Merge pull request #10 from mleegwt/master

Initial untested version of boatcontrol node.

Author: mleegwt

.github/workflows/action.yml

@@ -12,14 +12,6 @@ jobs:
           required-ros-distributions: jazzy
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: boat_interfaces
-          target-ros2-distro: jazzy
-      - uses: ros-tooling/action-ros-ci@v0.3
-        with:
-          package-name: tempreader
-          target-ros2-distro: jazzy
-      - uses: ros-tooling/action-ros-ci@v0.3
-        with:
-          package-name: sensorfusion
+          package-name: boat_interfaces boatcontrol navigation tempreader sensorfusion
           target-ros2-distro: jazzy
 

ros_ws/src/boatcontrol/boatcontrol/__init__.py

@@ -0,0 +1,109 @@
+#python 3
+import serial
+import time
+import math
+import rclpy
+from rclpy.node import Node
+
+# Initialize serial communication for actuator control
+serial_port = "/dev/ttyUSB0"  # Update with your port
+baud_rate = 115200  # Adjust baud rate as per your actuator settings
+ser = serial.Serial(serial_port, baud_rate, timeout=1)
+
+def send_command(command):
+    if ser.is_open:
+        ser.write(command.encode())
+        time.sleep(1)
+        response=""
+        while "OK" not in response: 
+          response = ser.readline().decode().strip()  # Read response from the actuator
+          #print(f"got:{response}")
+          time.sleep(0.2)
+        print(f"Sent: {command}, Received: {response}")
+        return response
+
+# Function to send enable motor command
+def send_calib_command():
+    send_command(f"POST CALIB")
+
+# Function to send enable motor command
+def send_enable_command():
+    send_command(f"POST WD 30") #enable motor for 30s
+        
+# Function to send command to the actuator
+def send_move_command(command):
+    send_command(f"POST MOVE {command}")
+
+def send_nav_command(duration, heading):
+    send_command(f"POST NAV {duration} {heading}")
+
+def send_speed_command(speed):
+    send_command(f"POST SPEED {speed}")
+
+# Function to send command to the actuator
+def get_heading_command():
+    response = send_command(f"GET HEADING")
+        
+    # Parse the heading from the response
+    try:
+        # Find the start and end of the heading value within the response string
+        start = response.index("heading:") + len("heading:")
+        end = response.index("}", start)
+        heading_value = float(response[start:end].strip())  # Convert to float
+        return heading_value
+    except (ValueError, IndexError) as e:
+        print(f"Error parsing heading: {e}")
+        return None
+
+
+class BoatControlNode(Node):
+
+    def __init__(self):
+        super().__init__('boat_control_node')
+        self.compass_pub = self.create_publisher(BoatHeading, '/compass', 10)
+        self.heading_sub = self.create_subscriber(Float64, '/desired_heading', self.heading_callback, 10)
+        self.speed_sub = self.create_subscriber(Float64, '/desired_speed', self.speed_callback, 10)
+        self.current_heading = None
+        timer_period = 1  # Seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        send_enable_command()
+        current_heading = get_heading_command()
+        current_heading = get_heading_command()# dual reading to flush !
+
+        msg = BoatHeading()
+        msg.heading = current_heading
+        self.compass_pub.publish(msg)
+
+    def heading_callback(self, heading):
+        send_nav_command(10, heading)
+
+    def speed_callback(self, speed):
+        send_speed_command(speed)
+
+def main():
+    rclpy.init()
+    node = BoatControlNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    try:
+        time.sleep(0.5)
+        response = ser.readline().decode().strip()  # Read response from the actuator
+        print(f"Received: {response}")
+        response = ser.readline().decode().strip()  # Read response from the actuator
+        print(f"Received: {response}")
+        send_enable_command()
+        time.sleep(1)
+        send_calib_command()
+        send_speed_command(30)
+        main()
+    except KeyboardInterrupt:
+        print("Control loop interrupted. Exiting...")
+    finally:
+        if ser.is_open:
+            ser.close()

ros_ws/src/boatcontrol/boatcontrol/boatcontrolnode.py

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>boatcontrol</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mleegwt@users.noreply.github.com">pi</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>math</depend>
+  <depend>rclpy</depend>
+  <depend>serial</depend>
+  <depend>time</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_ws/src/boatcontrol/package.xml

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/boatcontrol
+[install]
+install_scripts=$base/lib/boatcontrol

ros_ws/src/boatcontrol/resource/boatcontrol

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'boatcontrol'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='pi',
+    maintainer_email='mleegwt@users.noreply.github.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

ros_ws/src/boatcontrol/setup.cfg

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros_ws/src/boatcontrol/setup.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'