -def setup(log_path: str = '', level: Level = Level.INFO) -> None: - ''' +def setup(log_path: str = "", level: Level = Level.INFO) -> None: + """ Args: log_path: path to mcap log file, if not provided, no mcap log will be created level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ global __logger close() @@ -576,9 +583,9 @@ def setup(log_path: str = '', level: Level = Level.INFO) -> None: def close(): - ''' + """ Close logger - ''' + """ global __logger @@ -591,56 +598,56 @@ def close(): def get_logger() -> Logger: - ''' + """ Get logger instance - ''' + """ global __logger if not __logger: setup() return __logger - -def publish(topic_name: str, obj: BaseModel, stamp: float|None = None) -> None: - ''' + +def publish(topic_name: str, obj: BaseModel, stamp: float | None = None) -> None: + """ Args: topic_name: topic name obj: pydantic model stamp: timestamp in nanoseconds (float), if not provided, current time used - ''' + """ get_logger().publish(topic_name, obj, this_or_now(stamp)) -def log(msg: str, stamp: float|None = None, level: Level = Level.INFO) -> None: - ''' +def log(msg: str, stamp: float | None = None, level: Level = Level.INFO) -> None: + """ Print message to console and topic /log. Args: msg: message to print stamp: timestamp in nanoseconds (float), if not provided, current time used level: log level (UNKNOWN, DEBUG, INFO, WARNING, ERROR, FATAL) - ''' + """ get_logger().log(msg, this_or_now(stamp), level) -def debug(msg: str, stamp: float|None = None) -> None: +def debug(msg: str, stamp: float | None = None) -> None: log(msg, stamp, Level.DEBUG) -def info(msg: str, stamp: float|None = None) -> None: +def info(msg: str, stamp: float | None = None) -> None: log(msg, stamp, Level.INFO) -def warning(msg: str, stamp: float|None = None) -> None: +def warning(msg: str, stamp: float | None = None) -> None: log(msg, stamp, Level.WARNING) -def error(msg: str, stamp: float|None = None) -> None: +def error(msg: str, stamp: float | None = None) -> None: log(msg, stamp, Level.ERROR) -def fatal(msg: str, stamp: float|None = None) -> None: +def fatal(msg: str, stamp: float | None = None) -> None: log(msg, stamp, Level.FATAL) diff --git a/firmware/examples/encoder.cpp b/firmware/examples/encoder.cpp deleted file mode 100644 index 2354394..0000000 --- a/firmware/examples/encoder.cpp +++ /dev/null @@ -1,55 +0,0 @@ -#include -#include - -// https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf -// https://github.com/kanestoboi/AS5600/blob/master/AS5600.cpp - -#define DEBUG_LED_PIN 2 -#define CYCLE_DELAY_MS 500 -#define I2C_SDA_PIN 21 -#define I2C_SCL_PIN 22 -#define I2C_SPEED 1000000 -#define DEBUG_UART_PORT Serial -#define DEBUG_UART_SPEED 115200 -#define AS5600_ADDRESS 0x36 -#define RAW_ANGLE_MSB_REG 0x0C -#define RAW_ANGLE_LSB_REG 0x0D -#define STATUS_REG 0x0B - -TwoWire I2C_PORT(Wire); - -uint8_t get_one_register(byte reg) { - I2C_PORT.beginTransmission(AS5600_ADDRESS); - I2C_PORT.write(reg); - I2C_PORT.endTransmission(); - I2C_PORT.requestFrom(AS5600_ADDRESS, 1); - while (I2C_PORT.available() == 0); - return I2C_PORT.read(); -} - -uint16_t get_two_registers(byte regMSB, byte regLSB) { - uint16_t _hi = get_one_register(regMSB); - uint16_t _lo = get_one_register(regLSB); - return (_hi << 8) | (_lo); -} - -void setup() { - pinMode(DEBUG_LED_PIN, OUTPUT); - I2C_PORT.begin(I2C_SDA_PIN, I2C_SCL_PIN, I2C_SPEED); - DEBUG_UART_PORT.begin(DEBUG_UART_SPEED); - - int status = get_one_register(STATUS_REG); - bool magnet_too_strong = status & (1 << 3); - bool magnet_too_weak = status & (1 << 4); - bool magnet_detected = status & (1 << 5); - DEBUG_UART_PORT.printf("Magnet detected: %d\n", magnet_detected); - DEBUG_UART_PORT.printf("Magnet too weak: %d\n", magnet_too_weak); - DEBUG_UART_PORT.printf("Magnet too strong: %d\n", magnet_too_strong); - delay(3000); -} - -void loop() { - int raw_angle = get_two_registers(RAW_ANGLE_MSB_REG, RAW_ANGLE_LSB_REG); - DEBUG_UART_PORT.println(raw_angle); - delay(50); -} diff --git a/firmware/examples/endstops.cpp b/firmware/examples/endstops.cpp deleted file mode 100644 index ea6889d..0000000 --- a/firmware/examples/endstops.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include - -#define L_ENDSTOP_PIN 34 -#define R_ENDSTOP_PIN 35 -#define DEBUG_UART_PORT Serial -#define DEBUG_UART_SPEED 115200 - -void setup() { - pinMode(L_ENDSTOP_PIN, INPUT); - pinMode(R_ENDSTOP_PIN, INPUT); - DEBUG_UART_PORT.begin(DEBUG_UART_SPEED); -} - -void loop() { - bool l_endstop = digitalRead(L_ENDSTOP_PIN); - bool r_endstop = digitalRead(R_ENDSTOP_PIN); - DEBUG_UART_PORT.printf("LEFT: %d | RIGHT: %d\n", l_endstop, r_endstop); - delay(50); -} diff --git a/firmware/examples/stepper.cpp b/firmware/examples/stepper.cpp deleted file mode 100644 index 733624c..0000000 --- a/firmware/examples/stepper.cpp +++ /dev/null @@ -1,54 +0,0 @@ -#include -#include - -// https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2209_Datasheet_V103.pdf -// https://github.com/bigtreetech/BIGTREETECH-TMC2209-V1.2/blob/master/manual/TMC2209-V1.2-manual.pdf - -#define DEBUG_LED_PIN 2 -#define TMC_EN_PIN 25 -#define TMC_STEP_PIN 33 -#define TMC_DIR_PIN 32 -#define TMC_UART_PORT Serial2 -#define TMC_UART_SPEED 115200 -#define TMC_ADDRESS 0b00 -#define TMC_R_SENSE_OHMS 0.11f - -#define MICROSTEPS 32 -#define STEPS_PER_REV 200 * MICROSTEPS -#define TURN_COUNT 2 -#define STEP_DELAY_US 100 -#define CYCLE_DELAY_MS 3000 - -TMC2209Stepper TMC_DRIVER(&TMC_UART_PORT, TMC_R_SENSE_OHMS, TMC_ADDRESS); - -void setup() { - pinMode(DEBUG_LED_PIN, OUTPUT); - pinMode(TMC_EN_PIN, OUTPUT); - pinMode(TMC_STEP_PIN, OUTPUT); - pinMode(TMC_DIR_PIN, OUTPUT); - - TMC_UART_PORT.begin(TMC_UART_SPEED); - TMC_DRIVER.begin(); - TMC_DRIVER.microsteps(MICROSTEPS); - TMC_DRIVER.I_scale_analog(0); - TMC_DRIVER.vsense(0); - TMC_DRIVER.irun(20); - TMC_DRIVER.ihold(20); - - digitalWrite(TMC_EN_PIN, false); -} - -bool dir = false; - -void loop() { - digitalWrite(DEBUG_LED_PIN, false); - for (int i = 0; i < STEPS_PER_REV * TURN_COUNT; ++i) { - digitalWrite(TMC_STEP_PIN, true); - delayMicroseconds(STEP_DELAY_US); - digitalWrite(TMC_STEP_PIN, false); - delayMicroseconds(STEP_DELAY_US); - } - digitalWrite(DEBUG_LED_PIN, true); - delay(CYCLE_DELAY_MS); - digitalWrite(TMC_DIR_PIN, dir = !dir); -} diff --git a/firmware/src/accelerometer.cpp b/firmware/src/accelerometer.cpp deleted file mode 100644 index 5e31cb1..0000000 --- a/firmware/src/accelerometer.cpp +++ /dev/null @@ -1,54 +0,0 @@ -#include "accelerometer.h" - -#include - -#include - -#include "globals.h" -#include "protocol_processor.h" - -namespace { -const int SENSITIVITY = MPU6050_ACCEL_FS_2; // 16384 LSB / g -const float G_ACCELERATION = 9.81509; - -float convertToG(int16_t lsb, int sensitivity = SENSITIVITY) { - switch (sensitivity) { - case MPU6050_ACCEL_FS_2: - return static_cast(lsb) / 16384; - case MPU6050_ACCEL_FS_4: - return static_cast(lsb) / 8192; - case MPU6050_ACCEL_FS_8: - return static_cast(lsb) / 4096; - case MPU6050_ACCEL_FS_16: - return static_cast(lsb) / 2048; - } - throw std::runtime_error{"Unknown sensitivity in lsb to G conversion"}; -} -} // namespace - -Accelerometer::Accelerometer() : mpu() { - ProtocolProcessor &P = GetProtocolProcessor(); - - Wire.begin(); - mpu.initialize(); - - if (mpu.testConnection()) { - P.Log("Accelerometer connection established"); - } else { - P.Error("Failed to initialize accelerometer"); - throw std::runtime_error{"Failed to initialize accelerometer"}; - } - mpu.setFullScaleAccelRange(SENSITIVITY); -} - -void Accelerometer::Poll() { - Globals &G = GetGlobals(); - - int16_t y = mpu.getAccelerationY(); - G.imu_a = convertToG(y) / G_ACCELERATION; -} - -Accelerometer &GetAccelerometer() { - static Accelerometer A{}; - return A; -} \ No newline at end of file diff --git a/firmware/src/accelerometer.h b/firmware/src/accelerometer.h deleted file mode 100644 index 58addce..0000000 --- a/firmware/src/accelerometer.h +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once -#include - -class Accelerometer { - MPU6050 mpu; - -public: - Accelerometer(); - - void Poll(); -}; - -Accelerometer &GetAccelerometer(); diff --git a/firmware/src/cobs.h b/firmware/src/cobs.h new file mode 100644 index 0000000..4c44cae --- /dev/null +++ b/firmware/src/cobs.h @@ -0,0 +1,117 @@ +/** +# ##### BEGIN GPL LICENSE BLOCK ##### +# +# Copyright (C) 2022 Patrick Baus +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. + +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +# +# ##### END GPL LICENSE BLOCK ##### + +@author Patrick Baus +@version 1.2.0 04/15/2022 +*/ +#ifndef COBS_CPP_H +#define COBS_CPP_H + +#include // uint8_t, etc. +#include // size_t + +namespace cobs { + /** + * In place COBS encoder. The maximum block size is 254, because for larger + * packets, inplace encoding becomes inefficient. This arises from the fact + * that for 254 non-zero bytes an overhead byte has to be inserted. This means + * copying around the remainder of the input making space for the overhead + * byte. On the Arduino we have limited memory anway, so it is unlikely, that + * we will ever set the message size that high. + */ + + /** + * Encode an input array of byte with the COBS algorithm. + * + * @param buffer The i/o buffer. The data must start at index 1. Index 0 will be overwritten with the overhead byte + * @param size of the buffer to be encoded. Must be at least + * one and not greater than 255 The size of the data block must be at most 254 bytes, because one + * byte is the overhead byte + * @return The ecoded size of the data + */ + static size_t encode(uint8_t* buffer, const size_t size) __attribute__((unused)); + static size_t encode(uint8_t* buffer, const size_t size) { + // Error out if the message is larger than the maximum block size of + // the COBS algorithm (254). This code does not handle multiple blocks. + // Also abort if there is only byte, because there is no data to encode. + if (size > 255 or size < 1) + return 0; + + uint8_t* endOfBlock = &buffer[size-1]; + // Write a 0 before the data block. This is the COBS overhead byte. + // This 0x00 byte will be overwritten later, but serves as a terminator for the parser for now. + buffer[0] = 0x00; + + uint8_t* cursor; + do { + // Search for a 0x00 byte starting from the back of the stream. + // This is the reason why we needed to prepend the 0x00 byte to the + // data block. It serves as a terminator and saves us a bounds check while + // iterating the loop. + for (cursor = endOfBlock; *cursor != 0x00; cursor--) {}; + // 0x00 0xXX 0xXX 0xXX 0xYY 0xXX 0xXX 0xXX .... + // ^ ^ ^ + // | | | + // cursor endOfBlock was 0x00 + *cursor = endOfBlock - cursor + 1; // Calculate the number of bytes until the next 0x00 byte + // Go to the next block and repeat + endOfBlock = cursor - 1; + } while (cursor > buffer); + + // If the first data byte was 0x00, then the loop will abort after encoding + // this block, so we need to manually check our overhead byte. If it still + // says 0x00, then the loop aborted. + if (buffer[0] == 0x00) { + buffer[0] = 0x01; + } + return size; + } + + /** + * Decodes a COBS (Consistent Overhead Byte Stuffing) buffer in place. The encoded data + * will be *overwritten*! + * + * @param *buffer A pointer to the buffer containing the encoded data, without the delimiter/framing byte. + * After decoding the buffer will contain the data without the overhead byte. + * The overhead byte is the first byte, so the data stream will have an offset of +1. + * @param size The size of the buffer + *@return The block size, which is size - 1 + */ + static size_t decode(uint8_t* buffer, const size_t size) __attribute__((unused)); + static size_t decode(uint8_t* buffer, const size_t size) { + // All COBS encoded blocks contain at least the header, even encoded empty + // packets (size == 1). The maximum size of a message is limited to + // 254 bytes (unencoded). Therefore the maximum input size is 255 encoded bytes. + if (size < 1 or size > 255) + return 0; + + uint8_t tmp = 0; + uint8_t* endOfBuffer = buffer + size; + + do { + tmp = *buffer; // Store the offset of the first encoded character + *buffer = 0x00; + buffer += tmp; // If we are out of bounds, this will be the last iteration + } while(buffer < endOfBuffer); + + return size - 1; + } +} // Namespace cobs +#endif // End of header diff --git a/firmware/src/encoder.cpp b/firmware/src/encoder.cpp deleted file mode 100644 index ebe246f..0000000 --- a/firmware/src/encoder.cpp +++ /dev/null @@ -1,123 +0,0 @@ -#include "encoder.h" - -#include - -#include -#include -#include - -#include "globals.h" -#include "protocol_processor.h" - -namespace { -const int ENCODER_MAX_VALUE = 4096; // 12 bit -const unsigned long VELOCITY_DELTA_TIME_MICROS = 20 * 1000; // 20ms -const float VELOCITY_SMOOTHING_ALPHA = 0.85; // curr = alpha * curr + (1 - alpha) * prev -const float MAX_VELOCITY = 5 * 2 * PI; // rad/s, used to filter spikes -const bool REVERSE = true; -const float ROTATION_CARRY_THRESHOLD = 1.8 * PI; -const int SECONDARY_ENCODER_SDA = 13; -const int SECONDARY_ENCODER_SCL = 32; -} // namespace - -Encoder::Encoder(TwoWire *wire, float *x_ref, float *v_ref, float zero_angle) - : wire(wire), x_ref(x_ref), v_ref(v_ref), zero_angle(zero_angle), prevAngle(0), prevTime(0), prevVelocity(0), history() { - ProtocolProcessor &P = GetProtocolProcessor(); - P.Log("Encoder init..."); - // TODO: Check if magnet is detected? -} - -float Encoder::getRawAngle() { - // Borrowed from https://github.com/kanestoboi/AS5600/blob/master/AS5600.cpp - return getRegisters2(RAWANGLEAddressMSB, RAWANGLEAddressLSB); -} - -uint8_t Encoder::getRegister(byte reg) { - wire->beginTransmission(AS5600Address); - wire->write(reg); - wire->endTransmission(); - wire->requestFrom(AS5600Address, 1); - - while (wire->available() == 0) { - }; - uint8_t _b = wire->read(); - return _b; -} - -uint16_t Encoder::getRegisters2(byte regMSB, byte regLSB) { - uint16_t _hi = getRegister(regMSB); - uint16_t _lo = getRegister(regLSB); - return (_hi << 8) | (_lo); -} - -void Encoder::Poll() { - unsigned long currTime = micros(); - float rawAngle = getRawAngle(); - float currAngle = rawAngle / ENCODER_MAX_VALUE * 2 * PI - zero_angle; - if (currAngle < 0) currAngle += 2 * PI; - if (REVERSE) currAngle = 2 * PI - currAngle; - - float momentaryDeltaAngle = currAngle - prevAngle; - float momentaryDeltaTime = static_cast(currTime - prevTime) / 1000000; - if (std::abs(momentaryDeltaAngle) > ROTATION_CARRY_THRESHOLD) { - // Fix angle delta if we're transitioning between 0 -> 2PI or 2PI -> 0 - momentaryDeltaAngle -= (momentaryDeltaAngle > 0) ? 2 * PI : -2 * PI; - } - float momentaryVelocity = momentaryDeltaAngle / momentaryDeltaTime; - if (std::abs(momentaryVelocity) > MAX_VELOCITY and !history.empty()) { - // Spike detected! - return; - } - - unsigned long prevHistoryTime = currTime - 1; - float prevHistoryAngle = currAngle; - if (history.empty()) { - ProtocolProcessor& P = GetProtocolProcessor(); - P.Log("Encoder deque is empty!"); - } - while (!history.empty()) { - auto item = history.front(); - prevHistoryTime = item.first; - prevHistoryAngle = item.second; - if (currTime - item.first <= VELOCITY_DELTA_TIME_MICROS) break; - history.pop_front(); - } - - float deltaAngle = currAngle - prevHistoryAngle; - float deltaTime = static_cast(currTime - prevHistoryTime) / 1000000; - if (std::abs(deltaAngle) > ROTATION_CARRY_THRESHOLD) { - // Fix angle delta if we're transitioning between 0 -> 2PI or 2PI -> 0 - deltaAngle -= (deltaAngle > 0) ? 2 * PI : -2 * PI; - } - float currVelocity = - VELOCITY_SMOOTHING_ALPHA * (deltaAngle / deltaTime) - + (1 - VELOCITY_SMOOTHING_ALPHA) * prevVelocity; - - *x_ref = currAngle; - *v_ref = currVelocity; - prevTime = currTime; - prevAngle = currAngle; - prevVelocity = currVelocity; - history.emplace_back(currTime, currAngle); -} - -Encoder &GetPoleEncoder() { - static TwoWire *primaryWire = []() { - Wire.begin(-1, -1, 1000000); - return &Wire; - }(); - Globals &G = GetGlobals(); - static Encoder encoder(primaryWire, &G.pole_x, &G.pole_v, 2.9406); - return encoder; -} - -Encoder &GetMotorEncoder() { - static TwoWire secondaryWire = []() { - TwoWire secondaryWire(1); - secondaryWire.begin(SECONDARY_ENCODER_SDA, SECONDARY_ENCODER_SCL); - return secondaryWire; - }(); - Globals &G = GetGlobals(); - static Encoder encoder(&secondaryWire, &G.motor_x, &G.motor_v, 0.0); - return encoder; -} diff --git a/firmware/src/encoder.h b/firmware/src/encoder.h index b06cffa..1c00763 100644 --- a/firmware/src/encoder.h +++ b/firmware/src/encoder.h @@ -1,34 +1,226 @@ #pragma once -#include -#include +#include -#include "globals.h" +#include "driver/spi_master.h" +#include "helpers.h" +#include "proto/protocol.pb.h" + +namespace cartpole { + +// CRC-8, custom, poly 0x1D, initial 0xFF, final xor 0xFF +// Example from datasheet: 0x50 0x81 0x08 0x04 -> 0x89 +// http://www.sunshine2k.de/coding/javascript/crc/crc_js.html +constexpr uint8_t CRC_TABLE[256] = { + 0x00, 0x1D, 0x3A, 0x27, 0x74, 0x69, 0x4E, 0x53, 0xE8, 0xF5, 0xD2, 0xCF, 0x9C, 0x81, 0xA6, 0xBB, + 0xCD, 0xD0, 0xF7, 0xEA, 0xB9, 0xA4, 0x83, 0x9E, 0x25, 0x38, 0x1F, 0x02, 0x51, 0x4C, 0x6B, 0x76, + 0x87, 0x9A, 0xBD, 0xA0, 0xF3, 0xEE, 0xC9, 0xD4, 0x6F, 0x72, 0x55, 0x48, 0x1B, 0x06, 0x21, 0x3C, + 0x4A, 0x57, 0x70, 0x6D, 0x3E, 0x23, 0x04, 0x19, 0xA2, 0xBF, 0x98, 0x85, 0xD6, 0xCB, 0xEC, 0xF1, + 0x13, 0x0E, 0x29, 0x34, 0x67, 0x7A, 0x5D, 0x40, 0xFB, 0xE6, 0xC1, 0xDC, 0x8F, 0x92, 0xB5, 0xA8, + 0xDE, 0xC3, 0xE4, 0xF9, 0xAA, 0xB7, 0x90, 0x8D, 0x36, 0x2B, 0x0C, 0x11, 0x42, 0x5F, 0x78, 0x65, + 0x94, 0x89, 0xAE, 0xB3, 0xE0, 0xFD, 0xDA, 0xC7, 0x7C, 0x61, 0x46, 0x5B, 0x08, 0x15, 0x32, 0x2F, + 0x59, 0x44, 0x63, 0x7E, 0x2D, 0x30, 0x17, 0x0A, 0xB1, 0xAC, 0x8B, 0x96, 0xC5, 0xD8, 0xFF, 0xE2, + 0x26, 0x3B, 0x1C, 0x01, 0x52, 0x4F, 0x68, 0x75, 0xCE, 0xD3, 0xF4, 0xE9, 0xBA, 0xA7, 0x80, 0x9D, + 0xEB, 0xF6, 0xD1, 0xCC, 0x9F, 0x82, 0xA5, 0xB8, 0x03, 0x1E, 0x39, 0x24, 0x77, 0x6A, 0x4D, 0x50, + 0xA1, 0xBC, 0x9B, 0x86, 0xD5, 0xC8, 0xEF, 0xF2, 0x49, 0x54, 0x73, 0x6E, 0x3D, 0x20, 0x07, 0x1A, + 0x6C, 0x71, 0x56, 0x4B, 0x18, 0x05, 0x22, 0x3F, 0x84, 0x99, 0xBE, 0xA3, 0xF0, 0xED, 0xCA, 0xD7, + 0x35, 0x28, 0x0F, 0x12, 0x41, 0x5C, 0x7B, 0x66, 0xDD, 0xC0, 0xE7, 0xFA, 0xA9, 0xB4, 0x93, 0x8E, + 0xF8, 0xE5, 0xC2, 0xDF, 0x8C, 0x91, 0xB6, 0xAB, 0x10, 0x0D, 0x2A, 0x37, 0x64, 0x79, 0x5E, 0x43, + 0xB2, 0xAF, 0x88, 0x95, 0xC6, 0xDB, 0xFC, 0xE1, 0x5A, 0x47, 0x60, 0x7D, 0x2E, 0x33, 0x14, 0x09, + 0x7F, 0x62, 0x45, 0x58, 0x0B, 0x16, 0x31, 0x2C, 0x97, 0x8A, 0xAD, 0xB0, 0xE3, 0xFE, 0xD9, 0xC4, +}; class Encoder { - TwoWire *wire; - float *x_ref; - float *v_ref; - float zero_angle; - float prevAngle; - unsigned long prevTime; - float prevVelocity; - std::deque> history; +public: + static const auto SPI_HOST = HSPI_HOST; + static const int SPI_SPEED_HZ = 2000000; + static const int MOSI_PIN = 13; + static const int SCK_PIN = 14; + static const int CS_PIN = 15; + + static constexpr float VELOCITY_FILTER_COEF = 0.8; // larger = more smoothing + static constexpr float ROTATION_THRESHOLD = 1.8 * PI; + + static const uint8_t REG_STAT = 0x00; + static const uint8_t REG_ACSTAT = 0x01; + static const uint8_t REG_AVAL = 0x02; + static const uint8_t REG_ASPD = 0x03; + static const uint8_t REG_MOD_1 = 0x06; + static const uint8_t REG_MOD_2 = 0x08; + + static const uint16_t CHECK_BIT_14 = 0x4000; + static const uint16_t UINT_TO_INT_15 = 0x8000; + static constexpr float POW_2_15 = 32768.0; public: - Encoder(TwoWire *wire, float *x_ref, float *v_ref, float zero_angle); + spi_bus_config_t buscfg; + spi_device_interface_config_t devcfg; + spi_device_handle_t spi; - void Poll(); + unsigned long prev_time; + float prev_raw_angle; + int prev_rotations; + float prev_angle; + float prev_velocity; -private: - static const int AS5600Address = 0x36; - static const byte RAWANGLEAddressMSB = 0x0C; - static const byte RAWANGLEAddressLSB = 0x0D; +public: + Encoder() { + buscfg = spi_bus_config_t{ + .mosi_io_num = MOSI_PIN, + .miso_io_num = -1, + .sclk_io_num = SCK_PIN, + }; + devcfg = spi_device_interface_config_t{ + .mode = 1, + .cs_ena_pretrans = 1, + .clock_speed_hz = SPI_SPEED_HZ, + .spics_io_num = CS_PIN, + .flags = SPI_DEVICE_3WIRE | SPI_DEVICE_HALFDUPLEX, + .queue_size = 1, + }; + } - float getRawAngle(); - uint8_t getRegister(byte reg); - uint16_t getRegisters2(byte regMSB, byte regLSB); -}; + void init() { + // TODO: Move bus init outside of encoder class? + ESP_ERROR_CHECK(spi_bus_initialize(SPI_HOST, &buscfg, SPI_DMA_DISABLED)); + ESP_ERROR_CHECK(spi_bus_add_device(SPI_HOST, &devcfg, &spi)); + reset(); + CREATE_TASK("encoder", _pollingTask, this); + } + + void reset() { + // Trigger hardware reset + writeOneRegister(REG_ACSTAT, 0, 0, 1); + delay(5); + // Set update rate (FIR_MD) to 170.6 μs + writeOneRegister(REG_MOD_1, 15, 14, 0b11); + // Check status (all flags from NO_GMR_A to S_WD should be 0) + uint16_t value = readOneRegister(REG_STAT); + assert(getbits(value, 12, 1) == 0); + } + + void update() { + float curr_raw_angle = readRawAngle(); + unsigned long curr_time = micros(); + int curr_rotations = prev_rotations; + + if (abs(curr_raw_angle - prev_raw_angle) > ROTATION_THRESHOLD) { + curr_rotations += (curr_raw_angle < prev_raw_angle) ? 1 : -1; + } + float curr_angle = curr_raw_angle + curr_rotations * 2.0f * M_PI; + + // https://docs.simplefoc.com/low_pass_filter + float dt = (curr_time - prev_time) * 1e-6f; + if (dt < 0.0f || dt > 0.5f) dt = 1e-3f; // micros overflow + float curr_raw_velocity = (curr_angle - prev_angle) / dt; + float curr_velocity = VELOCITY_FILTER_COEF * prev_velocity + + (1.0f - VELOCITY_FILTER_COEF) * curr_raw_velocity; + + prev_time = curr_time; + prev_raw_angle = curr_raw_angle; + prev_rotations = curr_rotations; + prev_angle = curr_angle; + prev_velocity = curr_velocity; + } + + float getAngle() { return prev_angle; } + + float getVelocity() { return prev_velocity; } + + HardwareError getErrors() { return HardwareError::HardwareError_NO_ERRORS; } -Encoder &GetPoleEncoder(); -Encoder &GetMotorEncoder(); + // ================================================================= + + static void _pollingTask(void *params) { + Encoder *encoder = (Encoder *)params; + while (true) { + if (!encoder->getErrors()) encoder->update(); + vTaskDelay(1 / portTICK_PERIOD_MS); + } + } + + float readRawAngle() { + uint16_t value = readOneRegister(REG_AVAL); + value = getbits(value, 14, 0); // drop 15th bit (RD_AV) + if (value & CHECK_BIT_14) value -= UINT_TO_INT_15; + return (2 * M_PI / POW_2_15) * ((float)(int16_t)value); + } + + static inline void setbits(uint16_t &data, uint8_t start, uint8_t end, uint16_t value) { + uint8_t len = start - end + 1; + uint16_t mask = ((1 << len) - 1) << end; + data = (data & ~mask) | (mask & (value << end)); + } + + static inline uint16_t getbits(uint16_t data, uint8_t start, uint8_t end) { + uint8_t len = start - end + 1; + uint16_t mask = ((1 << len) - 1) << end; + return (data & mask) >> end; + } + + void transcieve(uint8_t *txdata, uint8_t *rxdata, size_t txwords, size_t rxwords) { + spi_transaction_t trans; + memset(&trans, 0, sizeof(trans)); + trans.length = txwords * 16; + trans.rxlength = rxwords * 16; + trans.tx_buffer = txdata; + trans.rx_buffer = rxdata; + + spi_device_acquire_bus(spi, portMAX_DELAY); + ESP_ERROR_CHECK(spi_device_transmit(spi, &trans)); + spi_device_release_bus(spi); + + uint16_t safety_word = (rxdata[rxwords * 2 - 2] << 8) | rxdata[rxwords * 2 - 1]; + uint8_t crc = getCRC(txdata, txwords * 2); + if (rxwords > 1) crc = getCRC(rxdata, rxwords * 2 - 2, ~crc); + assert(crc == ((uint8_t)safety_word)); + assert(getbits(safety_word, 14, 12) == 0b111); + } + + uint8_t getCRC(const uint8_t *data, size_t len, uint8_t seed = 0xFF) { + uint8_t crc = seed; + for (size_t i = 0; i < len; ++i) { + crc = CRC_TABLE[crc ^ data[i]]; + } + return crc ^ 0xFF; + } + + uint16_t readOneRegister(uint8_t addr) { + uint16_t request = 0; + setbits(request, 15, 15, 1); // rw + setbits(request, 9, 4, addr); // addr + setbits(request, 3, 0, 1); // nd + + uint8_t txdata[2]; + uint8_t rxdata[4]; + txdata[0] = request >> 8; + txdata[1] = request; + + transcieve(txdata, rxdata, 1, 2); + uint16_t value = (rxdata[0] << 8) | rxdata[1]; + return value; + } + + void writeOneRegister(uint8_t addr, uint8_t start, uint8_t end, uint16_t value) { + uint16_t curr_value = readOneRegister(addr); + uint16_t new_value = curr_value; + setbits(new_value, start, end, value); + + uint16_t request = 0; + if (addr >= 0x05 && addr <= 0x11) { + setbits(request, 14, 11, 0b1010); // lock + } + setbits(request, 9, 4, addr); // addr + setbits(request, 3, 0, 1); // nd + + uint8_t txdata[4]; + uint8_t rxdata[2]; + txdata[0] = request >> 8; + txdata[1] = request; + txdata[2] = new_value >> 8; + txdata[3] = new_value; + + transcieve(txdata, rxdata, 2, 1); + } +}; +} // namespace cartpole diff --git a/firmware/src/globals.cpp b/firmware/src/globals.cpp deleted file mode 100644 index e1105d5..0000000 --- a/firmware/src/globals.cpp +++ /dev/null @@ -1,365 +0,0 @@ -#include "globals.h" - -#include -#include -#include - -#include "stepper.h" - -// namespace { - const int DEBUG_LED_PIN = 2; - -std::ostream &operator<<(std::ostream &out, Error error) { return out << static_cast(error); } - -std::istream &operator>>(std::istream &in, Error &error) { - int err = 0; - in >> err; - error = static_cast(err); - return in; -} - -struct FieldBase { - virtual ~FieldBase() = default; - virtual std::string Format() const; - virtual void Prepare(const std::string &text); - virtual void Commit(); - virtual void Reset(); -}; - -template -std::string formatField(T value) { - std::stringstream stream; - stream << value; - return stream.str(); -} - -template <> -std::string formatField<>(float value) { - std::stringstream stream; - stream << std::fixed << std::setprecision(5) << value; - return stream.str(); -} - -template <> -std::string formatField<>(bool value) { - return value ? "true" : "false"; -} - -template -T parseField(const std::string &text) { - std::stringstream stream(text); - T value; - stream >> value; - if (stream.fail()) { - throw std::runtime_error{"Failed to parse value"}; - } - return value; -} - -template <> -bool parseField<>(const std::string &text) { - if (text == "true") { - return true; - } else if (text == "false") { - return false; - } - throw std::runtime_error("Failed to parse bool"); -} - -template -T validateField(T value) { - return value; -} - -float validateFloatRange(float value, float min, float max, bool clamp = false) { - if (std::isinf(value)) { - throw std::runtime_error{"Infinite values are not allowed"}; - } - if (std::isnan(value)) { - throw std::runtime_error{"NaN is not allowed"}; - } - if (value < min) { - if (clamp) { - return min; - } - std::stringstream stream; - stream << std::fixed << std::setprecision(5) << "Out of range: " << value << " < " << min; - throw std::runtime_error{stream.str()}; - } - if (max < value) { - if (clamp) { - return max; - } - std::stringstream stream; - stream << std::fixed << std::setprecision(5) << "Out of range: " << value << " > " << max; - throw std::runtime_error{stream.str()}; - } - return value; -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - return validateFloatRange(value, 0, G.hw_max_x); -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - return validateFloatRange(value, 0, G.hw_max_v); -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - return validateFloatRange(value, 0, G.hw_max_a); -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - try { - return validateFloatRange(value, -G.max_x, G.max_x, G.clamp_x); - } catch (std::runtime_error &e) { - G.errcode = Error::X_OVERFLOW; - throw; - } -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - try { - return validateFloatRange(value, -G.max_v, G.max_v, G.clamp_v); - } catch (std::runtime_error &e) { - G.errcode = Error::V_OVERFLOW; - throw; - } -} - -template <> -float validateField(float value) { - Globals &G = GetGlobals(); - try { - return validateFloatRange(value, -G.max_a, G.max_a, G.clamp_a); - } catch (std::runtime_error &e) { - G.errcode = Error::A_OVERFLOW; - throw; - } -} - -template -void updateField(T value) { - // do nothing -} - -template <> -void updateField(float value) { - Stepper &S = GetStepper(); - S.SetSpeed(value); -} - -template <> -void updateField(float value) { - Stepper &S = GetStepper(); - S.SetAcceleration(value); -} - -template <> -void updateField(float value) { - Stepper &S = GetStepper(); - S.SetTargetPosition(value); -} - -template <> -void updateField(float value) { - // Stepper &S = GetStepper(); - // S.SetTargetVelocity(value); -} - -template <> -void updateField(float value) { - Stepper &S = GetStepper(); - S.SetTargetAcceleration(value); -} - -template <> -void updateField(bool value) { - pinMode(DEBUG_LED_PIN, OUTPUT); - digitalWrite(DEBUG_LED_PIN, value); -} - -template -class Field : public FieldBase { - T &global_value; - T pending_value; - const T default_value; - -public: - Field(T &global_value) - : global_value(global_value), - pending_value(), - default_value(global_value) {} - - std::string Format() const override { return formatField(global_value); } - - void Prepare(const std::string &text) override { - if (readonly) { - throw std::runtime_error{"Readonly violation"}; - } - pending_value = validateField(parseField(text)); - } - - void Commit() override { - global_value = pending_value; - updateField(global_value); - } - - void Reset() override { - global_value = default_value; - updateField(global_value); - } -}; - - -template -std::unique_ptr> makeField(T &value) { - return std::unique_ptr>(new Field(value)); -} - -using FieldMap = std::unordered_map>; - -FieldMap constructConfigFieldMap() { - Globals &G = GetGlobals(); - FieldMap map; - map["max_x"] = makeField(G.max_x); - map["max_v"] = makeField(G.max_v); - map["max_a"] = makeField(G.max_a); - map["hw_max_x"] = makeField(G.hw_max_x); - map["hw_max_v"] = makeField(G.hw_max_v); - map["hw_max_a"] = makeField(G.hw_max_a); - map["clamp_x"] = makeField(G.clamp_x); - map["clamp_v"] = makeField(G.clamp_v); - map["clamp_a"] = makeField(G.clamp_a); - map["debug_led"] = makeField(G.clamp_a); - return map; -} - -FieldMap constructStateFieldMap() { - Globals &G = GetGlobals(); - FieldMap map; - map["curr_x"] = makeField(G.curr_x); - map["curr_v"] = makeField(G.curr_v); - map["curr_a"] = makeField(G.curr_a); - map["pole_x"] = makeField(G.pole_x); - map["pole_v"] = makeField(G.pole_v); - map["errcode"] = makeField(G.errcode); - map["imu_a"] = makeField(G.imu_a); - map["motor_x"] = makeField(G.motor_x); - map["motor_v"] = makeField(G.motor_v); - return map; -} - -FieldMap constructTargetFieldMap() { - Globals &G = GetGlobals(); - FieldMap map; - map["trgt_x"] = makeField(G.trgt_x); - map["trgt_v"] = makeField(G.trgt_v); - map["trgt_a"] = makeField(G.trgt_a); - return map; -} - -FieldMap CONFIG_FIELDS = constructConfigFieldMap(); -FieldMap STATE_FIELDS = constructStateFieldMap(); -FieldMap TARGET_FIELDS = constructTargetFieldMap(); - -FieldMap &lookupFieldMap(const std::string &group) { - if (group == "config") { - return CONFIG_FIELDS; - } else if (group == "state") { - return STATE_FIELDS; - } else if (group == "target") { - return TARGET_FIELDS; - } - throw std::runtime_error{"Unknown group"}; -} - -void resetFieldMap(FieldMap &map) { - for (auto &&kv : map) { - kv.second->Reset(); - } -} - -FieldBase *getField(const FieldMap &map, const std::string &key) { - auto it = map.find(key); - if (it == map.end()) { - std::stringstream stream; - stream << "Unknown key: " << key; - throw std::runtime_error{stream.str()}; - } - return it->second.get(); -} -// } // namespace - -std::string Globals::Get(const std::string &group, const std::string &key) const { - const FieldMap &map = lookupFieldMap(group); - return getField(map, key)->Format(); -} - -std::vector> Globals::Get(const std::string &group) const { - const FieldMap &map = lookupFieldMap(group); - std::vector> res; - for (auto &&kv : map) { - res.emplace_back(kv.first, kv.second->Format()); - } - return res; -} - -void Globals::Prepare(const std::string &group, const std::string &key, const std::string &value) { - // FieldMap &map = lookupFieldMap(group); - // getField(map, key)->Prepare(value); -} - -void Globals::Commit(const std::string &group, const std::string &key) { - FieldMap &map = lookupFieldMap(group); - getField(map, key)->Commit(); -} - -void Globals::Reset() { - resetFieldMap(CONFIG_FIELDS); - resetFieldMap(STATE_FIELDS); - resetFieldMap(TARGET_FIELDS); -} - -Globals &GetGlobals() { - static Globals globals{ - /* CONFIG */ - 0.0, // [m] Absolute max cart position - 0.5, // [m/s] Absolute max cart velocity - 1.0, // [m/s^2] Absolute max cart acceleration - 0.0, // [m] Absolute max hardware-allowed position - 10, // fixme // [m/s] Absolute max hardware-allowed velocity - 10, // fixme // [m/s^2] Absolute max hardware-allowed acceleration - false, // Clamp X to allowed range instead of raising error - false, // Clamp V to allowed range instead of raising error - false, // Clamp A to allowed range instead of raising error - false, - /* STATE */ - 0.0, // [m] Current cart position - 0.0, // [m/s] Current cart velocity - 0.0, // [m/s^2] Current cart acceleration - 0.0, // [rad] Current pole angle - 0.0, // [rad/s] Current pole angular velocity - Error::NEED_RESET, // Current error code - 0.0, - 0.0, - 0.0, - /* TARGET */ - 0.0, // [m] Target cart position - 0.0, // [m/s] Target cart velocity - 0.0, // [m/s^2] Target cart acceleration - /* MISC */ - 0.0, // [m] Total Length as determined during homing - }; - return globals; -} diff --git a/firmware/src/globals.h b/firmware/src/globals.h deleted file mode 100644 index 3266d5f..0000000 --- a/firmware/src/globals.h +++ /dev/null @@ -1,84 +0,0 @@ -#pragma once -#include - -#include -#include - -enum class FieldID { - max_x, - max_v, - max_a, - hw_max_x, - hw_max_v, - hw_max_a, - clamp_x, - clamp_v, - clamp_a, - curr_x, - trgt_x, - curr_v, - trgt_v, - curr_a, - trgt_a, - pole_x, - pole_v, - errcode, - imu_a, - motor_x, - motor_v, - debug_led, -}; - -enum class Error { - NO_ERROR = 0, // This is fine - NEED_RESET = 1, // Homing procedure is required ("reset" command) - X_OVERFLOW = 2, // X overshoot detected, motion is disabled - V_OVERFLOW = 3, // V overshoot detected, motion is disabled - A_OVERFLOW = 4, // A overshoot detected, motion is disabled - MOTOR_STALLED = 5, // TMC StallGuard is triggered (stepper missed steps) - ENDSTOP_HIT = 6, // One of endstops is triggered during movement -}; - -struct Globals { - /* CONFIG */ - float max_x; // [m] Absolute max cart position - float max_v; // [m/s] Absolute max cart velocity - float max_a; // [m/s^2] Absolute max cart acceleration - float hw_max_x; // [m] Absolute max hardware-allowed position - float hw_max_v; // [m/s] Absolute max hardware-allowed velocity - float hw_max_a; // [m/s^2] Absolute max hardware-allowed acceleration - bool clamp_x; // Clamp X to allowed range instead of raising error - bool clamp_v; // Clamp V to allowed range instead of raising error - bool clamp_a; // Clamp A to allowed range instead of raising error - bool debug_led; // Debug LED pin to indicate start of session - /* STATE */ - float curr_x; // [m] Current cart position - float curr_v; // [m/s] Current cart velocity - float curr_a; // [m/s^2] Current cart acceleration - float pole_x; // [rad] Current pole angle - float pole_v; // [rad/s] Current pole angular velocity - Error errcode; // Current error code - float imu_a; // [m/s^2] Cart acceleration measured by IMU - float motor_x; // [rad] Rotation of the motor shaft (secondary encoder) - float motor_v; // [rad/s] Velocity of the motor shaft (secondary encoder) - /* TARGET */ - float trgt_x; // [m] Target cart position - float trgt_v; // [m/s] Target cart velocity - float trgt_a; // [m/s^2] Target cart acceleration - /* MISC */ - float full_length_meters; // [m] Total Length as determined during homing - - std::string Get(const std::string &group, const std::string &key) const; - std::vector> Get(const std::string &group) const; - void Prepare(const std::string &group, const std::string &key, const std::string &value); - void Commit(const std::string &group, const std::string &key); - void Reset(); -}; - -Globals &GetGlobals(); - -template -T validateField(T value); - -template -void updateField(T value); diff --git a/firmware/src/helpers.h b/firmware/src/helpers.h new file mode 100644 index 0000000..ff002a0 --- /dev/null +++ b/firmware/src/helpers.h @@ -0,0 +1,51 @@ +#pragma once +#include "freertos/task.h" +#include "proto/protocol.pb.h" + +#define RTOS_YIELD vTaskDelay(0); +#define DEFAULT_STACK_DEPTH 4096 +#define DEFAULT_TASK_PRIORITY 1 +#define CREATE_TASK(name, callback, params) \ + xTaskCreatePinnedToCore(callback, name, DEFAULT_STACK_DEPTH, params, DEFAULT_TASK_PRIORITY, \ + nullptr, APP_CPU_NUM); + +State getDefaultState() { + State state = State_init_zero; + state.error = Error_NEED_RESET; + + state.has_cart_position = true; + state.has_cart_velocity = true; + state.has_cart_acceleration = true; + state.has_pole_angle = true; + state.has_pole_angular_velocity = true; + state.has_error = true; + state.has_hardware_errors = true; + + return state; +} + +Config getDefaultConfig() { + Config config = Config_init_zero; + config.max_cart_position = 0; + config.max_cart_velocity = 10.0; + config.max_cart_acceleration = 20.0; + + config.has_max_cart_position = true; + config.has_max_cart_velocity = true; + config.has_max_cart_acceleration = true; + + return config; +} + +Error validateTarget(const Target &target, const Config &config) { + if (target.has_position && std::abs(target.position) > config.max_cart_position) { + return Error_CART_POSITION_OVERFLOW; + } + if (target.has_velocity && std::abs(target.velocity) > config.max_cart_velocity) { + return Error_CART_VELOCITY_OVERFLOW; + } + if (target.has_acceleration && std::abs(target.acceleration) > config.max_cart_acceleration) { + return Error_CART_ACCELERATION_OVERFLOW; + } + return Error_NO_ERROR; +} diff --git a/firmware/src/main.cpp b/firmware/src/main.cpp index 4a4115e..02e7bda 100644 --- a/firmware/src/main.cpp +++ b/firmware/src/main.cpp @@ -1,41 +1,105 @@ #include #include "encoder.h" -#include "accelerometer.h" -#include "protocol_processor.h" +#include "helpers.h" +#include "protocol.h" #include "stepper.h" -const int DEBUG_LED_PIN = 2; -const int DEBUG_PULSE_US = 10; +using namespace cartpole; -void setup() { - pinMode(DEBUG_LED_PIN, OUTPUT); +// GLOBALS + +State state = getDefaultState(); +Config config = getDefaultConfig(); + +Encoder encoder; +Stepper stepper; +Protocol protocol; + +// PROTOCOL CALLBACKS + +State reset() { + if (!stepper.isHoming()) { + state.error = Error_NEED_RESET; + stepper.reset(); + } + return state; +} + +State setTarget(Target target) { + if (state.error) return state; + state.error = validateTarget(target, config); + if (state.error) { + stepper.disable(); + return state; + } + + // TODO: Prettify + float velocity = target.has_velocity ? target.velocity : config.max_cart_velocity; + float accel = target.has_acceleration ? target.acceleration : config.max_cart_acceleration; + + if (target.has_position) { + stepper.setMaxAccel(accel); + stepper.setMaxSpeed(velocity); + stepper.setPosition(target.position); + } + // TODO: Velocity control, accel control + return state; +} + +Config setConfig(Config newConfig) { + // ... + return config; } -void debug_pulse() { - digitalWrite(DEBUG_LED_PIN, HIGH); - delayMicroseconds(DEBUG_PULSE_US); - digitalWrite(DEBUG_LED_PIN, LOW); - delayMicroseconds(DEBUG_PULSE_US); +// HELPER FUNCTIONS + +void homingCallback() { + if (!stepper.getErrors()) { + config.max_cart_position = stepper.getFullRange() / 2; + state.hardware_errors = HardwareError_NO_ERRORS; + state.error = Error_NO_ERROR; + } +} + +void updateState() { + state.cart_position = stepper.getPosition(); + state.cart_velocity = stepper.getVelocity(); + state.cart_acceleration = stepper.getAcceleration(); + state.pole_angle = encoder.getAngle(); + state.pole_angular_velocity = encoder.getVelocity(); + state.hardware_errors |= encoder.getErrors(); + state.hardware_errors |= stepper.getErrors(); + state.hardware_errors |= protocol.getErrors(); +} + +void checkErrors() { + if (state.hardware_errors) { + state.error = Error_HARDWARE; + } else if (std::abs(state.cart_position) > config.max_cart_position) { + state.error = Error_CART_POSITION_OVERFLOW; + } else if (std::abs(state.cart_velocity) > config.max_cart_velocity) { + state.error = Error_CART_VELOCITY_OVERFLOW; + } else if (std::abs(state.cart_acceleration) > config.max_cart_acceleration) { + state.error = Error_CART_ACCELERATION_OVERFLOW; + } + if (state.error) stepper.disable(); +} + +// ENTRYPOINT + +void setup() { + protocol.resetCallback = reset; + protocol.targetCallback = setTarget; + protocol.configCallback = setConfig; + stepper.homingCallback = homingCallback; + + encoder.init(); + stepper.init(); + protocol.init(); } void loop() { - GetStepper().Poll(); - debug_pulse(); - GetPoleEncoder().Poll(); - debug_pulse(); - // GetMotorEncoder().Poll(); - // debug_pulse(); - // GetAccelerometer().Poll(); - // debug_pulse(); - GetProtocolProcessor().Poll(); - debug_pulse(); - - // delayMicroseconds(20); - // if (Serial.available()) { - // char in = Serial.read(); - // Serial.write(in); - // Serial.flush(); - // } - // delayMicroseconds(10); + updateState(); + if (!stepper.isHoming() && !state.error) checkErrors(); } diff --git a/firmware/src/protocol.h b/firmware/src/protocol.h new file mode 100644 index 0000000..a54bc73 --- /dev/null +++ b/firmware/src/protocol.h @@ -0,0 +1,113 @@ +#pragma once +#include +#include + +#include "CRC.h" +#include "CRC8.h" +#include "cobs.h" +#include "helpers.h" +#include "proto/protocol.pb.h" + +namespace cartpole { + +class Protocol { +private: + static const uint32_t SERIAL_SPEED = 2000000; + static const uint8_t FRAME_EOF = 0x00; + + uint8_t rxBuff[256]; + uint8_t txBuff[256]; + CRC8 crc; + HardwareError error; + +public: + // TODO: Convert to setters? + std::function resetCallback = nullptr; + std::function targetCallback = nullptr; + std::function configCallback = nullptr; + + Protocol() = default; + + void init() { + Serial.begin(SERIAL_SPEED); + Serial.print("start"); // TODO: More concize startup message? + CREATE_TASK("protocol", _pollingTask, this); + } + + HardwareError getErrors() { return error; } + +private: + void _poll() { + if (!Serial.available()) return; + size_t length = Serial.readBytesUntil(FRAME_EOF, rxBuff, sizeof(rxBuff)); + if (!length) return; + cobs::decode(rxBuff, length); + uint8_t type = rxBuff[1]; + + if (type == RequestType_RESET && resetCallback) { + auto state = resetCallback(); + auto stream = _prepare_stream(RequestType_RESET); + pb_encode(&stream, &State_msg, &state); + _flush_stream(stream); + } + + if (type == RequestType_TARGET && targetCallback) { + auto target = _decode(Target_msg); + auto state = targetCallback(target); + auto stream = _prepare_stream(RequestType_TARGET); + pb_encode(&stream, &State_msg, &state); + _flush_stream(stream); + } + + if (type == RequestType_CONFIG && configCallback) { + auto config = _decode(Target_msg); + config = configCallback(config); + auto stream = _prepare_stream(RequestType_CONFIG); + pb_encode(&stream, &Config_msg, &config); + _flush_stream(stream); + } + } + + static void _pollingTask(void *params) { + Protocol *protocol = (Protocol *)params; + while (true) { + protocol->_poll(); + RTOS_YIELD; + } + } + + template + T _decode(pb_msgdesc_t descriptor) { + // TODO: Return error flag + // TODO: Check CRC + size_t payload_len = rxBuff[2]; + pb_istream_t stream = pb_istream_from_buffer(rxBuff + 3, payload_len); + T message; + bool ok = pb_decode(&stream, &descriptor, &message); + if (!ok) error = HardwareError_PROTOCOL_DECODE_ERROR; + return message; + } + + pb_ostream_t _prepare_stream(RequestType type) { + // [COBS BYTE] [TYPE] [LEN+1] [DATA] [CRC8] [EOF] + rxBuff[0] = 0; // Reserved for COBS + rxBuff[1] = type; // Payload type + rxBuff[2] = 0; // Payload length + // Data region starts at byte 3 + // 5 extra bytes reserved for COBS, TYPE, LEN, CRC8, EOF + return pb_ostream_from_buffer(rxBuff + 3, sizeof(rxBuff) - 5); + } + + void _flush_stream(pb_ostream_t &stream) { + size_t data_length = stream.bytes_written; + rxBuff[2] = data_length; + crc.restart(); + crc.add(rxBuff + 1, 2 + data_length); + rxBuff[3 + data_length] = crc.getCRC(); + rxBuff[4 + data_length] = FRAME_EOF; + cobs::encode(rxBuff, 4 + data_length); + Serial.write(rxBuff, 5 + data_length); + } +}; + +} // namespace cartpole \ No newline at end of file diff --git a/firmware/src/protocol_processor.cpp b/firmware/src/protocol_processor.cpp deleted file mode 100644 index 4eb0f15..0000000 --- a/firmware/src/protocol_processor.cpp +++ /dev/null @@ -1,371 +0,0 @@ -#include "protocol_processor.h" - -#include - -#include "globals.h" -#include "stepper.h" - -#include -#include -extern "C" { - #include "controller.pb.h" -} - -// #include "freertos/FreeRTOS.h" -// #include "freertos/task.h" -#include "driver/gpio.h" -#include "driver/uart.h" - -namespace { -// const HardwareSerial PROTOCOL_SERIAL_PORT = Serial; -using ErrorEnum = Error; - -// bool encode_callback(pb_ostream_t *stream, const uint8_t *buf, size_t count) { -// auto *P = (ProtocolProcessor *)stream->state; -// P->serial_port.write(buf, count); -// return true; -// } - -const auto SERIAL_PORT_NUM = UART_NUM_0; -const int SERIAL_TX_PIN = 1; -const int SERIAL_RX_PIN = 3; -const int SERIAL_SPEED = 500000; -const int SERIAL_BUFFER_SIZE = 1024; - -void idf_uart_init() { - uart_config_t uart_config = { - .baud_rate = SERIAL_SPEED, - .data_bits = UART_DATA_8_BITS, - .parity = UART_PARITY_DISABLE, - .stop_bits = UART_STOP_BITS_1, - .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, - }; - - ESP_ERROR_CHECK(uart_driver_install(SERIAL_PORT_NUM, SERIAL_BUFFER_SIZE, SERIAL_BUFFER_SIZE, 0, NULL, 0)); - ESP_ERROR_CHECK(uart_param_config(SERIAL_PORT_NUM, &uart_config)); - ESP_ERROR_CHECK(uart_set_pin(SERIAL_PORT_NUM, SERIAL_TX_PIN, SERIAL_RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); -} - -bool idf_uart_available() { - size_t length = 0; - ESP_ERROR_CHECK(uart_get_buffered_data_len(SERIAL_PORT_NUM, &length)); - return length > 0; -} - -uint8_t idf_uart_read_byte() { - uint8_t byte = 0; - int length = uart_read_bytes(SERIAL_PORT_NUM, &byte, 1, 1); - if (length != 1) ESP_ERROR_CHECK(ESP_FAIL); - return byte; -} - -void idf_uart_write_bytes(const uint8_t *src, size_t length) { - int length_written = uart_write_bytes(SERIAL_PORT_NUM, (const char*) src, length); - if (length_written != length) ESP_ERROR_CHECK(ESP_FAIL); -} -} // namespace - -ProtocolProcessor::ProtocolProcessor() { - // serial_port.begin(SERIAL_SPEED); - // while (!serial_port) { - // } // Wait for init - idf_uart_init(); - Log("CARTPOLE CONTROLLER STARTED"); -} - -void ProtocolProcessor::Poll() { - static std::string buffer; - static uint64_t payloadSize = 0; - static bool waitingForHeader = true; - while (idf_uart_available()) { - buffer += idf_uart_read_byte(); - if (waitingForHeader) { - pb_istream_t stream = pb_istream_from_buffer((const uint8_t*) buffer.c_str(), buffer.size()); - bool status = pb_decode_varint(&stream, &payloadSize); - if (!status) continue; - -// std::ostringstream tmp; -// tmp << "PSIZE: " << payloadSize << "BUFF: " << buffer; -// Log(tmp.str()); - - waitingForHeader = false; - buffer.clear(); - } - if (payloadSize == buffer.length()) { - handleCommand(buffer); - buffer.clear(); - waitingForHeader = true; - break; - } - } -} - -void ProtocolProcessor::handleCommand(const std::string &line) { - try { - pb_istream_t stream = pb_istream_from_buffer((const uint8_t*) line.c_str(), line.size()); - Request request = Request_init_zero; - bool status = pb_decode(&stream, Request_fields, &request); - if (!status) throw std::runtime_error{"Failed to decode request"}; - Response response = dispatch(request); - response.status = ResponseStatus_OK; - sendResponse(response); - } catch (std::exception &e) { - return Error(e.what()); - } -} - -Response ProtocolProcessor::dispatch(Request &request) { - switch (request.type) { - case RequestType_GET_STATE: - return handleGetState(request); - case RequestType_SET_TARGET: - return handleSetTarget(request); - case RequestType_SET_CONFIG: - return handleSetConfig(request); - case RequestType_GET_TARGET: - return handleGetTarget(request); - case RequestType_GET_CONFIG: - return handleGetConfig(request); - case RequestType_RESET: - return handleReset(request); - default: - throw std::runtime_error{"Unknown request type"}; - } -} - -#define SET_OPTIONAL_FIELD(object, name, value) object.name = value; object.has_##name = true; -#define VALIDATE_FIELD(object, name, type) object.name = validateField(object.name); -#define UPDATE_FIELD(object, name, type) updateField(object.name); -#define VALIDATE_IF_PRESENT(object, name, type) if (object.has_##name) VALIDATE_FIELD(object, name, type); -#define UPDATE_IF_PRESENT(object, name, type) if (object.has_##name) UPDATE_FIELD(object, name, type); -#define SET_IF_PRESENT(object, name, target) if (object.has_##name) target.name = object.name; - -Response ProtocolProcessor::handleGetState(Request &request) { - Globals &G = GetGlobals(); - Response response = Response_init_zero; - SET_OPTIONAL_FIELD(response.payload.state, curr_x, G.curr_x); - SET_OPTIONAL_FIELD(response.payload.state, curr_v, G.curr_v); - SET_OPTIONAL_FIELD(response.payload.state, curr_a, G.curr_a); - SET_OPTIONAL_FIELD(response.payload.state, pole_x, G.pole_x); - SET_OPTIONAL_FIELD(response.payload.state, pole_v, G.pole_v); - SET_OPTIONAL_FIELD(response.payload.state, errcode, (int) G.errcode); - SET_OPTIONAL_FIELD(response.payload.state, imu_a, G.imu_a); - SET_OPTIONAL_FIELD(response.payload.state, motor_x, G.motor_x); - SET_OPTIONAL_FIELD(response.payload.state, motor_v, G.motor_v); - response.which_payload = Response_state_tag; - return response; -} - -Response ProtocolProcessor::handleSetTarget(Request &request) { - Globals &G = GetGlobals(); - Target target = request.payload.target; - VALIDATE_IF_PRESENT(target, trgt_x, float); - VALIDATE_IF_PRESENT(target, trgt_v, float); - VALIDATE_IF_PRESENT(target, trgt_a, float); - SET_IF_PRESENT(target, trgt_x, G); - SET_IF_PRESENT(target, trgt_v, G); - SET_IF_PRESENT(target, trgt_a, G); - UPDATE_IF_PRESENT(target, trgt_x, float); - UPDATE_IF_PRESENT(target, trgt_v, float); - UPDATE_IF_PRESENT(target, trgt_a, float); - return handleGetTarget(request); -} - -Response ProtocolProcessor::handleSetConfig(Request &request) { - Globals &G = GetGlobals(); - Config config = request.payload.config; - VALIDATE_IF_PRESENT(config, max_x, float); - VALIDATE_IF_PRESENT(config, max_v, float); - VALIDATE_IF_PRESENT(config, max_a, float); - // VALIDATE_IF_PRESENT(config, hw_max_x, float); - // VALIDATE_IF_PRESENT(config, hw_max_v, float); - // VALIDATE_IF_PRESENT(config, hw_max_a, float); - // VALIDATE_IF_PRESENT(config, clamp_x, bool); - // VALIDATE_IF_PRESENT(config, clamp_v, bool); - // VALIDATE_IF_PRESENT(config, clamp_a, bool); - // VALIDATE_IF_PRESENT(config, debug_led, bool); - - SET_IF_PRESENT(config, max_x, G); - SET_IF_PRESENT(config, max_v, G); - SET_IF_PRESENT(config, max_a, G); - SET_IF_PRESENT(config, hw_max_x, G); - SET_IF_PRESENT(config, hw_max_v, G); - SET_IF_PRESENT(config, hw_max_a, G); - SET_IF_PRESENT(config, clamp_x, G); - SET_IF_PRESENT(config, clamp_v, G); - SET_IF_PRESENT(config, clamp_a, G); - SET_IF_PRESENT(config, debug_led, G); - - // UPDATE_IF_PRESENT(config, max_x, float); - UPDATE_IF_PRESENT(config, max_v, float); - UPDATE_IF_PRESENT(config, max_a, float); - // UPDATE_IF_PRESENT(config, hw_max_x, float); - // UPDATE_IF_PRESENT(config, hw_max_v, float); - // UPDATE_IF_PRESENT(config, hw_max_a, float); - // UPDATE_IF_PRESENT(config, clamp_x, bool); - // UPDATE_IF_PRESENT(config, clamp_v, bool); - // UPDATE_IF_PRESENT(config, clamp_a, bool); - // UPDATE_IF_PRESENT(config, debug_led, bool); - return handleGetConfig(request); -} - -Response ProtocolProcessor::handleGetTarget(Request &request) { - Globals &G = GetGlobals(); - Response response = Response_init_zero; - SET_OPTIONAL_FIELD(response.payload.target, trgt_x, G.trgt_x); - SET_OPTIONAL_FIELD(response.payload.target, trgt_v, G.trgt_v); - SET_OPTIONAL_FIELD(response.payload.target, trgt_a, G.trgt_a); - response.which_payload = Response_target_tag; - return response; -} - -Response ProtocolProcessor::handleGetConfig(Request &request) { - Globals &G = GetGlobals(); - Response response = Response_init_zero; - SET_OPTIONAL_FIELD(response.payload.config, max_x, G.max_x); - SET_OPTIONAL_FIELD(response.payload.config, max_v, G.max_v); - SET_OPTIONAL_FIELD(response.payload.config, max_a, G.max_a); - SET_OPTIONAL_FIELD(response.payload.config, hw_max_x, G.hw_max_x); - SET_OPTIONAL_FIELD(response.payload.config, hw_max_v, G.hw_max_v); - SET_OPTIONAL_FIELD(response.payload.config, hw_max_a, G.hw_max_a); - SET_OPTIONAL_FIELD(response.payload.config, clamp_x, G.clamp_x); - SET_OPTIONAL_FIELD(response.payload.config, clamp_v, G.clamp_v); - SET_OPTIONAL_FIELD(response.payload.config, clamp_a, G.clamp_a); - SET_OPTIONAL_FIELD(response.payload.config, debug_led, G.debug_led); - response.which_payload = Response_config_tag; - return response; -} - -Response ProtocolProcessor::handleReset(Request &request) { - Stepper &S = GetStepper(); - Globals &G = GetGlobals(); - - S.AsyncHoming(); - while (!S.IsDoneHoming()) { - KeepAlive(); - delay(100); - } - KeepAlive(); - delay(100); - - float hw_max_x = G.hw_max_x; - G.Reset(); - G.errcode = ErrorEnum::NO_ERROR; - G.hw_max_x = hw_max_x; - G.max_x = G.hw_max_x; - - // Fix creeping movement bug - S.SetAcceleration(G.max_a); - S.SetSpeed(G.max_v); - S.ForceStop(); - - return Response Response_init_zero; -} - -void ProtocolProcessor::sendResponse(Response &response) { - static uint8_t buffer[1024]; - pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer)); - bool status = pb_encode(&stream, Response_fields, &response); - if (!status) throw std::runtime_error{"Protobuf encoding failed"}; - size_t payloadSize = stream.bytes_written; - status = pb_encode_varint(&stream, payloadSize); - if (!status) throw std::runtime_error{"Varint encoding failed"}; - size_t headerSize = stream.bytes_written - payloadSize; - // serial_port.printf("HSIZE: %d, PSIZE: %d\n", headerSize, payloadSize); - // serial_port.write(buffer + payloadSize, headerSize); - // serial_port.write(buffer, payloadSize); - // serial_port.flush(); - idf_uart_write_bytes(buffer + payloadSize, headerSize); - idf_uart_write_bytes(buffer, payloadSize); -} - -void ProtocolProcessor::sendTextResponse(const std::string &text, ResponseStatus status) { - Response response = Response_init_zero; - response.status = status; - text.copy(response.message, sizeof(response.message) - 1); - response.message[sizeof(response.message) - 1] = '\0'; - sendResponse(response); -} - -void ProtocolProcessor::Log(const std::string &text) { - // TODO: Compilation flag to disable logs? - sendTextResponse(text, ResponseStatus_DEBUG); -} - -void ProtocolProcessor::Error(const std::string &text) { - sendTextResponse(text, ResponseStatus_ERROR); -} - -void ProtocolProcessor::KeepAlive() { - sendTextResponse("", ResponseStatus_PROCESSING); -} - -// std::string ProtocolProcessor::get(const std::string &group, std::stringstream &stream) { -// Globals &G = GetGlobals(); -// std::stringstream result; - -// std::string key; -// bool first = true; -// while (stream >> key) { -// if (first) { -// first = false; -// } else { -// result << ' '; -// } -// result << key << "=" << G.Get(group, key); -// } -// if (first) { -// auto res = G.Get(group); -// for (auto &&kv : res) { -// if (first) { -// first = false; -// } else { -// result << ' '; -// } -// result << kv.first << '=' << kv.second; -// } -// } - -// return result.str(); -// } - -// std::string ProtocolProcessor::set(const std::string &group, std::stringstream &stream) { -// Globals &G = GetGlobals(); -// if (G.errcode != ErrorEnum::NO_ERROR) { -// throw std::runtime_error{"Global error code is set"}; -// } - -// std::stringstream result; - -// std::vector request_keys; -// std::string kv; - -// while (stream >> kv) { -// size_t pos = kv.find('='); -// if (pos == std::string::npos) { -// throw std::runtime_error{"Incorrect key-value pair format"}; -// } -// std::string key = kv.substr(0, pos); -// std::string value = kv.substr(pos + 1); -// G.Prepare(group, key, value); -// request_keys.emplace_back(std::move(key)); -// } - -// bool first = true; -// for (const auto &key : request_keys) { -// G.Commit(group, key); -// if (first) { -// first = false; -// } else { -// result << ' '; -// } -// result << key << '=' << G.Get(group, key); -// } - -// return result.str(); -// } - -ProtocolProcessor &GetProtocolProcessor() { - static ProtocolProcessor processor{}; - return processor; -} diff --git a/firmware/src/protocol_processor.h b/firmware/src/protocol_processor.h deleted file mode 100644 index 429dbf4..0000000 --- a/firmware/src/protocol_processor.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once -#include - -#include -#include -#include "controller.pb.h" - -struct ProtocolProcessor { - // HardwareSerial serial_port; - - ProtocolProcessor(); - - void Poll(); - - // void Success(const std::string &text); - void Log(const std::string &text); - void Error(const std::string &text); - void KeepAlive(); - -private: - void handleCommand(const std::string &line); - - // std::string get(const std::string &group, std::stringstream &stream); - // std::string set(const std::string &group, std::stringstream &stream); - // std::string reset(); - - Response dispatch(Request &request); - Response handleGetState(Request &request); - Response handleSetTarget(Request &request); - Response handleSetConfig(Request &request); - Response handleGetTarget(Request &request); - Response handleGetConfig(Request &request); - Response handleReset(Request &request); - void sendResponse(Response &response); - void sendTextResponse(const std::string &text, ResponseStatus status); -}; - -ProtocolProcessor &GetProtocolProcessor(); diff --git a/firmware/src/stepper.cpp b/firmware/src/stepper.cpp deleted file mode 100644 index 884ed2c..0000000 --- a/firmware/src/stepper.cpp +++ /dev/null @@ -1,269 +0,0 @@ -#include "stepper.h" - -#include -#include - -#include "globals.h" -#include "protocol_processor.h" - -namespace { -const int TMC_EN = 25; -const int TMC_STEP = 33; -const int TMC_DIR = 32; -const int TMC_STALLGUARD = 39; -const int ENDSTOP_LEFT = 34; -const int ENDSTOP_RIGHT = 35; -const bool INVERSE_ENDSTOPS = true; - -const HardwareSerial STEPPER_SERIAL_PORT = Serial2; -const float STEPPER_CURRENT = 2.0; -const int SERIAL_SPEED = 115200; -const int ADDRESS = 0b00; -const float R_SENSE = 0.11; -const int TOFF_VALUE = 5; -const int MICROSTEPS = 16; -const bool REVERSE_STEPPER = false; -const int FULL_STEPS_PER_METER = 1666; -const float HOMING_SPEED = 0.1; -const float HOMING_ACCELERATION = 0.5; - -const int METERS_TO_STEPS_MULTIPLIER = MICROSTEPS * FULL_STEPS_PER_METER; -const float LIMITS_EPS = 1e-3; - -TaskHandle_t HOMING_TASK_HANDLE = nullptr; -bool IS_DONE_HOMING = false; - -void homingTask(void *) { - Stepper &S = GetStepper(); - S.Homing(); - - IS_DONE_HOMING = true; - vTaskDelete(HOMING_TASK_HANDLE); - while (true) - ; -} -} // namespace - -Stepper::Stepper() - : tmc_serial_port(STEPPER_SERIAL_PORT), tmc_driver(&tmc_serial_port, R_SENSE, ADDRESS) { - pinMode(TMC_EN, OUTPUT); - pinMode(TMC_STEP, OUTPUT); - pinMode(TMC_DIR, OUTPUT); - pinMode(TMC_STALLGUARD, INPUT); - pinMode(ENDSTOP_LEFT, INPUT); - pinMode(ENDSTOP_RIGHT, INPUT); - - digitalWrite(TMC_EN, LOW); - delay(10); - tmc_serial_port.begin(SERIAL_SPEED); - tmc_driver.begin(); - tmc_driver.rms_current(STEPPER_CURRENT * 1000); - tmc_driver.microsteps(MICROSTEPS == 1 ? 0 : MICROSTEPS); - tmc_driver.toff(0); - - // Init FastAccelStepper - fas_engine.init(); - fas_stepper = fas_engine.stepperConnectToPin(TMC_STEP); - assert(fas_stepper != NULL); - fas_stepper->setDirectionPin(TMC_DIR, REVERSE_STEPPER); -} - -void Stepper::Poll() { - Globals &G = GetGlobals(); - G.curr_x = GetCurrentPosition(); - G.curr_v = GetCurrentVelocity(); - G.curr_a = GetCurrentAcceleration(); - if (G.errcode == Error::NO_ERROR) { - CheckStallGuard(); - CheckEndstops(); - CheckLimits(); - } -} - -void Stepper::CheckStallGuard() { - if (digitalRead(TMC_STALLGUARD)) { - SetError(Error::MOTOR_STALLED, "Motor stall detected"); - } -} - -void Stepper::CheckEndstops() { - if (INVERSE_ENDSTOPS ^ digitalRead(ENDSTOP_LEFT) || - INVERSE_ENDSTOPS ^ digitalRead(ENDSTOP_RIGHT)) { - SetError(Error::ENDSTOP_HIT, "Endstop hit detected"); - } -} - -void Stepper::CheckLimits() { - Globals &G = GetGlobals(); - if (std::abs(G.curr_x) > G.max_x + LIMITS_EPS) - return SetError(Error::X_OVERFLOW, "X overflow detected"); - if (std::abs(G.curr_v) > G.max_v + LIMITS_EPS) - return SetError(Error::V_OVERFLOW, "V overflow detected"); - if (std::abs(G.curr_a) > G.max_a + LIMITS_EPS) - return SetError(Error::A_OVERFLOW, "A overflow detected"); -} - -void Stepper::SetError(Error err, std::string what) { - Globals &G = GetGlobals(); - ProtocolProcessor &P = GetProtocolProcessor(); - G.errcode = err; - Disable(); - P.Log(what); - - std::stringstream ss; - ss << "CURR X: " << G.curr_x << " "; - ss << "CURR V: " << G.curr_v << " "; - ss << "CURR A: " << G.curr_a; - P.Log(ss.str()); -} - -void Stepper::Enable() { - ProtocolProcessor &P = GetProtocolProcessor(); - tmc_driver.toff(TOFF_VALUE); - tmc_driver.rms_current(STEPPER_CURRENT * 1000); - P.Log("Stepper enabled"); -} - -void Stepper::Disable() { - ForceStop(); - ProtocolProcessor &P = GetProtocolProcessor(); - tmc_driver.toff(0); - P.Log("Stepper disabled"); -} - -void Stepper::ForceStop() { - ProtocolProcessor &P = GetProtocolProcessor(); - fas_stepper->forceStopAndNewPosition(fas_stepper->getCurrentPosition()); - P.Log("Force stopped stepper"); -} - -float Stepper::GetCurrentPosition() { - Globals &G = GetGlobals(); - int pos_steps = fas_stepper->getCurrentPosition(); - return static_cast(pos_steps) / METERS_TO_STEPS_MULTIPLIER - G.full_length_meters / 2; -} - -float Stepper::GetCurrentVelocity() { - int vel_steps_per_ms = fas_stepper->getCurrentSpeedInMilliHz(); - return static_cast(vel_steps_per_ms) / METERS_TO_STEPS_MULTIPLIER / 1000; -} - -float Stepper::GetCurrentAcceleration() { - int steps_per_ss = fas_stepper->getCurrentAcceleration(); - return static_cast(steps_per_ss) / METERS_TO_STEPS_MULTIPLIER; -} - -void Stepper::Homing() { - Globals &G = GetGlobals(); - ProtocolProcessor &P = GetProtocolProcessor(); - - ForceStop(); - Enable(); - SetSpeed(HOMING_SPEED); - SetAcceleration(HOMING_ACCELERATION); - - // RUN LEFT - fas_stepper->runBackward(); - while (!(INVERSE_ENDSTOPS ^ digitalRead(ENDSTOP_LEFT))) { - } - - ForceStop(); - fas_stepper->setCurrentPosition(0); - delay(50); - - // RUN RIGHT - fas_stepper->runForward(); - while (!(INVERSE_ENDSTOPS ^ digitalRead(ENDSTOP_RIGHT))) { - } - - ForceStop(); - int delta_steps = fas_stepper->getCurrentPosition(); - fas_stepper->setCurrentPosition(delta_steps); - delay(50); - - // GOTO CENTER - fas_stepper->moveTo(delta_steps / 2); - while (fas_stepper->isRunning()) { - } - - G.full_length_meters = static_cast(delta_steps) / METERS_TO_STEPS_MULTIPLIER; - G.hw_max_x = G.full_length_meters / 2; - - G.errcode = Error::NO_ERROR; - - // std::stringstream stream; - // stream << std::fixed << std::setprecision(5) << "Full length: " << delta_steps << " steps" - // << G.full_length_meters << " meters"; - // P.Log(stream.str()); - // stream = std::stringstream{}; - // stream << std::fixed << std::setprecision(5) << "Valid X range: " << -G.hw_max_x << " ... " - // << G.hw_max_x; - // P.Log(stream.str()); -} - -void Stepper::AsyncHoming() { - ProtocolProcessor &P = GetProtocolProcessor(); - IS_DONE_HOMING = false; - BaseType_t ret = - xTaskCreate(homingTask, "homing", 8192, nullptr, tskIDLE_PRIORITY, &HOMING_TASK_HANDLE); - - if (ret != pdPASS) { - P.Error("Async Homing Failure"); - } - if (ret == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) { - P.Log("Could not allocate required memory"); - } -} - -bool Stepper::IsDoneHoming() { return IS_DONE_HOMING; } - -void Stepper::SetSpeed(float value) { - uint32_t speed_hz = static_cast(value * METERS_TO_STEPS_MULTIPLIER); - fas_stepper->setSpeedInHz(speed_hz); - - // ProtocolProcessor &P = GetProtocolProcessor(); - // std::stringstream stream; - // stream << std::fixed << std::setprecision(5) << "Set stepper speed: " - // << value << " m/s, " << speed_hz << " steps/s"; - // P.Log(stream.str()); -} - -void Stepper::SetAcceleration(float value) { - uint32_t steps_per_ss = static_cast(value * METERS_TO_STEPS_MULTIPLIER); - fas_stepper->setAcceleration(steps_per_ss); - - // ProtocolProcessor &P = GetProtocolProcessor(); - // std::stringstream stream; - // stream << std::fixed << std::setprecision(5) << "Set stepper acceleration: " - // << value << " m/s^2, " << steps_per_ss << " steps/s^2"; - // P.Log(stream.str()); -} - -void Stepper::SetTargetPosition(float value) { - Globals &G = GetGlobals(); - int pos_steps = - static_cast((value + G.full_length_meters / 2) * METERS_TO_STEPS_MULTIPLIER); - fas_stepper->moveTo(pos_steps); - - // ProtocolProcessor &P = GetProtocolProcessor(); - // P.Log("Set target position"); -} - -void Stepper::SetTargetAcceleration(float value) { - Globals &G = GetGlobals(); - SetSpeed(G.max_v); - - int32_t steps_per_ss = static_cast(value * METERS_TO_STEPS_MULTIPLIER); - fas_stepper->moveByAcceleration(steps_per_ss, true); - - // ProtocolProcessor &P = GetProtocolProcessor(); - // std::stringstream stream; - // stream << std::fixed << std::setprecision(5) << "Moving stepper by acceleration: " - // << value << " m/s^2, " << steps_per_ss << " steps/s^2"; - // P.Log(stream.str()); -} - -Stepper &GetStepper() { - static Stepper stepper{}; - return stepper; -} diff --git a/firmware/src/stepper.h b/firmware/src/stepper.h index 57c30c3..0372060 100644 --- a/firmware/src/stepper.h +++ b/firmware/src/stepper.h @@ -1,44 +1,206 @@ #pragma once #include #include -#undef min -#undef max -#include "globals.h" +#include "freertos/task.h" +#include "helpers.h" +#include "proto/protocol.pb.h" + +namespace cartpole { class Stepper { - HardwareSerial tmc_serial_port; - TMC2209Stepper tmc_driver; - FastAccelStepperEngine fas_engine; - FastAccelStepper *fas_stepper; +private: + static const int TMC_EN = 25; + static const int TMC_STEP = 33; + static const int TMC_DIR = 32; + static const int TMC_STALLGUARD = 39; + static const int TMC_SERIAL_PORT_NUM = 2; + + static const int LEFT_ENDSTOP_PIN = 35; + static const int RIGHT_ENDSTOP_PIN = 34; + static const bool ENDSTOPS_ACTIVE_LOW = false; + + static const int STEPPER_CURRENT_MA = 2000; + static constexpr float HOLD_CURRENT_RATIO = 0.8; + static const int SERIAL_SPEED = 115200; + static const int ADDRESS = 0b00; + static constexpr float R_SENSE = 0.11; + static const int TOFF_VALUE = 2; + + static const int MICROSTEPS = 16; + static const bool REVERSE_STEPPER = true; + static const int FULL_STEPS_PER_METER = 2000; + static constexpr float HOMING_SPEED = 0.4; + static constexpr float HOMING_ACCELERATION = 1.0; + + static const int METERS_TO_STEPS_MULTIPLIER = MICROSTEPS * FULL_STEPS_PER_METER; + static constexpr float LIMITS_EPS = 1e-3; + +private: + HardwareSerial tmcSerial; + TMC2209Stepper tmcDriver; + FastAccelStepperEngine fasEngine; + FastAccelStepper *fasStepper; + HardwareError error; + + uint32_t fullRangeInSteps; + bool enabled; + bool homing; public: - Stepper(); + std::function homingCallback = nullptr; + + Stepper() + : tmcSerial(TMC_SERIAL_PORT_NUM), + tmcDriver(&tmcSerial, R_SENSE, ADDRESS), + error(HardwareError_NO_ERRORS), + enabled(false), + homing(false){}; + + void init() { + pinMode(TMC_EN, OUTPUT); + pinMode(TMC_STEP, OUTPUT); + pinMode(TMC_DIR, OUTPUT); + // pinMode(TMC_STALLGUARD, INPUT); + pinMode(LEFT_ENDSTOP_PIN, INPUT); + pinMode(RIGHT_ENDSTOP_PIN, INPUT); + + int mode = ENDSTOPS_ACTIVE_LOW ? FALLING : RISING; + attachInterruptArg(LEFT_ENDSTOP_PIN, _endstopISR, this, mode); + attachInterruptArg(RIGHT_ENDSTOP_PIN, _endstopISR, this, mode); + + // TODO: Check tmc comm + digitalWrite(TMC_EN, LOW); + tmcSerial.begin(SERIAL_SPEED); + tmcDriver.begin(); + tmcDriver.toff(TOFF_VALUE); + tmcDriver.blank_time(24); + tmcDriver.hysteresis_start(1); + tmcDriver.hysteresis_end(12); + tmcDriver.rms_current(STEPPER_CURRENT_MA, HOLD_CURRENT_RATIO); + tmcDriver.seimin(1); + tmcDriver.semin(15); + tmcDriver.semax(15); + tmcDriver.sedn(4); + tmcDriver.seup(2); + tmcDriver.iholddelay(3); + tmcDriver.TPWMTHRS(0); + tmcDriver.TCOOLTHRS(0); + tmcDriver.pwm_autoscale(true); + tmcDriver.en_spreadCycle(true); + tmcDriver.microsteps(MICROSTEPS == 1 ? 0 : MICROSTEPS); + tmcDriver.intpol(true); + + fasEngine.init(); + fasStepper = fasEngine.stepperConnectToPin(TMC_STEP); + if (!fasStepper) { + error = HardwareError_STEPPER_FAS_ENGINE_ERROR; + return; + } + fasStepper->setDirectionPin(TMC_DIR, REVERSE_STEPPER); + } + + bool isEnabled() { return enabled; } + + bool isHoming() { return homing; } + + float getFullRange() { return _stepsToMeters(fullRangeInSteps); } + + float getPosition() { return _stepsToMeters(fasStepper->getCurrentPosition()); } + + float getVelocity() { return _stepsToMeters(fasStepper->getCurrentSpeedInMilliHz(true) / 1000.0f); } + + float getAcceleration() { return _stepsToMeters(fasStepper->getCurrentAcceleration()); } + + void setMaxSpeed(float value) { fasStepper->setSpeedInHz(_metersToSteps(value)); } + + void setMaxAccel(float value) { fasStepper->setAcceleration(_metersToSteps(value)); } + + // void setAccel(float value) { fasStepper->setAcceleration(_metersToSteps(value)); } + + // void setSpeed(float value) { + // fasStepper->setSpeedInHz(std::abs(_metersToSteps(value))); + // (value > 0) ? fasStepper->runForward() : fasStepper->runBackward(); + // } + + void setPosition(float value) { + if (!enabled) return; + fasStepper->moveTo(_metersToSteps(value)); + } + + HardwareError getErrors() { return error; } + + void reset() { + if (homing) return; + homing = true; + enabled = false; + fasStepper->forceStopAndNewPosition(0); + CREATE_TASK("homing", _homingTask, this); + } + + void disable() { + if (homing) return; + enabled = false; + fasStepper->forceStopAndNewPosition(0); + // TODO: Maybe disable TMC? + } + +private: + static void ARDUINO_ISR_ATTR _endstopISR(void *params) { + // Stepper *stepper = (Stepper *)params; + // if (stepper->enabled) { + // stepper->disable(); + // stepper->error = HardwareError_STEPPER_ENDSTOP_HIT; + // } + } + + static void _homingTask(void *params) { + Stepper *stepper = (Stepper *)params; + stepper->error = HardwareError_NO_ERRORS; + stepper->_linearHoming(); + stepper->enabled = stepper->error == 0; + stepper->homing = false; + if (stepper->homingCallback) stepper->homingCallback(); + vTaskDelete(nullptr); + while (true); + } + + void _linearHoming() { + // TODO: Decouple from stepper class + setMaxAccel(HOMING_ACCELERATION); + setMaxSpeed(HOMING_SPEED); + fasStepper->forceStopAndNewPosition(0); + + fasStepper->runBackward(); + while (!_leftEndstop()) + RTOS_YIELD; + fasStepper->forceStopAndNewPosition(0); - void Poll(); - void CheckStallGuard(); - void CheckEndstops(); - void CheckLimits(); - void SetError(Error err, std::string what); + fasStepper->runForward(); + while (!_rightEndstop()) + RTOS_YIELD; + fullRangeInSteps = fasStepper->getCurrentPosition(); + fasStepper->forceStopAndNewPosition(fullRangeInSteps); - void Enable(); - void Disable(); + fasStepper->moveTo(fullRangeInSteps / 2); + while (fasStepper->isRunning()) { + if (_leftEndstop()) { + fasStepper->forceStopAndNewPosition(0); + error = HardwareError_HOMING_FAILED; + return; + } + RTOS_YIELD; + } + fasStepper->setCurrentPosition(0); + } - void ForceStop(); - float GetCurrentPosition(); - float GetCurrentVelocity(); - float GetCurrentAcceleration(); + bool _leftEndstop() { return ENDSTOPS_ACTIVE_LOW ^ digitalRead(LEFT_ENDSTOP_PIN); } - void SetSpeed(float value); - void SetAcceleration(float value); + bool _rightEndstop() { return ENDSTOPS_ACTIVE_LOW ^ digitalRead(RIGHT_ENDSTOP_PIN); } - void SetTargetPosition(float value); - void SetTargetVelocity(float value); - void SetTargetAcceleration(float value); + int _metersToSteps(float meters) { return meters * METERS_TO_STEPS_MULTIPLIER; } - void Homing(); - void AsyncHoming(); - bool IsDoneHoming(); + float _stepsToMeters(int steps) { return (float)steps / METERS_TO_STEPS_MULTIPLIER; } }; -Stepper &GetStepper(); \ No newline at end of file +} // namespace cartpole diff --git a/platformio.ini b/platformio.ini index 18549c0..59beeb0 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1,21 +1,30 @@ ; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples ; https://docs.platformio.org/page/projectconf.html [platformio] src_dir = firmware/src lib_dir = firmware/lib -[env:esp32dev] -platform = espressif32 -board = esp32dev +[env] +platform = espressif32@^6.3.2 framework = arduino +board = esp32dev lib_deps = - gin66/FastAccelStepper@^0.23.2 + SPI teemuatlut/TMCStepper@^0.7.1 nanopb/Nanopb@^0.4.5 + https://github.com/gin66/FastAccelStepper + robtillaart/CRC@^0.3.3 + +[env:main] monitor_speed = 115200 -monitor_filters = printable, time, esp32_exception_decoder -monitor_flags = - --echo - --eol - LF +monitor_filters = + printable + esp32_exception_decoder diff --git a/poetry.lock b/poetry.lock new file mode 100644 index 0000000..83338ae --- /dev/null +++ b/poetry.lock @@ -0,0 +1,4255 @@ +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. + +[[package]] +name = "ajsonrpc" +version = "1.2.0" 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b/protocol.proto @@ -2,67 +2,50 @@ syntax = "proto3"; import "nanopb.proto"; enum RequestType { - GET_STATE = 0; - SET_TARGET = 1; - SET_CONFIG = 2; - GET_TARGET = 3; - GET_CONFIG = 4; - RESET = 5; + RESET = 0; + CONFIG = 1; + TARGET = 2; } -message Request { - RequestType type = 1; - oneof payload { - Config config = 2; - State state = 3; - Target target = 4; - } +enum Error { + NO_ERROR = 0; + NEED_RESET = 1; + CART_POSITION_OVERFLOW = 2; + CART_VELOCITY_OVERFLOW = 3; + CART_ACCELERATION_OVERFLOW = 4; + HARDWARE = 5; } -enum ResponseStatus { - OK = 0; // + - ERROR = 1; // ! - PROCESSING = 2; // ~ - DEBUG = 3; // # -} - -message Response { - ResponseStatus status = 1; - string message = 2 [(nanopb).max_size = 128]; - oneof payload { - Config config = 3; - State state = 4; - Target target = 5; - } +enum HardwareError { + NO_ERRORS = 0; + ENCODER_COMM_ERROR = 1; + ENCODER_MAGNET_ERROR = 2; + STEPPER_FAS_ENGINE_ERROR = 4; + STEPPER_TMC_COMM_ERROR = 8; + STEPPER_ENDSTOP_HIT = 16; + HOMING_FAILED = 32; + PROTOCOL_DECODE_ERROR = 64; + PROTOCOL_CRC_ERROR = 128; } message Config { - optional float max_x = 1; // [m] Absolute max cart position - optional float max_v = 2; // [m/s] Absolute max cart velocity - optional float max_a = 3; // [m/s^2] Absolute max cart acceleration - optional float hw_max_x = 4; // [m] Absolute max hardware-allowed position - optional float hw_max_v = 5; // [m/s] Absolute max hardware-allowed velocity - optional float hw_max_a = 6; // [m/s^2] Absolute max hardware-allowed acceleration - optional bool clamp_x = 7; // Clamp X to allowed range instead of raising error - optional bool clamp_v = 8; // Clamp V to allowed range instead of raising error - optional bool clamp_a = 9; // Clamp A to allowed range instead of raising error - optional bool debug_led = 10; // Debug LED pin to indicate start of session + optional float max_cart_position = 1; // [m] Absolute max cart position + optional float max_cart_velocity = 2; // [m/s] Absolute max cart velocity + optional float max_cart_acceleration = 3; // [m/s^2] Absolute max cart acceleration } message State { - optional float curr_x = 1; // [m] Current cart position - optional float curr_v = 2; // [m/s] Current cart velocity - optional float curr_a = 3; // [m/s^2] Current cart acceleration - optional float pole_x = 4; // [rad] Current pole angle - optional float pole_v = 5; // [rad/s] Current pole angular velocity - optional int32 errcode = 6; // Current error code - optional float imu_a = 7; // [m/s^2] Cart acceleration measured by IMU - optional float motor_x = 8; // [rad] Rotation of the motor shaft (secondary encoder) - optional float motor_v = 9; // [rad/s] Velocity of the motor shaft (secondary encoder) + optional float cart_position = 1; // [m] Current cart position + optional float cart_velocity = 2; // [m/s] Current cart velocity + optional float cart_acceleration = 3; // [m/s^2] Current cart acceleration + optional float pole_angle = 4; // [rad] Current pole angle + optional float pole_angular_velocity = 5; // [rad/s] Current pole angular velocity + optional int32 error = 6; // Global error code + optional int32 hardware_errors = 7; // Hardware error bitmask } message Target { - optional float trgt_x = 1; // [m] Target cart position - optional float trgt_v = 2; // [m/s] Target cart velocity - optional float trgt_a = 3; // [m/s^2] Target cart acceleration + optional float position = 1; // [m] Target cart position + optional float velocity = 2; // [m/s] Target cart velocity + optional float acceleration = 3; // [m/s^2] Target cart acceleration } diff --git a/pyproject.toml b/pyproject.toml index 630fcaf..6c75c92 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,10 +11,6 @@ repository = "https://github.com/robotics-laboratory/cart-pole" documentation = "https://cartpole.robotics-lab.ru" keywords = ["cartpole", "control", "reinforcement learning"] -packages = [ - { include = "cartpole" }, -] - [[tool.poetry.source]] name = "torch" url = "https://download.pytorch.org/whl/cpu/" @@ -28,7 +24,7 @@ dacite = "^1.6" foxglove-websocket = "^0.1" mcap = "^1.1" numpy = "^1.26" -pydantic = "^2.3" +pydantic = "<2.0" protobuf = "^4.21.9" pyserial = "^3.5" scipy = "^1.11" @@ -40,6 +36,10 @@ torch = [ {url="https://download.pytorch.org/whl/cpu/torch-2.0.1%2Bcpu-cp310-cp310-win_amd64.whl", markers="platform_system == 'Windows' and platform_machine == 'amd64'"} ] varint = "^1.0.2" +betterproto = {version = "^2.0.0b6", allow-prereleases = true} +crc = "^4.3.0" +cobs = "^1.2.0" +jsonref = "^1.1.0" [tool.poetry.group.dev.dependencies] jupyter = "^1.0" @@ -49,6 +49,9 @@ mkdocs-material = "^9.4" mkdocs-material-extensions = "^1.2" pandas = "^2.1" pytest = "^7.4" +betterproto = {extras = ["compiler"], version = "^2.0.0b6", allow-prereleases = true} +grpcio-tools = "^1.56.0" +platformio = "^6.1.7" [build-system] requires = ["poetry-core"] diff --git a/scripts/compile_protobuf.py b/scripts/compile_protobuf.py new file mode 100644 index 0000000..19bbfac --- /dev/null +++ b/scripts/compile_protobuf.py @@ -0,0 +1,64 @@ +from pathlib import Path +import subprocess as sp +import logging +import sys +import os + +PROJECT_ROOT = Path(__file__).parent.parent +NANOPB_ROOT = PROJECT_ROOT / Path(".pio/libdeps/main/Nanopb") +PROTO_FILE = PROJECT_ROOT / Path("protocol.proto") +C_OUTPUT_DIR = PROJECT_ROOT / Path("firmware/src/proto") +PY_OUTPUT_DIR = PROJECT_ROOT / Path("cartpole/device/proto") + +LOGGING_LEVEL = os.environ.get("LOGGING_LEVEL", "INFO").upper() +LOGGING_FORMAT = "%(levelname)s | %(filename)s:%(lineno)d :: %(message)s" + + +def run_protoc(args): + args = [f"{sys.executable}", "-m", "grpc_tools.protoc", *args] + logging.debug(f"Running cmd: {args}") + proc = sp.Popen(args, text=True, stdout=sp.PIPE, stderr=sp.PIPE) + if proc.wait() != 0: + logging.error(f"Protobuf compilation failed:\n{proc.stderr.read()}") + exit(1) + + +def main(): + logging.basicConfig(stream=sys.stdout, level=LOGGING_LEVEL, format=LOGGING_FORMAT) + logging.debug(f"Project root: {PROJECT_ROOT}") + logging.debug(f"Nanopb root: {NANOPB_ROOT}") + logging.debug(f"Proto file: {PROTO_FILE}") + logging.debug(f"C output path: {C_OUTPUT_DIR}") + logging.debug(f"PY output path: {PY_OUTPUT_DIR}") + + if not NANOPB_ROOT.exists(): + logging.error(f"Failed to locate nanopb library at {NANOPB_ROOT}") + logging.error("To initialize platformio, run 'pio pkg install'") + exit(1) + + C_OUTPUT_DIR.mkdir(parents=True, exist_ok=True) + PY_OUTPUT_DIR.mkdir(parents=True, exist_ok=True) + + nanopb_args = [ + f"--plugin=protoc-gen-nanopb={NANOPB_ROOT / 'generator' / 'protoc-gen-nanopb'}", + f"--nanopb_out={C_OUTPUT_DIR}", + f"-I{NANOPB_ROOT / 'generator' / 'proto'}", + f"-I{PROTO_FILE.parent}", + f"{PROTO_FILE}", + ] + run_protoc(nanopb_args) + + betterproto_args = [ + "--python_betterproto_opt=pydantic_dataclasses", + f"--python_betterproto_out={PY_OUTPUT_DIR}", + f"-I{NANOPB_ROOT / 'generator' / 'proto'}", + f"-I{PROTO_FILE.parent}", + f"{PROTO_FILE}", + ] + run_protoc(betterproto_args) + + logging.info("Protobuf bindings generated") + + +if __name__ == "__main__": + main() diff --git a/scripts/device_test.py b/scripts/device_test.py new file mode 100644 index 0000000..3fb9304 --- /dev/null +++ b/scripts/device_test.py @@ -0,0 +1,22 @@ +from cartpole import log +from cartpole.device import CartPoleDevice +from cartpole.common import Target +import time + + +def main(): + log.setup(log_path="untracked/device_test.mcap") + logger = log.get_logger() + device = CartPoleDevice(hard_reset=True) + + limit = 5 # seconds + start = time.time() + while time.time() - start < limit: + state = device.get_state() + logger.publish("/cartpole/state", state) + + +if __name__ == "__main__": + from logging import basicConfig + basicConfig(level="INFO") + main() diff --git a/scripts/update_protobuf.py b/scripts/update_protobuf.py deleted file mode 100644 index 47414a9..0000000 --- a/scripts/update_protobuf.py +++ /dev/null @@ -1,27 +0,0 @@ -from pathlib import Path -import subprocess as sp -import sys - -NANOPB_ROOT = Path(".pio/libdeps/esp32dev/Nanopb") -PROTO_FILE = Path("protocol.proto") -C_OUTPUT_DIR = Path("firmware/src") -PY_OUTPUT_DIR = Path("cartpole/device") - -cmd = [ - f"{sys.executable}", - f"{NANOPB_ROOT / 'generator' / 'protoc'}", - f"-I {NANOPB_ROOT / 'generator' / 'proto'}", - f"-I {PROTO_FILE.parent}", - f"--nanopb_out {C_OUTPUT_DIR}", - f"--python_out {PY_OUTPUT_DIR}", - f"{NANOPB_ROOT / 'generator' / 'proto' / 'nanopb.proto'}", - f"{PROTO_FILE}", - "&&", - # https://github.com/protocolbuffers/protobuf/issues/1491 - "sed -i 's/import nanopb_pb2/from . import nanopb_pb2/'", - f"{PY_OUTPUT_DIR / 'protocol_pb2.py'}", -] - -proc = sp.Popen(" ".join(cmd), shell=True, text=True, stdout=sp.PIPE, stderr=sp.PIPE) -assert proc.wait() == 0, f"Protobuf compilation failed:\n{proc.stderr.read()}" -print("[update_protobuf.py] Protobuf bindings generated")