Cleanup (#359)

* Remove active suspension

* Add drillActuator and drillMotor as joints, remove motor request/reports

* Remove lidar

* Fix typo

* Fix formatting

* Fix merge

* Fix format

Author: imisaacwu

README.md

@@ -125,7 +125,7 @@ make -j Rover
 Launch the appropriate simulator executable for your platform. Then, run the rover code, using the `p` flag to specify a peripheral:
 
 ```bash
-./Rover -p {none|arm|science|lidar}
+./Rover -p {none|arm|science}
 ```
 
 The programs can be started in any order, it doesn't matter.

rover-config/50-usb-hokuyo-lidar.rules

@@ -8,7 +8,6 @@ filesystem.
 
 | **File/Directory**          | **Location on Rover** | **Description**                                                                |
 | -----------------           | --------------------  | --------------                                                                 |
-| `50-usb-hokuyo-lidar.rules` | `/etc/udev/rules.d/`  | `udev` rules for making sure we have permissions to access the lidar over USB. |
 | `50-rover-cameras.rules`    | `/etc/udev/rules.d/`  | `udev` rules for making sure cameras have stable IDs.                          |
 
 # Directions

rover-config/README.md

@@ -100,14 +100,6 @@ const double LANDMARK_WAYPOINT_RADIUS = Constants::ROBOT_LENGTH * 1.3;
 const double EPS = 2.0; // heuristic weight for weighted A*
 } // namespace Nav
 
-// Lidar
-namespace Lidar {
-const std::string RP_PATH = "/dev/ttyUSB0";
-const double MM_PER_M = 1000;
-const uint32_t RPLIDAR_A1_BAUDRATE = 115200;
-const uint32_t RPLIDAR_S1_BAUDRATE = 256000;
-} // namespace Lidar
-
 // Video encoding
 namespace video {
 const int H264_RF_CONSTANT = 40;

src/Constants.cpp

@@ -10,6 +10,10 @@
 
 #include <frozen/unordered_map.h>
 
+using robot::types::CameraID;
+using robot::types::jointid_t;
+using robot::types::motorid_t;
+
 namespace Constants {
 // TODO: make sure these are still accurate with the new arm.
 extern const double SHOULDER_LENGTH;
@@ -54,13 +58,13 @@ extern const double MAX_DTHETA;
 // TODO: We need to recalibrate the camera, since we replaced it with a different one.
 // TODO: rename cameras (in MC as well) as appropriate
 extern const char* MAST_CAMERA_CONFIG_PATH;
-extern const robot::types::CameraID MAST_CAMERA_ID;
+extern const CameraID MAST_CAMERA_ID;
 
 extern const char* FOREARM_CAMERA_CONFIG_PATH;
-extern const robot::types::CameraID FOREARM_CAMERA_ID;
+extern const CameraID FOREARM_CAMERA_ID;
 
 extern const char* HAND_CAMERA_CONFIG_PATH;
-extern const robot::types::CameraID HAND_CAMERA_ID;
+extern const CameraID HAND_CAMERA_ID;
 
 extern const uint16_t WS_SERVER_PORT;
 
@@ -104,14 +108,6 @@ extern const double LANDMARK_WAYPOINT_RADIUS;
 extern const double EPS;
 } // namespace Nav
 
-// Lidar
-namespace Lidar {
-extern const std::string RP_PATH;
-extern const double MM_PER_M;
-extern const uint32_t RPLIDAR_A1_BAUDRATE;
-extern const uint32_t RPLIDAR_S1_BAUDRATE;
-} // namespace Lidar
-
 // Video encoding
 namespace video {
 /**
@@ -126,22 +122,21 @@ extern const int H264_RF_CONSTANT;
 /**
  * @brief Stream-specific RF constants.
  */
-extern const std::unordered_map<robot::types::CameraID, int> STREAM_RFS;
+extern const std::unordered_map<CameraID, int> STREAM_RFS;
 } // namespace video
 
 /**
  * A map that pairs each of the joints to its corresponding motor.
  * (one-to-one pairs only)
  */
-constexpr auto JOINT_MOTOR_MAP =
-	frozen::make_unordered_map<robot::types::jointid_t, robot::types::motorid_t>(
-		{{robot::types::jointid_t::armBase, robot::types::motorid_t::armBase},
-		 {robot::types::jointid_t::shoulder, robot::types::motorid_t::shoulder},
-		 {robot::types::jointid_t::elbow, robot::types::motorid_t::elbow},
-		 {robot::types::jointid_t::forearm, robot::types::motorid_t::forearm},
-		 {robot::types::jointid_t::hand, robot::types::motorid_t::hand},
-		 {robot::types::jointid_t::activeSuspension,
-		  robot::types::motorid_t::activeSuspension}});
+constexpr auto JOINT_MOTOR_MAP = frozen::make_unordered_map<jointid_t, motorid_t>(
+	{{jointid_t::armBase, motorid_t::armBase},
+	 {jointid_t::shoulder, motorid_t::shoulder},
+	 {jointid_t::elbow, motorid_t::elbow},
+	 {jointid_t::forearm, motorid_t::forearm},
+	 {jointid_t::hand, motorid_t::hand},
+	 {jointid_t::drillActuator, motorid_t::drillActuator},
+	 {jointid_t::drillMotor, motorid_t::drillMotor}});
 
 // Arm inverse kinematics
 namespace arm {
@@ -162,27 +157,25 @@ extern const int IK_SOLVER_MAX_ITER;
  * The joints corresponding to the motors used for IK in the arm. The ordering in this array is
  * the canonical ordering of these joints for IK purposes.
  */
-extern const std::array<robot::types::jointid_t, 2> IK_MOTOR_JOINTS;
+extern const std::array<jointid_t, 2> IK_MOTOR_JOINTS;
 
 /**
  * The motors used in IK. The i-th element in this array corresponds to the joint in the i-th
  * element of `IK_MOTOR_JOINTS`
  */
-extern const std::array<robot::types::motorid_t, 2> IK_MOTORS;
+extern const std::array<motorid_t, 2> IK_MOTORS;
 
 /**
  * Map from motor ids to min and max joint limits in millidegrees
  */
-constexpr frozen::unordered_map<robot::types::motorid_t, std::pair<int, int>, IK_MOTORS.size()>
-	JOINT_LIMITS{{robot::types::motorid_t::shoulder, {18200, 152500}},
-				 {robot::types::motorid_t::elbow, {-169100, 0}}};
+constexpr frozen::unordered_map<motorid_t, std::pair<int, int>, IK_MOTORS.size()> JOINT_LIMITS{
+	{motorid_t::shoulder, {18200, 152500}}, {motorid_t::elbow, {-169100, 0}}};
 
 /**
  * Map from motor ids to segment length in meters
  */
-constexpr frozen::unordered_map<robot::types::motorid_t, double, IK_MOTORS.size()>
-	SEGMENT_LENGTHS{{robot::types::motorid_t::shoulder, 0.3848608},
-					{robot::types::motorid_t::elbow, 0.461264}};
+constexpr frozen::unordered_map<motorid_t, double, IK_MOTORS.size()> SEGMENT_LENGTHS{
+	{motorid_t::shoulder, 0.3848608}, {motorid_t::elbow, 0.461264}};
 } // namespace arm
 
 namespace autonomous {

src/Constants.h

@@ -43,8 +43,7 @@ void parseCommandLine(int argc, char** argv) {
 				{"none", mountedperipheral_t::none},
 				{"arm", mountedperipheral_t::arm},
 				{"armServo", mountedperipheral_t::armServo},
-				{"science", mountedperipheral_t::scienceStation},
-				{"lidar", mountedperipheral_t::lidar}};
+				{"science", mountedperipheral_t::scienceStation}};
 
 			if (allowed.find(value) != allowed.end()) {
 				Globals::mountedPeripheral = allowed[value];

src/Rover.cpp

@@ -45,7 +45,6 @@ const std::map<motorid_t, std::string> motorNameMap = {
 	{motorid_t::wristDiffRight, "wristDiffRight"},
 	{motorid_t::wristDiffLeft, "wristDiffLeft"},
 	{motorid_t::hand, "hand"},
-	{motorid_t::activeSuspension, "activeSuspension"},
 	{motorid_t::drillActuator, "drillActuator"},
 	{motorid_t::drillMotor, "drillMotor"}};
 

src/TunePID.cpp

@@ -3,22 +3,19 @@
 namespace net::mc {
 
 // TODO: possibly use frozen::string for this so we don't have to use raw char ptrs
-// TODO: MOTOR_POS_REQ, MOTOR_STATUS_REP are unimplemented, do we want to remove or implement?
 // request keys
 constexpr const char* EMERGENCY_STOP_REQ_TYPE = "emergencyStopRequest";
 constexpr const char* OPERATION_MODE_REQ_TYPE = "operationModeRequest";
 constexpr const char* DRIVE_REQ_TYPE = "driveRequest";
 constexpr const char* DRIVE_TANK_REQ_TYPE = "tankDriveRequest";
 constexpr const char* ARM_IK_ENABLED_TYPE = "requestArmIKEnabled";
 constexpr const char* JOINT_POWER_REQ_TYPE = "jointPowerRequest";
-constexpr const char* MOTOR_POSITION_REQ_TYPE = "motorPositionRequest";
 constexpr const char* JOINT_POSITION_REQ_TYPE = "jointPositionRequest";
 constexpr const char* CAMERA_STREAM_OPEN_REQ_TYPE = "cameraStreamOpenRequest";
 constexpr const char* CAMERA_STREAM_CLOSE_REQ_TYPE = "cameraStreamCloseRequest";
 constexpr const char* WAYPOINT_NAV_REQ_TYPE = "waypointNavRequest";
 
 // report keys
-constexpr const char* MOTOR_STATUS_REP_TYPE = "motorStatusReport";
 constexpr const char* CAMERA_STREAM_REP_TYPE = "cameraStreamReport";
 constexpr const char* MOUNTED_PERIPHERAL_REP_TYPE = "mountedPeripheralReport";
 constexpr const char* JOINT_POSITION_REP_TYPE = "jointPositionReport";

src/network/MissionControlMessages.h

@@ -44,12 +44,14 @@ std::string to_string(robot::types::jointid_t joint) {
 			return "wristPitch";
 		case jointid_t::wristRoll:
 			return "wristRoll";
-		case jointid_t::activeSuspension:
-			return "activeSuspension";
 		case jointid_t::ikUp:
 			return "ikUp";
 		case jointid_t::ikForward:
 			return "ikForward";
+		case jointid_t::drillActuator:
+			return "drillActuator";
+		case jointid_t::drillMotor:
+			return "drillMotor";
 		default:
 			// should never happen
 			return "<unknown>";
@@ -73,9 +75,6 @@ std::string to_string(robot::types::mountedperipheral_t peripheral) {
 		case mountedperipheral_t::armServo:
 			return "armServo";
 
-		case mountedperipheral_t::lidar:
-			return "lidar";
-
 		case mountedperipheral_t::scienceStation:
 			return "scienceStation";
 

src/world_interface/data.cpp

@@ -64,7 +64,6 @@ enum class motorid_t {
 	wristDiffRight,
 	wristDiffLeft,
 	hand,
-	activeSuspension,
 	drillActuator,
 	drillMotor
 };
@@ -75,7 +74,6 @@ enum class mountedperipheral_t {
 	arm,
 	armServo,
 	scienceStation,
-	lidar
 };
 
 enum class jointid_t {
@@ -86,15 +84,16 @@ enum class jointid_t {
 	wristPitch,
 	wristRoll,
 	hand,
-	activeSuspension,
 	ikForward,
-	ikUp
+	ikUp,
+	drillActuator,
+	drillMotor
 };
 
 constexpr auto all_jointid_t = frozen::make_unordered_set<jointid_t>(
 	{jointid_t::armBase, jointid_t::shoulder, jointid_t::elbow, jointid_t::forearm,
-	 jointid_t::wristRoll, jointid_t::wristPitch, jointid_t::hand, jointid_t::activeSuspension,
-	 jointid_t::ikForward, jointid_t::ikUp});
+	 jointid_t::wristRoll, jointid_t::wristPitch, jointid_t::hand, jointid_t::ikForward,
+	 jointid_t::ikUp, jointid_t::drillActuator, jointid_t::drillMotor});
 
 constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, jointid_t>(
 	{{"armBase", jointid_t::armBase},
@@ -104,9 +103,10 @@ constexpr auto name_to_jointid = frozen::make_unordered_map<frozen::string, join
 	 {"wristPitch", jointid_t::wristPitch},
 	 {"wristRoll", jointid_t::wristRoll},
 	 {"hand", jointid_t::hand},
-	 {"activeSuspension", jointid_t::activeSuspension},
 	 {"ikForward", jointid_t::ikForward},
-	 {"ikUp", jointid_t::ikUp}});
+	 {"ikUp", jointid_t::ikUp},
+	 {"drillActuator", jointid_t::drillActuator},
+	 {"drillMotor", jointid_t::drillMotor}});
 
 class bad_datapoint_access : public std::runtime_error {
 public: