caperren/osurc_mars_rover_2017_2018
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Smart changeover from mining to gripper now works. Switching to bash console embedded in gui.

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This commit is contained in:
Corwin Perren
2018-08-08 14:40:26 -07:00
parent a79eae3440
commit 9c11337571
3 changed files with 48 additions and 73 deletions
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2
software/ros_packages/ground_station/src/Framework/MiscSystems/BashConsoleCore.py
View File

@@ -3,7 +3,7 @@
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
from PyQt5 import QtCore, QtWidgets, QtGui
import logging
from time import time

118
software/ros_packages/rover_control/src/effectors_control/effectors_control.py
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@@ -30,7 +30,9 @@ SCIENCE_NODE_ID = 3
GRIPPER_TIMEOUT = 0.5
MINING_TIMEOUT = 0.3
SCIENCE_TIMEOUT = 0.15
FAILED_GRIPPER_MODBUS_LIMIT = 20
FAILED_MINING_MODBUS_LIMIMT = 20
RX_DELAY = 0.01
TX_DELAY = 0.01
@@ -43,8 +45,6 @@ GRIPPER_STATUS_PUBLISHER_TOPIC = "gripper/status"
MINING_CONTROL_SUBSCRIBER_TOPIC = "mining/control"
MINING_STATUS_PUBLISHER_TOPIC = "mining/status"
SCIENCE_CONTROL_SUBSCRIBER_TOPIC = "science/control"
# ##### Gripper Defines #####
GRIPPER_MODBUS_REGISTERS = {
"MODE": 0,
@@ -114,6 +114,11 @@ UINT16_MAX = 65535
# DriveControl Class Definition
#####################################
class EffectorsControl(object):
EFFECTORS = [
"GRIPPER",
"MINING"
]
def __init__(self):
rospy.init_node(NODE_NAME)
@@ -122,7 +127,6 @@ class EffectorsControl(object):
self.gripper_node_id = rospy.get_param("~gripper_node_id", GRIPPER_NODE_ID)
self.mining_node_id = rospy.get_param("~mining_node_id", MINING_NODE_ID)
self.science_node_id = rospy.get_param("~science_node_id", SCIENCE_NODE_ID)
self.gripper_control_subscriber_topic = rospy.get_param("~gripper_control_subscriber_topic",
GRIPPER_CONTROL_SUBSCRIBER_TOPIC)
@@ -135,18 +139,13 @@ class EffectorsControl(object):
self.mining_status_publisher_topic = rospy.get_param("~mining_status_publisher_topic",
MINING_STATUS_PUBLISHER_TOPIC)
self.science_control_subscriber_topic = rospy.get_param("~science_control_subscriber_topic",
SCIENCE_CONTROL_SUBSCRIBER_TOPIC)
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
self.gripper_node = None # type:minimalmodbus.Instrument
self.mining_node = None # type:minimalmodbus.Instrument
self.science_node = None # type:minimalmodbus.Instrument
self.gripper_node_present = False
self.mining_node_present = True
self.science_node_present = False
self.connect_to_nodes()
# self.check_which_nodes_present()
@@ -154,7 +153,7 @@ class EffectorsControl(object):
# ##### Subscribers #####
self.gripper_control_subscriber = rospy.Subscriber(self.gripper_control_subscriber_topic, GripperControlMessage, self.gripper_control_message_received__callback)
self.mining_control_subscriber = rospy.Subscriber(self.mining_control_subscriber_topic, MiningStatusMessage,
self.mining_control_subscriber = rospy.Subscriber(self.mining_control_subscriber_topic, MiningControlMessage,
self.mining_control_message_received__callback)
# ##### Publishers #####
@@ -168,7 +167,7 @@ class EffectorsControl(object):
# ##### Mining Variables #####
self.mining_registers = [0 for _ in MINING_MODBUS_REGISTERS]
self.gripper_registers = [0 for _ in GRIPPER_MODBUS_REGISTERS]
self.gripper_registers = None
self.mining_control_message = None # type:MiningControlMessage
self.new_mining_control_message = False
@@ -176,6 +175,11 @@ class EffectorsControl(object):
self.gripper_control_message = None
self.new_gripper_control_message = False
self.failed_gripper_modbus_count = 0
self.failed_mining_modbus_count = 0
self.which_effector = self.EFFECTORS.index("GRIPPER")
self.run()
def __setup_minimalmodbus_for_485(self):
@@ -189,74 +193,45 @@ class EffectorsControl(object):
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
self.science_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=SCIENCE_TIMEOUT)
self.science_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
def run(self):
# self.initialize_mining_system()
try:
self.gripper_registers = self.gripper_node.read_registers(0, len(GRIPPER_MODBUS_REGISTERS))
except:
pass
while not rospy.is_shutdown():
# try:
# self.process_mining_control_message()
# except IOError, e:
# # print e
# if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
# print "Lost connection to mining system. Exiting for reconnect."
# return
# except Exception, e:
# pass
#
# try:
# self.send_mining_status_message()
# except IOError, e:
# print e
# if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
# print "Lost connection to mining system. Exiting for reconnect."
# return
# except Exception, e:
# pass
if self.which_effector == self.EFFECTORS.index("GRIPPER"):
try:
self.run_arm()
self.failed_gripper_modbus_count = 0
except:
self.failed_gripper_modbus_count += 1
try:
self.process_gripper_control_message()
self.send_gripper_status_message()
except Exception, error:
pass #print ""error
if self.failed_gripper_modbus_count == FAILED_GRIPPER_MODBUS_LIMIT:
print "Gripper not present. Trying mining."
self.which_effector = self.EFFECTORS.index("MINING")
elif self.which_effector == self.EFFECTORS.index("MINING"):
try:
self.run_mining()
self.failed_mining_modbus_count = 0
except:
self.failed_mining_modbus_count += 1
if self.failed_mining_modbus_count == FAILED_MINING_MODBUS_LIMIMT:
print "No effectors present. Exiting...."
return
def run_arm(self):
self.process_gripper_control_message()
self.send_gripper_status_message()
def run_mining(self):
self.process_mining_control_message()
self.send_mining_status_message()
def connect_to_nodes(self):
self.gripper_node = minimalmodbus.Instrument(self.port, int(self.gripper_node_id))
self.mining_node = minimalmodbus.Instrument(self.port, int(self.mining_node_id))
self.science_node = minimalmodbus.Instrument(self.port, int(self.science_node_id))
self.__setup_minimalmodbus_for_485()
def check_which_nodes_present(self):
try:
self.gripper_node.read_register(0)
self.gripper_node_present = True
except:
self.gripper_node_present = False
try:
self.mining_node.read_register(0)
self.mining_node_present = True
except:
self.mining_node_present = False
try:
self.science_node.read_register(0)
self.science_node_present = True
except:
self.science_node_present = False
def process_mining_control_message(self):
if self.new_mining_control_message and self.mining_node_present:
lift_set_relative = self.mining_control_message.lift_set_relative
tilt_set_relative = self.mining_control_message.tilt_set_relative
@@ -307,8 +282,10 @@ class EffectorsControl(object):
self.modbus_nodes_seen_time = time()
def process_gripper_control_message(self):
if self.new_gripper_control_message:
if not self.gripper_registers:
self.gripper_registers = self.gripper_node.read_registers(0, len(GRIPPER_MODBUS_REGISTERS))
if self.new_gripper_control_message:
self.gripper_registers[GRIPPER_MODBUS_REGISTERS["MODE"]] = self.gripper_control_message.gripper_mode
if self.gripper_control_message.should_home:
@@ -324,7 +301,7 @@ class EffectorsControl(object):
if registers[GRIPPER_MODBUS_REGISTERS["FINGER_POSITION_OUTPUT"]] == 0:
homing_complete = True
self.gripper_registers = registers
self.gripper_registers = None
else:
if self.gripper_control_message.toggle_light:
@@ -347,7 +324,6 @@ class EffectorsControl(object):
def send_gripper_status_message(self):
registers = self.gripper_node.read_registers(0, len(GRIPPER_MODBUS_REGISTERS))
# print registers
message = GripperStatusMessage()
message.pinch_position_raw = registers[GRIPPER_MODBUS_REGISTERS["POSITION_PINCH"]]

1
software/ros_packages/rover_science/src/rover_science_node.py
View File

@@ -103,7 +103,6 @@ class RoverScience(object):
self.modbus_nodes_seen_time = time()
self.failed_rdf_modbus_count = 0
self.soil_probe_timeout_cumulative = 0
self.which_instrument = self.INSTRUMENTS.index("RDF")