Implement PCB communication using flatbuffers

Author: GonzaCer

noah_behaviour/config/environment.yaml

@@ -1,17 +1,17 @@
 #information about the robot
 
 # PCB communication
-PCB_UART_PORT: "/dev/ttyACM0"
-PCB_UART_UPDATE_RATE_HZ: 20
+PCB_BRIDGE_UART_PORT: "/dev/ttyS0"
+PCB_BRIDGE_CHECK_INTERVAL_MS: 40
+MOTOR_MAX_SPEED_METER_SEC: 0.6
+MOTOR_MIN_SPEED_METER_SEC: 0.1
 
 # Physical characteristics of the robot
 # export TICK_METERS=3653
 ticks_meter: 3653
 BASE_WIDTH: 0.2
 
 # Motor Drive configuration
-MAX_SPEED_METER_SEC: 0.5
-MIN_SPEED_METER_SEC: 0.1
 PID_MIN: 10.0
 PID_MAX: 700.0
 PID_P: 50.0

noah_behaviour/launch/main.launch noah_behaviour/launch/robot.launchnoah_behaviour/launch/main.launch renamed to noah_behaviour/launch/robot.launch

@@ -6,16 +6,11 @@
     <include file="$(find noah_drivers)/launch/drivers_node.launch"/>
 
     <node pkg="differential_drive" type="twist_to_motors.py" name="twist_to_motors" output="screen">
-        <remap from="lwheel_vtarget" to="/motor_left_pwm"/>
-        <remap from="rwheel_vtarget" to="/motor_right_pwm"/>
+        <remap from="lwheel_vtarget" to="/motor_left_speed"/>
+        <remap from="rwheel_vtarget" to="/motor_right_speed"/>
+        <remap from="twist" to="cmd_vel"/>
         <rosparam param="base_width">0.16</rosparam>
         <rosparam param="rate">25</rosparam>
     </node>
 
-    <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_keyboard" output="screen">
-        <remap from="cmd_vel" to="/twist"/>
-        <rosparam param="speed">0.3</rosparam>
-        <rosparam param="turn">0.8</rosparam>
-    </node>
-
 </launch>

noah_behaviour/launch/roc.launch

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+    <rosparam file="$(find noah_behaviour)/config/environment.yaml" command="load" />
+
+    <!-- Spawn rqt_steering -->
+    <node pkg="rqt_robot_steering" type="rqt_robot_steering" name="steering">
+    </node>
+</launch>

noah_drivers/CMakeLists.txt

@@ -9,7 +9,6 @@ add_compile_options(-std=c++14  -Werror -Wall -Wextra -Wno-unused-parameter -Wno
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
-  noah_msgs
   roscpp
   rospy
   std_msgs

noah_drivers/include/flatbuffers/DataPackage.fbs

@@ -0,0 +1,24 @@
+// This file describes all the available data types that can be used 
+// to communicate with ROS.
+
+namespace noah.ros;
+
+enum Side:byte { All }
+
+struct EncoderRequest {
+  side:Side;
+}
+
+struct EncoderResponse{
+  ticks_l:int16;
+  ticks_r:int16;
+}
+
+table DataPackage {
+  encoderRequest:EncoderRequest;
+  encoderResponse:EncoderResponse;
+  targetSpeedLRequest:float;
+  targetSpeedRRequest:float;
+}
+
+root_type DataPackage;

noah_drivers/include/flatbuffers/DataPackage_generated.h

@@ -0,0 +1,190 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+
+#ifndef FLATBUFFERS_GENERATED_DATAPACKAGE_NOAH_ROS_H_
+#define FLATBUFFERS_GENERATED_DATAPACKAGE_NOAH_ROS_H_
+
+#include "flatbuffers/flatbuffers.h"
+
+namespace noah {
+namespace ros {
+
+struct EncoderRequest;
+
+struct EncoderResponse;
+
+struct DataPackage;
+struct DataPackageBuilder;
+
+enum Side {
+  Side_All = 0,
+  Side_MIN = Side_All,
+  Side_MAX = Side_All
+};
+
+inline const Side (&EnumValuesSide())[1] {
+  static const Side values[] = {
+    Side_All
+  };
+  return values;
+}
+
+inline const char * const *EnumNamesSide() {
+  static const char * const names[2] = {
+    "All",
+    nullptr
+  };
+  return names;
+}
+
+inline const char *EnumNameSide(Side e) {
+  if (flatbuffers::IsOutRange(e, Side_All, Side_All)) return "";
+  const size_t index = static_cast<size_t>(e);
+  return EnumNamesSide()[index];
+}
+
+FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(1) EncoderRequest FLATBUFFERS_FINAL_CLASS {
+ private:
+  int8_t side_;
+
+ public:
+  EncoderRequest() {
+    memset(static_cast<void *>(this), 0, sizeof(EncoderRequest));
+  }
+  EncoderRequest(noah::ros::Side _side)
+      : side_(flatbuffers::EndianScalar(static_cast<int8_t>(_side))) {
+  }
+  noah::ros::Side side() const {
+    return static_cast<noah::ros::Side>(flatbuffers::EndianScalar(side_));
+  }
+};
+FLATBUFFERS_STRUCT_END(EncoderRequest, 1);
+
+FLATBUFFERS_MANUALLY_ALIGNED_STRUCT(2) EncoderResponse FLATBUFFERS_FINAL_CLASS {
+ private:
+  int16_t ticks_l_;
+  int16_t ticks_r_;
+
+ public:
+  EncoderResponse() {
+    memset(static_cast<void *>(this), 0, sizeof(EncoderResponse));
+  }
+  EncoderResponse(int16_t _ticks_l, int16_t _ticks_r)
+      : ticks_l_(flatbuffers::EndianScalar(_ticks_l)),
+        ticks_r_(flatbuffers::EndianScalar(_ticks_r)) {
+  }
+  int16_t ticks_l() const {
+    return flatbuffers::EndianScalar(ticks_l_);
+  }
+  int16_t ticks_r() const {
+    return flatbuffers::EndianScalar(ticks_r_);
+  }
+};
+FLATBUFFERS_STRUCT_END(EncoderResponse, 4);
+
+struct DataPackage FLATBUFFERS_FINAL_CLASS : private flatbuffers::Table {
+  typedef DataPackageBuilder Builder;
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_ENCODERREQUEST = 4,
+    VT_ENCODERRESPONSE = 6,
+    VT_TARGETSPEEDLREQUEST = 8,
+    VT_TARGETSPEEDRREQUEST = 10
+  };
+  const noah::ros::EncoderRequest *encoderRequest() const {
+    return GetStruct<const noah::ros::EncoderRequest *>(VT_ENCODERREQUEST);
+  }
+  const noah::ros::EncoderResponse *encoderResponse() const {
+    return GetStruct<const noah::ros::EncoderResponse *>(VT_ENCODERRESPONSE);
+  }
+  float targetSpeedLRequest() const {
+    return GetField<float>(VT_TARGETSPEEDLREQUEST, 0.0f);
+  }
+  float targetSpeedRRequest() const {
+    return GetField<float>(VT_TARGETSPEEDRREQUEST, 0.0f);
+  }
+  bool Verify(flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<noah::ros::EncoderRequest>(verifier, VT_ENCODERREQUEST) &&
+           VerifyField<noah::ros::EncoderResponse>(verifier, VT_ENCODERRESPONSE) &&
+           VerifyField<float>(verifier, VT_TARGETSPEEDLREQUEST) &&
+           VerifyField<float>(verifier, VT_TARGETSPEEDRREQUEST) &&
+           verifier.EndTable();
+  }
+};
+
+struct DataPackageBuilder {
+  typedef DataPackage Table;
+  flatbuffers::FlatBufferBuilder &fbb_;
+  flatbuffers::uoffset_t start_;
+  void add_encoderRequest(const noah::ros::EncoderRequest *encoderRequest) {
+    fbb_.AddStruct(DataPackage::VT_ENCODERREQUEST, encoderRequest);
+  }
+  void add_encoderResponse(const noah::ros::EncoderResponse *encoderResponse) {
+    fbb_.AddStruct(DataPackage::VT_ENCODERRESPONSE, encoderResponse);
+  }
+  void add_targetSpeedLRequest(float targetSpeedLRequest) {
+    fbb_.AddElement<float>(DataPackage::VT_TARGETSPEEDLREQUEST, targetSpeedLRequest, 0.0f);
+  }
+  void add_targetSpeedRRequest(float targetSpeedRRequest) {
+    fbb_.AddElement<float>(DataPackage::VT_TARGETSPEEDRREQUEST, targetSpeedRRequest, 0.0f);
+  }
+  explicit DataPackageBuilder(flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  DataPackageBuilder &operator=(const DataPackageBuilder &);
+  flatbuffers::Offset<DataPackage> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = flatbuffers::Offset<DataPackage>(end);
+    return o;
+  }
+};
+
+inline flatbuffers::Offset<DataPackage> CreateDataPackage(
+    flatbuffers::FlatBufferBuilder &_fbb,
+    const noah::ros::EncoderRequest *encoderRequest = 0,
+    const noah::ros::EncoderResponse *encoderResponse = 0,
+    float targetSpeedLRequest = 0.0f,
+    float targetSpeedRRequest = 0.0f) {
+  DataPackageBuilder builder_(_fbb);
+  builder_.add_targetSpeedRRequest(targetSpeedRRequest);
+  builder_.add_targetSpeedLRequest(targetSpeedLRequest);
+  builder_.add_encoderResponse(encoderResponse);
+  builder_.add_encoderRequest(encoderRequest);
+  return builder_.Finish();
+}
+
+inline const noah::ros::DataPackage *GetDataPackage(const void *buf) {
+  return flatbuffers::GetRoot<noah::ros::DataPackage>(buf);
+}
+
+inline const noah::ros::DataPackage *GetSizePrefixedDataPackage(const void *buf) {
+  return flatbuffers::GetSizePrefixedRoot<noah::ros::DataPackage>(buf);
+}
+
+inline bool VerifyDataPackageBuffer(
+    flatbuffers::Verifier &verifier) {
+  return verifier.VerifyBuffer<noah::ros::DataPackage>(nullptr);
+}
+
+inline bool VerifySizePrefixedDataPackageBuffer(
+    flatbuffers::Verifier &verifier) {
+  return verifier.VerifySizePrefixedBuffer<noah::ros::DataPackage>(nullptr);
+}
+
+inline void FinishDataPackageBuffer(
+    flatbuffers::FlatBufferBuilder &fbb,
+    flatbuffers::Offset<noah::ros::DataPackage> root) {
+  fbb.Finish(root);
+}
+
+inline void FinishSizePrefixedDataPackageBuffer(
+    flatbuffers::FlatBufferBuilder &fbb,
+    flatbuffers::Offset<noah::ros::DataPackage> root) {
+  fbb.FinishSizePrefixed(root);
+}
+
+}  // namespace ros
+}  // namespace noah
+
+#endif  // FLATBUFFERS_GENERATED_DATAPACKAGE_NOAH_ROS_H_