WIP: Develop

README.md

@@ -1,2 +1,63 @@
 # surface
 Surface code 2020-21
+
+Setting the static ip
+
+On the Ubuntu Desktop
+Note: This is for Ubuntu desktop. The interface for Mate may be different
+
+On the computer, which is connected to the Internet, click the network icon in the panel and go to "Edit Connections..." at the bottom of the menu.
+
+Edit Connection...
+
+Double click your Wired Connection (Leave your wireless connection untouched, the one connected to Internet and the one you want to share, as I understand).
+
+Network Connections Dialog
+
+On the "IPv4 Settings tab", select Method: "Shared to other computers"
+
+Editing Wired Connection
+
+Reconnect by clicking on the Wired Network, so it gets a new IP address. (The two computers must be connected by an ethernet cable for this step, so connect them now if you haven't already.)
+
+Click on "Connection Information" in the network menu and write down the IP address and network mask (in my case it was assigned 10.42.0.1/255.255.255.0 but I do not know if that will always be the case).
+
+Connection Information
+
+On the Raspberry Pi
+Assign static IP to the Ethernet connection
+
+In Pi the WiFi device is called wlan but the ethernet device name is hard to guess. To find the device names use the command:
+
+$ ip link show
+
+The output will show your Ethernet device in Pi enxb827eb3d64cc
+
+Next we need to find the current IP addresses assigned to enxb827eb3d64cc:
+
+$ ip -4 addr show dev enxb827eb3d64cc | grep inet
+
+I get something like this, yours may be different:
+
+inet 10.42.0.211/24 brd 10.42.0.255 scope global enxb827eb3d64cc
+You can keep the assigned IP address or choose a different one in the same subnet. Add the following lines at the end of /etc/dhcpcd.conf by:
+
+$ sudo nano /etc/dhcpcd.conf
+
+With the following content to make the assigned IP address static:
+
+# Custom static IP address for enxb827eb3d64cc
+interface enxb827eb3d64cc
+static ip_address=10.42.0.211/24
+static routers=10.42.0.255
+static domain_name_servers=10.42.0.255
+Change 10.42.0.211 above to 10.42.0.x where x is a number between 2 and 254 if you want to assign a different IP address.
+
+Reboot Pi to make the new IP address take effect:
+
+$ sudo reboot now
+
+Now you should be able to ssh from the desktop to the Pi with the following command:
+
+$ ssh pi@10.42.0.211
+Hope this helps

setup.py

@@ -6,15 +6,16 @@
 import setuptools
 
 # Fetch the root folder to specify absolute paths to the "include" files
-ROOT = os.path.normpath(os.path.dirname(__file__))
+ASSETS_DIR = os.path.join(os.path.normpath(os.path.dirname(__file__)), "surface", "assets")
 
 # Specify which files should be added to the installation
 PACKAGE_DATA = [
-    os.path.join(ROOT, "surface", "res", "metadata.json"),
-    os.path.join(ROOT, "surface", "log", ".keep")
+    os.path.join(ASSETS_DIR, "metadata.json"),
+    os.path.join(ASSETS_DIR, "log-config.json"),
+    os.path.join(ASSETS_DIR, "log", ".keep")
 ]
 
-with open(os.path.join(ROOT, "surface", "res", "metadata.json")) as f:
+with open(os.path.join(ASSETS_DIR, "metadata.json")) as f:
     metadata = json.load(f)
 
 setuptools.setup(

surface/__init__.py

@@ -1,13 +1,32 @@
 """
 Surface control station package.
 """
+import os
+import json
 from . import control, networking, vision, athena
 from .exceptions import SurfaceException
+from .constants.common import ASSETS_DIR
+
+with open(os.path.join(ASSETS_DIR, "metadata.json")) as f:
+    metadata = json.load(f)
+
+__title__ = metadata["__title__"]
+__description__ = metadata["__description__"]
+__version__ = metadata["__version__"]
+__lead__ = metadata["__lead__"]
+__email__ = metadata["__email__"]
+__url__ = metadata["__url__"]
 
 __all__ = [
     "control",
     "networking",
     "vision",
     "athena",
     "SurfaceException",
+    "__title__",
+    "__description__",
+    "__version__",
+    "__lead__",
+    "__email__",
+    "__url__",
 ]

surface/__main__.py

@@ -1,3 +1,29 @@
 """
 Surface control station execution file.
 """
+import os
+import sys
+import time
+
+# Make sure a local surface package can be found and overrides any installed versions
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+
+# pylint: disable = wrong-import-position
+from surface.networking import Connection
+from surface.control import ControlManager, ManualController
+from surface.enums import ConnectionStatus
+
+if __name__ == '__main__':
+    control_manager_pid = ControlManager().start()
+    manual_controller_pid = ManualController().start()
+    connection = Connection()
+
+    while True:
+        status = connection.status
+
+        if status == ConnectionStatus.DISCONNECTED:
+            connection.connect()
+        elif status == ConnectionStatus.IDLE:
+            connection.reconnect()
+
+        time.sleep(1)

surface/constants/athena.py

@@ -23,10 +23,10 @@
 }
 # Data received from Raspberry Pi
 DATA_RECEIVED = {
-    "A_O": False,
-    "A_I": False,
-    "S_O": 0,
-    "S_I": 0
+    "A_A": False,
+    "A_B": False,
+    "S_A": 0,
+    "S_B": 0
 }
 # Data that will be sent to Raspberry Pi
 DATA_TRANSMISSION = {
@@ -50,18 +50,27 @@
     CONTROL_MANAGER_NAME + "-sway": CONTROL_NORM_IDLE,
     CONTROL_MANAGER_NAME + "-surge": CONTROL_NORM_IDLE,
     CONTROL_MANAGER_NAME + "-heave": CONTROL_NORM_IDLE,
+    CONTROL_MANAGER_NAME + "-cord": CONTROL_NORM_IDLE,
+    CONTROL_MANAGER_NAME + "-gripper": CONTROL_NORM_IDLE,
+    CONTROL_MANAGER_NAME + "-micro": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-yaw": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-pitch": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-roll": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-sway": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-surge": CONTROL_NORM_IDLE,
     CONTROL_MANUAL_NAME + "-heave": CONTROL_NORM_IDLE,
+    CONTROL_MANUAL_NAME + "-cord": CONTROL_NORM_IDLE,
+    CONTROL_MANUAL_NAME + "-gripper": CONTROL_NORM_IDLE,
+    CONTROL_MANUAL_NAME + "-micro": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-yaw": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-pitch": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-roll": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-sway": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-surge": CONTROL_NORM_IDLE,
     CONTROL_AUTONOMOUS_NAME + "-heave": CONTROL_NORM_IDLE,
+    CONTROL_AUTONOMOUS_NAME + "-cord": CONTROL_NORM_IDLE,
+    CONTROL_AUTONOMOUS_NAME + "-gripper": CONTROL_NORM_IDLE,
+    CONTROL_AUTONOMOUS_NAME + "-micro": CONTROL_NORM_IDLE,
     RK_CONTROL_DRIVING_MODE: DrivingMode.MANUAL.value
 }
 # Other, un-classified data

surface/constants/common.py

@@ -7,13 +7,13 @@
 # Declare paths to relevant folders - tests folder shouldn't be known here
 ROOT_DIR = os.path.normpath(os.path.join(os.path.dirname(__file__), "..", ".."))
 SURFACE_DIR = os.path.join(ROOT_DIR, "surface")
-RES_DIR = os.path.join(SURFACE_DIR, "res")
-LOG_DIR = os.path.join(SURFACE_DIR, "log")
+ASSETS_DIR = os.path.join(SURFACE_DIR, "assets")
+LOG_DIR = os.path.join(ASSETS_DIR, "log")
 
 # Load the environment variables from the root folder and/or the resources folder
+dotenv.load_dotenv(dotenv_path=os.path.join(ASSETS_DIR, ".env"))
 dotenv.load_dotenv(dotenv_path=os.path.join(ROOT_DIR, ".env"))
-dotenv.load_dotenv(dotenv_path=os.path.join(RES_DIR, ".env"))
 
 # Declare logging config - use .env file to override the defaults
-LOG_CONFIG_PATH = os.getenv("LOG_CONFIG_PATH", os.path.join(RES_DIR, "log-config.json"))
+LOG_CONFIG_PATH = os.getenv("LOG_CONFIG_PATH", os.path.join(ASSETS_DIR, "log-config.json"))
 LOGGER_NAME = os.getenv("LOGGER_NAME", "surface")

surface/constants/control.py

@@ -23,16 +23,20 @@
 THRUSTER_MAX = 1900
 THRUSTER_IDLE = 1500
 THRUSTER_MIN = 1100
+GRIPPER_MAX = 1600
 GRIPPER_IDLE = 1500
+GRIPPER_MIN = 1400
+CORD_MAX = 1600
 CORD_IDLE = 1500
+CORD_MIN = 1400
 
 # Joystick control boundary - any values below are considered 0
 DEAD_ZONE = 1025
 
 # Hardware and the expected min/max values
 HARDWARE_AXIS_MAX = 32767
 HARDWARE_AXIS_MIN = -32768
-HARDWARE_TRIGGER_MAX = 255
+HARDWARE_TRIGGER_MAX = 1023
 HARDWARE_TRIGGER_MIN = 0
 INTENDED_AXIS_MAX = CONTROL_NORM_MAX
 INTENDED_AXIS_MIN = CONTROL_NORM_MIN

surface/control/converter.py

@@ -3,7 +3,8 @@
 """
 from typing import Dict
 from .common import normalise
-from ..constants.control import CONTROL_NORM_IDLE, CONTROL_NORM_MAX, CONTROL_NORM_MIN, THRUSTER_MAX, THRUSTER_MIN
+from ..constants.control import CONTROL_NORM_IDLE, CONTROL_NORM_MAX, CONTROL_NORM_MIN
+from ..constants.control import THRUSTER_MAX, THRUSTER_MIN, GRIPPER_MAX, GRIPPER_MIN, CORD_MAX, CORD_MIN
 
 
 class Converter:
@@ -25,6 +26,9 @@ def convert(motions: Dict[str, float]) -> Dict[str, int]:
             "T_VFS": Converter._thruster_vfs(motions),
             "T_VAP": Converter._thruster_vap(motions),
             "T_VAS": Converter._thruster_vas(motions),
+            "T_M": Converter._thruster_micro(motions),
+            "M_C": Converter._cord(motions),
+            "M_G": Converter._gripper(motions),
         }
 
     @staticmethod
@@ -227,6 +231,39 @@ def _thruster_vas(motions: Dict[str, float]) -> int:
 
         return Converter._to_thruster_value(value)
 
+    @staticmethod
+    def _thruster_micro(motions: Dict[str, float]) -> int:
+        """
+        Hierarchical control for micro ROV thruster.
+        """
+        micro = motions["micro"]
+
+        value = micro if micro else CONTROL_NORM_IDLE
+
+        return Converter._to_thruster_value(value)
+
+    @staticmethod
+    def _cord(motions: Dict[str, float]) -> int:
+        """
+        Hierarchical control for cord control.
+        """
+        cord = motions["cord"]
+
+        value = cord if cord else CONTROL_NORM_IDLE
+
+        return int(normalise(value, CONTROL_NORM_MIN, CONTROL_NORM_MAX, CORD_MIN, CORD_MAX))
+
+    @staticmethod
+    def _gripper(motions: Dict[str, float]) -> int:
+        """
+        Hierarchical control for gripper control.
+        """
+        gripper = motions["gripper"]
+
+        value = gripper if gripper else CONTROL_NORM_IDLE
+
+        return int(normalise(value, CONTROL_NORM_MIN, CONTROL_NORM_MAX, GRIPPER_MIN, GRIPPER_MAX))
+
     @staticmethod
     def _to_thruster_value(value: float) -> int:
         """

surface/control/manual.py

@@ -190,6 +190,7 @@ def hat_x(self, value: int):
         Set state of joystick's horizontal hat.
         """
         self._hat_x = value
+        self._update_cord()
 
     @property
     def hat_y(self) -> int:
@@ -204,6 +205,7 @@ def hat_y(self, value: int):
         Set state of joystick's vertical hat.
         """
         self._hat_y = value
+        self._update_micro_thruster()
 
     @property
     def button_a(self) -> bool:
@@ -218,6 +220,7 @@ def button_a(self, value: bool):
         Set state of joystick's button A.
         """
         self._button_a = value
+        self._update_gripper()
 
     @property
     def button_b(self) -> bool:
@@ -262,6 +265,7 @@ def button_y(self, value: bool):
         Set state of joystick's button Y.
         """
         self._button_y = value
+        self._update_gripper()
 
     @property
     def button_lb(self) -> bool:
@@ -402,6 +406,39 @@ def _update_heave(self):
         else:
             self.heave = CONTROL_NORM_IDLE
 
+    def _update_cord(self):
+        """
+        Cord is determined by the horizontal hat value.
+        """
+        if self.hat_x > 0:
+            self.cord = CONTROL_NORM_MAX
+        elif self.hat_x < 0:
+            self.cord = CONTROL_NORM_MIN
+        else:
+            self.cord = CONTROL_NORM_IDLE
+
+    def _update_gripper(self):
+        """
+        Gripper is determined by the buttons Y and A.
+        """
+        if self.button_y:
+            self.gripper = CONTROL_NORM_MAX
+        elif self.button_a:
+            self.gripper = CONTROL_NORM_MIN
+        else:
+            self.gripper = CONTROL_NORM_IDLE
+
+    def _update_micro_thruster(self):
+        """
+        Micro ROV thruster is determined by the vertical hat value.
+        """
+        if self.hat_y < 0:
+            self.micro = CONTROL_NORM_MAX
+        elif self.hat_y > 0:
+            self.micro = CONTROL_NORM_MIN
+        else:
+            self.micro = CONTROL_NORM_IDLE
+
     def _update_mode(self):
         """
         Mode can be switched between manual and assisted only.
@@ -417,7 +454,10 @@ def _update_mode(self):
                     "roll": CONTROL_NORM_IDLE,
                     "sway": CONTROL_NORM_IDLE,
                     "surge": CONTROL_NORM_IDLE,
-                    "heave": CONTROL_NORM_IDLE
+                    "heave": CONTROL_NORM_IDLE,
+                    "cord": CONTROL_NORM_IDLE,
+                    "gripper": CONTROL_NORM_IDLE,
+                    "micro": CONTROL_NORM_IDLE,
                 }
         elif self.button_select:
             self.mode = DrivingMode.ASSISTED