From 4d76bf41e7918462ce097042a365a65244fccc40 Mon Sep 17 00:00:00 2001 From: Andrew <112200249+andytgarcia@users.noreply.github.com> Date: Tue, 20 Jan 2026 19:04:55 -0800 Subject: [PATCH 01/10] added README (#2) --- README.md | 119 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 119 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..555432c --- /dev/null +++ b/README.md @@ -0,0 +1,119 @@ +# Neptune +Yonder Deep 2026 + +## To Get Started: +READ DOCS/docker.md + +## Branch Management + +### Main Branch +- `main` is the primary working branch and should always contain stable, tested code +- All code in `main` must pass automated tests and peer review +- Do not force push to `main`, create your own branch before working on your issue. + +### Development Branches +- Create feature branches for individual or subteam work: `feature/sensor-integration`, `feature/navigation-system` +- Use descriptive branch names: `andytgarcia/pressure-sensor-calibration`, `yonderdeep/motor-controller-pid` +- Branch naming convention: `yourgithubusername/brief-descriptive-name` +- Delete branches after merging to keep the repository clean + +### Merge Process +1. Create a pull request from your branch to `main` +2. Ensure all tests pass (or write your own) +3. Request review from at least one team member +4. Address review comments +5. Merge only after approval + +## Code Style Guidelines + +### Indentation +- Nested blocks should be indented one level deeper + +### Line Lengths +- Make lines entirely readable on screen +- Break long lines logically at operators, commas, or before opening parentheses +- Comments should also respect the line length limit + +### Brace Style + +```cpp +if (condition) { + // code here +} +else { + // alternative code +} + +void functionName() { + // function body +} +``` + +### Naming Conventions + +#### Variables +- Use `camelCase` for local variables: `sensorData`, `motorSpeed` +- Use `UPPER_SNAKE_CASE` for constants: `MAX_DEPTH`, `SENSOR_TIMEOUT_MS` +- Use descriptive names that convey purpose: `currentDepth` instead of `d` + +#### Functions +- Use `camelCase` for function names: `calculateBuoyancy()`, `updateMotorController()` +- Use verb-noun pairs for clarity: `readPressureSensor()`, `setThrottle()` + +#### Classes +- Use `PascalCase` for class names: `NavigationSystem`, `PressureSensor` +- Use nouns or noun phrases: `MotorController`, `DataLogger` + +#### Files +- Use `snake_case` for filenames: `motor_controller.cpp`, `pressure_sensor.h` +- Header files use `.h` or `.hpp` extension +- Implementation files use `.cpp` or `.c` extension + +## Documentation Standards + +### Header Files +Use '#pragma once' for all .h and .hpp files + +```cpp + +#pragma once + +class ClassName + +``` + +### Class Headers +Document every class with its purpose and usage: + +```cpp +/** + * @class PressureSensor + * @brief Interface for MS5837 pressure/temperature sensor + * + * Provides depth and temperature readings using I2C communication. + * Handles calibration and conversion to engineering units. + */ +class PressureSensor { + // class definition +}; +``` + +### Function Headers +Document all public functions and complex private functions: + + +### Inline Comments +- Use inline comments for complex logic or non-obvious decisions +- Explain the "why," not the "what" +- Keep comments up-to-date with code changes + + +### First Time Contributors +1. Read this entire README +2. Review the existing codebase to understand project structure +3. Set up your development environment +4. Start with a small issue labeled "good first issue" +5. Ask questions in Discord + + +For questions or suggestions about these guidelines, please open an issue or contact the project maintainer. \ No newline at end of file From 3ebd2fcab4c250016f005deb2c349e619a1ff2b5 Mon Sep 17 00:00:00 2001 From: Suhaan Khurana <114335244+SuhaanCoding@users.noreply.github.com> Date: Fri, 13 Feb 2026 17:43:27 -0800 Subject: [PATCH 02/10] ci: add lint CI workflow and pre-commit config (#8) * ci: add lint CI workflow and pre-commit config Add GitHub Actions workflow that runs pre-commit hooks on all pushes and PRs to main/master. Includes pre-commit-config with clang-format, ESLint, Prettier, and yamllint. Legacy auv/ directory is excluded. * ci: fix pre-commit hooks and auto-fix existing lint issues Fix ESLint/Prettier hooks to strip repo-root prefix from file paths before cd-ing into web_app/frontend_gui. Exclude tsconfig.json from check-json (it uses JSONC with comments). Auto-fix trailing whitespace, missing final newlines, and prettier formatting across the codebase. * ci: use local node_modules binaries instead of npx npx downloads fresh eslint/prettier versions in CI instead of using the packages installed by npm ci. Use ./node_modules/.bin/ directly. * ci: add missing eslint/prettier devDependencies to package.json The lint CI workflow fails because eslint, prettier, and all eslint plugins were missing from package.json. npm ci in CI never installed them, causing pre-commit hooks to fail with "No such file or directory". --- .devcontainer/devcontainer.json | 2 +- .github/workflows/lint.yml | 31 + .pre-commit-config.yaml | 58 + .yamllint.yml | 15 + Docker/Dockerfile | 7 +- Docs/Docker.md | 5 +- Docs/Running.md | 2 - README.md | 6 +- auv_cpp/.clang-format | 2 +- auv_cpp/.editorconfig | 2 +- auv_cpp/.gitignore | 2 +- auv_cpp/CMakeLists.txt | 2 +- auv_cpp/tests/CMakeLists.txt | 5 + auv_cpp/tests/core/test_config | Bin 0 -> 241120 bytes src/.gitignore | 2 +- src/CMakeLists.txt | 2 +- web_app/__init__.py | 4 +- web_app/backend.py | 2 +- web_app/build.sh | 2 +- web_app/build_win.bat | 4 +- web_app/data/gui_layouts.json | 2 +- web_app/frontend_gui/eslint.config.js | 34 +- web_app/frontend_gui/package-lock.json | 3338 ++++++++++++++++- web_app/frontend_gui/package.json | 7 + web_app/frontend_gui/public/fonts.css | 8 +- web_app/frontend_gui/public/leaflet.css | 858 ++--- web_app/frontend_gui/public/main.css | 205 +- web_app/frontend_gui/src/App.tsx | 212 +- web_app/frontend_gui/src/Grid.tsx | 106 +- web_app/frontend_gui/src/cssModules.d.ts | 6 +- web_app/frontend_gui/src/index.tsx | 20 +- web_app/frontend_gui/src/inputs/Forms.tsx | 333 +- .../src/inputs/SocketHealth.module.css | 25 +- .../frontend_gui/src/inputs/SocketHealth.tsx | 66 +- .../src/inputs/TaskManager.module.css | 32 +- .../frontend_gui/src/inputs/TaskManager.tsx | 192 +- .../frontend_gui/src/inputs/forms.module.css | 40 +- web_app/frontend_gui/src/outputs/map.tsx | 48 +- web_app/frontend_gui/src/outputs/sim.tsx | 73 +- .../src/outputs/status.module.css | 41 +- web_app/frontend_gui/src/outputs/status.tsx | 125 +- .../frontend_gui/src/outputs/video.module.css | 12 +- web_app/frontend_gui/src/outputs/video.tsx | 24 +- web_app/frontend_gui/src/types.ts | 84 +- web_app/frontend_gui/src/utils/icons.tsx | 95 +- web_app/frontend_gui/vite.config.js | 14 +- web_app/radio_setup/README.md | 30 +- web_app/radio_setup/radio.m | 10 +- web_app/radio_setup/radio.py | 2 +- web_app/startup_win.bat | 2 +- web_app/tests/__init__.py | 1 + 51 files changed, 4673 insertions(+), 1527 deletions(-) create mode 100644 .github/workflows/lint.yml create mode 100644 .pre-commit-config.yaml create mode 100644 .yamllint.yml create mode 100644 auv_cpp/tests/CMakeLists.txt create mode 100755 auv_cpp/tests/core/test_config create mode 100644 web_app/tests/__init__.py diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index d14c3ea..37e97b5 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -3,4 +3,4 @@ "build": { "dockerfile": "../Docker/Dockerfile" } -} \ No newline at end of file +} diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml new file mode 100644 index 0000000..851a235 --- /dev/null +++ b/.github/workflows/lint.yml @@ -0,0 +1,31 @@ +name: Lint + +on: + push: + pull_request: + branches: [main, master] + +jobs: + pre-commit: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + + - uses: actions/setup-python@v5 + with: + python-version: "3.11" + + - uses: actions/setup-node@v4 + with: + node-version: "20" + + - name: Install frontend dependencies + working-directory: web_app/frontend_gui + run: npm ci + + - name: Install clang-format + run: | + sudo apt-get update + sudo apt-get install -y clang-format-18 + + - uses: pre-commit/action@v3.0.1 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..a997106 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,58 @@ +# Pre-commit hooks for Neptune repository (C++ and Frontend only) +# Install: pip install pre-commit && pre-commit install +# Run manually: pre-commit run --all-files + +exclude: ^auv/ + +repos: + # General file checks + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.6.0 + hooks: + - id: trailing-whitespace + - id: end-of-file-fixer + - id: check-yaml + args: [--unsafe] + - id: check-json + exclude: tsconfig\.json$ + - id: check-added-large-files + args: ["--maxkb=1000"] + - id: check-merge-conflict + + # C++ clangformat + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v18.1.8 + hooks: + - id: clang-format + files: ^auv_cpp/.*\.(cpp|hpp|h)$ + args: [--style=file] + + # TypeScript/JavaScript -ESLint + Prettier + - repo: local + hooks: + - id: eslint + name: ESLint + entry: bash -c 'stripped=(); for f in "$@"; do stripped+=("${f#web_app/frontend_gui/}"); done; cd web_app/frontend_gui && ./node_modules/.bin/eslint --fix "${stripped[@]}"' -- + language: system + files: ^web_app/frontend_gui/src/.*\.(ts|tsx|js|jsx)$ + pass_filenames: true + + - id: prettier + name: Prettier + entry: bash -c 'stripped=(); for f in "$@"; do stripped+=("${f#web_app/frontend_gui/}"); done; cd web_app/frontend_gui && ./node_modules/.bin/prettier --write "${stripped[@]}"' -- + language: system + files: ^web_app/frontend_gui/.*\.(ts|tsx|js|jsx|css|json)$ + exclude: tsconfig\.json$ + pass_filenames: true + + # YAML validation + - repo: https://github.com/adrienverge/yamllint + rev: v1.35.1 + hooks: + - id: yamllint + args: [-c, .yamllint.yml] + files: \.(yaml|yml)$ + +ci: + autofix_commit_msg: "style: auto-fix by pre-commit hooks" + autoupdate_commit_msg: "chore: update pre-commit hooks" diff --git a/.yamllint.yml b/.yamllint.yml new file mode 100644 index 0000000..8ae80bb --- /dev/null +++ b/.yamllint.yml @@ -0,0 +1,15 @@ +--- +extends: default + +rules: + line-length: + max: 200 + level: warning + truthy: + check-keys: false + comments: + min-spaces-from-content: 1 + document-start: disable + indentation: + spaces: 2 + indent-sequences: true diff --git a/Docker/Dockerfile b/Docker/Dockerfile index 9b0851e..9a3b491 100644 --- a/Docker/Dockerfile +++ b/Docker/Dockerfile @@ -1,11 +1,8 @@ FROM debian:bookworm -RUN apt-get update -y +RUN apt-get update -y -# install cmake and ninja +# install cmake and ninja RUN apt-get install -y cmake build-essential RUN apt-get install -y ninja-build RUN apt-get install -y git - - - diff --git a/Docs/Docker.md b/Docs/Docker.md index 610bba9..95c33ce 100644 --- a/Docs/Docker.md +++ b/Docs/Docker.md @@ -4,11 +4,10 @@ Docker allows us to containerize our app to ensure the environment is the same a # Launching the project in the container -* Clone the repository and open it in vscode -* Make sure the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension by microsoft is installed +* Clone the repository and open it in vscode +* Make sure the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension by microsoft is installed * From you command palete (ctrl(cmd on mac) + shift + p) run the `Dev containers rebuild and reopen in container` command. * The first time, this may take awhile to build You can tell the container is open if the bar at the top of vscode shows `Neptune [Dev Container: neptune]` Later, you can relaunch directly in the contaier by choosing the [dev container] option when you select your workspace - diff --git a/Docs/Running.md b/Docs/Running.md index 7569061..c0ede66 100644 --- a/Docs/Running.md +++ b/Docs/Running.md @@ -14,5 +14,3 @@ build the project, then run it cmake --build neptune ./neptune ``` - - diff --git a/README.md b/README.md index 555432c..6158ff5 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ READ DOCS/docker.md ```cpp if (condition) { // code here -} +} else { // alternative code } @@ -89,7 +89,7 @@ Document every class with its purpose and usage: /** * @class PressureSensor * @brief Interface for MS5837 pressure/temperature sensor - * + * * Provides depth and temperature readings using I2C communication. * Handles calibration and conversion to engineering units. */ @@ -116,4 +116,4 @@ Document all public functions and complex private functions: 5. Ask questions in Discord -For questions or suggestions about these guidelines, please open an issue or contact the project maintainer. \ No newline at end of file +For questions or suggestions about these guidelines, please open an issue or contact the project maintainer. diff --git a/auv_cpp/.clang-format b/auv_cpp/.clang-format index 3d8f02d..1bcfcff 100644 --- a/auv_cpp/.clang-format +++ b/auv_cpp/.clang-format @@ -5,4 +5,4 @@ PointerAlignment: Left AllowShortFunctionsOnASingleLine: Inline AllowShortIfStatementsOnASingleLine: Never BreakBeforeBraces: Attach -SortIncludes: true \ No newline at end of file +SortIncludes: true diff --git a/auv_cpp/.editorconfig b/auv_cpp/.editorconfig index e925a43..19ba592 100644 --- a/auv_cpp/.editorconfig +++ b/auv_cpp/.editorconfig @@ -9,4 +9,4 @@ trim_trailing_whitespace = true insert_final_newline = true [*.{yml,yaml}] -indent_size = 2 \ No newline at end of file +indent_size = 2 diff --git a/auv_cpp/.gitignore b/auv_cpp/.gitignore index 50df32b..8df5e2f 100644 --- a/auv_cpp/.gitignore +++ b/auv_cpp/.gitignore @@ -26,4 +26,4 @@ logs/ *.log # OS -.DS_Store \ No newline at end of file +.DS_Store diff --git a/auv_cpp/CMakeLists.txt b/auv_cpp/CMakeLists.txt index 4a2ad3d..05f0668 100644 --- a/auv_cpp/CMakeLists.txt +++ b/auv_cpp/CMakeLists.txt @@ -26,4 +26,4 @@ add_subdirectory(src/core) if(BUILD_TESTS) enable_testing() add_subdirectory(tests) -endif() \ No newline at end of file +endif() diff --git a/auv_cpp/tests/CMakeLists.txt b/auv_cpp/tests/CMakeLists.txt new file mode 100644 index 0000000..db81165 --- /dev/null +++ b/auv_cpp/tests/CMakeLists.txt @@ -0,0 +1,5 @@ +# ============================================================================= +# tests/CMakeLists.txt - Test suite +# ============================================================================= + +add_subdirectory(core) diff --git a/auv_cpp/tests/core/test_config b/auv_cpp/tests/core/test_config new file mode 100755 index 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b/web_app/__init__.py index 187e97a..50ad4a3 100644 --- a/web_app/__init__.py +++ b/web_app/__init__.py @@ -15,7 +15,7 @@ from pathlib import Path from time import sleep -from backend import socket_thread +from backend import socket_thread from pydantic_yaml import parse_yaml_file_as from ruamel.yaml import YAML @@ -73,7 +73,7 @@ def log(message: str): def start_backend(): """ If the backend websocket thread is not alive, start it. - If it is alive, do nothing. + If it is alive, do nothing. """ if backend_thread.is_alive() == False: backend_thread.start() diff --git a/web_app/backend.py b/web_app/backend.py index 66d4734..8360b19 100644 --- a/web_app/backend.py +++ b/web_app/backend.py @@ -59,7 +59,7 @@ def socket_handler( ) queue_to_frontend.put(json.dumps(asdict(ping_result))) active_pings.remove(ping) - + if time() - last_ping > ping_interval: active_pings.append( Ping( diff --git a/web_app/build.sh b/web_app/build.sh index efae4d7..6454f5d 100644 --- a/web_app/build.sh +++ b/web_app/build.sh @@ -10,7 +10,7 @@ python3 -m pip install --upgrade pip python3 -m pip install -r requirements.txt # Run npm script to build react-vite app & generate static bundle -cd frontend_gui +cd frontend_gui npm install npm run build diff --git a/web_app/build_win.bat b/web_app/build_win.bat index 2faa4c2..65032b6 100644 --- a/web_app/build_win.bat +++ b/web_app/build_win.bat @@ -5,12 +5,12 @@ python -m pip install --upgrade pip python -m pip install -r requirements.txt :: Run npm script to build react-vite app & generate static bundle -cd frontend_gui +cd frontend_gui call npm install call npm run build :: Return to original directory cd .. -:: At the end of this script, you will no longer be in the virtual environment. +:: At the end of this script, you will no longer be in the virtual environment. :: To get back in, run '.\.venv\Scripts\activate' from the command line diff --git a/web_app/data/gui_layouts.json b/web_app/data/gui_layouts.json index 2b26e04..87f2439 100644 --- a/web_app/data/gui_layouts.json +++ b/web_app/data/gui_layouts.json @@ -1 +1 @@ -{"lg":[{"w":8,"h":6,"x":0,"y":0,"i":"0/.0","minW":2,"minH":2,"moved":false,"static":false},{"w":7,"h":6,"x":8,"y":12,"i":"1/.1","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":4,"y":10,"i":"2/.2","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":13,"i":"3/.3","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":11,"y":6,"i":"4/.4","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":7,"y":6,"i":"5/.5","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":7,"y":9,"i":"6/.6","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":0,"y":10,"i":"7/.7","minW":2,"minH":2,"moved":false,"static":false},{"w":5,"h":11,"x":15,"y":0,"i":"8/.8","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":2,"x":11,"y":9,"i":"9/.9","moved":false,"static":false},{"w":7,"h":4,"x":0,"y":6,"i":"10/.a","moved":false,"static":false},{"w":7,"h":6,"x":8,"y":0,"i":"11/.b","moved":false,"static":false}],"md":[{"w":8,"h":6,"x":0,"y":0,"i":"0/.0","minW":2,"minH":2,"moved":false,"static":false},{"w":7,"h":6,"x":7,"y":6,"i":"1/.1","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":9,"i":"2/.2","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":6,"i":"3/.3","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":5,"x":10,"y":12,"i":"4/.4","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":4,"x":7,"y":17,"i":"5/.5","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":10,"y":0,"i":"6/.6","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":8,"y":3,"i":"7/.7","minW":2,"minH":2,"moved":false,"static":false},{"w":5,"h":11,"x":9,"y":21,"i":"8/.8","minW":2,"minH":2,"moved":false,"static":false}]} \ No newline at end of file +{"lg":[{"w":8,"h":6,"x":0,"y":0,"i":"0/.0","minW":2,"minH":2,"moved":false,"static":false},{"w":7,"h":6,"x":8,"y":12,"i":"1/.1","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":4,"y":10,"i":"2/.2","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":13,"i":"3/.3","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":11,"y":6,"i":"4/.4","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":7,"y":6,"i":"5/.5","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":7,"y":9,"i":"6/.6","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":0,"y":10,"i":"7/.7","minW":2,"minH":2,"moved":false,"static":false},{"w":5,"h":11,"x":15,"y":0,"i":"8/.8","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":2,"x":11,"y":9,"i":"9/.9","moved":false,"static":false},{"w":7,"h":4,"x":0,"y":6,"i":"10/.a","moved":false,"static":false},{"w":7,"h":6,"x":8,"y":0,"i":"11/.b","moved":false,"static":false}],"md":[{"w":8,"h":6,"x":0,"y":0,"i":"0/.0","minW":2,"minH":2,"moved":false,"static":false},{"w":7,"h":6,"x":7,"y":6,"i":"1/.1","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":9,"i":"2/.2","minW":2,"minH":2,"moved":false,"static":false},{"w":3,"h":3,"x":0,"y":6,"i":"3/.3","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":5,"x":10,"y":12,"i":"4/.4","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":4,"x":7,"y":17,"i":"5/.5","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":10,"y":0,"i":"6/.6","minW":2,"minH":2,"moved":false,"static":false},{"w":4,"h":3,"x":8,"y":3,"i":"7/.7","minW":2,"minH":2,"moved":false,"static":false},{"w":5,"h":11,"x":9,"y":21,"i":"8/.8","minW":2,"minH":2,"moved":false,"static":false}]} diff --git a/web_app/frontend_gui/eslint.config.js b/web_app/frontend_gui/eslint.config.js index 238d2e4..2cf9713 100644 --- a/web_app/frontend_gui/eslint.config.js +++ b/web_app/frontend_gui/eslint.config.js @@ -1,38 +1,38 @@ -import js from '@eslint/js' -import globals from 'globals' -import react from 'eslint-plugin-react' -import reactHooks from 'eslint-plugin-react-hooks' -import reactRefresh from 'eslint-plugin-react-refresh' +import js from "@eslint/js"; +import globals from "globals"; +import react from "eslint-plugin-react"; +import reactHooks from "eslint-plugin-react-hooks"; +import reactRefresh from "eslint-plugin-react-refresh"; export default [ - { ignores: ['dist'] }, + { ignores: ["dist"] }, { - files: ['**/*.{js,jsx}'], + files: ["**/*.{js,jsx}"], languageOptions: { ecmaVersion: 2020, globals: globals.browser, parserOptions: { - ecmaVersion: 'latest', + ecmaVersion: "latest", ecmaFeatures: { jsx: true }, - sourceType: 'module', + sourceType: "module", }, }, - settings: { react: { version: '18.3' } }, + settings: { react: { version: "18.3" } }, plugins: { react, - 'react-hooks': reactHooks, - 'react-refresh': reactRefresh, + "react-hooks": reactHooks, + "react-refresh": reactRefresh, }, rules: { ...js.configs.recommended.rules, ...react.configs.recommended.rules, - ...react.configs['jsx-runtime'].rules, + ...react.configs["jsx-runtime"].rules, ...reactHooks.configs.recommended.rules, - 'react/jsx-no-target-blank': 'off', - 'react-refresh/only-export-components': [ - 'warn', + "react/jsx-no-target-blank": "off", + "react-refresh/only-export-components": [ + "warn", { allowConstantExport: true }, ], }, }, -] +]; diff --git a/web_app/frontend_gui/package-lock.json b/web_app/frontend_gui/package-lock.json index 7dd5b5f..975ef3e 100644 --- a/web_app/frontend_gui/package-lock.json +++ b/web_app/frontend_gui/package-lock.json @@ -18,12 +18,19 @@ "three": "^0.174.0" }, "devDependencies": { + "@eslint/js": "^9.39.2", "@types/leaflet": "^1.9.17", "@types/react": "^19.1.6", "@types/react-dom": "^19.1.2", "@types/react-grid-layout": "^1.3.5", "@types/three": "^0.175.0", "@vitejs/plugin-react": "^4.3.4", + "eslint": "^9.39.2", + "eslint-plugin-react": "^7.37.5", + "eslint-plugin-react-hooks": "^5.2.0", + "eslint-plugin-react-refresh": "^0.4.26", + "globals": "^15.15.0", + "prettier": "^3.8.1", "typescript": "^5.8.3", "vite": "^6.2.6" } @@ -297,6 +304,15 @@ "node": ">=6.9.0" } }, + "node_modules/@babel/traverse/node_modules/globals": { + "version": "11.12.0", + "resolved": "https://registry.npmjs.org/globals/-/globals-11.12.0.tgz", + "integrity": "sha512-WOBp/EEGUiIsJSp7wcv/y6MO+lV9UoncWqxuFfm8eBwzWNgyfBd6Gz+IeKQ9jCmyhoH99g15M3T+QaVHFjizVA==", + "license": "MIT", + "engines": { + "node": ">=4" + } + }, "node_modules/@babel/types": { "version": "7.27.0", "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.27.0.tgz", @@ -731,6 +747,215 @@ "node": ">=18" } }, + "node_modules/@eslint-community/eslint-utils": { + "version": 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"https://github.com/sponsors/sindresorhus" + } + }, "node_modules/zustand": { "version": "5.0.3", "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.3.tgz", diff --git a/web_app/frontend_gui/package.json b/web_app/frontend_gui/package.json index 2928cdb..80efc76 100644 --- a/web_app/frontend_gui/package.json +++ b/web_app/frontend_gui/package.json @@ -20,12 +20,19 @@ "three": "^0.174.0" }, "devDependencies": { + "@eslint/js": "^9.39.2", "@types/leaflet": "^1.9.17", "@types/react": "^19.1.6", "@types/react-dom": "^19.1.2", "@types/react-grid-layout": "^1.3.5", "@types/three": "^0.175.0", "@vitejs/plugin-react": "^4.3.4", + "eslint": "^9.39.2", + "eslint-plugin-react": "^7.37.5", + "eslint-plugin-react-hooks": "^5.2.0", + "eslint-plugin-react-refresh": "^0.4.26", + "globals": "^15.15.0", + "prettier": "^3.8.1", "typescript": "^5.8.3", "vite": "^6.2.6" } diff --git a/web_app/frontend_gui/public/fonts.css b/web_app/frontend_gui/public/fonts.css index 39b2122..3342640 100644 --- a/web_app/frontend_gui/public/fonts.css +++ b/web_app/frontend_gui/public/fonts.css @@ -1,6 +1,6 @@ @font-face { - font-family: "Open Sans"; - font-weight: 400; - font-style: normal; - src: url('fonts/OpenSans.ttf') format('truetype'); + font-family: "Open Sans"; + font-weight: 400; + font-style: normal; + src: url("fonts/OpenSans.ttf") format("truetype"); } diff --git a/web_app/frontend_gui/public/leaflet.css b/web_app/frontend_gui/public/leaflet.css index 9ade8dc..2dd1c58 100644 --- a/web_app/frontend_gui/public/leaflet.css +++ b/web_app/frontend_gui/public/leaflet.css @@ -10,233 +10,248 @@ .leaflet-zoom-box, .leaflet-image-layer, .leaflet-layer { - position: absolute; - left: 0; - top: 0; - } + position: absolute; + left: 0; + top: 0; +} .leaflet-container { - overflow: hidden; - } + overflow: hidden; +} .leaflet-tile, .leaflet-marker-icon, .leaflet-marker-shadow { - -webkit-user-select: none; - -moz-user-select: none; - user-select: none; - -webkit-user-drag: none; - } + -webkit-user-select: none; + -moz-user-select: none; + user-select: none; + -webkit-user-drag: none; +} /* Prevents IE11 from highlighting tiles in blue */ .leaflet-tile::selection { - background: transparent; + background: transparent; } /* Safari renders non-retina tile on retina better with this, but Chrome is worse */ .leaflet-safari .leaflet-tile { - image-rendering: -webkit-optimize-contrast; - } + image-rendering: -webkit-optimize-contrast; +} /* hack that prevents hw layers "stretching" when loading new tiles */ .leaflet-safari .leaflet-tile-container { - width: 1600px; - height: 1600px; - -webkit-transform-origin: 0 0; - } + width: 1600px; + height: 1600px; + -webkit-transform-origin: 0 0; +} .leaflet-marker-icon, .leaflet-marker-shadow { - display: block; - } + display: block; +} /* .leaflet-container svg: reset svg max-width decleration shipped in Joomla! (joomla.org) 3.x */ /* .leaflet-container img: map is broken in FF if you have max-width: 100% on tiles */ .leaflet-container .leaflet-overlay-pane svg { - max-width: none !important; - max-height: none !important; - } + max-width: none !important; + max-height: none !important; +} .leaflet-container .leaflet-marker-pane img, .leaflet-container .leaflet-shadow-pane img, .leaflet-container .leaflet-tile-pane img, .leaflet-container img.leaflet-image-layer, .leaflet-container .leaflet-tile { - max-width: none !important; - max-height: none !important; - width: auto; - padding: 0; - } + max-width: none !important; + max-height: none !important; + width: auto; + padding: 0; +} .leaflet-container img.leaflet-tile { - /* See: https://bugs.chromium.org/p/chromium/issues/detail?id=600120 */ - mix-blend-mode: plus-lighter; + /* See: https://bugs.chromium.org/p/chromium/issues/detail?id=600120 */ + mix-blend-mode: plus-lighter; } .leaflet-container.leaflet-touch-zoom { - -ms-touch-action: pan-x pan-y; - touch-action: pan-x pan-y; - } + -ms-touch-action: pan-x pan-y; + touch-action: pan-x pan-y; +} .leaflet-container.leaflet-touch-drag { - -ms-touch-action: pinch-zoom; - /* Fallback for FF which doesn't support pinch-zoom */ - touch-action: none; - touch-action: pinch-zoom; + -ms-touch-action: pinch-zoom; + /* Fallback for FF which doesn't support pinch-zoom */ + touch-action: none; + touch-action: pinch-zoom; } .leaflet-container.leaflet-touch-drag.leaflet-touch-zoom { - -ms-touch-action: none; - touch-action: none; + -ms-touch-action: none; + touch-action: none; } .leaflet-container { - -webkit-tap-highlight-color: transparent; + -webkit-tap-highlight-color: transparent; } .leaflet-container a { - -webkit-tap-highlight-color: rgba(51, 181, 229, 0.4); + -webkit-tap-highlight-color: rgba(51, 181, 229, 0.4); } .leaflet-tile { - filter: inherit; - visibility: hidden; - } + filter: inherit; + visibility: hidden; +} .leaflet-tile-loaded { - visibility: inherit; - } + visibility: inherit; +} .leaflet-zoom-box { - width: 0; - height: 0; - -moz-box-sizing: border-box; - box-sizing: border-box; - z-index: 800; - } + width: 0; + height: 0; + -moz-box-sizing: border-box; + box-sizing: border-box; + z-index: 800; +} /* workaround for https://bugzilla.mozilla.org/show_bug.cgi?id=888319 */ .leaflet-overlay-pane svg { - -moz-user-select: none; - } + -moz-user-select: none; +} -.leaflet-pane { z-index: 400; } +.leaflet-pane { + z-index: 400; +} -.leaflet-tile-pane { z-index: 200; } -.leaflet-overlay-pane { z-index: 400; } -.leaflet-shadow-pane { z-index: 500; } -.leaflet-marker-pane { z-index: 600; } -.leaflet-tooltip-pane { z-index: 650; } -.leaflet-popup-pane { z-index: 700; } +.leaflet-tile-pane { + z-index: 200; +} +.leaflet-overlay-pane { + z-index: 400; +} +.leaflet-shadow-pane { + z-index: 500; +} +.leaflet-marker-pane { + z-index: 600; +} +.leaflet-tooltip-pane { + z-index: 650; +} +.leaflet-popup-pane { + z-index: 700; +} -.leaflet-map-pane canvas { z-index: 100; } -.leaflet-map-pane svg { z-index: 200; } +.leaflet-map-pane canvas { + z-index: 100; +} +.leaflet-map-pane svg { + z-index: 200; +} .leaflet-vml-shape { - width: 1px; - height: 1px; - } + width: 1px; + height: 1px; +} .lvml { - behavior: url(#default#VML); - display: inline-block; - position: absolute; - } - + behavior: url(#default#VML); + display: inline-block; + position: absolute; +} /* control positioning */ .leaflet-control { - position: relative; - z-index: 800; - pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */ - pointer-events: auto; - } + position: relative; + z-index: 800; + pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */ + pointer-events: auto; +} .leaflet-top, .leaflet-bottom { - position: absolute; - z-index: 1000; - pointer-events: none; - } + position: absolute; + z-index: 1000; + pointer-events: none; +} .leaflet-top { - top: 0; - } + top: 0; +} .leaflet-right { - right: 0; - } + right: 0; +} .leaflet-bottom { - bottom: 0; - } + bottom: 0; +} .leaflet-left { - left: 0; - } + left: 0; +} .leaflet-control { - float: left; - clear: both; - } + float: left; + clear: both; +} .leaflet-right .leaflet-control { - float: right; - } + float: right; +} .leaflet-top .leaflet-control { - margin-top: 10px; - } + margin-top: 10px; +} .leaflet-bottom .leaflet-control { - margin-bottom: 10px; - } + margin-bottom: 10px; +} .leaflet-left .leaflet-control { - margin-left: 10px; - } + margin-left: 10px; +} .leaflet-right .leaflet-control { - margin-right: 10px; - } - + margin-right: 10px; +} /* zoom and fade animations */ .leaflet-fade-anim .leaflet-popup { - opacity: 0; - -webkit-transition: opacity 0.2s linear; - -moz-transition: opacity 0.2s linear; - transition: opacity 0.2s linear; - } + opacity: 0; + -webkit-transition: opacity 0.2s linear; + -moz-transition: opacity 0.2s linear; + transition: opacity 0.2s linear; +} .leaflet-fade-anim .leaflet-map-pane .leaflet-popup { - opacity: 1; - } + opacity: 1; +} .leaflet-zoom-animated { - -webkit-transform-origin: 0 0; - -ms-transform-origin: 0 0; - transform-origin: 0 0; - } + -webkit-transform-origin: 0 0; + -ms-transform-origin: 0 0; + transform-origin: 0 0; +} svg.leaflet-zoom-animated { - will-change: transform; + will-change: transform; } .leaflet-zoom-anim .leaflet-zoom-animated { - -webkit-transition: -webkit-transform 0.25s cubic-bezier(0,0,0.25,1); - -moz-transition: -moz-transform 0.25s cubic-bezier(0,0,0.25,1); - transition: transform 0.25s cubic-bezier(0,0,0.25,1); - } + -webkit-transition: -webkit-transform 0.25s cubic-bezier(0, 0, 0.25, 1); + -moz-transition: -moz-transform 0.25s cubic-bezier(0, 0, 0.25, 1); + transition: transform 0.25s cubic-bezier(0, 0, 0.25, 1); +} .leaflet-zoom-anim .leaflet-tile, .leaflet-pan-anim .leaflet-tile { - -webkit-transition: none; - -moz-transition: none; - transition: none; - } + -webkit-transition: none; + -moz-transition: none; + transition: none; +} .leaflet-zoom-anim .leaflet-zoom-hide { - visibility: hidden; - } - + visibility: hidden; +} /* cursors */ .leaflet-interactive { - cursor: pointer; - } + cursor: pointer; +} .leaflet-grab { - cursor: -webkit-grab; - cursor: -moz-grab; - cursor: grab; - } + cursor: -webkit-grab; + cursor: -moz-grab; + cursor: grab; +} .leaflet-crosshair, .leaflet-crosshair .leaflet-interactive { - cursor: crosshair; - } + cursor: crosshair; +} .leaflet-popup-pane, .leaflet-control { - cursor: auto; - } + cursor: auto; +} .leaflet-dragging .leaflet-grab, .leaflet-dragging .leaflet-grab .leaflet-interactive, .leaflet-dragging .leaflet-marker-draggable { - cursor: move; - cursor: -webkit-grabbing; - cursor: -moz-grabbing; - cursor: grabbing; - } + cursor: move; + cursor: -webkit-grabbing; + cursor: -moz-grabbing; + cursor: grabbing; +} /* marker & overlays interactivity */ .leaflet-marker-icon, @@ -244,418 +259,419 @@ svg.leaflet-zoom-animated { .leaflet-image-layer, .leaflet-pane > svg path, .leaflet-tile-container { - pointer-events: none; - } + pointer-events: none; +} .leaflet-marker-icon.leaflet-interactive, .leaflet-image-layer.leaflet-interactive, .leaflet-pane > svg path.leaflet-interactive, svg.leaflet-image-layer.leaflet-interactive path { - pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */ - pointer-events: auto; - } + pointer-events: visiblePainted; /* IE 9-10 doesn't have auto */ + pointer-events: auto; +} /* visual tweaks */ .leaflet-container { - background: #ddd; - outline-offset: 1px; - } + background: #ddd; + outline-offset: 1px; +} .leaflet-container a { - color: #0078A8; - } + color: #0078a8; +} .leaflet-zoom-box { - border: 2px dotted #38f; - background: rgba(255,255,255,0.5); - } - + border: 2px dotted #38f; + background: rgba(255, 255, 255, 0.5); +} /* general typography */ .leaflet-container { - font-family: "Helvetica Neue", Arial, Helvetica, sans-serif; - font-size: 12px; - font-size: 0.75rem; - line-height: 1.5; - } - + font-family: "Helvetica Neue", Arial, Helvetica, sans-serif; + font-size: 12px; + font-size: 0.75rem; + line-height: 1.5; +} /* general toolbar styles */ .leaflet-bar { - box-shadow: 0 1px 5px rgba(0,0,0,0.65); - border-radius: 4px; - } + box-shadow: 0 1px 5px rgba(0, 0, 0, 0.65); + border-radius: 4px; +} .leaflet-bar a { - background-color: #fff; - border-bottom: 1px solid #ccc; - width: 26px; - height: 26px; - line-height: 26px; - display: block; - text-align: center; - text-decoration: none; - color: black; - } + background-color: #fff; + border-bottom: 1px solid #ccc; + width: 26px; + height: 26px; + line-height: 26px; + display: block; + text-align: center; + text-decoration: none; + color: black; +} .leaflet-bar a, .leaflet-control-layers-toggle { - background-position: 50% 50%; - background-repeat: no-repeat; - display: block; - } + background-position: 50% 50%; + background-repeat: no-repeat; + display: block; +} .leaflet-bar a:hover, .leaflet-bar a:focus { - background-color: #f4f4f4; - } + background-color: #f4f4f4; +} .leaflet-bar a:first-child { - border-top-left-radius: 4px; - border-top-right-radius: 4px; - } + border-top-left-radius: 4px; + border-top-right-radius: 4px; +} .leaflet-bar a:last-child { - border-bottom-left-radius: 4px; - border-bottom-right-radius: 4px; - border-bottom: none; - } + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + border-bottom: none; +} .leaflet-bar a.leaflet-disabled { - cursor: default; - background-color: #f4f4f4; - color: #bbb; - } + cursor: default; + background-color: #f4f4f4; + color: #bbb; +} .leaflet-touch .leaflet-bar a { - width: 30px; - height: 30px; - line-height: 30px; - } + width: 30px; + height: 30px; + line-height: 30px; +} .leaflet-touch .leaflet-bar a:first-child { - border-top-left-radius: 2px; - border-top-right-radius: 2px; - } + border-top-left-radius: 2px; + border-top-right-radius: 2px; +} .leaflet-touch .leaflet-bar a:last-child { - border-bottom-left-radius: 2px; - border-bottom-right-radius: 2px; - } + border-bottom-left-radius: 2px; + border-bottom-right-radius: 2px; +} /* zoom control */ .leaflet-control-zoom-in, .leaflet-control-zoom-out { - font: bold 18px 'Lucida Console', Monaco, monospace; - text-indent: 1px; - } - -.leaflet-touch .leaflet-control-zoom-in, .leaflet-touch .leaflet-control-zoom-out { - font-size: 22px; - } + font: + bold 18px "Lucida Console", + Monaco, + monospace; + text-indent: 1px; +} +.leaflet-touch .leaflet-control-zoom-in, +.leaflet-touch .leaflet-control-zoom-out { + font-size: 22px; +} /* layers control */ .leaflet-control-layers { - box-shadow: 0 1px 5px rgba(0,0,0,0.4); - background: #fff; - border-radius: 5px; - } + box-shadow: 0 1px 5px rgba(0, 0, 0, 0.4); + background: #fff; + border-radius: 5px; +} .leaflet-control-layers-toggle { - background-image: url(images/layers.png); - width: 36px; - height: 36px; - } + background-image: url(images/layers.png); + width: 36px; + height: 36px; +} .leaflet-retina .leaflet-control-layers-toggle { - background-image: url(images/layers-2x.png); - background-size: 26px 26px; - } + background-image: url(images/layers-2x.png); + background-size: 26px 26px; +} .leaflet-touch .leaflet-control-layers-toggle { - width: 44px; - height: 44px; - } + width: 44px; + height: 44px; +} .leaflet-control-layers .leaflet-control-layers-list, .leaflet-control-layers-expanded .leaflet-control-layers-toggle { - display: none; - } + display: none; +} .leaflet-control-layers-expanded .leaflet-control-layers-list { - display: block; - position: relative; - } + display: block; + position: relative; +} .leaflet-control-layers-expanded { - padding: 6px 10px 6px 6px; - color: #333; - background: #fff; - } + padding: 6px 10px 6px 6px; + color: #333; + background: #fff; +} .leaflet-control-layers-scrollbar { - overflow-y: scroll; - overflow-x: hidden; - padding-right: 5px; - } + overflow-y: scroll; + overflow-x: hidden; + padding-right: 5px; +} .leaflet-control-layers-selector { - margin-top: 2px; - position: relative; - top: 1px; - } + margin-top: 2px; + position: relative; + top: 1px; +} .leaflet-control-layers label { - display: block; - font-size: 13px; - font-size: 1.08333em; - } + display: block; + font-size: 13px; + font-size: 1.08333em; +} .leaflet-control-layers-separator { - height: 0; - border-top: 1px solid #ddd; - margin: 5px -10px 5px -6px; - } + height: 0; + border-top: 1px solid #ddd; + margin: 5px -10px 5px -6px; +} /* Default icon URLs */ -.leaflet-default-icon-path { /* used only in path-guessing heuristic, see L.Icon.Default */ - background-image: url(images/marker-icon.png); - } - +.leaflet-default-icon-path { + /* used only in path-guessing heuristic, see L.Icon.Default */ + background-image: url(images/marker-icon.png); +} /* attribution and scale controls */ .leaflet-container .leaflet-control-attribution { - background: #fff; - background: rgba(255, 255, 255, 0.8); - margin: 0; - } + background: #fff; + background: rgba(255, 255, 255, 0.8); + margin: 0; +} .leaflet-control-attribution, .leaflet-control-scale-line { - padding: 0 5px; - color: #333; - line-height: 1.4; - } + padding: 0 5px; + color: #333; + line-height: 1.4; +} .leaflet-control-attribution a { - text-decoration: none; - } + text-decoration: none; +} .leaflet-control-attribution a:hover, .leaflet-control-attribution a:focus { - text-decoration: underline; - } + text-decoration: underline; +} .leaflet-attribution-flag { - display: inline !important; - vertical-align: baseline !important; - width: 1em; - height: 0.6669em; - } + display: inline !important; + vertical-align: baseline !important; + width: 1em; + height: 0.6669em; +} .leaflet-left .leaflet-control-scale { - margin-left: 5px; - } + margin-left: 5px; +} .leaflet-bottom .leaflet-control-scale { - margin-bottom: 5px; - } + margin-bottom: 5px; +} .leaflet-control-scale-line { - border: 2px solid #777; - border-top: none; - line-height: 1.1; - padding: 2px 5px 1px; - white-space: nowrap; - -moz-box-sizing: border-box; - box-sizing: border-box; - background: rgba(255, 255, 255, 0.8); - text-shadow: 1px 1px #fff; - } + border: 2px solid #777; + border-top: none; + line-height: 1.1; + padding: 2px 5px 1px; + white-space: nowrap; + -moz-box-sizing: border-box; + box-sizing: border-box; + background: rgba(255, 255, 255, 0.8); + text-shadow: 1px 1px #fff; +} .leaflet-control-scale-line:not(:first-child) { - border-top: 2px solid #777; - border-bottom: none; - margin-top: -2px; - } + border-top: 2px solid #777; + border-bottom: none; + margin-top: -2px; +} .leaflet-control-scale-line:not(:first-child):not(:last-child) { - border-bottom: 2px solid #777; - } + border-bottom: 2px solid #777; +} .leaflet-touch .leaflet-control-attribution, .leaflet-touch .leaflet-control-layers, .leaflet-touch .leaflet-bar { - box-shadow: none; - } + box-shadow: none; +} .leaflet-touch .leaflet-control-layers, .leaflet-touch .leaflet-bar { - border: 2px solid rgba(0,0,0,0.2); - background-clip: padding-box; - } - + border: 2px solid rgba(0, 0, 0, 0.2); + background-clip: padding-box; +} /* popup */ .leaflet-popup { - position: absolute; - text-align: center; - margin-bottom: 20px; - } + position: absolute; + text-align: center; + margin-bottom: 20px; +} .leaflet-popup-content-wrapper { - padding: 1px; - text-align: left; - border-radius: 12px; - } + padding: 1px; + text-align: left; + border-radius: 12px; +} .leaflet-popup-content { - margin: 13px 24px 13px 20px; - line-height: 1.3; - font-size: 13px; - font-size: 1.08333em; - min-height: 1px; - } + margin: 13px 24px 13px 20px; + line-height: 1.3; + font-size: 13px; + font-size: 1.08333em; + min-height: 1px; +} .leaflet-popup-content p { - margin: 17px 0; - margin: 1.3em 0; - } + margin: 17px 0; + margin: 1.3em 0; +} .leaflet-popup-tip-container { - width: 40px; - height: 20px; - position: absolute; - left: 50%; - margin-top: -1px; - margin-left: -20px; - overflow: hidden; - pointer-events: none; - } + width: 40px; + height: 20px; + position: absolute; + left: 50%; + margin-top: -1px; + margin-left: -20px; + overflow: hidden; + pointer-events: none; +} .leaflet-popup-tip { - width: 17px; - height: 17px; - padding: 1px; - - margin: -10px auto 0; - pointer-events: auto; - - -webkit-transform: rotate(45deg); - -moz-transform: rotate(45deg); - -ms-transform: rotate(45deg); - transform: rotate(45deg); - } + width: 17px; + height: 17px; + padding: 1px; + + margin: -10px auto 0; + pointer-events: auto; + + -webkit-transform: rotate(45deg); + -moz-transform: rotate(45deg); + -ms-transform: rotate(45deg); + transform: rotate(45deg); +} .leaflet-popup-content-wrapper, .leaflet-popup-tip { - background: white; - color: #333; - box-shadow: 0 3px 14px rgba(0,0,0,0.4); - } + background: white; + color: #333; + box-shadow: 0 3px 14px rgba(0, 0, 0, 0.4); +} .leaflet-container a.leaflet-popup-close-button { - position: absolute; - top: 0; - right: 0; - border: none; - text-align: center; - width: 24px; - height: 24px; - font: 16px/24px Tahoma, Verdana, sans-serif; - color: #757575; - text-decoration: none; - background: transparent; - } + position: absolute; + top: 0; + right: 0; + border: none; + text-align: center; + width: 24px; + height: 24px; + font: + 16px/24px Tahoma, + Verdana, + sans-serif; + color: #757575; + text-decoration: none; + background: transparent; +} .leaflet-container a.leaflet-popup-close-button:hover, .leaflet-container a.leaflet-popup-close-button:focus { - color: #585858; - } + color: #585858; +} .leaflet-popup-scrolled { - overflow: auto; - } + overflow: auto; +} .leaflet-oldie .leaflet-popup-content-wrapper { - -ms-zoom: 1; - } + -ms-zoom: 1; +} .leaflet-oldie .leaflet-popup-tip { - width: 24px; - margin: 0 auto; + width: 24px; + margin: 0 auto; - -ms-filter: "progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678)"; - filter: progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678); - } + -ms-filter: "progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678)"; + filter: progid:DXImageTransform.Microsoft.Matrix(M11=0.70710678, M12=0.70710678, M21=-0.70710678, M22=0.70710678); +} .leaflet-oldie .leaflet-control-zoom, .leaflet-oldie .leaflet-control-layers, .leaflet-oldie .leaflet-popup-content-wrapper, .leaflet-oldie .leaflet-popup-tip { - border: 1px solid #999; - } - + border: 1px solid #999; +} /* div icon */ .leaflet-div-icon { - background: #fff; - border: 1px solid #666; - } - + background: #fff; + border: 1px solid #666; +} /* Tooltip */ /* Base styles for the element that has a tooltip */ .leaflet-tooltip { - position: absolute; - padding: 6px; - background-color: #fff; - border: 1px solid #fff; - border-radius: 3px; - color: #222; - white-space: nowrap; - -webkit-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; - pointer-events: none; - box-shadow: 0 1px 3px rgba(0,0,0,0.4); - } + position: absolute; + padding: 6px; + background-color: #fff; + border: 1px solid #fff; + border-radius: 3px; + color: #222; + white-space: nowrap; + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + pointer-events: none; + box-shadow: 0 1px 3px rgba(0, 0, 0, 0.4); +} .leaflet-tooltip.leaflet-interactive { - cursor: pointer; - pointer-events: auto; - } + cursor: pointer; + pointer-events: auto; +} .leaflet-tooltip-top:before, .leaflet-tooltip-bottom:before, .leaflet-tooltip-left:before, .leaflet-tooltip-right:before { - position: absolute; - pointer-events: none; - border: 6px solid transparent; - background: transparent; - content: ""; - } + position: absolute; + pointer-events: none; + border: 6px solid transparent; + background: transparent; + content: ""; +} /* Directions */ .leaflet-tooltip-bottom { - margin-top: 6px; + margin-top: 6px; } .leaflet-tooltip-top { - margin-top: -6px; + margin-top: -6px; } .leaflet-tooltip-bottom:before, .leaflet-tooltip-top:before { - left: 50%; - margin-left: -6px; - } + left: 50%; + margin-left: -6px; +} .leaflet-tooltip-top:before { - bottom: 0; - margin-bottom: -12px; - border-top-color: #fff; - } + bottom: 0; + margin-bottom: -12px; + border-top-color: #fff; +} .leaflet-tooltip-bottom:before { - top: 0; - margin-top: -12px; - margin-left: -6px; - border-bottom-color: #fff; - } + top: 0; + margin-top: -12px; + margin-left: -6px; + border-bottom-color: #fff; +} .leaflet-tooltip-left { - margin-left: -6px; + margin-left: -6px; } .leaflet-tooltip-right { - margin-left: 6px; + margin-left: 6px; } .leaflet-tooltip-left:before, .leaflet-tooltip-right:before { - top: 50%; - margin-top: -6px; - } + top: 50%; + margin-top: -6px; +} .leaflet-tooltip-left:before { - right: 0; - margin-right: -12px; - border-left-color: #fff; - } + right: 0; + margin-right: -12px; + border-left-color: #fff; +} .leaflet-tooltip-right:before { - left: 0; - margin-left: -12px; - border-right-color: #fff; - } + left: 0; + margin-left: -12px; + border-right-color: #fff; +} /* Printing */ @media print { - /* Prevent printers from removing background-images of controls. */ - .leaflet-control { - -webkit-print-color-adjust: exact; - print-color-adjust: exact; - } - } + /* Prevent printers from removing background-images of controls. */ + .leaflet-control { + -webkit-print-color-adjust: exact; + print-color-adjust: exact; + } +} diff --git a/web_app/frontend_gui/public/main.css b/web_app/frontend_gui/public/main.css index 3c1ed0d..d57014b 100644 --- a/web_app/frontend_gui/public/main.css +++ b/web_app/frontend_gui/public/main.css @@ -1,109 +1,111 @@ -html, body { - font-family: "Open Sans", system-ui; - padding: 0; - margin: 0; - height: 100vh; - background: #CEF3FF; - font-size: 1.2; +html, +body { + font-family: "Open Sans", system-ui; + padding: 0; + margin: 0; + height: 100vh; + background: #cef3ff; + font-size: 1.2; } :root { - /* Generated with https://www.joshwcomeau.com/shadow-palette/*/ - --shadow-color: 195deg 39% 56%; /* Same as #CEF3FF */ - --shadow-elevation-low: - 0px 0.3px 0.3px hsl(var(--shadow-color) / 0.52), - 0px 0.5px 0.5px -1.9px hsl(var(--shadow-color) / 0.4), - 0px 1.3px 1.2px -3.7px hsl(var(--shadow-color) / 0.29); - --shadow-elevation-medium: - 0px 0.3px 0.3px hsl(var(--shadow-color) / 0.43), - 0px 0.6px 0.6px -0.9px hsl(var(--shadow-color) / 0.38), - 0px 1.3px 1.2px -1.9px hsl(var(--shadow-color) / 0.32), - 0px 3.1px 2.9px -2.8px hsl(var(--shadow-color) / 0.26), - 0px 6.3px 5.9px -3.7px hsl(var(--shadow-color) / 0.2); - --shadow-elevation-high: - 0px 0.2px 0.2px hsl(var(--shadow-color) / 0.32), - 0px 0.8px 0.8px -0.5px hsl(var(--shadow-color) / 0.3), - 0px 1.4px 1.4px -1px hsl(var(--shadow-color) / 0.28), - 0px 2.5px 2.4px -1.5px hsl(var(--shadow-color) / 0.25), - -0.1px 4.3px 4.2px -2px hsl(var(--shadow-color) / 0.23), - -0.1px 7.1px 6.9px -2.5px hsl(var(--shadow-color) / 0.21), - -0.2px 11.3px 11px -3px hsl(var(--shadow-color) / 0.19), - -0.3px 17.1px 16.7px -3.5px hsl(var(--shadow-color) / 0.16); + /* Generated with https://www.joshwcomeau.com/shadow-palette/*/ + --shadow-color: 195deg 39% 56%; /* Same as #CEF3FF */ + --shadow-elevation-low: + 0px 0.3px 0.3px hsl(var(--shadow-color) / 0.52), + 0px 0.5px 0.5px -1.9px hsl(var(--shadow-color) / 0.4), + 0px 1.3px 1.2px -3.7px hsl(var(--shadow-color) / 0.29); + --shadow-elevation-medium: + 0px 0.3px 0.3px hsl(var(--shadow-color) / 0.43), + 0px 0.6px 0.6px -0.9px hsl(var(--shadow-color) / 0.38), + 0px 1.3px 1.2px -1.9px hsl(var(--shadow-color) / 0.32), + 0px 3.1px 2.9px -2.8px hsl(var(--shadow-color) / 0.26), + 0px 6.3px 5.9px -3.7px hsl(var(--shadow-color) / 0.2); + --shadow-elevation-high: + 0px 0.2px 0.2px hsl(var(--shadow-color) / 0.32), + 0px 0.8px 0.8px -0.5px hsl(var(--shadow-color) / 0.3), + 0px 1.4px 1.4px -1px hsl(var(--shadow-color) / 0.28), + 0px 2.5px 2.4px -1.5px hsl(var(--shadow-color) / 0.25), + -0.1px 4.3px 4.2px -2px hsl(var(--shadow-color) / 0.23), + -0.1px 7.1px 6.9px -2.5px hsl(var(--shadow-color) / 0.21), + -0.2px 11.3px 11px -3px hsl(var(--shadow-color) / 0.19), + -0.3px 17.1px 16.7px -3.5px hsl(var(--shadow-color) / 0.16); } * { - box-sizing: border-box; + box-sizing: border-box; } h1 { - margin: -0.25rem auto 0.25rem auto; - width: fit-content; - background-color: white; - padding: 0.75rem; - border-radius: 1rem; - box-shadow: var(--shadow-elevation-medium); + margin: -0.25rem auto 0.25rem auto; + width: fit-content; + background-color: white; + padding: 0.75rem; + border-radius: 1rem; + box-shadow: var(--shadow-elevation-medium); } h2 { - margin: 0 0 0.5rem; - line-height: 1; - text-align: center; + margin: 0 0 0.5rem; + line-height: 1; + text-align: center; } h3 { - margin: 0; + margin: 0; } input, select { - font-family: inherit; + font-family: inherit; } ul { - margin-top: 0; - list-style: none; - padding-left: 0; + margin-top: 0; + list-style: none; + padding-left: 0; } -ul>li { - margin-bottom: 0.75rem; +ul > li { + margin-bottom: 0.75rem; } -pre { /* For the gui console output*/ - text-wrap: wrap; +pre { + /* For the gui console output*/ + text-wrap: wrap; } button { - cursor: pointer; + cursor: pointer; } .parent-container { - padding: 1rem; + padding: 1rem; } .top-right-buttons { - position: absolute; - top: 1rem; - right: 1.5rem; - display: flex; + position: absolute; + top: 1rem; + right: 1.5rem; + display: flex; } .top-right-buttons > button { - margin: 0.25rem; - border-radius: 0.75rem; - border: none; - padding: 0.5rem 0.75rem; - display: flex; - align-items: center; - justify-content: center; - gap: 0.2rem; - background: white; - box-shadow: var(--shadow-elevation-medium); - font-size: 0.9rem; + margin: 0.25rem; + border-radius: 0.75rem; + border: none; + padding: 0.5rem 0.75rem; + display: flex; + align-items: center; + justify-content: center; + gap: 0.2rem; + background: white; + box-shadow: var(--shadow-elevation-medium); + font-size: 0.9rem; } .top-right-buttons > button:hover { - transform: translateY(-0.1rem); + transform: translateY(-0.1rem); } /* This section has `react-grid-layout` package class names that are not found @@ -111,76 +113,77 @@ button { * future, it is due to react-grid-layout changing their class names. Change * them to match, or if that is impossible simply track the grid state manually * and apply custom class names. */ -.react-grid-item { /* Assigned to grid items by react-grid-layout*/ - padding: 1rem; - background-color: white; - border-radius: 1.5rem; - box-shadow: var(--shadow-elevation-high); +.react-grid-item { + /* Assigned to grid items by react-grid-layout*/ + padding: 1rem; + background-color: white; + border-radius: 1.5rem; + box-shadow: var(--shadow-elevation-high); } .react-grid-layout button { - border: none; - border-radius: 0.75rem; - margin: 0.5rem; - padding: 0.75rem 1rem; - background: white; - filter: brightness(95%); - font-weight: bold; + border: none; + border-radius: 0.75rem; + margin: 0.5rem; + padding: 0.75rem 1rem; + background: white; + filter: brightness(95%); + font-weight: bold; } .react-grid-layout button:hover { - filter: brightness(85%); + filter: brightness(85%); } /* For cursor when hovering in drag mode*/ .react-grid-item.react-draggable { - cursor: grab; + cursor: grab; } /* For cursor when actively dragging*/ .react-grid-item.react-draggable-dragging { - cursor: grabbing; + cursor: grabbing; } /* END of weird section with react-grid-layout classes*/ .map-handle { - position: absolute; - top: 0; - left: 1.5rem; - right: 1.5rem; - height: 2rem; - cursor: grab; + position: absolute; + top: 0; + left: 1.5rem; + right: 1.5rem; + height: 2rem; + cursor: grab; } .map-holder { - flex-grow: 1; - display: flex; - flex-direction: column; + flex-grow: 1; + display: flex; + flex-direction: column; } .map { - flex-grow: 1; - border-radius: 1rem; + flex-grow: 1; + border-radius: 1rem; } .status-section { - display: flex; - flex-direction: column; - align-items: flex-start; - padding-inline: 1rem; + display: flex; + flex-direction: column; + align-items: flex-start; + padding-inline: 1rem; } .status-item { - width: 20ch; + width: 20ch; } .testing-section { - flex-grow: 1; - display: flex; - justify-content: space-evenly; - align-items: flex-start; + flex-grow: 1; + display: flex; + justify-content: space-evenly; + align-items: flex-start; } .testing-section > div { - padding-inline: 1rem; + padding-inline: 1rem; } diff --git a/web_app/frontend_gui/src/App.tsx b/web_app/frontend_gui/src/App.tsx index 972d874..ff4ba9e 100644 --- a/web_app/frontend_gui/src/App.tsx +++ b/web_app/frontend_gui/src/App.tsx @@ -2,125 +2,129 @@ import React, { useEffect, useState, useRef } from "react"; import { Layouts } from "react-grid-layout"; import { - ParametersForm, - MotorTestForm, - HeadingTestForm, - StartMission, + ParametersForm, + MotorTestForm, + HeadingTestForm, + StartMission, } from "./inputs/Forms"; -import { SocketHealth } from "./inputs/SocketHealth" -import { TaskManager} from "./inputs/TaskManager"; +import { SocketHealth } from "./inputs/SocketHealth"; +import { TaskManager } from "./inputs/TaskManager"; import { StatusItem, StatusMessages } from "./outputs/status"; import { Simulation } from "./outputs/sim"; -import { Map } from "./outputs/map" -import { VideoStream } from "./outputs/video" -import { - Command, - isCommand, - State, - isState, - Data, - isData -} from "./types" +import { Map } from "./outputs/map"; +import { VideoStream } from "./outputs/video"; +import { Command, isCommand, State, isState, Data, isData } from "./types"; import { Grid } from "./Grid"; import { GridSvg } from "./utils/icons"; const tryJson = (raw: string): any => { - try { - return JSON.parse(raw) - } - catch { - return undefined - } -} + try { + return JSON.parse(raw); + } catch { + return undefined; + } +}; export default function App() { - // These are the only state variables that need full scope - const [imuData, setImuData] = useState([ - { title: 'Magnetometer', value: '', id: 1 }, - { title: 'Accelerometer', value: '', id: 2 }, - { title: 'Gyroscope', value: '', id: 3 } - ]); - const [insData, setInsData] = useState([ - { title: 'Heading', value: '', id: 1 }, - { title: 'Roll', value: '', id: 2 }, - { title: 'Pitch', value: '', id: 3 } - ]); - const [websocket, setWebsocket]: any = useState(); - const [statusMessages, setStatusMessages]: any = useState([]); - const [attitude, setAttitude] = useState([0,0,0]); + // These are the only state variables that need full scope + const [imuData, setImuData] = useState([ + { title: "Magnetometer", value: "", id: 1 }, + { title: "Accelerometer", value: "", id: 2 }, + { title: "Gyroscope", value: "", id: 3 }, + ]); + const [insData, setInsData] = useState([ + { title: "Heading", value: "", id: 1 }, + { title: "Roll", value: "", id: 2 }, + { title: "Pitch", value: "", id: 3 }, + ]); + const [websocket, setWebsocket]: any = useState(); + const [statusMessages, setStatusMessages]: any = useState([]); + const [attitude, setAttitude] = useState([0, 0, 0]); - const handleSocketData = (event: MessageEvent) => { - console.log("Socket data arrived: " + event.data); - const data: Command | Data = tryJson(event.data) - if (isData(data) && data.type == "state" && isState(data.content)) { - setAttitude(data.content.attitude) - } else { - setStatusMessages((prev: any) => [...prev, event.data]); - } + const handleSocketData = (event: MessageEvent) => { + console.log("Socket data arrived: " + event.data); + const data: Command | Data = tryJson(event.data); + if (isData(data) && data.type == "state" && isState(data.content)) { + setAttitude(data.content.attitude); + } else { + setStatusMessages((prev: any) => [...prev, event.data]); } + }; - // Register socket handler for server-sent data - const connection: any = useRef(null); - useEffect(() => { - const socket: WebSocket = new WebSocket("ws://localhost:6543/api/websocket"); + // Register socket handler for server-sent data + const connection: any = useRef(null); + useEffect(() => { + const socket: WebSocket = new WebSocket( + "ws://localhost:6543/api/websocket", + ); - socket.addEventListener("open", () => setWebsocket(socket)); - socket.addEventListener("message", handleSocketData); + socket.addEventListener("open", () => setWebsocket(socket)); + socket.addEventListener("message", handleSocketData); - connection.current = socket; + connection.current = socket; - return () => connection.current.close(); - }, [useState]); + return () => connection.current.close(); + }, [useState]); - // Grid Layout Section - const [gridEnabled, setGridEnabled] = useState(false); - const [layouts, setLayouts] = useState(); - // On load try to get saved layout - useEffect(() => { - const fetchLayout = async () => { - const response = await fetch("http://" + window.location.host + "/api/layouts"); - const initialLayout: Layouts = await response.json(); - setLayouts(initialLayout); - } - fetchLayout(); - }, []); - // Save layouts at server - const saveLayout = () => { - fetch("http://" + window.location.host + "/api/layouts", { - method: "POST", - headers: { "Content-Type": "application/json" }, - body: JSON.stringify(layouts) - }); - } + // Grid Layout Section + const [gridEnabled, setGridEnabled] = useState(false); + const [layouts, setLayouts] = useState(); + // On load try to get saved layout + useEffect(() => { + const fetchLayout = async () => { + const response = await fetch( + "http://" + window.location.host + "/api/layouts", + ); + const initialLayout: Layouts = await response.json(); + setLayouts(initialLayout); + }; + fetchLayout(); + }, []); + // Save layouts at server + const saveLayout = () => { + fetch("http://" + window.location.host + "/api/layouts", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(layouts), + }); + }; - return ( -
-

Yonder Deep Nautilus Dashboard

-
- - -
- - - - - - - - - - - - - - -
- ); + return ( +
+

Yonder Deep Nautilus Dashboard

+
+ + +
+ + + + + + + + + + + + + + +
+ ); } diff --git a/web_app/frontend_gui/src/Grid.tsx b/web_app/frontend_gui/src/Grid.tsx index 84f5847..5564a16 100644 --- a/web_app/frontend_gui/src/Grid.tsx +++ b/web_app/frontend_gui/src/Grid.tsx @@ -1,61 +1,59 @@ -import React from 'react'; -import { Responsive, WidthProvider, Layout, Layouts } from 'react-grid-layout'; +import React from "react"; +import { Responsive, WidthProvider, Layout, Layouts } from "react-grid-layout"; // Import resizable styles -import 'react-grid-layout/css/styles.css'; -import 'react-resizable/css/styles.css'; +import "react-grid-layout/css/styles.css"; +import "react-resizable/css/styles.css"; const ResponsiveGridLayout = WidthProvider(Responsive); export const Grid = ({ - children, - enabled, - layouts, - setLayouts, -}:{ - children: any, // TODO: Figure out typing for react children of children - enabled: boolean, - layouts: Layouts | undefined, - setLayouts: React.Dispatch> - }) => { - - return ( - { - setLayouts(allLayouts); - }} - draggableHandle=".drag-handle" - isDraggable={enabled} - isResizable={enabled} - // The breakpoints & cols chosen for 50px increments - breakpoints={{ lg: 1200, md: 700, sm:500, xs:200, xxs:0 }} - cols={{ lg: 20, md: 14, sm: 10, xs: 4, xxs: 2 }} - rowHeight={50} - resizeHandles={['s', 'w', 'e', 'n', 'sw', 'nw', 'se', 'ne']} - > - {React.Children.map(children, (child, index) => { - if (child.props.coordinates) { - /** The only one w/ coordinates as props is the map - * The map needs to have a defined separate handle to allow - * for movement dragging to conflict with map dragging - * The extra class "map-flex-fix" is for the map to expand correctly - **/ - return ( -
- {child} -
- ) - } - return ( -
- {child} -
- ) - })} - {children} - - ); + children, + enabled, + layouts, + setLayouts, +}: { + children: any; // TODO: Figure out typing for react children of children + enabled: boolean; + layouts: Layouts | undefined; + setLayouts: React.Dispatch>; +}) => { + return ( + { + setLayouts(allLayouts); + }} + draggableHandle=".drag-handle" + isDraggable={enabled} + isResizable={enabled} + // The breakpoints & cols chosen for 50px increments + breakpoints={{ lg: 1200, md: 700, sm: 500, xs: 200, xxs: 0 }} + cols={{ lg: 20, md: 14, sm: 10, xs: 4, xxs: 2 }} + rowHeight={50} + resizeHandles={["s", "w", "e", "n", "sw", "nw", "se", "ne"]} + > + {React.Children.map(children, (child, index) => { + if (child.props.coordinates) { + /** The only one w/ coordinates as props is the map + * The map needs to have a defined separate handle to allow + * for movement dragging to conflict with map dragging + * The extra class "map-flex-fix" is for the map to expand correctly + **/ + return ( +
+ {child} +
+ ); + } + return ( +
+ {child} +
+ ); + })} + {children} + + ); }; - diff --git a/web_app/frontend_gui/src/cssModules.d.ts b/web_app/frontend_gui/src/cssModules.d.ts index 8b00847..f2d12bb 100644 --- a/web_app/frontend_gui/src/cssModules.d.ts +++ b/web_app/frontend_gui/src/cssModules.d.ts @@ -1,4 +1,4 @@ -declare module '*.module.css' { - const classes: { [key: string]: string }; - export default classes; +declare module "*.module.css" { + const classes: { [key: string]: string }; + export default classes; } diff --git a/web_app/frontend_gui/src/index.tsx b/web_app/frontend_gui/src/index.tsx index ec92126..679f993 100644 --- a/web_app/frontend_gui/src/index.tsx +++ b/web_app/frontend_gui/src/index.tsx @@ -1,14 +1,14 @@ -import { scan } from "react-scan" -import { StrictMode } from 'react' -import { createRoot } from 'react-dom/client' +import { scan } from "react-scan"; +import { StrictMode } from "react"; +import { createRoot } from "react-dom/client"; import App from "./App.js"; scan({ - enabled: true, - }); + enabled: true, +}); -createRoot(document.getElementById('root')!).render( - - - , -) +createRoot(document.getElementById("root")!).render( + + + , +); diff --git a/web_app/frontend_gui/src/inputs/Forms.tsx b/web_app/frontend_gui/src/inputs/Forms.tsx index 795ef19..9a362a9 100644 --- a/web_app/frontend_gui/src/inputs/Forms.tsx +++ b/web_app/frontend_gui/src/inputs/Forms.tsx @@ -1,184 +1,191 @@ -import React, { useState, useEffect, FC } from 'react'; -import styles from "./forms.module.css" +import React, { useState, useEffect, FC } from "react"; +import styles from "./forms.module.css"; export const ParametersForm = ({ websocket }: any) => { - const [pidAxis, setPidAxis] = useState(''); - const [constantP, setConstantP] = useState(''); - const [constantI, setConstantI] = useState(''); - const [constantD, setConstantD] = useState(''); - const makePidRequest = () => { - if (!pidAxis || !constantP || !constantI || !constantD) { return; } - const pidConstants = { - axis: '' + pidAxis, - p: '' + constantP, - i: '' + constantI, - d: '' + constantD - }; - const request = { - command: "pid", - content: pidConstants - }; - websocket.send(JSON.stringify(request)); + const [pidAxis, setPidAxis] = useState(""); + const [constantP, setConstantP] = useState(""); + const [constantI, setConstantI] = useState(""); + const [constantD, setConstantD] = useState(""); + const makePidRequest = () => { + if (!pidAxis || !constantP || !constantI || !constantD) { + return; } + const pidConstants = { + axis: "" + pidAxis, + p: "" + constantP, + i: "" + constantI, + d: "" + constantD, + }; + const request = { + command: "pid", + content: pidConstants, + }; + websocket.send(JSON.stringify(request)); + }; - return ( -
-

Set PID Constants

-
-
- - setConstantP(e.target.value)} - /> - setConstantI(e.target.value)} - /> - setConstantD(e.target.value)} - /> -
- -
+ return ( +
+

Set PID Constants

+
+
+ + setConstantP(e.target.value)} + /> + setConstantI(e.target.value)} + /> + setConstantD(e.target.value)} + />
- ) -} + +
+
+ ); +}; export const MotorTestForm = ({ websocket }: any) => { - const [motor1, setMotor1] = useState("0"); - const [motor2, setMotor2] = useState("0"); - const [motor3, setMotor3] = useState("0"); - const [motor4, setMotor4] = useState("0"); + const [motor1, setMotor1] = useState("0"); + const [motor2, setMotor2] = useState("0"); + const [motor3, setMotor3] = useState("0"); + const [motor4, setMotor4] = useState("0"); - const makeMotorRequest = (arr: number[] | undefined = undefined) => { - console.log("Making motor request.") - let motorTest = [] - try { - if (arr) motorTest = arr; - else motorTest = [ - parseFloat(motor1), - parseFloat(motor2), - parseFloat(motor3), - parseFloat(motor4), - ]; - } catch { - return - } - const request = { - command: "motor", - content: motorTest - }; - websocket.send(JSON.stringify(request)); + const makeMotorRequest = (arr: number[] | undefined = undefined) => { + console.log("Making motor request."); + let motorTest = []; + try { + if (arr) motorTest = arr; + else + motorTest = [ + parseFloat(motor1), + parseFloat(motor2), + parseFloat(motor3), + parseFloat(motor4), + ]; + } catch { + return; } + const request = { + command: "motor", + content: motorTest, + }; + websocket.send(JSON.stringify(request)); + }; - const zeroOut = () => { - setMotor1("0"); - setMotor2("0"); - setMotor3("0"); - setMotor4("0"); - makeMotorRequest([0,0,0,0]); - } + const zeroOut = () => { + setMotor1("0"); + setMotor2("0"); + setMotor3("0"); + setMotor4("0"); + makeMotorRequest([0, 0, 0, 0]); + }; - const [keymap, setKeymap] = useState(false); + const [keymap, setKeymap] = useState(false); - return ( -
-

Motor Testing

-
-
- setMotor1(e.target.value)} - /> - setMotor2(e.target.value)} - /> - setMotor3(e.target.value)} - /> - setMotor4(e.target.value)} - /> -
-
- - - -
-
+ return ( +
+

Motor Testing

+
+
+ setMotor1(e.target.value)} + /> + setMotor2(e.target.value)} + /> + setMotor3(e.target.value)} + /> + setMotor4(e.target.value)} + /> +
+
+ + +
- ) -} +
+
+ ); +}; export const HeadingTestForm = ({ websocket }: any) => { - const [targetHeading, setTargetHeading] = useState(''); - const headingRequest = () => { - console.log("Making heading request.") - const request = { - command: "control", - content: targetHeading - }; - websocket.send(JSON.stringify(request)); - } + const [targetHeading, setTargetHeading] = useState(""); + const headingRequest = () => { + console.log("Making heading request."); + const request = { + command: "control", + content: targetHeading, + }; + websocket.send(JSON.stringify(request)); + }; - return ( -
-

Heading Test

-
- (setTargetHeading(e.target.value))} - /> - -
-
- ) -} + return ( +
+

Heading Test

+
+ setTargetHeading(e.target.value)} + /> + +
+
+ ); +}; export const StartMission = ({ websocket }: any) => { - const [targetPoint, setTargetPoint] = useState(''); - const missionRequest = () => { - websocket.send(JSON.stringify({ - command: "mission", - content: targetPoint - })) - } + const [targetPoint, setTargetPoint] = useState(""); + const missionRequest = () => { + websocket.send( + JSON.stringify({ + command: "mission", + content: targetPoint, + }), + ); + }; - return ( + return (
-

Start Mission

-
- (setTargetPoint(e.target.value))} - /> - -
+

Start Mission

+
+ setTargetPoint(e.target.value)} + /> + +
- ) -} + ); +}; diff --git a/web_app/frontend_gui/src/inputs/SocketHealth.module.css b/web_app/frontend_gui/src/inputs/SocketHealth.module.css index 6e81f3c..ddf0bdf 100644 --- a/web_app/frontend_gui/src/inputs/SocketHealth.module.css +++ b/web_app/frontend_gui/src/inputs/SocketHealth.module.css @@ -1,22 +1,23 @@ -.socketForm, .socketButtons { - display: flex; - flex-direction: row; - justify-content: space-between; - align-items: center; +.socketForm, +.socketButtons { + display: flex; + flex-direction: row; + justify-content: space-between; + align-items: center; } .socketButtons { - place-items: center; - justify-content: space-around; + place-items: center; + justify-content: space-around; } .socketButtons > button { - margin-left: 0; - padding: 0.5rem; - height: 2.5rem; - width: 2.5rem; + margin-left: 0; + padding: 0.5rem; + height: 2.5rem; + width: 2.5rem; } .socketForm > p { - margin: 0.25rem; + margin: 0.25rem; } diff --git a/web_app/frontend_gui/src/inputs/SocketHealth.tsx b/web_app/frontend_gui/src/inputs/SocketHealth.tsx index 96fe219..49af170 100644 --- a/web_app/frontend_gui/src/inputs/SocketHealth.tsx +++ b/web_app/frontend_gui/src/inputs/SocketHealth.tsx @@ -3,37 +3,39 @@ import styles from "./SocketHealth.module.css"; import { RestartSvg, PingSvg } from "../utils/icons"; export const SocketHealth = ({ websocket }: any) => { - const [status, setStatus] = useState<"open"|"closed"|"unknown">("unknown"); - const restart = () => { - const request = { - command: "websocket", - content: "restart", - }; - websocket.send(JSON.stringify(request)); - } - const ping = () => { - setStatus("unknown"); - const request = { - command: "websocket", - content: "ping", - }; - websocket.send(JSON.stringify(request)); - } + const [status, setStatus] = useState<"open" | "closed" | "unknown">( + "unknown", + ); + const restart = () => { + const request = { + command: "websocket", + content: "restart", + }; + websocket.send(JSON.stringify(request)); + }; + const ping = () => { + setStatus("unknown"); + const request = { + command: "websocket", + content: "ping", + }; + websocket.send(JSON.stringify(request)); + }; - return ( -
-

Websocket Health

-
-

Status: {status}

-
- - -
-
+ return ( +
+

Websocket Health

+
+

Status: {status}

+
+ +
- ) -} +
+
+ ); +}; diff --git a/web_app/frontend_gui/src/inputs/TaskManager.module.css b/web_app/frontend_gui/src/inputs/TaskManager.module.css index fece705..4627fa9 100644 --- a/web_app/frontend_gui/src/inputs/TaskManager.module.css +++ b/web_app/frontend_gui/src/inputs/TaskManager.module.css @@ -1,27 +1,27 @@ .taskOuter { - padding-inline: 0.5rem; - width: 100%; - display: grid; - grid-template-columns: 1fr 1fr; - gap: 1rem; + padding-inline: 0.5rem; + width: 100%; + display: grid; + grid-template-columns: 1fr 1fr; + gap: 1rem; } .taskInner { - width: 100%; - padding-inline: 0.5rem; - display: flex; - flex-direction: row; - justify-content: space-between; + width: 100%; + padding-inline: 0.5rem; + display: flex; + flex-direction: row; + justify-content: space-between; } .taskMiddle { - display: flex; - flex-direction: column; + display: flex; + flex-direction: column; } button.taskButton { - margin: 0.5rem auto; - display: flex; - place-items: center; - gap: 0.5rem; + margin: 0.5rem auto; + display: flex; + place-items: center; + gap: 0.5rem; } diff --git a/web_app/frontend_gui/src/inputs/TaskManager.tsx b/web_app/frontend_gui/src/inputs/TaskManager.tsx index 315628f..2eb5f25 100644 --- a/web_app/frontend_gui/src/inputs/TaskManager.tsx +++ b/web_app/frontend_gui/src/inputs/TaskManager.tsx @@ -1,112 +1,112 @@ -import { useState, useEffect, useCallback, FC } from "react" -import { Tasks, isData } from "../types" -import { RestartSvg } from "../utils/icons" -import styles from "./TaskManager.module.css" +import { useState, useEffect, useCallback, FC } from "react"; +import { Tasks, isData } from "../types"; +import { RestartSvg } from "../utils/icons"; +import styles from "./TaskManager.module.css"; const tryJson = (raw: any): any => { - try { - return JSON.parse(raw) - } - catch { - return undefined - } -} + try { + return JSON.parse(raw); + } catch { + return undefined; + } +}; const useForceUpdate = () => { - const [, setValue] = useState(0); - return useCallback(() => setValue(value => value + 1), []); - } + const [, setValue] = useState(0); + return useCallback(() => setValue((value) => value + 1), []); +}; // Map from task status to displayed text on button const displayMap = { - "unknown": "Unknown", - "active": "Disable", - "inactive": "Enable", -} as const + unknown: "Unknown", + active: "Disable", + inactive: "Enable", +} as const; // Map from current task value to possible action*/ const actionMap = { - "unknown": "info", - "active": "disable", - "inactive": "enable" -} as const + unknown: "info", + active: "disable", + inactive: "enable", +} as const; export const TaskManager: FC<{ websocket: WebSocket }> = ({ websocket }) => { - const forceUpdate = useForceUpdate(); - const [tasks, setTasks] = useState({ - "Localization": "unknown", - "Perception": "unknown", - "Control": "unknown", - "Navigation": "unknown", - }); + const forceUpdate = useForceUpdate(); + const [tasks, setTasks] = useState({ + Localization: "unknown", + Perception: "unknown", + Control: "unknown", + Navigation: "unknown", + }); - useEffect(() => { - if (websocket) - websocket.addEventListener("message", (raw: MessageEvent) => { - const msg = tryJson(raw.data); - if (msg && isData(msg) && msg.type == "tasks") { - const content = msg.content as Tasks; - const newTasks = Object.assign(tasks, content); - setTasks(newTasks); - forceUpdate(); - } - }); - }, [websocket]); - - const manageTask = (taskName: keyof Tasks | undefined) => { - let subcommand: "info" | "enable" | "disable"; - if (taskName) - subcommand = actionMap[tasks[taskName]]; - else - subcommand = "info" - const request = { - command: "tasks", - content: { - sub: subcommand, - task: taskName, - }, + useEffect(() => { + if (websocket) + websocket.addEventListener("message", (raw: MessageEvent) => { + const msg = tryJson(raw.data); + if (msg && isData(msg) && msg.type == "tasks") { + const content = msg.content as Tasks; + const newTasks = Object.assign(tasks, content); + setTasks(newTasks); + forceUpdate(); } - websocket.send(JSON.stringify(request)); - } + }); + }, [websocket]); + + const manageTask = (taskName: keyof Tasks | undefined) => { + let subcommand: "info" | "enable" | "disable"; + if (taskName) subcommand = actionMap[tasks[taskName]]; + else subcommand = "info"; + const request = { + command: "tasks", + content: { + sub: subcommand, + task: taskName, + }, + }; + websocket.send(JSON.stringify(request)); + }; - return ( -
-

Task Manager

-
-
-
-

Localization

- -
-
-

Perception

- -
-
-
-
-

Control

- -
-
-

Navigation

- -
-
-
-
- -
+ return ( +
+

Task Manager

+
+
+
+

Localization

+ +
+
+

Perception

+ +
+
+
+
+

Control

+ +
+
+

Navigation

+ +
- ) -} +
+
+ +
+
+ ); +}; diff --git a/web_app/frontend_gui/src/inputs/forms.module.css b/web_app/frontend_gui/src/inputs/forms.module.css index 54c5bc2..4a6d9b7 100644 --- a/web_app/frontend_gui/src/inputs/forms.module.css +++ b/web_app/frontend_gui/src/inputs/forms.module.css @@ -1,32 +1,34 @@ .formBody { - margin: 1rem 0 0; - display: flex; - flex-direction: column; - align-items: center; + margin: 1rem 0 0; + display: flex; + flex-direction: column; + align-items: center; } .formBody select, input { - margin-bottom: 0.75rem; - border-radius: 0.5rem; - border: 1px solid lightgray; - padding: 0.3rem; - background: #f2f2f2; - text-align: center; + margin-bottom: 0.75rem; + border-radius: 0.5rem; + border: 1px solid lightgray; + padding: 0.3rem; + background: #f2f2f2; + text-align: center; } -.motorForm, .parameterForm { - width: 100%; - display: flex; - flex-direction: row; - justify-content: space-around; - align-items: flex-start; +.motorForm, +.parameterForm { + width: 100%; + display: flex; + flex-direction: row; + justify-content: space-around; + align-items: flex-start; } -.motorForm input, .parameterForm input { - width: 5ch; +.motorForm input, +.parameterForm input { + width: 5ch; } .parameterForm { - justify-content: space-between; + justify-content: space-between; } diff --git a/web_app/frontend_gui/src/outputs/map.tsx b/web_app/frontend_gui/src/outputs/map.tsx index f03ed43..a8499fe 100644 --- a/web_app/frontend_gui/src/outputs/map.tsx +++ b/web_app/frontend_gui/src/outputs/map.tsx @@ -1,26 +1,26 @@ -import { useEffect, useRef } from "react" -import * as L from "leaflet" -import { MapContainer, TileLayer, Marker, Popup } from "react-leaflet" -import "../../public/leaflet.css" +import { useEffect, useRef } from "react"; +import * as L from "leaflet"; +import { MapContainer, TileLayer, Marker, Popup } from "react-leaflet"; +import "../../public/leaflet.css"; -export const Map = ({ coordinates } : { coordinates: number[][]}) => { - const center = L.latLng(32.865249, -117.243515); - const zoom = 13 +export const Map = ({ coordinates }: { coordinates: number[][] }) => { + const center = L.latLng(32.865249, -117.243515); + const zoom = 13; - return ( - <> -

Map

- - - - Origin - - - - ) -} + return ( + <> +

+ Map +

+ + + + Origin + + + + ); +}; diff --git a/web_app/frontend_gui/src/outputs/sim.tsx b/web_app/frontend_gui/src/outputs/sim.tsx index 6159062..83da2d8 100644 --- a/web_app/frontend_gui/src/outputs/sim.tsx +++ b/web_app/frontend_gui/src/outputs/sim.tsx @@ -1,45 +1,44 @@ import { useRef, useState, useEffect } from "react"; -import { - Canvas, - useFrame -} from "@react-three/fiber" -import * as THREE from "three" +import { Canvas, useFrame } from "@react-three/fiber"; +import * as THREE from "three"; THREE.Object3D.DEFAULT_UP.set(0, 0, 1); -const Mesh = ({euler}: {euler: number[]}) => { - const eulerAngles = new THREE.Euler() - let meshRef = useRef(null!); +const Mesh = ({ euler }: { euler: number[] }) => { + const eulerAngles = new THREE.Euler(); + let meshRef = useRef(null!); - useEffect(() => { - eulerAngles.set(euler[0], euler[1], euler[2], "ZYX"); - console.log("Euler Angles: " + JSON.stringify(euler)); - }, [euler]) + useEffect(() => { + eulerAngles.set(euler[0], euler[1], euler[2], "ZYX"); + console.log("Euler Angles: " + JSON.stringify(euler)); + }, [euler]); - useFrame(() => { - const [z, y, x] = eulerAngles.toArray(); - meshRef.current.rotation.set(x, y, z); - }) + useFrame(() => { + const [z, y, x] = eulerAngles.toArray(); + meshRef.current.rotation.set(x, y, z); + }); - return ( - - - - - ) -} + return ( + + + + + ); +}; -export const Simulation = ({euler}: {euler: number[]}) => { - - return ( - <> -

Visualization

- - - - - - - - ) -} +export const Simulation = ({ euler }: { euler: number[] }) => { + return ( + <> +

Visualization

+ + + + + + + + ); +}; diff --git a/web_app/frontend_gui/src/outputs/status.module.css b/web_app/frontend_gui/src/outputs/status.module.css index 9216379..61ee515 100644 --- a/web_app/frontend_gui/src/outputs/status.module.css +++ b/web_app/frontend_gui/src/outputs/status.module.css @@ -1,39 +1,38 @@ .StatusMessages { - height: 100%; - width: 100%; - border-radius: 1rem; + height: 100%; + width: 100%; + border-radius: 1rem; - display: flex; - flex-direction: column; + display: flex; + flex-direction: column; } .StatusMessages > h2 { - flex-grow: 0; - margin: 0 0 1rem; - text-align: center; + flex-grow: 0; + margin: 0 0 1rem; + text-align: center; } .StatusMessages > ul { - flex-grow: 1; - border-radius: 1rem; - margin: 0; - padding: 1rem; - background-color: black; - color: white; - overflow-y: scroll; + flex-grow: 1; + border-radius: 1rem; + margin: 0; + padding: 1rem; + background-color: black; + color: white; + overflow-y: scroll; } .StatusMessages li { - border-top: 1px solid grey; + border-top: 1px solid grey; } .StatusMessage pre { - margin: 0.5rem; + margin: 0.5rem; } .StatusMessages > button { - flex-grow: 0; - margin: 1rem auto 0; - width: fit-content; + flex-grow: 0; + margin: 1rem auto 0; + width: fit-content; } - diff --git a/web_app/frontend_gui/src/outputs/status.tsx b/web_app/frontend_gui/src/outputs/status.tsx index 9bf8b62..fb2e128 100644 --- a/web_app/frontend_gui/src/outputs/status.tsx +++ b/web_app/frontend_gui/src/outputs/status.tsx @@ -1,75 +1,78 @@ -import React, { useRef, useEffect, useState} from "react" +import React, { useRef, useEffect, useState } from "react"; -import styles from "./status.module.css" +import styles from "./status.module.css"; interface dataPart { - id: number, - title: string, - value: string + id: number; + title: string; + value: string; } -export const StatusItem = ({ statusType, statusData }:any) => { - const statusListItems = statusData.map((dataPart: dataPart) => -
  • {dataPart.title}: {dataPart.value}
    • - ) +export const StatusItem = ({ statusType, statusData }: any) => { + const statusListItems = statusData.map((dataPart: dataPart) => ( +
  • + {dataPart.title}: {dataPart.value} +
    • + )); - return ( -
    -

    {statusType}

    -
      {statusListItems}
    -
    - ) -} + return ( +
    +

    {statusType}

    +
      {statusListItems}
    +
    + ); +}; export const StatusMessages = ({ - statusMessages, - setStatusMessages + statusMessages, + setStatusMessages, }: { - statusMessages: string[], - setStatusMessages: React.Dispatch> - }) => { - const listRef = useRef(undefined!); - const [doScroll, setDoScroll] = useState(); + statusMessages: string[]; + setStatusMessages: React.Dispatch>; +}) => { + const listRef = useRef(undefined!); + const [doScroll, setDoScroll] = useState(); - const clearMessages = () => { - setStatusMessages([]); - }; + const clearMessages = () => { + setStatusMessages([]); + }; - const checkScroll = () => { - const list = listRef.current; - setDoScroll(list.scrollHeight - list.clientHeight <= list.scrollTop); - }; + const checkScroll = () => { + const list = listRef.current; + setDoScroll(list.scrollHeight - list.clientHeight <= list.scrollTop); + }; - useEffect(() => { // Check for scroll decoupled from react render loop - listRef.current.addEventListener("scroll", checkScroll); - }); + useEffect(() => { + // Check for scroll decoupled from react render loop + listRef.current.addEventListener("scroll", checkScroll); + }); - useEffect(() => { // This bit is for autoscroll (50px as a buffer to bottom of scroll container) - const list = listRef.current; - if(doScroll) { - list.scrollTop = list.scrollHeight - list.clientHeight; - } - checkScroll(); - }, [statusMessages]); + useEffect(() => { + // This bit is for autoscroll (50px as a buffer to bottom of scroll container) + const list = listRef.current; + if (doScroll) { + list.scrollTop = list.scrollHeight - list.clientHeight; + } + checkScroll(); + }, [statusMessages]); - return ( -
    -

    Status Messages

    -
      - {statusMessages?.map((message: any, index: any) => { - try { - const newMessage: any = JSON.parse(message); - message = JSON.stringify(newMessage, null, 2); - } - catch {} - return ( -
    • - 
      {message}
      -
      • - ) - })} -
    - -
    - ) -} + return ( +
    +

    Status Messages

    +
      + {statusMessages?.map((message: any, index: any) => { + try { + const newMessage: any = JSON.parse(message); + message = JSON.stringify(newMessage, null, 2); + } catch {} + return ( +
    • + 
      {message}
      +
      • + ); + })} +
    + +
    + ); +}; diff --git a/web_app/frontend_gui/src/outputs/video.module.css b/web_app/frontend_gui/src/outputs/video.module.css index fc89a6b..b16e771 100644 --- a/web_app/frontend_gui/src/outputs/video.module.css +++ b/web_app/frontend_gui/src/outputs/video.module.css @@ -1,11 +1,11 @@ .videoContainer { - display: flex; - flex-direction: column; + display: flex; + flex-direction: column; } .video { - margin: auto; - border-radius: 1rem; - display: block; - height: 100%; + margin: auto; + border-radius: 1rem; + display: block; + height: 100%; } diff --git a/web_app/frontend_gui/src/outputs/video.tsx b/web_app/frontend_gui/src/outputs/video.tsx index 2ce8fff..57ad76e 100644 --- a/web_app/frontend_gui/src/outputs/video.tsx +++ b/web_app/frontend_gui/src/outputs/video.tsx @@ -1,14 +1,14 @@ -import styles from "./video.module.css" +import styles from "./video.module.css"; export const VideoStream = () => { - return ( -
    -

    Video Stream

    - Video stream not enabled or not available -
    - ) -} + return ( +
    +

    Video Stream

    + Video stream not enabled or not available +
    + ); +}; diff --git a/web_app/frontend_gui/src/types.ts b/web_app/frontend_gui/src/types.ts index 0693fb8..105cd61 100644 --- a/web_app/frontend_gui/src/types.ts +++ b/web_app/frontend_gui/src/types.ts @@ -1,61 +1,63 @@ export interface Command { - command: string - content: any - ack?: boolean + command: string; + content: any; + ack?: boolean; } export const isCommand = (obj: any): obj is Command => { - return ( - typeof obj === 'object' && - obj !== null && - typeof obj.command === 'string' && - typeof obj.content === 'number' - ) -} + return ( + typeof obj === "object" && + obj !== null && + typeof obj.command === "string" && + typeof obj.content === "number" + ); +}; export interface State { - position: number[] - velocity: number[] - attitude: number[] - angular_velocity: number[] + position: number[]; + velocity: number[]; + attitude: number[]; + angular_velocity: number[]; } const isNumberArray = (value: any): value is number[] => { - return Array.isArray(value) && value.every((item) => typeof item === "number"); -} + return ( + Array.isArray(value) && value.every((item) => typeof item === "number") + ); +}; export const isState = (obj: any): obj is State => { - return ( - typeof obj === 'object' && - obj !== null && - isNumberArray(obj.position) && - isNumberArray(obj.velocity) && - isNumberArray(obj.attitude) && - isNumberArray(obj.angular_velocity) //&& - ) -} + return ( + typeof obj === "object" && + obj !== null && + isNumberArray(obj.position) && + isNumberArray(obj.velocity) && + isNumberArray(obj.attitude) && + isNumberArray(obj.angular_velocity) //&& + ); +}; export type Status = "unknown" | "active" | "inactive"; export interface Tasks { - "Localization": Status, - "Perception": Status, - "Control": Status, - "Navigation": Status, + Localization: Status; + Perception: Status; + Control: Status; + Navigation: Status; } export interface Data { - source: string - type: string - content: Tasks | State | string -} + source: string; + type: string; + content: Tasks | State | string; +} export const isData = (obj: any): obj is Data => { - return ( - typeof obj === 'object' && - obj !== null && - typeof obj.source === 'string' && - typeof obj.type === 'string' && - (typeof obj.content === 'object' || typeof obj.content === 'string') - ) -} + return ( + typeof obj === "object" && + obj !== null && + typeof obj.source === "string" && + typeof obj.type === "string" && + (typeof obj.content === "object" || typeof obj.content === "string") + ); +}; diff --git a/web_app/frontend_gui/src/utils/icons.tsx b/web_app/frontend_gui/src/utils/icons.tsx index ad8bcc9..b1e47ab 100644 --- a/web_app/frontend_gui/src/utils/icons.tsx +++ b/web_app/frontend_gui/src/utils/icons.tsx @@ -1,41 +1,76 @@ -import { CSSProperties } from "react" +import { CSSProperties } from "react"; // This is a function so that the svg color can be reactive -export const GridSvg = ({ color="#1f1f1f" }: { color?: CSSProperties["color"]})=> { - - return ( - - { + return ( + + - - ) -} + 400h160v-160H600v160Zm-400 0h160v-160H200v160Zm400-400Zm0 240Zm-240 0Zm0-240Z" + /> + + ); +}; export const RestartSvg = () => { - return ( - - - - ) -} + return ( + + + + ); +}; export const CommandKeySvg = () => { - return ( - - - - ) -} + return ( + + + + ); +}; export const PingSvg = () => ( - - - -) + + + +); export const SaveSvg = () => ( - - - -) + + + +); diff --git a/web_app/frontend_gui/vite.config.js b/web_app/frontend_gui/vite.config.js index c1e38f2..275c9b7 100644 --- a/web_app/frontend_gui/vite.config.js +++ b/web_app/frontend_gui/vite.config.js @@ -1,10 +1,10 @@ -import { defineConfig } from 'vite' -import react from '@vitejs/plugin-react' +import { defineConfig } from "vite"; +import react from "@vitejs/plugin-react"; // https://vite.dev/config/ export default defineConfig({ - build: { - sourcemap: true, - }, - plugins: [react()], -}) + build: { + sourcemap: true, + }, + plugins: [react()], +}); diff --git a/web_app/radio_setup/README.md b/web_app/radio_setup/README.md index 62fa8d1..9b510c5 100644 --- a/web_app/radio_setup/README.md +++ b/web_app/radio_setup/README.md @@ -1,26 +1,26 @@ -# PPP Connection Instructions -This directory is for creating the ppp (point to point protocol) connection over the USB radio between the base station and the AUV. We will be using the [pppd (point-to-point protocol Daemon)](https://linux.die.net/man/8/pppd). +# PPP Connection Instructions +This directory is for creating the ppp (point to point protocol) connection over the USB radio between the base station and the AUV. We will be using the [pppd (point-to-point protocol Daemon)](https://linux.die.net/man/8/pppd). -Currently, we support setting up a ppp connection only for Windows (WSL) and MacOS. +Currently, we support setting up a ppp connection only for Windows (WSL) and MacOS. -## Windows (WSL) -- Connect your radio to a serial port. -- Use [usbipd](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) to attach the radio to WSL so that you can access it in WSL. +## Windows (WSL) +- Connect your radio to a serial port. +- Use [usbipd](https://learn.microsoft.com/en-us/windows/wsl/connect-usb) to attach the radio to WSL so that you can access it in WSL. - You can check if the radio is detected in WSL by running `lsusb` - First, on the AUV-side (Raspberry Pi) start a pppd connection with `sudo pppd [path to radio] 57600 lock local noauth 192.168.100.11:192.168.100.10` - - `[path to radio]` is often `/dev/ttyUSB0` - - `57600` = baud rate - - `lock` = Ensures exclusive access to the device that uses this connection + - `[path to radio]` is often `/dev/ttyUSB0` + - `57600` = baud rate + - `lock` = Ensures exclusive access to the device that uses this connection - `local` = non-modem - - `noauth` = don't require authentication + - `noauth` = don't require authentication - `IP1 : IP2` = local IP : remote IP -- Then, on the base station (WSL), connect to the pi with `sudo pppd [path to radio] 57600 lock local noauth nodetach 192.168.100.10:192.168.100.11` +- Then, on the base station (WSL), connect to the pi with `sudo pppd [path to radio] 57600 lock local noauth nodetach 192.168.100.10:192.168.100.11` - `nodetach` = don't run the command in the background (i.e. it's fine if the terminal gets locked on this process) -- You will know that the connection is successful, if the devices and IPs appear in your WSL terminal +- You will know that the connection is successful, if the devices and IPs appear in your WSL terminal -Some useful commands: -- `lsusb` = see what serial devices are detected by WSL -- `ps aux | grep pppd` = checks if a pppd process is running +Some useful commands: +- `lsusb` = see what serial devices are detected by WSL +- `ps aux | grep pppd` = checks if a pppd process is running ## MacOS #### Conceptually: diff --git a/web_app/radio_setup/radio.m b/web_app/radio_setup/radio.m index d44061f..5589db1 100644 --- a/web_app/radio_setup/radio.m +++ b/web_app/radio_setup/radio.m @@ -25,7 +25,7 @@ &kCFTypeDictionaryValueCallBacks); CFDictionarySetValue(matchingUSBDict, CFSTR(kIOPropertyMatchKey), subDict); - + //NSLog(@"Matching Dict:"); //NSLog(@"%@", matchingUSBDict); @@ -34,7 +34,7 @@ matchedService = IOServiceGetMatchingService(kIOMainPortDefault, matchingUSBDict); //NSLog(@"Service: %u", matchedService); - + // Service path, not really that useful for our purposes io_string_t servicePath; IORegistryEntryGetPath(matchedService, kIOServicePlane, servicePath); @@ -54,7 +54,7 @@ size_t devPathLength; Boolean gotString = false; - /* This commented part is from the Apple docs but always comes up null + /* This commented part is from the Apple docs but always comes up null CFTypeRef deviceNameAsCFString; deviceNameAsCFString = (CFStringRef) IORegistryEntrySearchCFProperty ( matchedService, @@ -75,7 +75,7 @@ deviceFilePath + strlen(deviceFilePath), MAXPATHLEN - strlen(deviceFilePath), kCFStringEncodingASCII); - + if (gotString) { //NSLog(@"Device file path: %s", deviceFilePath); char* finalResult = malloc(strlen(deviceFilePath)); @@ -111,7 +111,7 @@ int main() { NSString *radioPath = [NSString stringWithUTF8String:result]; free(result); - + if (radioPath && ![radioPath isEqual: @"Radio device not found"]) { NSLog(@"Calling pppd for device at %@", radioPath); NSTask *task = [[NSTask alloc] init]; diff --git a/web_app/radio_setup/radio.py b/web_app/radio_setup/radio.py index 9fd3c45..4a5dd1f 100644 --- a/web_app/radio_setup/radio.py +++ b/web_app/radio_setup/radio.py @@ -26,4 +26,4 @@ print("Named path: " ) # Launch pppd - subprocess("pppd", "call", "usbRadio") \ No newline at end of file + subprocess("pppd", "call", "usbRadio") diff --git a/web_app/startup_win.bat b/web_app/startup_win.bat index 94396a3..69f3994 100644 --- a/web_app/startup_win.bat +++ b/web_app/startup_win.bat @@ -1,2 +1,2 @@ echo "Starting basestation web app..." -python app.py \ No newline at end of file +python app.py diff --git a/web_app/tests/__init__.py b/web_app/tests/__init__.py new file mode 100644 index 0000000..a8a65ec --- /dev/null +++ b/web_app/tests/__init__.py @@ -0,0 +1 @@ +# Backend tests From d9bdb0646b51ded5f63c3ceafd8f8af72683bfcc Mon Sep 17 00:00:00 2001 From: WilyHyperion <123993989+WilyHyperion@users.noreply.github.com> Date: Wed, 22 Apr 2026 18:40:16 -0700 Subject: [PATCH 03/10] Noah/motor test (#11) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * motor.hpp - created motor.hpp off of motor.py - set up pigpio in CMakeLists.txt - main.cpp is for testing motor.hpp * motor.hpp is a header file. motor.cpp doesn't exist. motor.hpp doesn't do stuff. * added some comments * added some comments * edits - moved files to src/drivers - edited gpioServo - it won't run with add_subdirectory(src/core) so I made it a comment * Revert "edits" This reverts commit cbc291e1222085288e56645a4d654706539eb37a. * Revert "Revert "edits"" This reverts commit 193e9ba305caa0b82730aee03bf0caecb5b3419f. * test motor without pi * spacing Now if you do BUILD_SIMULATION it'll run the little test code. If we want like an actual simulation we should do that. They just had some test code in motor.py that now works here. * made it fit the style better * comment * Added support for C language in cmake list and added lsm6dsox driver as a static library. platform_i2c.cpp so lis3md and lsm6dsox which are in c can communicate with pigpio. * test.cpp to test the motor also some imu stuff * test motor * for testing * Change code to use lgpio instead of pigpio Hopefully test should work now. * remove build * fixed pin * continued work on imu so it fits with lgpio better * cut out work on imu so it's just the motor code. It should still function the same. * added pool test code. It's untested. Pin numbers haven't been added yet. Also assuming gpio chip number is 0. * updated pins in pool_test * Replace lgTxServo with sysfs hardware PWM to fix motor stuttering * Replace sysfs PWM with RT-thread software PWM for Pi 5 sysfs hardware PWM (/sys/class/pwm/pwmchip0/) didn't work on Pi 5. Switch to hand-rolled 50Hz PWM running in a dedicated SCHED_FIFO thread that toggles GPIO via lgGpioWrite + clock_nanosleep. RT hardening to minimize jitter: - Pin PWM thread to CPU core 3 (pthread_setaffinity_np) - SCHED_FIFO priority 99 (max RT) - mlockall + 16KB stack prefault to avoid page faults - CMake defaults to Release build - add_compile_definitions(_GNU_SOURCE) for CPU_SET / pthread_setaffinity_np main.cpp and pool_test.cpp updated for new Motor API: constructor takes (pin, gpiochip handle), init() starts the RT thread, cleanup() stops it and frees the pin. * Busy-wait for PWM pulse width to eliminate ESC chatter The previous RT-thread approach still let clock_nanosleep wakeup jitter (~10-50us even at SCHED_FIFO 99) land on the LOW edge, since pulseEnd was computed from a fixed nextPeriod base. That wobbled pulse width enough for the T200 ESC to repeatedly lose sync. Fix: capture the real timestamp immediately after writing HIGH, compute pulseEnd from that, and busy-wait (clock_gettime loop, vDSO on aarch64) instead of clock_nanosleep. Pulse width is now pw +/- ~1us, well inside ESC tolerance. Period boundary still uses clock_nanosleep but its jitter no longer affects pulse width. Costs ~7.5% of core 3 CPU during each 1500us pulse, which is free since the thread is pinned there at priority 99. * Widen reverse test to 1450us to escape ESC dead zone 1475us sits on the edge of the T200 ESC's reverse deadband (~25us around 1500us neutral) and often reads as stopped. Forward at 1525us was working because the forward deadband happened to be just inside that margin; reverse needs more offset to cross reliably. * Arm 4 ESCs before user input in pool test; update prompt text pool_test.cpp was jumping straight from motor.init() into the speed input loop, so the first command hit unarmed ESCs and they ignored it. Add a 7-second 1500us neutral hold after init, mirroring main.cpp. Also update the speed-range prompt to reflect the ~25us ESC deadband we hit during single-motor testing: forward starts at ~1530, reverse at ~1470. Previous 1525/1475 text sat on the edge of the deadband. Add explicit and includes for std::this_thread:: sleep_for (they were coming in transitively via motor.hpp). * Simplify motor.hpp: drop non-essential RT hardening, clean up time math Remove CPU core pinning (pthread_setaffinity_np), stack prefault, and _GNU_SOURCE — these were belt-and-suspenders that don't measurably affect the ESC chatter fix. The essential pieces remain: SCHED_FIFO 99, mlockall, and the busy-wait anchored to the real HIGH timestamp. Replace timespec arithmetic (addNs helper, two-field comparisons) with int64 nanosecond math via nowNs()/sleepUntilNs() helpers. Drop explicit memory_order_relaxed annotations in favor of default ordering — the performance difference at 50Hz is unmeasurable. Public API is unchanged; main.cpp and pool_test.cpp need no updates. * Revert "Simplify motor.hpp: drop non-essential RT hardening, clean up time math" This reverts commit 691158bc4494c572a922d058c7d28f9218ea5885. * Unfinished working example * Work on motor class * Motor api * Fix git ignore * Remove uneeded build artifacts and gitignore them --------- Co-authored-by: IBfettuccine Co-authored-by: SuhaanCoding --- .gitignore | 6 +-- Docker/Dockerfile | 10 ++++- auv_cpp/api/motor_controller.hpp | 6 +++ src/.gitignore | 4 ++ src/CMakeLists.txt | 74 +++++++++++++++++++++++++++++++- src/drivers/motors/motor.cpp | 20 +++++++++ src/drivers/motors/motor.hpp | 32 ++++++++++++++ src/drivers/motors/noah_test.cpp | 25 +++++++++++ src/drivers/motors/sim_motor.cpp | 70 ++++++++++++++++++++++++++++++ src/drivers/motors/sim_motor.hpp | 30 +++++++++++++ src/drivers/motors/thruster.cpp | 57 ++++++++++++++++++++++++ src/drivers/motors/thruster.hpp | 40 +++++++++++++++++ src/tests/thruster.cc | 17 ++++++++ 13 files changed, 383 insertions(+), 8 deletions(-) create mode 100644 auv_cpp/api/motor_controller.hpp create mode 100644 src/drivers/motors/motor.cpp create mode 100644 src/drivers/motors/motor.hpp create mode 100644 src/drivers/motors/noah_test.cpp create mode 100644 src/drivers/motors/sim_motor.cpp create mode 100644 src/drivers/motors/sim_motor.hpp create mode 100644 src/drivers/motors/thruster.cpp create mode 100644 src/drivers/motors/thruster.hpp create mode 100644 src/tests/thruster.cc diff --git a/.gitignore b/.gitignore index 1d46c1d..631b342 100644 --- a/.gitignore +++ b/.gitignore @@ -1,7 +1,6 @@ **/.DS_Store **/node_modules **/.venv -<<<<<<< HEAD **/.vscode **/__pycache__ @@ -9,7 +8,4 @@ auv/data/local/* !auv/data/local/.gitkeep web_app/data/local/* !web_app/data/local/.gitkeep -======= -*.vscode -__pycache__ ->>>>>>> main +build \ No newline at end of file diff --git a/Docker/Dockerfile b/Docker/Dockerfile index 9a3b491..4b754a4 100644 --- a/Docker/Dockerfile +++ b/Docker/Dockerfile @@ -1,8 +1,14 @@ -FROM debian:bookworm +FROM ubuntu:latest RUN apt-get update -y # install cmake and ninja RUN apt-get install -y cmake build-essential RUN apt-get install -y ninja-build -RUN apt-get install -y git +RUN apt-get install -y git gdb curl + +#Get project dependencies +RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev +WORKDIR /usr/local/include +RUN curl -LO https://github.com/yhirose/cpp-httplib/raw/refs/tags/latest/httplib.h > httplib.h + diff --git a/auv_cpp/api/motor_controller.hpp b/auv_cpp/api/motor_controller.hpp new file mode 100644 index 0000000..96e8d43 --- /dev/null +++ b/auv_cpp/api/motor_controller.hpp @@ -0,0 +1,6 @@ +//object that manages and abstracts all interactions with the motor array +// for the auv + +#pragma once + +#include diff --git a/src/.gitignore b/src/.gitignore index a007fea..a00eb85 100644 --- a/src/.gitignore +++ b/src/.gitignore @@ -1 +1,5 @@ build/* +CMakeFiles/* +CMakeCache.txt +.cache +.gazebo \ No newline at end of file diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 5b58b99..2acfd15 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,6 +1,78 @@ cmake_minimum_required(VERSION 3.25) -project(neptune CXX) +project(neptune C CXX) +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +#required for pthread_setaffinity_np / CPU_SET (GNU extensions) +add_compile_definitions(_GNU_SOURCE) add_executable(neptune main.cpp) +include(FetchContent) +FetchContent_Declare( + googletest + URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip +) +# For Windows: Prevent overriding the parent project's compiler/linker settings +set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) +FetchContent_MakeAvailable(googletest) +#BUILD_SIMULATION option +#this isn't a physics engine its to mimic motor.py to simulate the motor +option(BUILD_SIMULATION "Build in simulation mode" OFF) + +#find lgpio library(only if not in simulation mode) +if(NOT BUILD_SIMULATION) + find_library(LGPIO_LIB lgpio) + find_path(LGPIO_INCLUDE_DIR lgpio.h) + + if(NOT LGPIO_LIB OR NOT LGPIO_INCLUDE_DIR) + message(FATAL_ERROR "lgpio library not found") + endif() + + set(LGPIO_LINK_LIBS ${LGPIO_LIB}) + message(STATUS "Found lgpio library: ${LGPIO_LIB}") + message(STATUS "Found lgpio include directory: ${LGPIO_INCLUDE_DIR}") + + #neptune links lgpio and has lgpio include directory if not in simulation + target_link_libraries(neptune ${LGPIO_LINK_LIBS}) + target_include_directories(neptune PRIVATE ${LGPIO_INCLUDE_DIR}) +else() + #lgpio library isn't required in simulation mode + #not sure how simulations will work yet if we do any + message(STATUS "Building in simulation mode. lgpio library not used.") + set(LGPIO_LINK_LIBS "") +endif() + +#create motor library (just header file) +add_library(motor INTERFACE) +target_include_directories(motor INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/drivers) + +#add lgpio include directory to motor target +if(NOT BUILD_SIMULATION) + target_include_directories(motor INTERFACE ${LGPIO_INCLUDE_DIR}) + target_link_libraries(motor INTERFACE ${LGPIO_LINK_LIBS}) +endif() + +#need pthreads for RT thread +find_package(Threads REQUIRED) + +enable_testing() + +add_executable( + thruster_test + tests/thruster.cc +) + +target_link_libraries( + thruster_test + GTest::gtest_main +) + +include(GoogleTest) +gtest_discover_tests(thruster_test) + + +#to use the motor library elsewhere +#target_link_libraries(your_target motor) diff --git a/src/drivers/motors/motor.cpp b/src/drivers/motors/motor.cpp new file mode 100644 index 0000000..a9e25db --- /dev/null +++ b/src/drivers/motors/motor.cpp @@ -0,0 +1,20 @@ +#include "motor.hpp" +#include + + +//All of these should probably not be here or throw execptions but I need to put them here for the linker +int Motor::setSpeed(float speed) +{ + std::cout << "Dont call me" << std::endl; + return 0; +} + +int Motor::setFrequency(float cycle) +{ + std::cout << "Dont call me" << std::endl; + return 0; +} + +void Motor::armMotor() +{ +} diff --git a/src/drivers/motors/motor.hpp b/src/drivers/motors/motor.hpp new file mode 100644 index 0000000..378e9b3 --- /dev/null +++ b/src/drivers/motors/motor.hpp @@ -0,0 +1,32 @@ +#pragma once +/** + * @brief The abstract class that represents a motor on the robot + * + */ +class Motor +{ +public: + /** + * @brief sets the motor to run at speed until this or another method is called + * @param speed A value between -1.0 and 1.0, with -1.0 being max reverse thrust, 0.0 being still, and 1.0 being max forward thrust + * @return The return code. Negative indicates errors, otherwise the meaning depends on the impelmenting class + */ + virtual int setSpeed(float speed); + /** + * @brief Sets the frequency of the motor pwm, ie how quick cycles are sent to the ESC + * @param cycle The value, in hz, for the new cycle + * @return The return code. Negative indicates errors, otherwise the meaning depends on the impelmenting class + */ + virtual int setFrequency(float cycle); + + /** + * @brief arms the motor. Likely a blocking method for a few seconds + */ + virtual void armMotor(); + float speed; + float cycle; + protected: + Motor(int speed,int cycle) : speed(speed), cycle(cycle){}; + protected: + Motor(){}; +}; \ No newline at end of file diff --git a/src/drivers/motors/noah_test.cpp b/src/drivers/motors/noah_test.cpp new file mode 100644 index 0000000..b4c7386 --- /dev/null +++ b/src/drivers/motors/noah_test.cpp @@ -0,0 +1,25 @@ +#include "motor.hpp" +#include "sim_motor.hpp" +#include +#include +#include +int main(){ + srand(time(0)); + Motor* m = new SimulatedMotor(SimulatedMotor::BackRight); + Motor* m1 = new SimulatedMotor(SimulatedMotor::FrontRight); + Motor* m2 = new SimulatedMotor(SimulatedMotor::FrontLeft); + Motor* m3 = new SimulatedMotor(SimulatedMotor::BackLeft); + m->armMotor(); + m1->armMotor(); + m2->armMotor(); + m3->armMotor(); + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_real_distribution dis(-1.0, 1.0); + while (true) + { + if(rand() % 2) m->setSpeed(dis(gen)); + if(rand() % 2) m1->setSpeed(dis(gen)); + sleep(3); + } +} \ No newline at end of file diff --git a/src/drivers/motors/sim_motor.cpp b/src/drivers/motors/sim_motor.cpp new file mode 100644 index 0000000..efc4a0a --- /dev/null +++ b/src/drivers/motors/sim_motor.cpp @@ -0,0 +1,70 @@ +#include "sim_motor.hpp" +#include +httplib::Client* SimulatedMotor::sim_connection = nullptr; +std::string SimulatedMotor::GetMotorPath(){ + switch (this->ml) + { + case SimulatedMotor::FrontLeft: + return "/motor/top_left/set"; + break; + case SimulatedMotor::FrontRight: + return "/motor/top_right/set"; + break; + case SimulatedMotor::BackLeft: + return "/motor/bottom_left/set"; + break; + case SimulatedMotor::BackRight: + return "/motor/bottom_right/set"; + break; + default: + //Error? + break; + } + return ""; +} + +SimulatedMotor::SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed, float cycle) : Motor(speed, cycle) +{ + if (SimulatedMotor::sim_connection == 0) + { + SimulatedMotor::sim_connection = new httplib::Client(SIM_ADDR); + httplib::Result out = SimulatedMotor::sim_connection->Get("/heartbeat"); + if(out == nullptr){ + throw std::runtime_error("No simulation connection found"); + } + std::cout << "Status code from sim:" << out->status << std::endl; + } + this->ml = ml; +} + +int SimulatedMotor::setSpeed(float speed) +{ + if(!this->armed){ + throw std::logic_error("Tried to set the speed of an unarmed motor"); + } + this->speed = speed; + // In the long run we should add a json lib + std::ostringstream oss; + oss << "{\"speed\":" << speed << "}"; + std::string s = oss.str(); + auto out = SimulatedMotor::sim_connection->Post(this->GetMotorPath().c_str(), s.c_str(),"application/json"); + if(out == nullptr){ + std::cout << "Error sending sim info" << std::endl; + } + else { + std::cout << out->status << std::endl; + } + + return 0; +} + +int SimulatedMotor::setFrequency(float cycle) +{ + // idk if this will be called at all + return 0; +} + +void SimulatedMotor::armMotor() +{ + this->armed = true; +} \ No newline at end of file diff --git a/src/drivers/motors/sim_motor.hpp b/src/drivers/motors/sim_motor.hpp new file mode 100644 index 0000000..ba987b4 --- /dev/null +++ b/src/drivers/motors/sim_motor.hpp @@ -0,0 +1,30 @@ +#pragma once +#include "motor.hpp" +#include +#include + +class SimulatedMotor : public Motor +{ + + public: + //At some point we should prob use this datatype everywhere, for now its here + enum MotorLocation { + FrontRight, + FrontLeft, + BackRight, + BackLeft + }; + MotorLocation ml; + bool armed; + SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed = 0.0, float cycle = 50); + int setSpeed(float speed) override; + + int setFrequency(float cycle) override; + + void armMotor() override; + private: + + std::string GetMotorPath(); + const std::string SIM_ADDR = "http://localhost:6767"; + static httplib::Client* sim_connection; +}; \ No newline at end of file diff --git a/src/drivers/motors/thruster.cpp b/src/drivers/motors/thruster.cpp new file mode 100644 index 0000000..cf0d923 --- /dev/null +++ b/src/drivers/motors/thruster.cpp @@ -0,0 +1,57 @@ +#include "thruster.hpp" +#include +#include +#include +#include + + +Thruster::Thruster(int pin, int handle, int speed /*= 0*/, int cycle /*= 50*/) : pin(pin) , handle(handle), Motor(speed, cycle) { + if(lgGpioClaimOutput(handle, 0, pin, 0) !=LG_OKAY ){ + throw new std::runtime_error("Failed to claim a pin for a motor"); + } +} + +Thruster::~Thruster(){ + if(lgGpioFree(handle, pin) <0) { + std::cerr << "Error code freeing pin " << pin << std::endl; + } +} +float Thruster::getDutyCycle() +{ + // Convert to nanoseconds + float cycle_width = 1 / (this->cycle * (1e-6)) ; + float goal_interval = ((MAX_PWM_DIST * this->speed) + STOP_PWM); + return (goal_interval / cycle_width) * 100; +} + +int Thruster::sendMotorPWM() +{ + if(!this->armed){ + throw new std::logic_error("Tried to affect motor before arming. Always ensure motors are armed before activating them"); + } + return lgTxPwm(this->handle, this->pin, this->cycle, getDutyCycle(), 0, 0); + +} + +int Thruster::setSpeed(float newSpeed) { + this->speed = newSpeed; + if(newSpeed < -1.0 || newSpeed > 1.0){ + //TODO clamp here instead ? + throw new std::logic_error("Motor Speed out of range"); + } + return sendMotorPWM(); +} + +int Thruster::setFrequency(float cycle) +{ + this->cycle = cycle; + return sendMotorPWM(); +} +void Thruster::armMotor(){ + this->speed = 0.0; + this->armed = true; + if(this->sendMotorPWM() < 0){ + //Maybe error here? + } + lguSleep(ARM_SECONDS); +} diff --git a/src/drivers/motors/thruster.hpp b/src/drivers/motors/thruster.hpp new file mode 100644 index 0000000..2efc90d --- /dev/null +++ b/src/drivers/motors/thruster.hpp @@ -0,0 +1,40 @@ +#pragma once +#include "motor.hpp" +#include +/** + * @brief Represents one of the blue robotics thrusters on the robot + */ +class Thruster : public Motor +{ +public: + int pin; + int handle; + bool armed; + + Thruster(int pin, int handle, int speed = 0, int cycle = 50); + ~Thruster(); + int setSpeed(float speed) override; + + int setFrequency(float cycle) override; + + void armMotor() override; + /** + * @brief gets the duty cycle to send to the motor in order to move the motor at the current speed + */ + float getDutyCycle(); + protected: + Thruster() {}; +private: + const int STOP_PWM = 1500; + const int MAX_PWM_DIST = 400; + const int ARM_SECONDS = 3; //I dont think this actually has to be 7 seconds, like 3 works but better safe than sorry + + + /** + * @brief updates the pwm values being sent. Must be called after any updates to class variables that will affect this value + * @return the return value of the lgTxPwm call + */ + int sendMotorPWM(); + + +}; \ No newline at end of file diff --git a/src/tests/thruster.cc b/src/tests/thruster.cc new file mode 100644 index 0000000..ec4e921 --- /dev/null +++ b/src/tests/thruster.cc @@ -0,0 +1,17 @@ +#include +#include "thruster.hpp" +#include +TEST(Thruster, DutyCycle){ + Thruster* thruster = new Thruster(); + thruster->armed = true; + thruster->cycle = 50; + thruster->speed = 0.0; + EXPECT_EQ(7.5, thruster->getDutyCycle()); + +} + +TEST(Thruster, UnarmedFailure){ + Thruster* thruster = new Thruster(0,0); + thruster->armed = false; + ASSERT_THROW(thruster->setSpeed(50, std::logic_error())); +} From ea9f5a5d0ff19031b7520a37026a1d3f5f4ac014 Mon Sep 17 00:00:00 2001 From: Andrew <112200249+andytgarcia@users.noreply.github.com> Date: Wed, 29 Apr 2026 19:24:54 -0700 Subject: [PATCH 04/10] Andytgarcia/new comms (#12) * added old server with updated motor func * ran linter, just pruning endlines * comment hot fix imma bypass da rules --- .gitignore | 2 +- Docker/Dockerfile | 5 +- auv_cpp/api/motor_controller.hpp | 4 +- motor_client.py | 190 +++++++++++++++ src/.gitignore | 2 +- src/CMakeLists.txt | 41 +++- src/comms/tcp_server.hpp | 123 ++++++++++ src/drivers/motors/motor.hpp | 2 +- src/drivers/motors/noah_test.cpp | 6 +- src/drivers/motors/sim_motor.cpp | 4 +- src/drivers/motors/sim_motor.hpp | 6 +- src/drivers/motors/thruster.cpp | 2 +- src/drivers/motors/thruster.hpp | 4 +- src/drivers/server/motor_server.cpp | 363 ++++++++++++++++++++++++++++ src/tests/thruster.cc | 2 +- 15 files changed, 734 insertions(+), 22 deletions(-) create mode 100644 motor_client.py create mode 100644 src/comms/tcp_server.hpp create mode 100644 src/drivers/server/motor_server.cpp diff --git a/.gitignore b/.gitignore index 631b342..ad41229 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,4 @@ auv/data/local/* !auv/data/local/.gitkeep web_app/data/local/* !web_app/data/local/.gitkeep -build \ No newline at end of file +build diff --git a/Docker/Dockerfile b/Docker/Dockerfile index 4b754a4..5fd71c1 100644 --- a/Docker/Dockerfile +++ b/Docker/Dockerfile @@ -7,8 +7,7 @@ RUN apt-get install -y cmake build-essential RUN apt-get install -y ninja-build RUN apt-get install -y git gdb curl -#Get project dependencies -RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev +#Get project dependencies +RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev WORKDIR /usr/local/include RUN curl -LO https://github.com/yhirose/cpp-httplib/raw/refs/tags/latest/httplib.h > httplib.h - diff --git a/auv_cpp/api/motor_controller.hpp b/auv_cpp/api/motor_controller.hpp index 96e8d43..098bee4 100644 --- a/auv_cpp/api/motor_controller.hpp +++ b/auv_cpp/api/motor_controller.hpp @@ -1,5 +1,5 @@ -//object that manages and abstracts all interactions with the motor array -// for the auv +// object that manages and abstracts all interactions with the motor array +// for the auv #pragma once diff --git a/motor_client.py b/motor_client.py new file mode 100644 index 0000000..5425d6b --- /dev/null +++ b/motor_client.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python3 +""" +motor_client.py — Base station client for motor_server + +Connects to the Pi's motor_server over TCP (WiFi HaLow, Ethernet, USB-gadget, +or localhost) and provides an interactive command line to control motors. + +For HolyBro Telemetry Radio: + ensure that radios are connected to Pi and Base Station + on Pi: sudo pppd /dev/ttyUSB0 57600 lock local noauth 192.168.100.11:192.168.100.10 + on base: sudo pppd /dev/ttyUSB0 57600 lock local noauth nodetach 192.168.100.10:192.168.100.11 + +Usage: + python3 motor_client.py # localhost:9000 (both sides local) + python3 motor_client.py 192.168.100.11 # Pi via static Ethernet/HaLow + python3 motor_client.py 192.168.100.11 9000 # explicit port + +Commands (once connected): + motors Set forward, turn, front, back [-1.0 to 1.0] + pwm Set one motor by raw PWM (1100–1900 µs) + stop Zero all motors + status Query current normalized speed for all motors + quit Shut down the server and exit + help Show this message + Ctrl+C or exit Disconnect and exit client only +""" + +import json +import socket +import sys +import readline # noqa: F401 — gives line editing / history for free + + +DEFAULT_HOST = "localhost" +DEFAULT_PORT = 9000 + + +def send_cmd(sock: socket.socket, obj: dict) -> dict | None: + """Send a JSON command and return the parsed response.""" + try: + msg = json.dumps(obj) + "\n" + sock.sendall(msg.encode()) + # Read until newline + buf = b"" + while not buf.endswith(b"\n"): + chunk = sock.recv(4096) + if not chunk: + return None + buf += chunk + return json.loads(buf.strip()) + except (OSError, json.JSONDecodeError) as e: + print(f"[ERR] {e}") + return None + + +def print_response(resp: dict | None): + if resp is None: + print("[ERR] No response (disconnected?)") + return + ok = resp.get("ok", False) + prefix = "[ OK]" if ok else "[ERR]" + + # Status response has speeds array (normalized -1.0 to 1.0) + if "speeds" in resp: + speeds = resp["speeds"] + labels = ["forward", "turn ", "front ", "back "] + print(f"{prefix} Motor speeds (normalized):") + for i, (label, speed) in enumerate(zip(labels, speeds)): + bar_len = int(abs(speed) * 20) + direction = "►" if speed >= 0 else "◄" + bar = direction * bar_len + print(f" [{i}] {label}: {speed:+.3f} {bar}") + else: + print(f"{prefix} {resp.get('msg', resp)}") + + +def print_help(): + print(""" +Commands: + motors Normalized values, -1.0 to 1.0 + fwd = forward/reverse thruster + turn = yaw thruster + front = front vertical thruster + back = back vertical thruster + + pwm Raw PWM for one motor (1100–1900 µs) + 1500 = neutral/stop + 1900 = full forward + 1100 = full reverse + + stop Stop all motors + status Show current normalized speed for all motors + quit Shut down the server then exit + help Show this message + exit / Ctrl+C Disconnect client (server keeps running) +""") + + +def main(): + host = sys.argv[1] if len(sys.argv) > 1 else DEFAULT_HOST + port = int(sys.argv[2]) if len(sys.argv) > 2 else DEFAULT_PORT + + print(f"[CLIENT] Connecting to {host}:{port} ...") + try: + sock = socket.create_connection((host, port), timeout=5) + sock.settimeout(None) # blocking after connect + except OSError as e: + print(f"[ERR] Could not connect: {e}") + sys.exit(1) + + # Read the greeting + buf = b"" + while not buf.endswith(b"\n"): + buf += sock.recv(4096) + greeting = json.loads(buf.strip()) + print_response(greeting) + print_help() + + try: + while True: + try: + raw = input("motor> ").strip() + except EOFError: + break + + if not raw: + continue + + parts = raw.split() + cmd = parts[0].lower() + + if cmd in ("exit", "disconnect"): + print("[CLIENT] Disconnecting (server still running).") + break + + elif cmd == "help": + print_help() + + elif cmd == "stop": + resp = send_cmd(sock, {"command": "stop"}) + print_response(resp) + + elif cmd == "status": + resp = send_cmd(sock, {"command": "status"}) + print_response(resp) + + elif cmd == "quit": + resp = send_cmd(sock, {"command": "quit"}) + print_response(resp) + break + + elif cmd == "motors": + if len(parts) != 5: + print("[ERR] Usage: motors ") + continue + try: + vals = [float(p) for p in parts[1:]] + except ValueError: + print("[ERR] Values must be floats in [-1.0, 1.0]") + continue + if any(abs(v) > 1.0 for v in vals): + print("[WARN] Values outside [-1, 1] will be clamped by the server.") + resp = send_cmd(sock, {"command": "motors", "values": vals}) + print_response(resp) + + elif cmd == "pwm": + if len(parts) != 3: + print("[ERR] Usage: pwm ") + continue + try: + idx = int(parts[1]) + val = int(parts[2]) + except ValueError: + print("[ERR] Index and value must be integers.") + continue + resp = send_cmd(sock, {"command": "pwm", "motor": idx, "value": val}) + print_response(resp) + + else: + print(f"[ERR] Unknown command '{cmd}'. Type 'help' for options.") + + except KeyboardInterrupt: + print("\n[CLIENT] Interrupted.") + finally: + sock.close() + print("[CLIENT] Connection closed.") + + +if __name__ == "__main__": + main() diff --git a/src/.gitignore b/src/.gitignore index a00eb85..5dd7ff8 100644 --- a/src/.gitignore +++ b/src/.gitignore @@ -2,4 +2,4 @@ build/* CMakeFiles/* CMakeCache.txt .cache -.gazebo \ No newline at end of file +.gazebo diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 2acfd15..74298b1 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -18,6 +18,8 @@ FetchContent_Declare( # For Windows: Prevent overriding the parent project's compiler/linker settings set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) FetchContent_MakeAvailable(googletest) + + #BUILD_SIMULATION option #this isn't a physics engine its to mimic motor.py to simulate the motor option(BUILD_SIMULATION "Build in simulation mode" OFF) @@ -73,6 +75,41 @@ target_link_libraries( include(GoogleTest) gtest_discover_tests(thruster_test) +add_library(thruster STATIC + drivers/motors/thruster.cpp + drivers/motors/motor.cpp +) +target_include_directories(thruster PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/drivers +) +if(NOT BUILD_SIMULATION) + target_link_libraries(thruster PUBLIC ${LGPIO_LINK_LIBS}) + target_include_directories(thruster PUBLIC ${LGPIO_INCLUDE_DIR}) +endif() + +add_library(sim_motor STATIC + drivers/motors/sim_motor.cpp + drivers/motors/motor.cpp +) +target_include_directories(sim_motor PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/drivers +) -#to use the motor library elsewhere -#target_link_libraries(your_target motor) +add_executable(motor_server + drivers/server/motor_server.cpp +) + +target_include_directories(motor_server PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR}/comms + ${CMAKE_CURRENT_SOURCE_DIR}/drivers +) + +target_link_libraries(motor_server PRIVATE Threads::Threads) + +if(NOT BUILD_SIMULATION) + target_link_libraries(motor_server PRIVATE thruster) + target_include_directories(motor_server PRIVATE ${LGPIO_INCLUDE_DIR}) +else() + target_link_libraries(motor_server PRIVATE sim_motor) + target_compile_definitions(motor_server PRIVATE BUILD_SIMULATION) +endif() diff --git a/src/comms/tcp_server.hpp b/src/comms/tcp_server.hpp new file mode 100644 index 0000000..6b54345 --- /dev/null +++ b/src/comms/tcp_server.hpp @@ -0,0 +1,123 @@ +#pragma once + +/** + * @file tcp_server.hpp + * @brief Minimal single-client TCP server using POSIX sockets. + * + * Accepts one connection at a time. Each call to recv_line() blocks until a + * newline-terminated message arrives. The server automatically re-accepts after + * a client disconnects. + * + * No external dependencies — POSIX only. + * + * For HolyBro Telemetry Radio: + ensure that radios are connected to Pi and Base Station + on Pi: sudo pppd /dev/ttyUSB0 57600 lock local noauth 192.168.100.11:192.168.100.10 + on base: sudo pppd /dev/ttyUSB0 57600 lock local noauth nodetach 192.168.100.10:192.168.100.11 + + IPs should be ordered relative to the device you are running the command on + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +class TcpServer { +public: + explicit TcpServer(int port) : port_(port), server_fd_(-1), client_fd_(-1) {} + + ~TcpServer() { close_all(); } + + /** + * Bind and start listening. Call once before the main loop. + */ + void start() { + server_fd_ = socket(AF_INET, SOCK_STREAM, 0); + if (server_fd_ < 0) throw std::runtime_error("socket() failed: " + err()); + + // Allow rapid restart without "Address already in use" + int opt = 1; + setsockopt(server_fd_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); + + sockaddr_in addr{}; + addr.sin_family = AF_INET; + addr.sin_addr.s_addr = INADDR_ANY; + addr.sin_port = htons(static_cast(port_)); + + if (bind(server_fd_, reinterpret_cast(&addr), sizeof(addr)) < 0) + throw std::runtime_error("bind() failed: " + err()); + + if (listen(server_fd_, 1) < 0) + throw std::runtime_error("listen() failed: " + err()); + + std::cout << "[TCP] Listening on port " << port_ << std::endl; + } + + /** + * Block until a client connects. Closes any existing client first. + */ + void accept_client() { + if (client_fd_ >= 0) { + close(client_fd_); + client_fd_ = -1; + } + sockaddr_in client_addr{}; + socklen_t len = sizeof(client_addr); + std::cout << "[TCP] Waiting for connection..." << std::endl; + client_fd_ = accept(server_fd_, reinterpret_cast(&client_addr), &len); + if (client_fd_ < 0) throw std::runtime_error("accept() failed: " + err()); + + char ip[INET_ADDRSTRLEN]; + inet_ntop(AF_INET, &client_addr.sin_addr, ip, sizeof(ip)); + std::cout << "[TCP] Client connected from " << ip << std::endl; + } + + /** + * Read one newline-terminated line from the current client. + * Returns false if the client disconnected (caller should call accept_client again). + */ + bool recv_line(std::string& out) { + out.clear(); + char ch; + while (true) { + ssize_t n = recv(client_fd_, &ch, 1, 0); + if (n <= 0) { + std::cout << "[TCP] Client disconnected." << std::endl; + return false; + } + if (ch == '\n') return true; + if (ch != '\r') out += ch; + } + } + + /** + * Send a newline-terminated string to the current client. + * Returns false if the send failed. + */ + bool send_line(const std::string& msg) { + std::string out = msg + "\n"; + ssize_t n = send(client_fd_, out.c_str(), out.size(), MSG_NOSIGNAL); + return n == static_cast(out.size()); + } + + bool has_client() const { return client_fd_ >= 0; } + +private: + int port_; + int server_fd_; + int client_fd_; + + void close_all() { + if (client_fd_ >= 0) { close(client_fd_); client_fd_ = -1; } + if (server_fd_ >= 0) { close(server_fd_); server_fd_ = -1; } + } + + static std::string err() { return std::string(strerror(errno)); } +}; diff --git a/src/drivers/motors/motor.hpp b/src/drivers/motors/motor.hpp index 378e9b3..da8bcc0 100644 --- a/src/drivers/motors/motor.hpp +++ b/src/drivers/motors/motor.hpp @@ -29,4 +29,4 @@ class Motor Motor(int speed,int cycle) : speed(speed), cycle(cycle){}; protected: Motor(){}; -}; \ No newline at end of file +}; diff --git a/src/drivers/motors/noah_test.cpp b/src/drivers/motors/noah_test.cpp index b4c7386..34745f3 100644 --- a/src/drivers/motors/noah_test.cpp +++ b/src/drivers/motors/noah_test.cpp @@ -13,8 +13,8 @@ int main(){ m1->armMotor(); m2->armMotor(); m3->armMotor(); - std::random_device rd; - std::mt19937 gen(rd()); + std::random_device rd; + std::mt19937 gen(rd()); std::uniform_real_distribution dis(-1.0, 1.0); while (true) { @@ -22,4 +22,4 @@ int main(){ if(rand() % 2) m1->setSpeed(dis(gen)); sleep(3); } -} \ No newline at end of file +} diff --git a/src/drivers/motors/sim_motor.cpp b/src/drivers/motors/sim_motor.cpp index efc4a0a..64de212 100644 --- a/src/drivers/motors/sim_motor.cpp +++ b/src/drivers/motors/sim_motor.cpp @@ -37,7 +37,7 @@ SimulatedMotor::SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed, floa this->ml = ml; } -int SimulatedMotor::setSpeed(float speed) +int SimulatedMotor::setSpeed(float speed) { if(!this->armed){ throw std::logic_error("Tried to set the speed of an unarmed motor"); @@ -67,4 +67,4 @@ int SimulatedMotor::setFrequency(float cycle) void SimulatedMotor::armMotor() { this->armed = true; -} \ No newline at end of file +} diff --git a/src/drivers/motors/sim_motor.hpp b/src/drivers/motors/sim_motor.hpp index ba987b4..24cdccf 100644 --- a/src/drivers/motors/sim_motor.hpp +++ b/src/drivers/motors/sim_motor.hpp @@ -5,7 +5,7 @@ class SimulatedMotor : public Motor { - + public: //At some point we should prob use this datatype everywhere, for now its here enum MotorLocation { @@ -25,6 +25,6 @@ class SimulatedMotor : public Motor private: std::string GetMotorPath(); - const std::string SIM_ADDR = "http://localhost:6767"; + const std::string SIM_ADDR = "http://localhost:6767"; static httplib::Client* sim_connection; -}; \ No newline at end of file +}; diff --git a/src/drivers/motors/thruster.cpp b/src/drivers/motors/thruster.cpp index cf0d923..753d66e 100644 --- a/src/drivers/motors/thruster.cpp +++ b/src/drivers/motors/thruster.cpp @@ -36,7 +36,7 @@ int Thruster::sendMotorPWM() int Thruster::setSpeed(float newSpeed) { this->speed = newSpeed; if(newSpeed < -1.0 || newSpeed > 1.0){ - //TODO clamp here instead ? + //TODO clamp here instead ? throw new std::logic_error("Motor Speed out of range"); } return sendMotorPWM(); diff --git a/src/drivers/motors/thruster.hpp b/src/drivers/motors/thruster.hpp index 2efc90d..6810a8e 100644 --- a/src/drivers/motors/thruster.hpp +++ b/src/drivers/motors/thruster.hpp @@ -12,7 +12,7 @@ class Thruster : public Motor bool armed; Thruster(int pin, int handle, int speed = 0, int cycle = 50); - ~Thruster(); + ~Thruster(); int setSpeed(float speed) override; int setFrequency(float cycle) override; @@ -37,4 +37,4 @@ class Thruster : public Motor int sendMotorPWM(); -}; \ No newline at end of file +}; diff --git a/src/drivers/server/motor_server.cpp b/src/drivers/server/motor_server.cpp new file mode 100644 index 0000000..facbe80 --- /dev/null +++ b/src/drivers/server/motor_server.cpp @@ -0,0 +1,363 @@ +/** + * @file motor_server.cpp + * @brief Remote motor control server over TCP. + * + * Uses the Thruster class (real hardware) or SimulatedMotor (BUILD_SIMULATION). + * + * Motor API: + * - Thruster(int pin, int handle) -- constructor claims pin; destructor frees it + * - motor.armMotor() -- blocks ~3 s, sets neutral + * - motor.setSpeed(float speed) -- -1.0 (full reverse) .. 0.0 (stop) .. 1.0 (full forward) + * + * ## Protocol (newline-terminated JSON) + * + * Set all four motors (normalized -1.0 to 1.0): + * {"command":"motors","values":[0.5, 0.0, -0.3, 0.2]} + * + * Set one motor by raw PWM microseconds (1100-1900): + * {"command":"pwm","motor":0,"value":1600} + * (converted internally to normalized speed before calling setSpeed) + * + * Stop all motors: + * {"command":"stop"} + * + * Query current normalized speeds: + * {"command":"status"} + * + * Graceful server shutdown: + * {"command":"quit"} + * + * ## Build & run on Pi + * cmake -B build && cmake --build build --target motor_server + * sudo ./build/motor_server [port] (default 9000) + * + * ## Simulate (routes motor commands to Gazebo sim over HTTP) + * cmake -B build -DBUILD_SIMULATION=ON + * ./build/motor_server + */ + +#include +#include +#include +#include +#include +#include +#include + +#ifndef BUILD_SIMULATION + #include + #include "../motors/thruster.hpp" +#else + #include "../motors/sim_motor.hpp" +#endif + +#include "../../comms/tcp_server.hpp" +// --------------------------------------------------------------------------- +// Constants -- mirrors Thruster internals for the "pwm" command converter +// --------------------------------------------------------------------------- +static constexpr float STOP_SPEED = 0.0f; +static constexpr int NEUTRAL_PWM = 1500; +static constexpr int MIN_PWM = 1100; +static constexpr int MAX_PWM = 1900; +static constexpr int MAX_PWM_DIST = 400; // microseconds from neutral to limit + +// --------------------------------------------------------------------------- +// Motor GPIO pin assignments (matches pool_test.cpp / motor_controller.py) +// --------------------------------------------------------------------------- +static constexpr int NUM_MOTORS = 4; +static constexpr int MOTOR_PINS[NUM_MOTORS] = { + 4, // forward (FORWARD_GPIO_PIN) + 11, // turn (TURN_GPIO_PIN) + 18, // front (FRONT_GPIO_PIN) + 24, // back (BACK_GPIO_PIN) +}; + +#ifdef BUILD_SIMULATION +// Map each motor slot to a SimulatedMotor::MotorLocation for the HTTP sim API. +// Mapping is approximate -- adjust once the sim model is finalised. +static constexpr SimulatedMotor::MotorLocation MOTOR_LOCATIONS[NUM_MOTORS] = { + SimulatedMotor::FrontLeft, // motor 0 - forward + SimulatedMotor::FrontRight, // motor 1 - turn + SimulatedMotor::BackLeft, // motor 2 - front + SimulatedMotor::BackRight, // motor 3 - back +}; +#endif + +// Current normalized speed for each motor (source of truth for "status" replies) +static std::array g_speeds = { + STOP_SPEED, STOP_SPEED, STOP_SPEED, STOP_SPEED +}; + +// --------------------------------------------------------------------------- +// Minimal JSON helpers (no external lib) +// --------------------------------------------------------------------------- +static std::string make_response(bool ok, const std::string& msg) { + std::ostringstream ss; + ss << "{\"ok\":" << (ok ? "true" : "false") + << ",\"msg\":\"" << msg << "\"}"; + return ss.str(); +} + +static std::string make_status(const std::array& speeds) { + std::ostringstream ss; + ss << "{\"ok\":true,\"speeds\":[" + << speeds[0] << "," << speeds[1] << "," << speeds[2] << "," << speeds[3] + << "]}"; + return ss.str(); +} + +static std::string parse_string(const std::string& json, const std::string& key) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) return ""; + pos = json.find(':', pos); + if (pos == std::string::npos) return ""; + pos = json.find('"', pos); + if (pos == std::string::npos) return ""; + size_t end = json.find('"', pos + 1); + if (end == std::string::npos) return ""; + return json.substr(pos + 1, end - pos - 1); +} + +static bool parse_int(const std::string& json, const std::string& key, int& out) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) return false; + pos = json.find(':', pos); + if (pos == std::string::npos) return false; + pos++; + while (pos < json.size() && (json[pos] == ' ' || json[pos] == '\t')) pos++; + try { + size_t consumed = 0; + out = std::stoi(json.substr(pos), &consumed); + return consumed > 0; + } catch (...) { return false; } +} + +static bool parse_float_array4(const std::string& json, const std::string& key, + std::array& out) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) return false; + pos = json.find('[', pos); + if (pos == std::string::npos) return false; + pos++; + for (int i = 0; i < 4; i++) { + while (pos < json.size() && + (json[pos] == ' ' || json[pos] == '\t' || json[pos] == ',')) + pos++; + if (pos >= json.size() || json[pos] == ']') return false; + try { + size_t consumed = 0; + out[i] = std::stof(json.substr(pos), &consumed); + pos += consumed; + } catch (...) { return false; } + } + return true; +} + +// Convert PWM microseconds (1100-1900) to normalized speed (-1.0 to 1.0). +// Mirrors Thruster::getDutyCycle() in reverse. +static float pwm_to_speed(int pwm) { + return static_cast(pwm - NEUTRAL_PWM) / static_cast(MAX_PWM_DIST); +} + +static void zero_motors(std::array& motors) { + for (int i = 0; i < NUM_MOTORS; i++) { + motors[i]->setSpeed(STOP_SPEED); + g_speeds[i] = STOP_SPEED; + } +} + +// --------------------------------------------------------------------------- +// Signal handling +// --------------------------------------------------------------------------- +static volatile bool g_running = true; +static void handle_signal(int) { g_running = false; } + +// --------------------------------------------------------------------------- +// Main +// --------------------------------------------------------------------------- +int main(int argc, char* argv[]) { + int port = 9000; + if (argc >= 2) { + try { port = std::stoi(argv[1]); } + catch (...) { + std::cerr << "Usage: " << argv[0] << " [port]\n"; + return 1; + } + } + + std::signal(SIGINT, handle_signal); + std::signal(SIGTERM, handle_signal); + std::signal(SIGPIPE, SIG_IGN); + + // ----------------------------------------------------------------------- + // Open lgpio chip (real hardware only) + // ----------------------------------------------------------------------- +#ifndef BUILD_SIMULATION + int handle = lgGpiochipOpen(0); + if (handle < 0) { + std::cerr << "[INIT] lgGpiochipOpen failed: " << handle << std::endl; + return 1; + } + std::cout << "[INIT] GPIO chip opened." << std::endl; +#else + std::cout << "[SIM] Simulation mode -- routing to Gazebo sim over HTTP." << std::endl; +#endif + + // ----------------------------------------------------------------------- + // Construct motors + // + // Thruster: constructor claims the GPIO pin; destructor frees it. + // SimulatedMotor: constructor connects to the HTTP sim server. + // Both throw on failure, so we catch here and bail cleanly. + // ----------------------------------------------------------------------- + std::array, NUM_MOTORS> motor_storage; + + std::cout << "[INIT] Constructing motors..." << std::endl; + for (int i = 0; i < NUM_MOTORS; i++) { + try { +#ifndef BUILD_SIMULATION + motor_storage[i] = std::make_unique(MOTOR_PINS[i], handle); +#else + motor_storage[i] = std::make_unique(MOTOR_LOCATIONS[i]); +#endif + } catch (const std::exception& e) { + std::cerr << "[INIT] Failed to construct motor " << i << ": " + << e.what() << std::endl; +#ifndef BUILD_SIMULATION + lgGpiochipClose(handle); +#endif + return 1; + } + } + + // Raw pointer array for convenience in helper functions + std::array motors = { + motor_storage[0].get(), motor_storage[1].get(), + motor_storage[2].get(), motor_storage[3].get() + }; + + // ----------------------------------------------------------------------- + // Arm ESCs -- armMotor() sets neutral and blocks for the required delay + // ----------------------------------------------------------------------- + std::cout << "[INIT] Arming ESCs..." << std::endl; + for (auto* m : motors) m->armMotor(); + std::cout << "[INIT] Motors ready." << std::endl; + + // ----------------------------------------------------------------------- + // TCP server + // ----------------------------------------------------------------------- + TcpServer server(port); + try { + server.start(); + } catch (const std::exception& e) { + std::cerr << "[TCP] " << e.what() << std::endl; +#ifndef BUILD_SIMULATION + lgGpiochipClose(handle); +#endif + return 1; + } + + // ----------------------------------------------------------------------- + // Main accept loop + // ----------------------------------------------------------------------- + while (g_running) { + try { + server.accept_client(); + } catch (const std::exception& e) { + std::cerr << "[TCP] accept failed: " << e.what() << std::endl; + break; + } + + server.send_line(make_response(true, "connected -- motor_server ready")); + + std::string line; + while (g_running && server.recv_line(line)) { + if (line.empty()) continue; + std::cout << "[CMD] " << line << std::endl; + + std::string cmd = parse_string(line, "command"); + + if (cmd == "stop") { + zero_motors(motors); + server.send_line(make_response(true, "all motors stopped")); + + } else if (cmd == "motors") { + std::array vals{}; + if (!parse_float_array4(line, "values", vals)) { + server.send_line(make_response(false, "bad values array")); + continue; + } + bool ok = true; + for (int i = 0; i < NUM_MOTORS; i++) { + // Clamp to [-1, 1] before passing to setSpeed + float speed = vals[i]; + if (speed > 1.0f) speed = 1.0f; + if (speed < -1.0f) speed = -1.0f; + + if (motors[i]->setSpeed(speed) < 0) { + server.send_line(make_response(false, + "motor " + std::to_string(i) + " setSpeed failed")); + ok = false; + break; + } + g_speeds[i] = speed; + } + if (ok) server.send_line(make_response(true, "motors updated")); + + } else if (cmd == "pwm") { + // Accept legacy PWM microseconds (1100-1900) and convert to speed + int motor_idx = -1, pwm_value = -1; + if (!parse_int(line, "motor", motor_idx) || + !parse_int(line, "value", pwm_value) || + motor_idx < 0 || motor_idx >= NUM_MOTORS || + pwm_value < MIN_PWM || pwm_value > MAX_PWM) { + server.send_line(make_response(false, + "bad args -- motor 0-3, value 1100-1900")); + continue; + } + float speed = pwm_to_speed(pwm_value); + if (motors[motor_idx]->setSpeed(speed) < 0) { + server.send_line(make_response(false, "setSpeed failed")); + continue; + } + g_speeds[motor_idx] = speed; + server.send_line(make_response(true, + "motor " + std::to_string(motor_idx) + + " -> " + std::to_string(pwm_value) + " us" + " (speed " + std::to_string(speed) + ")")); + + } else if (cmd == "status") { + server.send_line(make_status(g_speeds)); + + } else if (cmd == "quit") { + server.send_line(make_response(true, "shutting down")); + g_running = false; + break; + + } else { + server.send_line(make_response(false, + "unknown command: " + (cmd.empty() ? "(empty)" : cmd))); + } + } + + std::cout << "[SAFE] Client gone -- zeroing motors." << std::endl; + zero_motors(motors); + } + + // ----------------------------------------------------------------------- + // Cleanup + // Thruster destructors free GPIO pins automatically when motor_storage + // goes out of scope; no manual freePin() calls needed. + // ----------------------------------------------------------------------- + std::cout << "[SHUTDOWN] Stopping motors." << std::endl; + for (auto* m : motors) m->setSpeed(STOP_SPEED); + + // motor_storage destructors run here, freeing all pins +#ifndef BUILD_SIMULATION + lgGpiochipClose(handle); +#endif + return 0; +} diff --git a/src/tests/thruster.cc b/src/tests/thruster.cc index ec4e921..f4a195e 100644 --- a/src/tests/thruster.cc +++ b/src/tests/thruster.cc @@ -7,7 +7,7 @@ TEST(Thruster, DutyCycle){ thruster->cycle = 50; thruster->speed = 0.0; EXPECT_EQ(7.5, thruster->getDutyCycle()); - + } TEST(Thruster, UnarmedFailure){ From a9384c3d7f7a39a80b8fa46f966524755738f942 Mon Sep 17 00:00:00 2001 From: WilyHyperion <123993989+WilyHyperion@users.noreply.github.com> Date: Wed, 6 May 2026 18:58:10 -0700 Subject: [PATCH 05/10] Support for both simulated and hardware GPS drivers, based on the gps object (#13) * Working physical + sim gps * run formater * Run correct linter and add targets * change sim to share a common connection --------- Co-authored-by: Copilot --- .devcontainer/devcontainer.json | 10 + Docker/Dockerfile | 13 +- src/CMakeLists.txt | 57 +++- src/comms/tcp_server.hpp | 179 +++++----- src/drivers/CMakeLists.txt | 12 + src/drivers/common/sim.hpp | 8 + src/drivers/gps/gps.hpp | 16 + src/drivers/gps/hardware_gps.hpp | 82 +++++ src/drivers/gps/simulated_gps.hpp | 31 ++ src/drivers/motors/motor.cpp | 22 +- src/drivers/motors/motor.hpp | 54 +-- src/drivers/motors/noah_test.cpp | 39 +-- src/drivers/motors/sim_motor.cpp | 110 +++--- src/drivers/motors/sim_motor.hpp | 34 +- src/drivers/motors/thruster.cpp | 80 +++-- src/drivers/motors/thruster.hpp | 53 +-- src/drivers/server/motor_server.cpp | 508 +++++++++++++++------------- src/main.cpp | 21 +- src/sim_main.cpp | 10 + src/tests/thruster.cc | 17 +- src/types/CMakeLists.txt | 0 src/types/GPSCoordinate.hpp | 13 + 22 files changed, 818 insertions(+), 551 deletions(-) create mode 100644 src/drivers/CMakeLists.txt create mode 100644 src/drivers/common/sim.hpp create mode 100644 src/drivers/gps/gps.hpp create mode 100644 src/drivers/gps/hardware_gps.hpp create mode 100644 src/drivers/gps/simulated_gps.hpp create mode 100644 src/sim_main.cpp create mode 100644 src/types/CMakeLists.txt create mode 100644 src/types/GPSCoordinate.hpp diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 37e97b5..80273e7 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -2,5 +2,15 @@ "name": "neptune", "build": { "dockerfile": "../Docker/Dockerfile" + }, + + "runArgs": ["--privileged", "--add-host=host.docker.internal:host-gateway" ], + "customizations": { + "vscode": { + "extensions": [ + "ms-vscode.cpptools-extension-pack" + ] } +}, +"onCreateCommand": "pipx run pre-commit install" } diff --git a/Docker/Dockerfile b/Docker/Dockerfile index 5fd71c1..d42c19a 100644 --- a/Docker/Dockerfile +++ b/Docker/Dockerfile @@ -2,12 +2,19 @@ FROM ubuntu:latest RUN apt-get update -y -# install cmake and ninja +# install dev dependcies RUN apt-get install -y cmake build-essential RUN apt-get install -y ninja-build -RUN apt-get install -y git gdb curl +RUN apt-get update -y +RUN apt-get install -y git gdb curl clang-format #Get project dependencies -RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev +RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev libserial-dev gpsd libgps-dev +#dev dependencies +RUN apt-get install -y python3 python3-pip pipx +WORKDIR /workspace/Neptune +RUN pipx install pre-commit WORKDIR /usr/local/include +#install httplib and serial lib TODO - this is unstable, we should choose a specfic version to fix RUN curl -LO https://github.com/yhirose/cpp-httplib/raw/refs/tags/latest/httplib.h > httplib.h +RUN curl -LO https://github.com/CLIUtils/CLI11/releases/download/v2.6.2/CLI11.hpp > CLI11.hpp diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 74298b1..adc8c5f 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -5,11 +5,13 @@ project(neptune C CXX) if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE Release) endif() +find_package(Threads REQUIRED) #required for pthread_setaffinity_np / CPU_SET (GNU extensions) add_compile_definitions(_GNU_SOURCE) add_executable(neptune main.cpp) +add_executable(neptune_sim sim_main.cpp) include(FetchContent) FetchContent_Declare( googletest @@ -47,19 +49,29 @@ else() set(LGPIO_LINK_LIBS "") endif() -#create motor library (just header file) -add_library(motor INTERFACE) -target_include_directories(motor INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/drivers) -#add lgpio include directory to motor target -if(NOT BUILD_SIMULATION) - target_include_directories(motor INTERFACE ${LGPIO_INCLUDE_DIR}) - target_link_libraries(motor INTERFACE ${LGPIO_LINK_LIBS}) -endif() -#need pthreads for RT thread -find_package(Threads REQUIRED) +link_directories(drivers) +add_subdirectory(drivers) +add_subdirectory(types) + + +target_link_libraries(motors ${LGPIO_LINK_LIBS}) + +#main target +target_include_directories(motors PRIVATE ${LGPIO_INCLUDE_DIR}) + +target_link_libraries(neptune_sim motors) +target_link_libraries(neptune motors) + +target_link_libraries(neptune_sim gps_drivers) +target_link_libraries(neptune gps_drivers) + + +# Everything below here is not part of the main target + +#Testing enable_testing() add_executable( @@ -67,9 +79,9 @@ add_executable( tests/thruster.cc ) -target_link_libraries( - thruster_test +target_link_libraries(thruster_test GTest::gtest_main + motors ) include(GoogleTest) @@ -104,6 +116,7 @@ target_include_directories(motor_server PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/drivers ) + target_link_libraries(motor_server PRIVATE Threads::Threads) if(NOT BUILD_SIMULATION) @@ -113,3 +126,23 @@ else() target_link_libraries(motor_server PRIVATE sim_motor) target_compile_definitions(motor_server PRIVATE BUILD_SIMULATION) endif() + + +#linter +find_program(PIPX NAMES "pipx") +if(PIPX) + add_custom_target( + lint + COMMAND ${PIPX} run pre-commit run + + COMMENT "Runing precommit checks" + ) + add_custom_target( + lint_all + COMMAND ${PIPX} run pre-commit run --all-files + + COMMENT "Runing precommit checks" + ) +else() +message(WARNING "Failed to find pipx for precommit checks") +endif() diff --git a/src/comms/tcp_server.hpp b/src/comms/tcp_server.hpp index 6b54345..4b495ad 100644 --- a/src/comms/tcp_server.hpp +++ b/src/comms/tcp_server.hpp @@ -12,8 +12,9 @@ * * For HolyBro Telemetry Radio: ensure that radios are connected to Pi and Base Station - on Pi: sudo pppd /dev/ttyUSB0 57600 lock local noauth 192.168.100.11:192.168.100.10 - on base: sudo pppd /dev/ttyUSB0 57600 lock local noauth nodetach 192.168.100.10:192.168.100.11 + on Pi: sudo pppd /dev/ttyUSB0 57600 lock local noauth + 192.168.100.11:192.168.100.10 on base: sudo pppd /dev/ttyUSB0 57600 lock local + noauth nodetach 192.168.100.10:192.168.100.11 IPs should be ordered relative to the device you are running the command on */ @@ -31,93 +32,105 @@ class TcpServer { public: - explicit TcpServer(int port) : port_(port), server_fd_(-1), client_fd_(-1) {} - - ~TcpServer() { close_all(); } - - /** - * Bind and start listening. Call once before the main loop. - */ - void start() { - server_fd_ = socket(AF_INET, SOCK_STREAM, 0); - if (server_fd_ < 0) throw std::runtime_error("socket() failed: " + err()); - - // Allow rapid restart without "Address already in use" - int opt = 1; - setsockopt(server_fd_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); - - sockaddr_in addr{}; - addr.sin_family = AF_INET; - addr.sin_addr.s_addr = INADDR_ANY; - addr.sin_port = htons(static_cast(port_)); - - if (bind(server_fd_, reinterpret_cast(&addr), sizeof(addr)) < 0) - throw std::runtime_error("bind() failed: " + err()); - - if (listen(server_fd_, 1) < 0) - throw std::runtime_error("listen() failed: " + err()); - - std::cout << "[TCP] Listening on port " << port_ << std::endl; + explicit TcpServer(int port) : port_(port), server_fd_(-1), client_fd_(-1) {} + + ~TcpServer() { close_all(); } + + /** + * Bind and start listening. Call once before the main loop. + */ + void start() { + server_fd_ = socket(AF_INET, SOCK_STREAM, 0); + if (server_fd_ < 0) + throw std::runtime_error("socket() failed: " + err()); + + // Allow rapid restart without "Address already in use" + int opt = 1; + setsockopt(server_fd_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)); + + sockaddr_in addr{}; + addr.sin_family = AF_INET; + addr.sin_addr.s_addr = INADDR_ANY; + addr.sin_port = htons(static_cast(port_)); + + if (bind(server_fd_, reinterpret_cast(&addr), sizeof(addr)) < 0) + throw std::runtime_error("bind() failed: " + err()); + + if (listen(server_fd_, 1) < 0) + throw std::runtime_error("listen() failed: " + err()); + + std::cout << "[TCP] Listening on port " << port_ << std::endl; + } + + /** + * Block until a client connects. Closes any existing client first. + */ + void accept_client() { + if (client_fd_ >= 0) { + close(client_fd_); + client_fd_ = -1; } - - /** - * Block until a client connects. Closes any existing client first. - */ - void accept_client() { - if (client_fd_ >= 0) { - close(client_fd_); - client_fd_ = -1; - } - sockaddr_in client_addr{}; - socklen_t len = sizeof(client_addr); - std::cout << "[TCP] Waiting for connection..." << std::endl; - client_fd_ = accept(server_fd_, reinterpret_cast(&client_addr), &len); - if (client_fd_ < 0) throw std::runtime_error("accept() failed: " + err()); - - char ip[INET_ADDRSTRLEN]; - inet_ntop(AF_INET, &client_addr.sin_addr, ip, sizeof(ip)); - std::cout << "[TCP] Client connected from " << ip << std::endl; - } - - /** - * Read one newline-terminated line from the current client. - * Returns false if the client disconnected (caller should call accept_client again). - */ - bool recv_line(std::string& out) { - out.clear(); - char ch; - while (true) { - ssize_t n = recv(client_fd_, &ch, 1, 0); - if (n <= 0) { - std::cout << "[TCP] Client disconnected." << std::endl; - return false; - } - if (ch == '\n') return true; - if (ch != '\r') out += ch; - } + sockaddr_in client_addr{}; + socklen_t len = sizeof(client_addr); + std::cout << "[TCP] Waiting for connection..." << std::endl; + client_fd_ = + accept(server_fd_, reinterpret_cast(&client_addr), &len); + if (client_fd_ < 0) + throw std::runtime_error("accept() failed: " + err()); + + char ip[INET_ADDRSTRLEN]; + inet_ntop(AF_INET, &client_addr.sin_addr, ip, sizeof(ip)); + std::cout << "[TCP] Client connected from " << ip << std::endl; + } + + /** + * Read one newline-terminated line from the current client. + * Returns false if the client disconnected (caller should call accept_client + * again). + */ + bool recv_line(std::string &out) { + out.clear(); + char ch; + while (true) { + ssize_t n = recv(client_fd_, &ch, 1, 0); + if (n <= 0) { + std::cout << "[TCP] Client disconnected." << std::endl; + return false; + } + if (ch == '\n') + return true; + if (ch != '\r') + out += ch; } + } - /** - * Send a newline-terminated string to the current client. - * Returns false if the send failed. - */ - bool send_line(const std::string& msg) { - std::string out = msg + "\n"; - ssize_t n = send(client_fd_, out.c_str(), out.size(), MSG_NOSIGNAL); - return n == static_cast(out.size()); - } + /** + * Send a newline-terminated string to the current client. + * Returns false if the send failed. + */ + bool send_line(const std::string &msg) { + std::string out = msg + "\n"; + ssize_t n = send(client_fd_, out.c_str(), out.size(), MSG_NOSIGNAL); + return n == static_cast(out.size()); + } - bool has_client() const { return client_fd_ >= 0; } + bool has_client() const { return client_fd_ >= 0; } private: - int port_; - int server_fd_; - int client_fd_; - - void close_all() { - if (client_fd_ >= 0) { close(client_fd_); client_fd_ = -1; } - if (server_fd_ >= 0) { close(server_fd_); server_fd_ = -1; } + int port_; + int server_fd_; + int client_fd_; + + void close_all() { + if (client_fd_ >= 0) { + close(client_fd_); + client_fd_ = -1; + } + if (server_fd_ >= 0) { + close(server_fd_); + server_fd_ = -1; } + } - static std::string err() { return std::string(strerror(errno)); } + static std::string err() { return std::string(strerror(errno)); } }; diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt new file mode 100644 index 0000000..a10c00a --- /dev/null +++ b/src/drivers/CMakeLists.txt @@ -0,0 +1,12 @@ + +add_library(motors motors/motor.cpp motors/sim_motor.cpp motors/thruster.cpp) + + +find_package(PkgConfig REQUIRED) +pkg_check_modules(GPSD REQUIRED libgps) +add_library(gps_drivers INTERFACE) +target_include_directories(gps_drivers INTERFACE ${GPSD_INCLUDE_DIRS}) + +target_include_directories(motors PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/motors) +target_include_directories(gps_drivers INTERFACE d ${CMAKE_CURRENT_SOURCE_DIR}/gps) +target_link_libraries(gps_drivers INTERFACE ${GPSD_LIBRARIES}) diff --git a/src/drivers/common/sim.hpp b/src/drivers/common/sim.hpp new file mode 100644 index 0000000..6c369c1 --- /dev/null +++ b/src/drivers/common/sim.hpp @@ -0,0 +1,8 @@ +#pragma once +#include + +#include + + +const std::string SIM_ADDR = "http://host.docker.internal:6767"; +inline httplib::Client *sim_connection = nullptr; diff --git a/src/drivers/gps/gps.hpp b/src/drivers/gps/gps.hpp new file mode 100644 index 0000000..d4adbf9 --- /dev/null +++ b/src/drivers/gps/gps.hpp @@ -0,0 +1,16 @@ +#pragma once +#include "../../types/GPSCoordinate.hpp" +#include +/** + */ +class GPS { +public: + virtual bool await_lock(int interval, int tries) { + std::cout << "Dont call this" << std::endl; + return false; + } + virtual GPSCoordinate *location() { + std::cout << "Dont call this" << std::endl; + return nullptr; + } +}; diff --git a/src/drivers/gps/hardware_gps.hpp b/src/drivers/gps/hardware_gps.hpp new file mode 100644 index 0000000..be98049 --- /dev/null +++ b/src/drivers/gps/hardware_gps.hpp @@ -0,0 +1,82 @@ +#include "gps.hpp" + +#include "../../types/GPSCoordinate.hpp" +#include +#include +#include +/** + * Note - its likely that only 1 gps can function at a time + */ +class HardwareGPS : public GPS { +public: + ~HardwareGPS() { delete this->gps_rec; } + GPSCoordinate *location() override { + while (true) { + struct gps_data_t *data; + + if (!(this->gps_rec->waiting(10000))) { + continue; + } + + if ((data = this->gps_rec->read()) == NULL) { + std::cerr << "Read error." << std::endl; + // TODO - what to do here? + return nullptr; + } else { + if (data->fix.mode >= MODE_2D) { + // Connection gotten + GPSCoordinate *out = new GPSCoordinate(); + out->latitude = data->fix.latitude; + out->longitude = data->fix.longitude; + + return out; + } else { + std::cout << "No gps fix" << std::endl; + } + } + } + } + HardwareGPS(std::string location, const char *gpsd_port = DEFAULT_GPSD_PORT) { + std::string out = "gpsd " + location; + int val = system(out.c_str()); + if (val != 0) { + throw new std::runtime_error("GPS failed to connect - gpsd didn't start"); + } + std::cout << "GPS loaded" << std::endl; + this->gps_rec = new gpsmm("localhost", gpsd_port); + } + bool await_lock(int interval, int tries) override { + if (this->gps_rec->stream(WATCH_ENABLE | WATCH_JSON) == NULL) { + std::cerr << "No GPSD running." << std::endl; + return 1; + } + int attempt = 0; + while (true) { + struct gps_data_t *data; + + if (!(this->gps_rec->waiting(interval * 10000))) { + continue; + } + + if ((data = this->gps_rec->read()) == NULL) { + std::cerr << "Read error." << std::endl; + // TODO - what to do here? + return false; + } else { + if (data->fix.mode >= MODE_2D) { + // Connection gotten + return true; + } else { + if (++attempt > tries) { + return false; + } + std::cout << "No gps fix" << std::endl; + } + } + } + return true; + } + +private: + gpsmm *gps_rec; +}; diff --git a/src/drivers/gps/simulated_gps.hpp b/src/drivers/gps/simulated_gps.hpp new file mode 100644 index 0000000..7464bfd --- /dev/null +++ b/src/drivers/gps/simulated_gps.hpp @@ -0,0 +1,31 @@ +#pragma once +#include "../../types/GPSCoordinate.hpp" +#include "gps.hpp" +#include +#include "../common/sim.hpp" + +class Simulated_GPS : public GPS { +public: + + Simulated_GPS() { + if (sim_connection == 0) { + sim_connection = new httplib::Client(SIM_ADDR); + httplib::Result out = sim_connection->Get("/heartbeat"); + if (out == nullptr) { + throw std::runtime_error("No simulation connection found"); + } + std::cout << "Status code from sim:" << out->status << std::endl; + } + } + bool await_lock(int interval, int tries) override { return true; } + GPSCoordinate *location() override { + auto out = sim_connection->Get("/gps"); + if (out == nullptr) { + std::cout << "Error getting GPS sim info" << std::endl; + return nullptr; + } + GPSCoordinate *s = new GPSCoordinate(); + sscanf(out->body.c_str(), "[%lf,%lf,", &s->latitude, &s->longitude); + return s; + } +}; diff --git a/src/drivers/motors/motor.cpp b/src/drivers/motors/motor.cpp index a9e25db..62222eb 100644 --- a/src/drivers/motors/motor.cpp +++ b/src/drivers/motors/motor.cpp @@ -1,20 +1,16 @@ #include "motor.hpp" #include - -//All of these should probably not be here or throw execptions but I need to put them here for the linker -int Motor::setSpeed(float speed) -{ - std::cout << "Dont call me" << std::endl; - return 0; +// All of these should probably not be here or throw execptions but I need to +// put them here for the linker +int Motor::setSpeed(float speed) { + std::cout << "Dont call me" << std::endl; + return 0; } -int Motor::setFrequency(float cycle) -{ - std::cout << "Dont call me" << std::endl; - return 0; +int Motor::setFrequency(float cycle) { + std::cout << "Dont call me" << std::endl; + return 0; } -void Motor::armMotor() -{ -} +void Motor::armMotor() {} diff --git a/src/drivers/motors/motor.hpp b/src/drivers/motors/motor.hpp index da8bcc0..a82f76c 100644 --- a/src/drivers/motors/motor.hpp +++ b/src/drivers/motors/motor.hpp @@ -3,30 +3,36 @@ * @brief The abstract class that represents a motor on the robot * */ -class Motor -{ +class Motor { public: - /** - * @brief sets the motor to run at speed until this or another method is called - * @param speed A value between -1.0 and 1.0, with -1.0 being max reverse thrust, 0.0 being still, and 1.0 being max forward thrust - * @return The return code. Negative indicates errors, otherwise the meaning depends on the impelmenting class - */ - virtual int setSpeed(float speed); - /** - * @brief Sets the frequency of the motor pwm, ie how quick cycles are sent to the ESC - * @param cycle The value, in hz, for the new cycle - * @return The return code. Negative indicates errors, otherwise the meaning depends on the impelmenting class - */ - virtual int setFrequency(float cycle); + /** + * @brief sets the motor to run at speed until this or another method is + * called + * @param speed A value between -1.0 and 1.0, with -1.0 being max reverse + * thrust, 0.0 being still, and 1.0 being max forward thrust + * @return The return code. Negative indicates errors, otherwise the meaning + * depends on the impelmenting class + */ + virtual int setSpeed(float speed); + /** + * @brief Sets the frequency of the motor pwm, ie how quick cycles are sent to + * the ESC + * @param cycle The value, in hz, for the new cycle + * @return The return code. Negative indicates errors, otherwise the meaning + * depends on the impelmenting class + */ + virtual int setFrequency(float cycle); - /** - * @brief arms the motor. Likely a blocking method for a few seconds - */ - virtual void armMotor(); - float speed; - float cycle; - protected: - Motor(int speed,int cycle) : speed(speed), cycle(cycle){}; - protected: - Motor(){}; + /** + * @brief arms the motor. Likely a blocking method for a few seconds + */ + virtual void armMotor(); + float speed; + float cycle; + +protected: + Motor(int speed, int cycle) : speed(speed), cycle(cycle) {}; + +protected: + Motor() {}; }; diff --git a/src/drivers/motors/noah_test.cpp b/src/drivers/motors/noah_test.cpp index 34745f3..ef223e6 100644 --- a/src/drivers/motors/noah_test.cpp +++ b/src/drivers/motors/noah_test.cpp @@ -3,23 +3,24 @@ #include #include #include -int main(){ - srand(time(0)); - Motor* m = new SimulatedMotor(SimulatedMotor::BackRight); - Motor* m1 = new SimulatedMotor(SimulatedMotor::FrontRight); - Motor* m2 = new SimulatedMotor(SimulatedMotor::FrontLeft); - Motor* m3 = new SimulatedMotor(SimulatedMotor::BackLeft); - m->armMotor(); - m1->armMotor(); - m2->armMotor(); - m3->armMotor(); - std::random_device rd; - std::mt19937 gen(rd()); - std::uniform_real_distribution dis(-1.0, 1.0); - while (true) - { - if(rand() % 2) m->setSpeed(dis(gen)); - if(rand() % 2) m1->setSpeed(dis(gen)); - sleep(3); - } +int main() { + srand(time(0)); + Motor *m = new SimulatedMotor(SimulatedMotor::BackRight); + Motor *m1 = new SimulatedMotor(SimulatedMotor::FrontRight); + Motor *m2 = new SimulatedMotor(SimulatedMotor::FrontLeft); + Motor *m3 = new SimulatedMotor(SimulatedMotor::BackLeft); + m->armMotor(); + m1->armMotor(); + m2->armMotor(); + m3->armMotor(); + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_real_distribution dis(-1.0, 1.0); + while (true) { + if (rand() % 2) + m->setSpeed(dis(gen)); + if (rand() % 2) + m1->setSpeed(dis(gen)); + sleep(3); + } } diff --git a/src/drivers/motors/sim_motor.cpp b/src/drivers/motors/sim_motor.cpp index 64de212..d79a32d 100644 --- a/src/drivers/motors/sim_motor.cpp +++ b/src/drivers/motors/sim_motor.cpp @@ -1,70 +1,64 @@ #include "sim_motor.hpp" #include -httplib::Client* SimulatedMotor::sim_connection = nullptr; -std::string SimulatedMotor::GetMotorPath(){ - switch (this->ml) - { - case SimulatedMotor::FrontLeft: - return "/motor/top_left/set"; - break; - case SimulatedMotor::FrontRight: - return "/motor/top_right/set"; - break; - case SimulatedMotor::BackLeft: - return "/motor/bottom_left/set"; - break; - case SimulatedMotor::BackRight: - return "/motor/bottom_right/set"; - break; - default: - //Error? - break; - } - return ""; +#include "../common/sim.hpp" +std::string SimulatedMotor::GetMotorPath() { + switch (this->ml) { + case SimulatedMotor::FrontLeft: + return "/motor/top_left/set"; + break; + case SimulatedMotor::FrontRight: + return "/motor/top_right/set"; + break; + case SimulatedMotor::BackLeft: + return "/motor/bottom_left/set"; + break; + case SimulatedMotor::BackRight: + return "/motor/bottom_right/set"; + break; + default: + // Error? + break; + } + return ""; } -SimulatedMotor::SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed, float cycle) : Motor(speed, cycle) -{ - if (SimulatedMotor::sim_connection == 0) - { - SimulatedMotor::sim_connection = new httplib::Client(SIM_ADDR); - httplib::Result out = SimulatedMotor::sim_connection->Get("/heartbeat"); - if(out == nullptr){ - throw std::runtime_error("No simulation connection found"); - } - std::cout << "Status code from sim:" << out->status << std::endl; +SimulatedMotor::SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed, + float cycle) + : Motor(speed, cycle) { + if (sim_connection == 0) { + sim_connection = new httplib::Client(SIM_ADDR); + httplib::Result out = sim_connection->Get("/heartbeat"); + if (out == nullptr) { + throw std::runtime_error("No simulation connection found"); } - this->ml = ml; + std::cout << "Status code from sim:" << out->status << std::endl; + } + this->ml = ml; } -int SimulatedMotor::setSpeed(float speed) -{ - if(!this->armed){ - throw std::logic_error("Tried to set the speed of an unarmed motor"); - } - this->speed = speed; - // In the long run we should add a json lib - std::ostringstream oss; - oss << "{\"speed\":" << speed << "}"; - std::string s = oss.str(); - auto out = SimulatedMotor::sim_connection->Post(this->GetMotorPath().c_str(), s.c_str(),"application/json"); - if(out == nullptr){ - std::cout << "Error sending sim info" << std::endl; - } - else { - std::cout << out->status << std::endl; - } +int SimulatedMotor::setSpeed(float speed) { + if (!this->armed) { + throw std::logic_error("Tried to set the speed of an unarmed motor"); + } + this->speed = speed; + // In the long run we should add a json lib + std::ostringstream oss; + oss << "{\"speed\":" << speed << "}"; + std::string s = oss.str(); + auto out = sim_connection->Post( + this->GetMotorPath().c_str(), s.c_str(), "application/json"); + if (out == nullptr) { + std::cout << "Error sending sim info" << std::endl; + } else { + std::cout << out->status << std::endl; + } - return 0; + return 0; } -int SimulatedMotor::setFrequency(float cycle) -{ - // idk if this will be called at all - return 0; +int SimulatedMotor::setFrequency(float cycle) { + // idk if this will be called at all + return 0; } -void SimulatedMotor::armMotor() -{ - this->armed = true; -} +void SimulatedMotor::armMotor() { this->armed = true; } diff --git a/src/drivers/motors/sim_motor.hpp b/src/drivers/motors/sim_motor.hpp index 24cdccf..dfd05e4 100644 --- a/src/drivers/motors/sim_motor.hpp +++ b/src/drivers/motors/sim_motor.hpp @@ -1,30 +1,22 @@ #pragma once #include "motor.hpp" -#include #include -class SimulatedMotor : public Motor -{ +class SimulatedMotor : public Motor { - public: - //At some point we should prob use this datatype everywhere, for now its here - enum MotorLocation { - FrontRight, - FrontLeft, - BackRight, - BackLeft - }; - MotorLocation ml; - bool armed; - SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed = 0.0, float cycle = 50); - int setSpeed(float speed) override; +public: + // At some point we should prob use this datatype everywhere, for now its here + enum MotorLocation { FrontRight, FrontLeft, BackRight, BackLeft }; + MotorLocation ml; + bool armed; + SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed = 0.0, + float cycle = 50); + int setSpeed(float speed) override; - int setFrequency(float cycle) override; + int setFrequency(float cycle) override; - void armMotor() override; - private: + void armMotor() override; - std::string GetMotorPath(); - const std::string SIM_ADDR = "http://localhost:6767"; - static httplib::Client* sim_connection; +private: + std::string GetMotorPath(); }; diff --git a/src/drivers/motors/thruster.cpp b/src/drivers/motors/thruster.cpp index 753d66e..1143043 100644 --- a/src/drivers/motors/thruster.cpp +++ b/src/drivers/motors/thruster.cpp @@ -1,57 +1,55 @@ #include "thruster.hpp" +#include #include -#include #include -#include - +#include -Thruster::Thruster(int pin, int handle, int speed /*= 0*/, int cycle /*= 50*/) : pin(pin) , handle(handle), Motor(speed, cycle) { - if(lgGpioClaimOutput(handle, 0, pin, 0) !=LG_OKAY ){ - throw new std::runtime_error("Failed to claim a pin for a motor"); - } +Thruster::Thruster(int pin, int handle, int speed /*= 0*/, int cycle /*= 50*/) + : pin(pin), handle(handle), Motor(speed, cycle) { + if (lgGpioClaimOutput(handle, 0, pin, 0) != LG_OKAY) { + throw new std::runtime_error("Failed to claim a pin for a motor"); + } } -Thruster::~Thruster(){ - if(lgGpioFree(handle, pin) <0) { - std::cerr << "Error code freeing pin " << pin << std::endl; - } +Thruster::~Thruster() { + if (lgGpioFree(handle, pin) < 0) { + std::cerr << "Error code freeing pin " << pin << std::endl; + } } -float Thruster::getDutyCycle() -{ - // Convert to nanoseconds - float cycle_width = 1 / (this->cycle * (1e-6)) ; - float goal_interval = ((MAX_PWM_DIST * this->speed) + STOP_PWM); - return (goal_interval / cycle_width) * 100; +float Thruster::getDutyCycle() { + // Convert to nanoseconds + float cycle_width = 1 / (this->cycle * (1e-6)); + float goal_interval = ((MAX_PWM_DIST * this->speed) + STOP_PWM); + return (goal_interval / cycle_width) * 100; } -int Thruster::sendMotorPWM() -{ - if(!this->armed){ - throw new std::logic_error("Tried to affect motor before arming. Always ensure motors are armed before activating them"); - } - return lgTxPwm(this->handle, this->pin, this->cycle, getDutyCycle(), 0, 0); - +int Thruster::sendMotorPWM() { + if (!this->armed) { + throw new std::logic_error( + "Tried to affect motor before arming. Always ensure motors are armed " + "before activating them"); + } + return lgTxPwm(this->handle, this->pin, this->cycle, getDutyCycle(), 0, 0); } int Thruster::setSpeed(float newSpeed) { - this->speed = newSpeed; - if(newSpeed < -1.0 || newSpeed > 1.0){ - //TODO clamp here instead ? - throw new std::logic_error("Motor Speed out of range"); - } - return sendMotorPWM(); + this->speed = newSpeed; + if (newSpeed < -1.0 || newSpeed > 1.0) { + // TODO clamp here instead ? + throw new std::logic_error("Motor Speed out of range"); + } + return sendMotorPWM(); } -int Thruster::setFrequency(float cycle) -{ - this->cycle = cycle; - return sendMotorPWM(); +int Thruster::setFrequency(float cycle) { + this->cycle = cycle; + return sendMotorPWM(); } -void Thruster::armMotor(){ - this->speed = 0.0; - this->armed = true; - if(this->sendMotorPWM() < 0){ - //Maybe error here? - } - lguSleep(ARM_SECONDS); +void Thruster::armMotor() { + this->speed = 0.0; + this->armed = true; + if (this->sendMotorPWM() < 0) { + // Maybe error here? + } + lguSleep(ARM_SECONDS); } diff --git a/src/drivers/motors/thruster.hpp b/src/drivers/motors/thruster.hpp index 6810a8e..1fa2f1f 100644 --- a/src/drivers/motors/thruster.hpp +++ b/src/drivers/motors/thruster.hpp @@ -4,37 +4,38 @@ /** * @brief Represents one of the blue robotics thrusters on the robot */ -class Thruster : public Motor -{ +class Thruster : public Motor { public: - int pin; - int handle; - bool armed; + int pin; + int handle; + bool armed; - Thruster(int pin, int handle, int speed = 0, int cycle = 50); - ~Thruster(); - int setSpeed(float speed) override; + Thruster(int pin, int handle, int speed = 0, int cycle = 50); + ~Thruster(); + int setSpeed(float speed) override; - int setFrequency(float cycle) override; - - void armMotor() override; - /** - * @brief gets the duty cycle to send to the motor in order to move the motor at the current speed - */ - float getDutyCycle(); - protected: - Thruster() {}; -private: - const int STOP_PWM = 1500; - const int MAX_PWM_DIST = 400; - const int ARM_SECONDS = 3; //I dont think this actually has to be 7 seconds, like 3 works but better safe than sorry + int setFrequency(float cycle) override; + void armMotor() override; + /** + * @brief gets the duty cycle to send to the motor in order to move the motor + * at the current speed + */ + float getDutyCycle(); - /** - * @brief updates the pwm values being sent. Must be called after any updates to class variables that will affect this value - * @return the return value of the lgTxPwm call - */ - int sendMotorPWM(); +protected: + explicit Thruster() {}; +private: + const int STOP_PWM = 1500; + const int MAX_PWM_DIST = 400; + const int ARM_SECONDS = 3; // I dont think this actually has to be 7 seconds, + // like 3 works but better safe than sorry + /** + * @brief updates the pwm values being sent. Must be called after any updates + * to class variables that will affect this value + * @return the return value of the lgTxPwm call + */ + int sendMotorPWM(); }; diff --git a/src/drivers/server/motor_server.cpp b/src/drivers/server/motor_server.cpp index facbe80..f1ad075 100644 --- a/src/drivers/server/motor_server.cpp +++ b/src/drivers/server/motor_server.cpp @@ -5,9 +5,11 @@ * Uses the Thruster class (real hardware) or SimulatedMotor (BUILD_SIMULATION). * * Motor API: - * - Thruster(int pin, int handle) -- constructor claims pin; destructor frees it + * - Thruster(int pin, int handle) -- constructor claims pin; destructor + * frees it * - motor.armMotor() -- blocks ~3 s, sets neutral - * - motor.setSpeed(float speed) -- -1.0 (full reverse) .. 0.0 (stop) .. 1.0 (full forward) + * - motor.setSpeed(float speed) -- -1.0 (full reverse) .. 0.0 (stop) + * .. 1.0 (full forward) * * ## Protocol (newline-terminated JSON) * @@ -36,137 +38,152 @@ * ./build/motor_server */ +#include #include #include -#include -#include -#include #include +#include #include +#include #ifndef BUILD_SIMULATION - #include - #include "../motors/thruster.hpp" +#include "../motors/thruster.hpp" +#include #else - #include "../motors/sim_motor.hpp" +#include "../motors/sim_motor.hpp" #endif #include "../../comms/tcp_server.hpp" // --------------------------------------------------------------------------- // Constants -- mirrors Thruster internals for the "pwm" command converter // --------------------------------------------------------------------------- -static constexpr float STOP_SPEED = 0.0f; -static constexpr int NEUTRAL_PWM = 1500; -static constexpr int MIN_PWM = 1100; -static constexpr int MAX_PWM = 1900; -static constexpr int MAX_PWM_DIST = 400; // microseconds from neutral to limit +static constexpr float STOP_SPEED = 0.0f; +static constexpr int NEUTRAL_PWM = 1500; +static constexpr int MIN_PWM = 1100; +static constexpr int MAX_PWM = 1900; +static constexpr int MAX_PWM_DIST = 400; // microseconds from neutral to limit // --------------------------------------------------------------------------- // Motor GPIO pin assignments (matches pool_test.cpp / motor_controller.py) // --------------------------------------------------------------------------- static constexpr int NUM_MOTORS = 4; static constexpr int MOTOR_PINS[NUM_MOTORS] = { - 4, // forward (FORWARD_GPIO_PIN) - 11, // turn (TURN_GPIO_PIN) - 18, // front (FRONT_GPIO_PIN) - 24, // back (BACK_GPIO_PIN) + 4, // forward (FORWARD_GPIO_PIN) + 11, // turn (TURN_GPIO_PIN) + 18, // front (FRONT_GPIO_PIN) + 24, // back (BACK_GPIO_PIN) }; #ifdef BUILD_SIMULATION // Map each motor slot to a SimulatedMotor::MotorLocation for the HTTP sim API. // Mapping is approximate -- adjust once the sim model is finalised. static constexpr SimulatedMotor::MotorLocation MOTOR_LOCATIONS[NUM_MOTORS] = { - SimulatedMotor::FrontLeft, // motor 0 - forward - SimulatedMotor::FrontRight, // motor 1 - turn - SimulatedMotor::BackLeft, // motor 2 - front - SimulatedMotor::BackRight, // motor 3 - back + SimulatedMotor::FrontLeft, // motor 0 - forward + SimulatedMotor::FrontRight, // motor 1 - turn + SimulatedMotor::BackLeft, // motor 2 - front + SimulatedMotor::BackRight, // motor 3 - back }; #endif -// Current normalized speed for each motor (source of truth for "status" replies) -static std::array g_speeds = { - STOP_SPEED, STOP_SPEED, STOP_SPEED, STOP_SPEED -}; +// Current normalized speed for each motor (source of truth for "status" +// replies) +static std::array g_speeds = {STOP_SPEED, STOP_SPEED, + STOP_SPEED, STOP_SPEED}; // --------------------------------------------------------------------------- // Minimal JSON helpers (no external lib) // --------------------------------------------------------------------------- -static std::string make_response(bool ok, const std::string& msg) { - std::ostringstream ss; - ss << "{\"ok\":" << (ok ? "true" : "false") - << ",\"msg\":\"" << msg << "\"}"; - return ss.str(); +static std::string make_response(bool ok, const std::string &msg) { + std::ostringstream ss; + ss << "{\"ok\":" << (ok ? "true" : "false") << ",\"msg\":\"" << msg << "\"}"; + return ss.str(); } -static std::string make_status(const std::array& speeds) { - std::ostringstream ss; - ss << "{\"ok\":true,\"speeds\":[" - << speeds[0] << "," << speeds[1] << "," << speeds[2] << "," << speeds[3] - << "]}"; - return ss.str(); +static std::string make_status(const std::array &speeds) { + std::ostringstream ss; + ss << "{\"ok\":true,\"speeds\":[" << speeds[0] << "," << speeds[1] << "," + << speeds[2] << "," << speeds[3] << "]}"; + return ss.str(); } -static std::string parse_string(const std::string& json, const std::string& key) { - std::string search = "\"" + key + "\""; - size_t pos = json.find(search); - if (pos == std::string::npos) return ""; - pos = json.find(':', pos); - if (pos == std::string::npos) return ""; - pos = json.find('"', pos); - if (pos == std::string::npos) return ""; - size_t end = json.find('"', pos + 1); - if (end == std::string::npos) return ""; - return json.substr(pos + 1, end - pos - 1); +static std::string parse_string(const std::string &json, + const std::string &key) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) + return ""; + pos = json.find(':', pos); + if (pos == std::string::npos) + return ""; + pos = json.find('"', pos); + if (pos == std::string::npos) + return ""; + size_t end = json.find('"', pos + 1); + if (end == std::string::npos) + return ""; + return json.substr(pos + 1, end - pos - 1); } -static bool parse_int(const std::string& json, const std::string& key, int& out) { - std::string search = "\"" + key + "\""; - size_t pos = json.find(search); - if (pos == std::string::npos) return false; - pos = json.find(':', pos); - if (pos == std::string::npos) return false; +static bool parse_int(const std::string &json, const std::string &key, + int &out) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) + return false; + pos = json.find(':', pos); + if (pos == std::string::npos) + return false; + pos++; + while (pos < json.size() && (json[pos] == ' ' || json[pos] == '\t')) pos++; - while (pos < json.size() && (json[pos] == ' ' || json[pos] == '\t')) pos++; - try { - size_t consumed = 0; - out = std::stoi(json.substr(pos), &consumed); - return consumed > 0; - } catch (...) { return false; } + try { + size_t consumed = 0; + out = std::stoi(json.substr(pos), &consumed); + return consumed > 0; + } catch (...) { + return false; + } } -static bool parse_float_array4(const std::string& json, const std::string& key, - std::array& out) { - std::string search = "\"" + key + "\""; - size_t pos = json.find(search); - if (pos == std::string::npos) return false; - pos = json.find('[', pos); - if (pos == std::string::npos) return false; - pos++; - for (int i = 0; i < 4; i++) { - while (pos < json.size() && - (json[pos] == ' ' || json[pos] == '\t' || json[pos] == ',')) - pos++; - if (pos >= json.size() || json[pos] == ']') return false; - try { - size_t consumed = 0; - out[i] = std::stof(json.substr(pos), &consumed); - pos += consumed; - } catch (...) { return false; } +static bool parse_float_array4(const std::string &json, const std::string &key, + std::array &out) { + std::string search = "\"" + key + "\""; + size_t pos = json.find(search); + if (pos == std::string::npos) + return false; + pos = json.find('[', pos); + if (pos == std::string::npos) + return false; + pos++; + for (int i = 0; i < 4; i++) { + while (pos < json.size() && + (json[pos] == ' ' || json[pos] == '\t' || json[pos] == ',')) + pos++; + if (pos >= json.size() || json[pos] == ']') + return false; + try { + size_t consumed = 0; + out[i] = std::stof(json.substr(pos), &consumed); + pos += consumed; + } catch (...) { + return false; } - return true; + } + return true; } // Convert PWM microseconds (1100-1900) to normalized speed (-1.0 to 1.0). // Mirrors Thruster::getDutyCycle() in reverse. static float pwm_to_speed(int pwm) { - return static_cast(pwm - NEUTRAL_PWM) / static_cast(MAX_PWM_DIST); + return static_cast(pwm - NEUTRAL_PWM) / + static_cast(MAX_PWM_DIST); } -static void zero_motors(std::array& motors) { - for (int i = 0; i < NUM_MOTORS; i++) { - motors[i]->setSpeed(STOP_SPEED); - g_speeds[i] = STOP_SPEED; - } +static void zero_motors(std::array &motors) { + for (int i = 0; i < NUM_MOTORS; i++) { + motors[i]->setSpeed(STOP_SPEED); + g_speeds[i] = STOP_SPEED; + } } // --------------------------------------------------------------------------- @@ -178,186 +195,195 @@ static void handle_signal(int) { g_running = false; } // --------------------------------------------------------------------------- // Main // --------------------------------------------------------------------------- -int main(int argc, char* argv[]) { - int port = 9000; - if (argc >= 2) { - try { port = std::stoi(argv[1]); } - catch (...) { - std::cerr << "Usage: " << argv[0] << " [port]\n"; - return 1; - } +int main(int argc, char *argv[]) { + int port = 9000; + if (argc >= 2) { + try { + port = std::stoi(argv[1]); + } catch (...) { + std::cerr << "Usage: " << argv[0] << " [port]\n"; + return 1; } + } - std::signal(SIGINT, handle_signal); - std::signal(SIGTERM, handle_signal); - std::signal(SIGPIPE, SIG_IGN); + std::signal(SIGINT, handle_signal); + std::signal(SIGTERM, handle_signal); + std::signal(SIGPIPE, SIG_IGN); - // ----------------------------------------------------------------------- - // Open lgpio chip (real hardware only) - // ----------------------------------------------------------------------- + // ----------------------------------------------------------------------- + // Open lgpio chip (real hardware only) + // ----------------------------------------------------------------------- #ifndef BUILD_SIMULATION - int handle = lgGpiochipOpen(0); - if (handle < 0) { - std::cerr << "[INIT] lgGpiochipOpen failed: " << handle << std::endl; - return 1; - } - std::cout << "[INIT] GPIO chip opened." << std::endl; + int handle = lgGpiochipOpen(0); + if (handle < 0) { + std::cerr << "[INIT] lgGpiochipOpen failed: " << handle << std::endl; + return 1; + } + std::cout << "[INIT] GPIO chip opened." << std::endl; #else - std::cout << "[SIM] Simulation mode -- routing to Gazebo sim over HTTP." << std::endl; + std::cout << "[SIM] Simulation mode -- routing to Gazebo sim over HTTP." + << std::endl; #endif - // ----------------------------------------------------------------------- - // Construct motors - // - // Thruster: constructor claims the GPIO pin; destructor frees it. - // SimulatedMotor: constructor connects to the HTTP sim server. - // Both throw on failure, so we catch here and bail cleanly. - // ----------------------------------------------------------------------- - std::array, NUM_MOTORS> motor_storage; - - std::cout << "[INIT] Constructing motors..." << std::endl; - for (int i = 0; i < NUM_MOTORS; i++) { - try { + // ----------------------------------------------------------------------- + // Construct motors + // + // Thruster: constructor claims the GPIO pin; destructor frees it. + // SimulatedMotor: constructor connects to the HTTP sim server. + // Both throw on failure, so we catch here and bail cleanly. + // ----------------------------------------------------------------------- + std::array, NUM_MOTORS> motor_storage; + + std::cout << "[INIT] Constructing motors..." << std::endl; + for (int i = 0; i < NUM_MOTORS; i++) { + try { #ifndef BUILD_SIMULATION - motor_storage[i] = std::make_unique(MOTOR_PINS[i], handle); + motor_storage[i] = std::make_unique(MOTOR_PINS[i], handle); #else - motor_storage[i] = std::make_unique(MOTOR_LOCATIONS[i]); + motor_storage[i] = std::make_unique(MOTOR_LOCATIONS[i]); #endif - } catch (const std::exception& e) { - std::cerr << "[INIT] Failed to construct motor " << i << ": " - << e.what() << std::endl; + } catch (const std::exception &e) { + std::cerr << "[INIT] Failed to construct motor " << i << ": " << e.what() + << std::endl; #ifndef BUILD_SIMULATION - lgGpiochipClose(handle); + lgGpiochipClose(handle); #endif - return 1; - } + return 1; } - - // Raw pointer array for convenience in helper functions - std::array motors = { - motor_storage[0].get(), motor_storage[1].get(), - motor_storage[2].get(), motor_storage[3].get() - }; - - // ----------------------------------------------------------------------- - // Arm ESCs -- armMotor() sets neutral and blocks for the required delay - // ----------------------------------------------------------------------- - std::cout << "[INIT] Arming ESCs..." << std::endl; - for (auto* m : motors) m->armMotor(); - std::cout << "[INIT] Motors ready." << std::endl; - - // ----------------------------------------------------------------------- - // TCP server - // ----------------------------------------------------------------------- - TcpServer server(port); - try { - server.start(); - } catch (const std::exception& e) { - std::cerr << "[TCP] " << e.what() << std::endl; + } + + // Raw pointer array for convenience in helper functions + std::array motors = { + motor_storage[0].get(), motor_storage[1].get(), motor_storage[2].get(), + motor_storage[3].get()}; + + // ----------------------------------------------------------------------- + // Arm ESCs -- armMotor() sets neutral and blocks for the required delay + // ----------------------------------------------------------------------- + std::cout << "[INIT] Arming ESCs..." << std::endl; + for (auto *m : motors) + m->armMotor(); + std::cout << "[INIT] Motors ready." << std::endl; + + // ----------------------------------------------------------------------- + // TCP server + // ----------------------------------------------------------------------- + TcpServer server(port); + try { + server.start(); + } catch (const std::exception &e) { + std::cerr << "[TCP] " << e.what() << std::endl; #ifndef BUILD_SIMULATION - lgGpiochipClose(handle); + lgGpiochipClose(handle); #endif - return 1; + return 1; + } + + // ----------------------------------------------------------------------- + // Main accept loop + // ----------------------------------------------------------------------- + while (g_running) { + try { + server.accept_client(); + } catch (const std::exception &e) { + std::cerr << "[TCP] accept failed: " << e.what() << std::endl; + break; } - // ----------------------------------------------------------------------- - // Main accept loop - // ----------------------------------------------------------------------- - while (g_running) { - try { - server.accept_client(); - } catch (const std::exception& e) { - std::cerr << "[TCP] accept failed: " << e.what() << std::endl; - break; - } + server.send_line(make_response(true, "connected -- motor_server ready")); - server.send_line(make_response(true, "connected -- motor_server ready")); - - std::string line; - while (g_running && server.recv_line(line)) { - if (line.empty()) continue; - std::cout << "[CMD] " << line << std::endl; - - std::string cmd = parse_string(line, "command"); - - if (cmd == "stop") { - zero_motors(motors); - server.send_line(make_response(true, "all motors stopped")); - - } else if (cmd == "motors") { - std::array vals{}; - if (!parse_float_array4(line, "values", vals)) { - server.send_line(make_response(false, "bad values array")); - continue; - } - bool ok = true; - for (int i = 0; i < NUM_MOTORS; i++) { - // Clamp to [-1, 1] before passing to setSpeed - float speed = vals[i]; - if (speed > 1.0f) speed = 1.0f; - if (speed < -1.0f) speed = -1.0f; - - if (motors[i]->setSpeed(speed) < 0) { - server.send_line(make_response(false, - "motor " + std::to_string(i) + " setSpeed failed")); - ok = false; - break; - } - g_speeds[i] = speed; - } - if (ok) server.send_line(make_response(true, "motors updated")); - - } else if (cmd == "pwm") { - // Accept legacy PWM microseconds (1100-1900) and convert to speed - int motor_idx = -1, pwm_value = -1; - if (!parse_int(line, "motor", motor_idx) || - !parse_int(line, "value", pwm_value) || - motor_idx < 0 || motor_idx >= NUM_MOTORS || - pwm_value < MIN_PWM || pwm_value > MAX_PWM) { - server.send_line(make_response(false, - "bad args -- motor 0-3, value 1100-1900")); - continue; - } - float speed = pwm_to_speed(pwm_value); - if (motors[motor_idx]->setSpeed(speed) < 0) { - server.send_line(make_response(false, "setSpeed failed")); - continue; - } - g_speeds[motor_idx] = speed; - server.send_line(make_response(true, - "motor " + std::to_string(motor_idx) + - " -> " + std::to_string(pwm_value) + " us" - " (speed " + std::to_string(speed) + ")")); - - } else if (cmd == "status") { - server.send_line(make_status(g_speeds)); - - } else if (cmd == "quit") { - server.send_line(make_response(true, "shutting down")); - g_running = false; - break; - - } else { - server.send_line(make_response(false, - "unknown command: " + (cmd.empty() ? "(empty)" : cmd))); - } - } + std::string line; + while (g_running && server.recv_line(line)) { + if (line.empty()) + continue; + std::cout << "[CMD] " << line << std::endl; + + std::string cmd = parse_string(line, "command"); - std::cout << "[SAFE] Client gone -- zeroing motors." << std::endl; + if (cmd == "stop") { zero_motors(motors); + server.send_line(make_response(true, "all motors stopped")); + + } else if (cmd == "motors") { + std::array vals{}; + if (!parse_float_array4(line, "values", vals)) { + server.send_line(make_response(false, "bad values array")); + continue; + } + bool ok = true; + for (int i = 0; i < NUM_MOTORS; i++) { + // Clamp to [-1, 1] before passing to setSpeed + float speed = vals[i]; + if (speed > 1.0f) + speed = 1.0f; + if (speed < -1.0f) + speed = -1.0f; + + if (motors[i]->setSpeed(speed) < 0) { + server.send_line(make_response(false, "motor " + std::to_string(i) + + " setSpeed failed")); + ok = false; + break; + } + g_speeds[i] = speed; + } + if (ok) + server.send_line(make_response(true, "motors updated")); + + } else if (cmd == "pwm") { + // Accept legacy PWM microseconds (1100-1900) and convert to speed + int motor_idx = -1, pwm_value = -1; + if (!parse_int(line, "motor", motor_idx) || + !parse_int(line, "value", pwm_value) || motor_idx < 0 || + motor_idx >= NUM_MOTORS || pwm_value < MIN_PWM || + pwm_value > MAX_PWM) { + server.send_line( + make_response(false, "bad args -- motor 0-3, value 1100-1900")); + continue; + } + float speed = pwm_to_speed(pwm_value); + if (motors[motor_idx]->setSpeed(speed) < 0) { + server.send_line(make_response(false, "setSpeed failed")); + continue; + } + g_speeds[motor_idx] = speed; + server.send_line( + make_response(true, "motor " + std::to_string(motor_idx) + " -> " + + std::to_string(pwm_value) + + " us" + " (speed " + + std::to_string(speed) + ")")); + + } else if (cmd == "status") { + server.send_line(make_status(g_speeds)); + + } else if (cmd == "quit") { + server.send_line(make_response(true, "shutting down")); + g_running = false; + break; + + } else { + server.send_line(make_response( + false, "unknown command: " + (cmd.empty() ? "(empty)" : cmd))); + } } - // ----------------------------------------------------------------------- - // Cleanup - // Thruster destructors free GPIO pins automatically when motor_storage - // goes out of scope; no manual freePin() calls needed. - // ----------------------------------------------------------------------- - std::cout << "[SHUTDOWN] Stopping motors." << std::endl; - for (auto* m : motors) m->setSpeed(STOP_SPEED); + std::cout << "[SAFE] Client gone -- zeroing motors." << std::endl; + zero_motors(motors); + } - // motor_storage destructors run here, freeing all pins + // ----------------------------------------------------------------------- + // Cleanup + // Thruster destructors free GPIO pins automatically when motor_storage + // goes out of scope; no manual freePin() calls needed. + // ----------------------------------------------------------------------- + std::cout << "[SHUTDOWN] Stopping motors." << std::endl; + for (auto *m : motors) + m->setSpeed(STOP_SPEED); + + // motor_storage destructors run here, freeing all pins #ifndef BUILD_SIMULATION - lgGpiochipClose(handle); + lgGpiochipClose(handle); #endif - return 0; + return 0; } diff --git a/src/main.cpp b/src/main.cpp index c68b0a3..09f7ed3 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,7 +1,18 @@ // main.cpp -#include - -int main() { - std::cout << "Hello World" << std::endl; - return 0; +#include "CLI11.hpp" +#include "drivers/gps/hardware_gps.hpp" +int main(int argc, char **argv) { + CLI::App app; + std::string gps_port; + app.add_option("--gps", gps_port, + "The string path to the gps. Likely, /dev/ttyACM0") + ->required(); + CLI11_PARSE(app, argc, argv); + GPS *gps = new HardwareGPS(gps_port); + std::cout << "awaiting lock" << std::endl; + gps->await_lock(5, 200); + while (true) { + std::cout << *(gps->location()) << std::endl; + sleep(3); + } } diff --git a/src/sim_main.cpp b/src/sim_main.cpp new file mode 100644 index 0000000..6b574e5 --- /dev/null +++ b/src/sim_main.cpp @@ -0,0 +1,10 @@ +#include "drivers/gps/gps.hpp" +#include "drivers/gps/simulated_gps.hpp" +int main() { + GPS *g = new Simulated_GPS(); + + while (true) { + std::cout << *g->location() << std::endl; + sleep(1); + } +} diff --git a/src/tests/thruster.cc b/src/tests/thruster.cc index f4a195e..8ab10e6 100644 --- a/src/tests/thruster.cc +++ b/src/tests/thruster.cc @@ -1,17 +1,24 @@ #include -#include "thruster.hpp" +#include "../drivers/motors/thruster.hpp" #include +class ThrusterTest : public Thruster { +public: + // Use the protected constructor in the fixture's initializer list + ThrusterTest() : Thruster() {} + +}; + TEST(Thruster, DutyCycle){ - Thruster* thruster = new Thruster(); + ThrusterTest* thruster = new ThrusterTest(); thruster->armed = true; thruster->cycle = 50; thruster->speed = 0.0; - EXPECT_EQ(7.5, thruster->getDutyCycle()); + EXPECT_FLOAT_EQ(7.5f, thruster->getDutyCycle()); } TEST(Thruster, UnarmedFailure){ - Thruster* thruster = new Thruster(0,0); + Thruster* thruster = new ThrusterTest(); thruster->armed = false; - ASSERT_THROW(thruster->setSpeed(50, std::logic_error())); + ASSERT_ANY_THROW(thruster->setSpeed(0.0)); } diff --git a/src/types/CMakeLists.txt b/src/types/CMakeLists.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/types/GPSCoordinate.hpp b/src/types/GPSCoordinate.hpp new file mode 100644 index 0000000..724593c --- /dev/null +++ b/src/types/GPSCoordinate.hpp @@ -0,0 +1,13 @@ +#pragma once + +#include + +struct GPSCoordinate { + double latitude; + double longitude; +}; + +inline std::ostream &operator<<(std::ostream &os, GPSCoordinate const &coord) { + return os << "GPSCoordinate{" << coord.latitude << ", " << coord.longitude + << "}"; +} From d76fafd31971f3d06344d4b507699ad54c6a001c Mon Sep 17 00:00:00 2001 From: WilyHyperion <123993989+WilyHyperion@users.noreply.github.com> Date: Tue, 12 May 2026 17:02:40 -0700 Subject: [PATCH 06/10] state machine basics (#14) --- src/CMakeLists.txt | 1 - src/drivers/CMakeLists.txt | 2 +- src/drivers/motors/noah_test.cpp | 26 --------- src/drivers/motors/sim_motor.cpp | 64 --------------------- src/drivers/motors/sim_motor.hpp | 74 +++++++++++++++++++++--- src/neptune.hpp | 59 ++++++++++++++++++++ src/sim_main.cpp | 26 +++++++-- src/states/CMakeLists.txt | 0 src/states/idle.hpp | 11 ++++ src/states/navigate.hpp | 96 ++++++++++++++++++++++++++++++++ src/states/state.hpp | 18 ++++++ src/types/GPSCoordinate.hpp | 78 ++++++++++++++++++++++++++ src/types/MotorLocation.hpp | 22 ++++++++ 13 files changed, 372 insertions(+), 105 deletions(-) delete mode 100644 src/drivers/motors/noah_test.cpp delete mode 100644 src/drivers/motors/sim_motor.cpp create mode 100644 src/neptune.hpp create mode 100644 src/states/CMakeLists.txt create mode 100644 src/states/idle.hpp create mode 100644 src/states/navigate.hpp create mode 100644 src/states/state.hpp create mode 100644 src/types/MotorLocation.hpp diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index adc8c5f..750dd11 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -100,7 +100,6 @@ if(NOT BUILD_SIMULATION) endif() add_library(sim_motor STATIC - drivers/motors/sim_motor.cpp drivers/motors/motor.cpp ) target_include_directories(sim_motor PUBLIC diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt index a10c00a..e3e8489 100644 --- a/src/drivers/CMakeLists.txt +++ b/src/drivers/CMakeLists.txt @@ -1,5 +1,5 @@ -add_library(motors motors/motor.cpp motors/sim_motor.cpp motors/thruster.cpp) +add_library(motors motors/motor.cpp motors/thruster.cpp) find_package(PkgConfig REQUIRED) diff --git a/src/drivers/motors/noah_test.cpp b/src/drivers/motors/noah_test.cpp deleted file mode 100644 index ef223e6..0000000 --- a/src/drivers/motors/noah_test.cpp +++ /dev/null @@ -1,26 +0,0 @@ -#include "motor.hpp" -#include "sim_motor.hpp" -#include -#include -#include -int main() { - srand(time(0)); - Motor *m = new SimulatedMotor(SimulatedMotor::BackRight); - Motor *m1 = new SimulatedMotor(SimulatedMotor::FrontRight); - Motor *m2 = new SimulatedMotor(SimulatedMotor::FrontLeft); - Motor *m3 = new SimulatedMotor(SimulatedMotor::BackLeft); - m->armMotor(); - m1->armMotor(); - m2->armMotor(); - m3->armMotor(); - std::random_device rd; - std::mt19937 gen(rd()); - std::uniform_real_distribution dis(-1.0, 1.0); - while (true) { - if (rand() % 2) - m->setSpeed(dis(gen)); - if (rand() % 2) - m1->setSpeed(dis(gen)); - sleep(3); - } -} diff --git a/src/drivers/motors/sim_motor.cpp b/src/drivers/motors/sim_motor.cpp deleted file mode 100644 index d79a32d..0000000 --- a/src/drivers/motors/sim_motor.cpp +++ /dev/null @@ -1,64 +0,0 @@ -#include "sim_motor.hpp" -#include -#include "../common/sim.hpp" -std::string SimulatedMotor::GetMotorPath() { - switch (this->ml) { - case SimulatedMotor::FrontLeft: - return "/motor/top_left/set"; - break; - case SimulatedMotor::FrontRight: - return "/motor/top_right/set"; - break; - case SimulatedMotor::BackLeft: - return "/motor/bottom_left/set"; - break; - case SimulatedMotor::BackRight: - return "/motor/bottom_right/set"; - break; - default: - // Error? - break; - } - return ""; -} - -SimulatedMotor::SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed, - float cycle) - : Motor(speed, cycle) { - if (sim_connection == 0) { - sim_connection = new httplib::Client(SIM_ADDR); - httplib::Result out = sim_connection->Get("/heartbeat"); - if (out == nullptr) { - throw std::runtime_error("No simulation connection found"); - } - std::cout << "Status code from sim:" << out->status << std::endl; - } - this->ml = ml; -} - -int SimulatedMotor::setSpeed(float speed) { - if (!this->armed) { - throw std::logic_error("Tried to set the speed of an unarmed motor"); - } - this->speed = speed; - // In the long run we should add a json lib - std::ostringstream oss; - oss << "{\"speed\":" << speed << "}"; - std::string s = oss.str(); - auto out = sim_connection->Post( - this->GetMotorPath().c_str(), s.c_str(), "application/json"); - if (out == nullptr) { - std::cout << "Error sending sim info" << std::endl; - } else { - std::cout << out->status << std::endl; - } - - return 0; -} - -int SimulatedMotor::setFrequency(float cycle) { - // idk if this will be called at all - return 0; -} - -void SimulatedMotor::armMotor() { this->armed = true; } diff --git a/src/drivers/motors/sim_motor.hpp b/src/drivers/motors/sim_motor.hpp index dfd05e4..5a4f829 100644 --- a/src/drivers/motors/sim_motor.hpp +++ b/src/drivers/motors/sim_motor.hpp @@ -1,22 +1,78 @@ #pragma once #include "motor.hpp" #include +#include "../../types/MotorLocation.hpp" -class SimulatedMotor : public Motor { +class SimulatedMotor : public Motor +{ public: - // At some point we should prob use this datatype everywhere, for now its here - enum MotorLocation { FrontRight, FrontLeft, BackRight, BackLeft }; MotorLocation ml; bool armed; - SimulatedMotor(SimulatedMotor::MotorLocation ml, int speed = 0.0, - float cycle = 50); - int setSpeed(float speed) override; - int setFrequency(float cycle) override; + SimulatedMotor(MotorLocation ml, int speed, + float cycle) : Motor(speed, cycle) + { + if (sim_connection == 0) + { + sim_connection = new httplib::Client(SIM_ADDR); + httplib::Result out = sim_connection->Get("/heartbeat"); + if (out == nullptr) + { + throw std::runtime_error("No simulation connection found"); + } + std::cout << "Status code from sim:" << out->status << std::endl; + } + this->ml = ml; + } + int setSpeed(float speed) override { + if (!this->armed) { + throw std::logic_error("Tried to set the speed of an unarmed motor"); + } + this->speed = speed; + // In the long run we should add a json lib + std::ostringstream oss; + oss << "{\"speed\":" << speed << "}"; + std::string s = oss.str(); + auto out = sim_connection->Post( + this->GetMotorPath().c_str(), s.c_str(), "application/json"); + if (out == nullptr) { + std::cout << "Error sending sim info" << std::endl; + } else { + std::cout << out->status << std::endl; + } + + return 0; +} +int setFrequency(float cycle) override { + // idk if this will be called at all + return 0; +} + +void armMotor()override { this->armed = true; } - void armMotor() override; private: - std::string GetMotorPath(); + std::string GetMotorPath() + { + switch (this->ml) + { + case FrontLeft: + return "/motor/top_left/set"; + break; + case FrontRight: + return "/motor/top_right/set"; + break; + case BackLeft: + return "/motor/bottom_left/set"; + break; + case BackRight: + return "/motor/bottom_right/set"; + break; + default: + // Error? + break; + } + return ""; + } }; diff --git a/src/neptune.hpp b/src/neptune.hpp new file mode 100644 index 0000000..ab0e225 --- /dev/null +++ b/src/neptune.hpp @@ -0,0 +1,59 @@ +#pragma once +#include "drivers/motors/motor.hpp" +#include "drivers/gps/gps.hpp" +#include +#include +#include "states/state.hpp" + +class Neptune { + public: + State* state; + inline static Neptune* instance = nullptr; + GPS* gps; + Motor* front_left; + Motor* front_right; + Motor* back_left; + Motor* back_right; + Motor* all_motors[4]; + /** + * Gets the heading, in radians of the robot. 0 indicates north, pi indicates south + * @return The heading + */ + double get_heading(){ + //TODO - Use IMU to calculate this + return 0; + } + std::array, 2> GetMotorVectorMatrice() { + std::array, 2> out = { + }; + for(int m = 0; m <= 3; m ++) { + out[0][m] = thrust_vector(static_cast(m)).latitude; + out[1][m] = thrust_vector(static_cast(m)).longitude; + } + return out; + } + /** + * Starts neptune. This method will functionally take over the thread it is called from + */ + void start(){ + Neptune::instance = this; + gps->await_lock(5, 500); + std::cout << "Arming motors" << std::endl; + front_left->armMotor(); + front_right->armMotor(); + back_left->armMotor(); + back_right->armMotor(); + + all_motors[0] = front_left; + all_motors[1] = front_right; + all_motors[2] = back_left; + all_motors[3] = back_right; + + while (true) + { + std::this_thread::sleep_for(this->state->tick()); + } + + } + +}; diff --git a/src/sim_main.cpp b/src/sim_main.cpp index 6b574e5..0fd5f18 100644 --- a/src/sim_main.cpp +++ b/src/sim_main.cpp @@ -1,10 +1,28 @@ #include "drivers/gps/gps.hpp" #include "drivers/gps/simulated_gps.hpp" +#include "drivers/motors/sim_motor.hpp" +#include "drivers/motors/motor.hpp" +#include "types/MotorLocation.hpp" +#include "neptune.hpp" +#include "states/navigate.hpp" int main() { GPS *g = new Simulated_GPS(); - while (true) { - std::cout << *g->location() << std::endl; - sleep(1); - } + Motor* front_left = new SimulatedMotor(MotorLocation::FrontLeft, 0 ,50); + Motor* front_right = new SimulatedMotor(MotorLocation::FrontRight, 0 ,50); + Motor* back_left = new SimulatedMotor(MotorLocation::BackLeft, 0, 50); + Motor* back_right = new SimulatedMotor(MotorLocation::BackRight, 0, 50); + Neptune* neptune = new Neptune(); + neptune->gps = g; + neptune->back_left = back_left; + neptune->back_right = back_right; + neptune->front_left = front_left; + neptune->front_right = front_right; + GPSCoordinate goal = GPSCoordinate{ + 0, + 10 + }; +neptune->state = new Navigate(goal); + neptune->start(); + } diff --git a/src/states/CMakeLists.txt b/src/states/CMakeLists.txt new file mode 100644 index 0000000..e69de29 diff --git a/src/states/idle.hpp b/src/states/idle.hpp new file mode 100644 index 0000000..6ecca7f --- /dev/null +++ b/src/states/idle.hpp @@ -0,0 +1,11 @@ + +#pragma once +#include "state.hpp" +class Idle : public State { + public: + + std::chrono::milliseconds tick() override { + std::cout << "Idling" << std::endl; + return std::chrono::milliseconds(5000); + } +}; diff --git a/src/states/navigate.hpp b/src/states/navigate.hpp new file mode 100644 index 0000000..066ec3c --- /dev/null +++ b/src/states/navigate.hpp @@ -0,0 +1,96 @@ +#pragma once +#include "state.hpp" +#include "../../neptune.hpp" +#include +#include +#include +#include +/**Tries to solve with no negative inputs, so motors don't fire backwards + * This is vibe coded slop. In the future, we should add a linear algebra lib instead of using this + */ +std::optional> solveNonNegative(const std::array, 2>& mat) +{ + constexpr int VARS = 4; + constexpr double EPS = 1e-9; + + // Try every pair of "basic" variables; the remaining two are fixed at 0. + for (int p = 0; p < VARS; ++p) { + for (int q = p + 1; q < VARS; ++q) { + + // Extract the 2x2 sub-system for columns p and q. + const double a00 = mat[0][p], a01 = mat[0][q], b0 = mat[0][4]; + const double a10 = mat[1][p], a11 = mat[1][q], b1 = mat[1][4]; + + const double det = a00 * a11 - a01 * a10; + if (std::abs(det) < EPS) + continue; // columns are linearly dependent — skip + + // Cramer's Rule + const double xp = (b0 * a11 - b1 * a01) / det; + const double xq = (a00 * b1 - a10 * b0) / det; + + if (xp < -EPS || xq < -EPS) + continue; // a basic variable went negative — skip + + // Valid non-negative basic feasible solution found. + std::array solution{}; // nosn-basics default to 0 + solution[p] = std::max(0.0, xp); // clamp -0 artefacts + solution[q] = std::max(0.0, xq); + return solution; + } + } + + return std::nullopt; // all 6 bases checked, none feasible +} + + + +class Navigate : public State { + public: + bool finished; + GPSCoordinate goal; + Navigate(GPSCoordinate goal) : goal(goal){ + + } + + + std::chrono::milliseconds tick() override { + double current_heading = Neptune::instance->get_heading(); + GPSCoordinate* loc = Neptune::instance->gps->location(); + GPSCoordinate goal_dif = goal - *loc; + double mag = pow( goal_dif.latitude * goal_dif.latitude + goal_dif.longitude * goal_dif.longitude, 0.5); + std::cout << "Dist:" << mag << std::endl; + if(mag < 0.1){ + //super close, get a random new cord + goal.latitude = ((rand() % 30) - 15); + goal.longitude = ((rand() % 30) - 15); + } + goal_dif.latitude /= mag; + goal_dif.longitude /= mag; + /** + * We know we want to translate along goal_dif + * We can form goal_dif by combining the vectors of each motor's thrust vectors + * Thus, our problem is to form a linear combination of the goal vector through the 4 thrusters, and take one solution + * ex an array + * m1x m2x m3x m4x gx + * and for y + */ + std::array, 2> mat = Neptune::instance->GetMotorVectorMatrice(); + mat[0][4] = goal_dif.latitude; + mat[1][4] = goal_dif.longitude; + std::optional> out = solveNonNegative(mat); + std::cout << goal << *loc << goal_dif << std::endl; + if(out.has_value()){ + for(int i = 0; i < out.value().size(); i ++) { + std::cout << i << ":" << out.value()[i] << std::endl; + //TODO normalize to some constant range based on desired activation + Neptune::instance->all_motors[i]->setSpeed(out.value()[i]); + } + } + else { + std::cout << "Failed to solve" << std::endl; + } + delete loc; + return std::chrono::milliseconds(1000); + } +}; diff --git a/src/states/state.hpp b/src/states/state.hpp new file mode 100644 index 0000000..795b956 --- /dev/null +++ b/src/states/state.hpp @@ -0,0 +1,18 @@ +#pragma once +#include "../neptune.hpp" +#include +//Represents a state the usv can be in +class State{ + public: + State(){ + + } + + /** + * @brief The driving logic for this tick + * @returns The time, in ms, to wait before ticking again + */ + virtual std::chrono::milliseconds tick(){ + return std::chrono::milliseconds(5000); + } +}; diff --git a/src/types/GPSCoordinate.hpp b/src/types/GPSCoordinate.hpp index 724593c..5ca6c4d 100644 --- a/src/types/GPSCoordinate.hpp +++ b/src/types/GPSCoordinate.hpp @@ -7,6 +7,84 @@ struct GPSCoordinate { double longitude; }; +// Equality operators +inline bool operator==(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return lhs.latitude == rhs.latitude && lhs.longitude == rhs.longitude; +} + +inline bool operator!=(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return !(lhs == rhs); +} + +// Comparison operators (lexicographical) +inline bool operator<(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + if (lhs.latitude != rhs.latitude) return lhs.latitude < rhs.latitude; + return lhs.longitude < rhs.longitude; +} + +inline bool operator>(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return rhs < lhs; +} + +inline bool operator<=(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return !(rhs < lhs); +} + +inline bool operator>=(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return !(lhs < rhs); +} + +// Arithmetic operators +inline GPSCoordinate operator+(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return {lhs.latitude + rhs.latitude, lhs.longitude + rhs.longitude}; +} + +inline GPSCoordinate operator-(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return {lhs.latitude - rhs.latitude, lhs.longitude - rhs.longitude}; +} + +inline GPSCoordinate operator*(GPSCoordinate const& coord, double scalar) { + return {coord.latitude * scalar, coord.longitude * scalar}; +} + +inline GPSCoordinate operator*(double scalar, GPSCoordinate const& coord) { + return coord * scalar; +} + +inline GPSCoordinate operator/(GPSCoordinate const& coord, double scalar) { + return {coord.latitude / scalar, coord.longitude / scalar}; +} + +// Unary minus +inline GPSCoordinate operator-(GPSCoordinate const& coord) { + return {-coord.latitude, -coord.longitude}; +} + +// Compound assignment +inline GPSCoordinate& operator+=(GPSCoordinate& lhs, GPSCoordinate const& rhs) { + lhs.latitude += rhs.latitude; + lhs.longitude += rhs.longitude; + return lhs; +} + +inline GPSCoordinate& operator-=(GPSCoordinate& lhs, GPSCoordinate const& rhs) { + lhs.latitude -= rhs.latitude; + lhs.longitude -= rhs.longitude; + return lhs; +} + +inline GPSCoordinate& operator*=(GPSCoordinate& coord, double scalar) { + coord.latitude *= scalar; + coord.longitude *= scalar; + return coord; +} + +inline GPSCoordinate& operator/=(GPSCoordinate& coord, double scalar) { + coord.latitude /= scalar; + coord.longitude /= scalar; + return coord; +} + inline std::ostream &operator<<(std::ostream &os, GPSCoordinate const &coord) { return os << "GPSCoordinate{" << coord.latitude << ", " << coord.longitude << "}"; diff --git a/src/types/MotorLocation.hpp b/src/types/MotorLocation.hpp new file mode 100644 index 0000000..84d971d --- /dev/null +++ b/src/types/MotorLocation.hpp @@ -0,0 +1,22 @@ +#pragma once +#include "GPSCoordinate.hpp" +#include +enum MotorLocation { FrontRight, FrontLeft, BackRight, BackLeft }; + +constexpr double SQRT2 = 1.41421356237309504880; +//TODO make sure these stay up to date, and maybe consider a seperate point class that isn't a GPScoord +GPSCoordinate thrust_vector(MotorLocation m){ + switch(m){ + case FrontLeft: + return {0.5 * SQRT2, 0.5 * SQRT2}; + case FrontRight: + return {-0.5* SQRT2, 0.5* SQRT2}; + case BackRight: + return {-0.5* SQRT2, -0.5* SQRT2}; + case BackLeft: + return {0.5* SQRT2, -0.5* SQRT2}; + } + +} +// 0 - lat +// 1 - long From ce1bf9a135b4d6e87cabfba3601257e2f2b60136 Mon Sep 17 00:00:00 2001 From: WilyHyperion Date: Tue, 19 May 2026 22:47:31 +0000 Subject: [PATCH 07/10] add comments --- src/drivers/gps/gps.hpp | 8 ++- src/drivers/gps/hardware_gps.hpp | 32 ++++++++--- src/drivers/gps/simulated_gps.hpp | 8 +-- src/main.cpp | 2 +- src/states/navigate.hpp | 96 ------------------------------- src/types/MotorLocation.hpp | 2 +- 6 files changed, 36 insertions(+), 112 deletions(-) delete mode 100644 src/states/navigate.hpp diff --git a/src/drivers/gps/gps.hpp b/src/drivers/gps/gps.hpp index d4adbf9..3558fa7 100644 --- a/src/drivers/gps/gps.hpp +++ b/src/drivers/gps/gps.hpp @@ -2,15 +2,17 @@ #include "../../types/GPSCoordinate.hpp" #include /** + * An abstract class that represents a gps that can gather cordinate location */ class GPS { public: + virtual bool await_lock(int interval, int tries) { std::cout << "Dont call this" << std::endl; - return false; + throw std::logic_error("Tried to use a gps parent class"); } - virtual GPSCoordinate *location() { + virtual GPSCoordinate location() { std::cout << "Dont call this" << std::endl; - return nullptr; + throw std::logic_error("Tried to use a gps parent class"); } }; diff --git a/src/drivers/gps/hardware_gps.hpp b/src/drivers/gps/hardware_gps.hpp index be98049..4f3bfc0 100644 --- a/src/drivers/gps/hardware_gps.hpp +++ b/src/drivers/gps/hardware_gps.hpp @@ -1,16 +1,28 @@ +#pragma once #include "gps.hpp" #include "../../types/GPSCoordinate.hpp" #include #include #include +#include + /** * Note - its likely that only 1 gps can function at a time + * Reprsents a GPS attached by usb to the pi. Uses the gpsd daemon to gather information */ class HardwareGPS : public GPS { public: ~HardwareGPS() { delete this->gps_rec; } - GPSCoordinate *location() override { + + + /** + * Get the current GPS location once a valid fix is obtained. + * No alt is gotten. + * Maybe block for awhile + * @return GPSCoordinate containing latitude and longitude. + */ + GPSCoordinate location() override { while (true) { struct gps_data_t *data; @@ -21,17 +33,17 @@ class HardwareGPS : public GPS { if ((data = this->gps_rec->read()) == NULL) { std::cerr << "Read error." << std::endl; // TODO - what to do here? - return nullptr; + throw std::runtime_error("Failed to read gps"); } else { if (data->fix.mode >= MODE_2D) { // Connection gotten - GPSCoordinate *out = new GPSCoordinate(); - out->latitude = data->fix.latitude; - out->longitude = data->fix.longitude; - + GPSCoordinate out = GPSCoordinate(); + out.latitude = data->fix.latitude; + out.longitude = data->fix.longitude; return out; } else { - std::cout << "No gps fix" << std::endl; + //TODO - order + std::cout << "No gps fix yet" << std::endl; } } } @@ -45,6 +57,12 @@ class HardwareGPS : public GPS { std::cout << "GPS loaded" << std::endl; this->gps_rec = new gpsmm("localhost", gpsd_port); } + /** + * Awaits a gps lock. Note that a lock could be lost if the gps is blocked again, in which case the next location call will re-obtain the lock + * @param interval Wait time between tries + * @param tries Number of times to try before returning false + * @returns the fix status + */ bool await_lock(int interval, int tries) override { if (this->gps_rec->stream(WATCH_ENABLE | WATCH_JSON) == NULL) { std::cerr << "No GPSD running." << std::endl; diff --git a/src/drivers/gps/simulated_gps.hpp b/src/drivers/gps/simulated_gps.hpp index 7464bfd..102f874 100644 --- a/src/drivers/gps/simulated_gps.hpp +++ b/src/drivers/gps/simulated_gps.hpp @@ -18,14 +18,14 @@ class Simulated_GPS : public GPS { } } bool await_lock(int interval, int tries) override { return true; } - GPSCoordinate *location() override { + GPSCoordinate location() override { auto out = sim_connection->Get("/gps"); if (out == nullptr) { std::cout << "Error getting GPS sim info" << std::endl; - return nullptr; + //throw? } - GPSCoordinate *s = new GPSCoordinate(); - sscanf(out->body.c_str(), "[%lf,%lf,", &s->latitude, &s->longitude); + GPSCoordinate s = GPSCoordinate(); + sscanf(out->body.c_str(), "[%lf,%lf,", &s.latitude, &s.longitude); return s; } }; diff --git a/src/main.cpp b/src/main.cpp index 09f7ed3..83640d8 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -12,7 +12,7 @@ int main(int argc, char **argv) { std::cout << "awaiting lock" << std::endl; gps->await_lock(5, 200); while (true) { - std::cout << *(gps->location()) << std::endl; + std::cout << (gps->location()) << std::endl; sleep(3); } } diff --git a/src/states/navigate.hpp b/src/states/navigate.hpp deleted file mode 100644 index 066ec3c..0000000 --- a/src/states/navigate.hpp +++ /dev/null @@ -1,96 +0,0 @@ -#pragma once -#include "state.hpp" -#include "../../neptune.hpp" -#include -#include -#include -#include -/**Tries to solve with no negative inputs, so motors don't fire backwards - * This is vibe coded slop. In the future, we should add a linear algebra lib instead of using this - */ -std::optional> solveNonNegative(const std::array, 2>& mat) -{ - constexpr int VARS = 4; - constexpr double EPS = 1e-9; - - // Try every pair of "basic" variables; the remaining two are fixed at 0. - for (int p = 0; p < VARS; ++p) { - for (int q = p + 1; q < VARS; ++q) { - - // Extract the 2x2 sub-system for columns p and q. - const double a00 = mat[0][p], a01 = mat[0][q], b0 = mat[0][4]; - const double a10 = mat[1][p], a11 = mat[1][q], b1 = mat[1][4]; - - const double det = a00 * a11 - a01 * a10; - if (std::abs(det) < EPS) - continue; // columns are linearly dependent — skip - - // Cramer's Rule - const double xp = (b0 * a11 - b1 * a01) / det; - const double xq = (a00 * b1 - a10 * b0) / det; - - if (xp < -EPS || xq < -EPS) - continue; // a basic variable went negative — skip - - // Valid non-negative basic feasible solution found. - std::array solution{}; // nosn-basics default to 0 - solution[p] = std::max(0.0, xp); // clamp -0 artefacts - solution[q] = std::max(0.0, xq); - return solution; - } - } - - return std::nullopt; // all 6 bases checked, none feasible -} - - - -class Navigate : public State { - public: - bool finished; - GPSCoordinate goal; - Navigate(GPSCoordinate goal) : goal(goal){ - - } - - - std::chrono::milliseconds tick() override { - double current_heading = Neptune::instance->get_heading(); - GPSCoordinate* loc = Neptune::instance->gps->location(); - GPSCoordinate goal_dif = goal - *loc; - double mag = pow( goal_dif.latitude * goal_dif.latitude + goal_dif.longitude * goal_dif.longitude, 0.5); - std::cout << "Dist:" << mag << std::endl; - if(mag < 0.1){ - //super close, get a random new cord - goal.latitude = ((rand() % 30) - 15); - goal.longitude = ((rand() % 30) - 15); - } - goal_dif.latitude /= mag; - goal_dif.longitude /= mag; - /** - * We know we want to translate along goal_dif - * We can form goal_dif by combining the vectors of each motor's thrust vectors - * Thus, our problem is to form a linear combination of the goal vector through the 4 thrusters, and take one solution - * ex an array - * m1x m2x m3x m4x gx - * and for y - */ - std::array, 2> mat = Neptune::instance->GetMotorVectorMatrice(); - mat[0][4] = goal_dif.latitude; - mat[1][4] = goal_dif.longitude; - std::optional> out = solveNonNegative(mat); - std::cout << goal << *loc << goal_dif << std::endl; - if(out.has_value()){ - for(int i = 0; i < out.value().size(); i ++) { - std::cout << i << ":" << out.value()[i] << std::endl; - //TODO normalize to some constant range based on desired activation - Neptune::instance->all_motors[i]->setSpeed(out.value()[i]); - } - } - else { - std::cout << "Failed to solve" << std::endl; - } - delete loc; - return std::chrono::milliseconds(1000); - } -}; diff --git a/src/types/MotorLocation.hpp b/src/types/MotorLocation.hpp index 84d971d..4767321 100644 --- a/src/types/MotorLocation.hpp +++ b/src/types/MotorLocation.hpp @@ -16,7 +16,7 @@ GPSCoordinate thrust_vector(MotorLocation m){ case BackLeft: return {0.5* SQRT2, -0.5* SQRT2}; } - + throw std::logic_error("Invalid type"); } // 0 - lat // 1 - long From 62c0f90652a7aedd1fd12d85b7670696d1bbac51 Mon Sep 17 00:00:00 2001 From: WilyHyperion Date: Tue, 19 May 2026 22:49:37 +0000 Subject: [PATCH 08/10] re add deleted file --- src/states/navigate.hpp | 96 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 96 insertions(+) create mode 100644 src/states/navigate.hpp diff --git a/src/states/navigate.hpp b/src/states/navigate.hpp new file mode 100644 index 0000000..066ec3c --- /dev/null +++ b/src/states/navigate.hpp @@ -0,0 +1,96 @@ +#pragma once +#include "state.hpp" +#include "../../neptune.hpp" +#include +#include +#include +#include +/**Tries to solve with no negative inputs, so motors don't fire backwards + * This is vibe coded slop. In the future, we should add a linear algebra lib instead of using this + */ +std::optional> solveNonNegative(const std::array, 2>& mat) +{ + constexpr int VARS = 4; + constexpr double EPS = 1e-9; + + // Try every pair of "basic" variables; the remaining two are fixed at 0. + for (int p = 0; p < VARS; ++p) { + for (int q = p + 1; q < VARS; ++q) { + + // Extract the 2x2 sub-system for columns p and q. + const double a00 = mat[0][p], a01 = mat[0][q], b0 = mat[0][4]; + const double a10 = mat[1][p], a11 = mat[1][q], b1 = mat[1][4]; + + const double det = a00 * a11 - a01 * a10; + if (std::abs(det) < EPS) + continue; // columns are linearly dependent — skip + + // Cramer's Rule + const double xp = (b0 * a11 - b1 * a01) / det; + const double xq = (a00 * b1 - a10 * b0) / det; + + if (xp < -EPS || xq < -EPS) + continue; // a basic variable went negative — skip + + // Valid non-negative basic feasible solution found. + std::array solution{}; // nosn-basics default to 0 + solution[p] = std::max(0.0, xp); // clamp -0 artefacts + solution[q] = std::max(0.0, xq); + return solution; + } + } + + return std::nullopt; // all 6 bases checked, none feasible +} + + + +class Navigate : public State { + public: + bool finished; + GPSCoordinate goal; + Navigate(GPSCoordinate goal) : goal(goal){ + + } + + + std::chrono::milliseconds tick() override { + double current_heading = Neptune::instance->get_heading(); + GPSCoordinate* loc = Neptune::instance->gps->location(); + GPSCoordinate goal_dif = goal - *loc; + double mag = pow( goal_dif.latitude * goal_dif.latitude + goal_dif.longitude * goal_dif.longitude, 0.5); + std::cout << "Dist:" << mag << std::endl; + if(mag < 0.1){ + //super close, get a random new cord + goal.latitude = ((rand() % 30) - 15); + goal.longitude = ((rand() % 30) - 15); + } + goal_dif.latitude /= mag; + goal_dif.longitude /= mag; + /** + * We know we want to translate along goal_dif + * We can form goal_dif by combining the vectors of each motor's thrust vectors + * Thus, our problem is to form a linear combination of the goal vector through the 4 thrusters, and take one solution + * ex an array + * m1x m2x m3x m4x gx + * and for y + */ + std::array, 2> mat = Neptune::instance->GetMotorVectorMatrice(); + mat[0][4] = goal_dif.latitude; + mat[1][4] = goal_dif.longitude; + std::optional> out = solveNonNegative(mat); + std::cout << goal << *loc << goal_dif << std::endl; + if(out.has_value()){ + for(int i = 0; i < out.value().size(); i ++) { + std::cout << i << ":" << out.value()[i] << std::endl; + //TODO normalize to some constant range based on desired activation + Neptune::instance->all_motors[i]->setSpeed(out.value()[i]); + } + } + else { + std::cout << "Failed to solve" << std::endl; + } + delete loc; + return std::chrono::milliseconds(1000); + } +}; From ac305095329174ca1966123fe09c949aff0e76df Mon Sep 17 00:00:00 2001 From: WilyHyperion Date: Thu, 28 May 2026 02:43:19 +0000 Subject: [PATCH 09/10] run formater --- Docker/Dockerfile | 3 +- src/CMakeLists.txt | 8 +- src/drivers/CMakeLists.txt | 5 + src/drivers/gps/hardware_gps.hpp | 1 - src/drivers/imu/compass.hpp | 22 +++ src/drivers/motors/sim_motor.hpp | 2 - src/main.cpp | 40 +++++- src/neptune.hpp | 238 ++++++++++++++++++++++++++++--- src/sim_main.cpp | 28 ++-- src/states/menu.hpp | 75 ++++++++++ src/states/navigate.hpp | 92 ++---------- src/types/GPSCoordinate.hpp | 6 +- src/types/MotorLocation.hpp | 17 ++- 13 files changed, 400 insertions(+), 137 deletions(-) create mode 100644 src/drivers/imu/compass.hpp create mode 100644 src/states/menu.hpp diff --git a/Docker/Dockerfile b/Docker/Dockerfile index d42c19a..53ba434 100644 --- a/Docker/Dockerfile +++ b/Docker/Dockerfile @@ -9,7 +9,8 @@ RUN apt-get update -y RUN apt-get install -y git gdb curl clang-format #Get project dependencies -RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev libserial-dev gpsd libgps-dev +RUN apt-get install -y gpiod libgpiod-dev liblgpio-dev libserial-dev gpsd libgps-dev libeigen3-dev + #dev dependencies RUN apt-get install -y python3 python3-pip pipx WORKDIR /workspace/Neptune diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 750dd11..257b6f1 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -51,17 +51,21 @@ endif() +# Eigen(linear algebra lib) +find_package(Eigen3 REQUIRED) + +target_include_directories(neptune PRIVATE ${EIGEN3_INCLUDE_DIRS}) +target_include_directories(neptune_sim PRIVATE ${EIGEN3_INCLUDE_DIRS}) link_directories(drivers) add_subdirectory(drivers) add_subdirectory(types) - +add_subdirectory(states) target_link_libraries(motors ${LGPIO_LINK_LIBS}) #main target target_include_directories(motors PRIVATE ${LGPIO_INCLUDE_DIR}) - target_link_libraries(neptune_sim motors) target_link_libraries(neptune motors) diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt index e3e8489..5c4a757 100644 --- a/src/drivers/CMakeLists.txt +++ b/src/drivers/CMakeLists.txt @@ -10,3 +10,8 @@ target_include_directories(gps_drivers INTERFACE ${GPSD_INCLUDE_DIRS}) target_include_directories(motors PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/motors) target_include_directories(gps_drivers INTERFACE d ${CMAKE_CURRENT_SOURCE_DIR}/gps) target_link_libraries(gps_drivers INTERFACE ${GPSD_LIBRARIES}) + + + +add_library(imu INTERFACE) +target_include_directories(imu INTERFACE d ${CMAKE_CURRENT_SOURCE_DIR}/imu) diff --git a/src/drivers/gps/hardware_gps.hpp b/src/drivers/gps/hardware_gps.hpp index 4f3bfc0..c9b1599 100644 --- a/src/drivers/gps/hardware_gps.hpp +++ b/src/drivers/gps/hardware_gps.hpp @@ -1,6 +1,5 @@ #pragma once #include "gps.hpp" - #include "../../types/GPSCoordinate.hpp" #include #include diff --git a/src/drivers/imu/compass.hpp b/src/drivers/imu/compass.hpp new file mode 100644 index 0000000..39c8988 --- /dev/null +++ b/src/drivers/imu/compass.hpp @@ -0,0 +1,22 @@ +#pragma once +#include + +#include + +using namespace Eigen; +/* +TODO: this is a placeholder until the commit w/ imu gets made + +*/ +class Compass +{ +public: + /** + * Filler sim version, should convert to abstract once we are done with the IMU + * Returns the true north vector in the context of the world + */ + std::array get() + { + return {0,0,0}; + } +}; diff --git a/src/drivers/motors/sim_motor.hpp b/src/drivers/motors/sim_motor.hpp index 5a4f829..9108b15 100644 --- a/src/drivers/motors/sim_motor.hpp +++ b/src/drivers/motors/sim_motor.hpp @@ -38,8 +38,6 @@ class SimulatedMotor : public Motor this->GetMotorPath().c_str(), s.c_str(), "application/json"); if (out == nullptr) { std::cout << "Error sending sim info" << std::endl; - } else { - std::cout << out->status << std::endl; } return 0; diff --git a/src/main.cpp b/src/main.cpp index 83640d8..ff75627 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -1,18 +1,46 @@ // main.cpp #include "CLI11.hpp" #include "drivers/gps/hardware_gps.hpp" -int main(int argc, char **argv) { +#include "drivers/gps/gps.hpp" +#include "drivers/motors/motor.hpp" +#include "neptune.hpp" +#include "states/navigate.hpp" +#include "drivers/motors/thruster.hpp" +#include "states/menu.hpp" +#include "lgpio.h" +#include +#include +#include +int main(int argc, char **argv) +{ CLI::App app; std::string gps_port; app.add_option("--gps", gps_port, "The string path to the gps. Likely, /dev/ttyACM0") ->required(); + + std::vector pins; + app.add_option("--motors", pins, "The 4 pins for motors (space delimited) in the form: front_left front_right back_left back_right"); CLI11_PARSE(app, argc, argv); GPS *gps = new HardwareGPS(gps_port); - std::cout << "awaiting lock" << std::endl; - gps->await_lock(5, 200); - while (true) { - std::cout << (gps->location()) << std::endl; - sleep(3); + //Hardcoded since I dont think this will ever change on the pi + + if(pins.size() != 4){ + std::cout << "Wrong number of input pins for motors:" << pins.size() <<"\n"; + return 1; } + int handle = lgGpiochipOpen(0); + Motor *front_left = new Thruster(pins[0], handle); + Motor *front_right = new Thruster(pins[1], handle); + Motor *back_left = new Thruster(pins[2], handle); + Motor *back_right = new Thruster(pins[3], handle); + Neptune *neptune = new Neptune(); + neptune->gps = gps; + neptune->back_left = back_left; + neptune->back_right = back_right; + neptune->front_left = front_left; + neptune->front_right = front_right; + neptune->compass = new Compass(); + neptune->state = new Menu(); + neptune->start(); } diff --git a/src/neptune.hpp b/src/neptune.hpp index ab0e225..bd839e3 100644 --- a/src/neptune.hpp +++ b/src/neptune.hpp @@ -1,41 +1,179 @@ #pragma once #include "drivers/motors/motor.hpp" #include "drivers/gps/gps.hpp" + +#include "drivers/imu/compass.hpp" #include #include +#include +#include +#include +#include +#include +#include "types/MotorLocation.hpp" +#include +#include + #include "states/state.hpp" -class Neptune { - public: - State* state; - inline static Neptune* instance = nullptr; - GPS* gps; - Motor* front_left; - Motor* front_right; - Motor* back_left; - Motor* back_right; - Motor* all_motors[4]; +class Neptune +{ +public: + State *state; + inline static Neptune *instance = nullptr; + GPS *gps; + Motor *front_left; + Motor *front_right; + Motor *back_left; + Motor *back_right; + Motor *all_motors[4]; + Compass *compass; + /** + * Prints all of the sensor data to std out in a nice format + */ + void dispData() + { + // GPS + try + { + auto loc = gps->location(); + std::cout << loc << "\n"; + } + catch (...) + { + std::cout << "GPS Location: \n"; + } + // Compass + try + { + auto c = compass->get(); + std::cout << "Compass: [" << c[0] << ", " << c[1] << ", " << c[2] << "] Heading(rad): " << get_heading() << "\n"; + } + catch (...) + { + std::cout << "Compass: \n"; + } + // Motors + for (int i = 0; i < 4; ++i) + { + Motor *m = all_motors[i]; + if (m) + { + double s = 0; + try + { + s = m->speed; + } + catch (...) + { + } + std::cout << "Motor[" << i << "] speed: " << s << "\n"; + } + else + { + std::cout << "Motor[" << i << "]: \n"; + } + } + // State + if (state) + { + try + { + std::cout << "State tick(ms): " << typeid(state).name() << "\n"; + } + catch (...) + { + std::cout << "State: \n"; + } + } + else + { + std::cout << "State: \n"; + } + } + // Helper to power motors for forward movement + void forwards(double max = 0.75) + { + front_left->setSpeed(max); + front_right->setSpeed(max); + back_left->setSpeed(max); + back_right->setSpeed(max); + } + // Helper to power motors for backwards movement + void backwards(double max = 0.75) + { + front_left->setSpeed(-max); + front_right->setSpeed(-max); + back_left->setSpeed(-max); + back_right->setSpeed(-max); + } + + // Helper to halt all motors. Note this stops the motor, and does not account for drifting + void stop() + { + for (Motor *m : all_motors) + { + m->setSpeed(0); + } + } + /** * Gets the heading, in radians of the robot. 0 indicates north, pi indicates south + * Heading is a **counterclockwise** rotation about the upward axsis * @return The heading */ - double get_heading(){ - //TODO - Use IMU to calculate this - return 0; + double get_heading() + { + auto c = compass->get(); // north in the format: [nx, ny, nz] of the compass + // We know true north in ENU is [0,0,1], so we need to measure our north directions difference from that + // Ignore z(upwards) cause if we get rotated too far upward it impacts nav we're fucked anyway. Thus our axis of rotation is +z (0,0,1) + + // Flip x/y here because atan will give from x axsis but we want from +y + double out = atan2(c[1], c[0]); + + return out; } - std::array, 2> GetMotorVectorMatrice() { - std::array, 2> out = { - }; - for(int m = 0; m <= 3; m ++) { - out[0][m] = thrust_vector(static_cast(m)).latitude; - out[1][m] = thrust_vector(static_cast(m)).longitude; + const double MAX_MOTOR_ACTIVATION = 0.75; // TODO move to some config or smth + /** + * Activates the motors to travel towards the target location. + * Uses MAX_MOTOR_ACTIVATION to scale the output + * TODO change tolerance, 5.0 is crazy high for gps coords + * @return if the location is reached + */ + bool travel(GPSCoordinate goal, double dist_tolerance = 1.0, double rot_tolerance = (0.174533 / 2)) // 5 deg + { + Vector2d dif = goal - gps->location(); + if (dif.norm() < dist_tolerance) + { + stop(); + return true; } - return out; - } + // Find a way to move along dif with our motors + + double heading = get_heading(); + double goal_heading = atan2(dif[1], dif[0]); + double angle_error = atan2( + sin(goal_heading - heading), + cos(goal_heading - heading)); + + std::cout << "Heading: " << heading << "goal" << goal_heading << "dif: " << angle_error << std::endl; + if (angle_error < rot_tolerance) + { + // move forward + forwards(); + } + else + { + // rotate self + rotate((angle_error < 0), 0.3); + } + return false; + } /** * Starts neptune. This method will functionally take over the thread it is called from */ - void start(){ + void start() + { Neptune::instance = this; gps->await_lock(5, 500); std::cout << "Arming motors" << std::endl; @@ -53,7 +191,61 @@ class Neptune { { std::this_thread::sleep_for(this->state->tick()); } - + } + // Rotates + void rotate(bool clockwise, double max = 0.75) + { + if (clockwise) + { + // rights on backwards, lefts on forward + front_left->setSpeed(max); + front_right->setSpeed(-max); + back_left->setSpeed(max); + back_right->setSpeed(-max); + } + else + { + // inverse + front_left->setSpeed(-max); + front_right->setSpeed(max); + back_left->setSpeed(-max); + back_right->setSpeed(max); + } } +private: + // Helper to build a matrix of the motors thrust vectors, rotate by the heading + Matrix motor_mat() + { + Matrix out; + std::cout << "heading" << get_heading() << std::endl; + Eigen::Rotation2D rot(get_heading()); + for (int m = static_cast(MotorLocation::FrontRight); m <= static_cast(MotorLocation::BackLeft); m++) + { + out.col(m) = rot * thrust_vector(static_cast(m)); // rotate by heading + } + return out; + } + // Helper to activate motors based on a vector + bool set_motors(Vector4d v) + { + for (int m = static_cast(MotorLocation::FrontRight); m <= static_cast(MotorLocation::BackLeft); m++) + { + all_motors[m]->setSpeed(v[m]); + } + return true; // TODO error checking? + } + // Wraps an angle to [0, 2pi] + double normalizeToPositiveAngle(double angle) + { + while (angle < 0) + { + angle += M_PI * 2; + } + while (angle > 2 * M_PI) + { + angle -= M_PI * 2; + } + return angle; + } }; diff --git a/src/sim_main.cpp b/src/sim_main.cpp index 0fd5f18..36d32a6 100644 --- a/src/sim_main.cpp +++ b/src/sim_main.cpp @@ -5,24 +5,30 @@ #include "types/MotorLocation.hpp" #include "neptune.hpp" #include "states/navigate.hpp" -int main() { +#include "states/menu.hpp" +#include +#include +#include + +int main() + +{ + sim_connection = new httplib::Client(SIM_ADDR); GPS *g = new Simulated_GPS(); - Motor* front_left = new SimulatedMotor(MotorLocation::FrontLeft, 0 ,50); - Motor* front_right = new SimulatedMotor(MotorLocation::FrontRight, 0 ,50); - Motor* back_left = new SimulatedMotor(MotorLocation::BackLeft, 0, 50); - Motor* back_right = new SimulatedMotor(MotorLocation::BackRight, 0, 50); - Neptune* neptune = new Neptune(); + Motor *front_left = new SimulatedMotor(MotorLocation::FrontLeft, 0, 50); + Motor *front_right = new SimulatedMotor(MotorLocation::FrontRight, 0, 50); + Motor *back_left = new SimulatedMotor(MotorLocation::BackLeft, 0, 50); + Motor *back_right = new SimulatedMotor(MotorLocation::BackRight, 0, 50); + Neptune *neptune = new Neptune(); neptune->gps = g; neptune->back_left = back_left; neptune->back_right = back_right; neptune->front_left = front_left; neptune->front_right = front_right; - GPSCoordinate goal = GPSCoordinate{ - 0, - 10 - }; -neptune->state = new Navigate(goal); + neptune->compass = new Compass(); + neptune->state = new Menu(); neptune->start(); + return 0; } diff --git a/src/states/menu.hpp b/src/states/menu.hpp new file mode 100644 index 0000000..62b929a --- /dev/null +++ b/src/states/menu.hpp @@ -0,0 +1,75 @@ +#pragma once +#include "state.hpp" +#include "../../neptune.hpp" +#include +#include +#include +#include + +/** + * Rep + */ +class Menu : public State +{ +public: + bool finished; + int wait = 500; + double speed = 0.5; + Menu() + { + } + + std::chrono::milliseconds tick() override + { + Neptune::instance->stop(); + std::cout << "Current duration(ms): " << wait << "Current Speed:" << speed << "\nOptions:\n[0] Rotate Clockwise \n[1] Rotate Counter-Clockwise \n[2] Move Forwards \n[3] Move Backwards \n[4]Set Duration \n[5]Change Speed \n[6]Read Sensors" << std::endl; + std::cout << ":"; + int out; + while (!(std::cin >> out) && (0 <= out) && (out <= 6)) + { + std::cin.clear(); + std::cin.ignore(std::numeric_limits::max(), '\n'); + std::cout << "Invalid input. Please enter a number: "; + } + std::cout << "running:" << out << std::endl; + switch (out) + { + case 0: + Neptune::instance->rotate(true, speed); + return std::chrono::milliseconds(wait); + case 1: + Neptune::instance->rotate(true, speed); + return std::chrono::milliseconds(wait); + case 2: + Neptune::instance->forwards(speed); + return std::chrono::milliseconds(wait); + case 3: + Neptune::instance->backwards(speed); + return std::chrono::milliseconds(wait); + case 4: + int wait; + while (!(std::cin >> wait)) + { + std::cin.clear(); + std::cin.ignore(std::numeric_limits::max(), '\n'); + std::cout << "Invalid input. Please enter a number: "; + } + this->wait = wait; + return std::chrono::milliseconds(wait); + case 5: + double speed; + while (!(std::cin >> speed) && (0.01 <= speed) && (speed <= 1)) + { + std::cin.clear(); + std::cin.ignore(std::numeric_limits::max(), '\n'); + std::cout << "Invalid input. Please enter a number: "; + } + this->speed = speed; + return std::chrono::milliseconds(wait); + case 6: + Neptune::instance->dispData(); + return std::chrono::milliseconds(wait); + } + return std::chrono::milliseconds(wait); + } +}; diff --git a/src/states/navigate.hpp b/src/states/navigate.hpp index 066ec3c..206eb23 100644 --- a/src/states/navigate.hpp +++ b/src/states/navigate.hpp @@ -5,92 +5,20 @@ #include #include #include -/**Tries to solve with no negative inputs, so motors don't fire backwards - * This is vibe coded slop. In the future, we should add a linear algebra lib instead of using this - */ -std::optional> solveNonNegative(const std::array, 2>& mat) -{ - constexpr int VARS = 4; - constexpr double EPS = 1e-9; - - // Try every pair of "basic" variables; the remaining two are fixed at 0. - for (int p = 0; p < VARS; ++p) { - for (int q = p + 1; q < VARS; ++q) { - - // Extract the 2x2 sub-system for columns p and q. - const double a00 = mat[0][p], a01 = mat[0][q], b0 = mat[0][4]; - const double a10 = mat[1][p], a11 = mat[1][q], b1 = mat[1][4]; - - const double det = a00 * a11 - a01 * a10; - if (std::abs(det) < EPS) - continue; // columns are linearly dependent — skip - - // Cramer's Rule - const double xp = (b0 * a11 - b1 * a01) / det; - const double xq = (a00 * b1 - a10 * b0) / det; - - if (xp < -EPS || xq < -EPS) - continue; // a basic variable went negative — skip - - // Valid non-negative basic feasible solution found. - std::array solution{}; // nosn-basics default to 0 - solution[p] = std::max(0.0, xp); // clamp -0 artefacts - solution[q] = std::max(0.0, xq); - return solution; - } - } - - return std::nullopt; // all 6 bases checked, none feasible -} - - -class Navigate : public State { - public: +class Navigate : public State +{ +public: bool finished; GPSCoordinate goal; - Navigate(GPSCoordinate goal) : goal(goal){ - + Navigate(GPSCoordinate goal) : goal(goal) + { } - - std::chrono::milliseconds tick() override { - double current_heading = Neptune::instance->get_heading(); - GPSCoordinate* loc = Neptune::instance->gps->location(); - GPSCoordinate goal_dif = goal - *loc; - double mag = pow( goal_dif.latitude * goal_dif.latitude + goal_dif.longitude * goal_dif.longitude, 0.5); - std::cout << "Dist:" << mag << std::endl; - if(mag < 0.1){ - //super close, get a random new cord - goal.latitude = ((rand() % 30) - 15); - goal.longitude = ((rand() % 30) - 15); - } - goal_dif.latitude /= mag; - goal_dif.longitude /= mag; - /** - * We know we want to translate along goal_dif - * We can form goal_dif by combining the vectors of each motor's thrust vectors - * Thus, our problem is to form a linear combination of the goal vector through the 4 thrusters, and take one solution - * ex an array - * m1x m2x m3x m4x gx - * and for y - */ - std::array, 2> mat = Neptune::instance->GetMotorVectorMatrice(); - mat[0][4] = goal_dif.latitude; - mat[1][4] = goal_dif.longitude; - std::optional> out = solveNonNegative(mat); - std::cout << goal << *loc << goal_dif << std::endl; - if(out.has_value()){ - for(int i = 0; i < out.value().size(); i ++) { - std::cout << i << ":" << out.value()[i] << std::endl; - //TODO normalize to some constant range based on desired activation - Neptune::instance->all_motors[i]->setSpeed(out.value()[i]); - } - } - else { - std::cout << "Failed to solve" << std::endl; - } - delete loc; - return std::chrono::milliseconds(1000); + std::chrono::milliseconds tick() override + { + //std::cout << Neptune::instance->get_heading() << std::endl; + Neptune::instance->travel(goal); + return std::chrono::milliseconds(50); } }; diff --git a/src/types/GPSCoordinate.hpp b/src/types/GPSCoordinate.hpp index 5ca6c4d..5a58ada 100644 --- a/src/types/GPSCoordinate.hpp +++ b/src/types/GPSCoordinate.hpp @@ -1,7 +1,9 @@ #pragma once #include +#include +using namespace Eigen; struct GPSCoordinate { double latitude; double longitude; @@ -39,8 +41,8 @@ inline GPSCoordinate operator+(GPSCoordinate const& lhs, GPSCoordinate const& rh return {lhs.latitude + rhs.latitude, lhs.longitude + rhs.longitude}; } -inline GPSCoordinate operator-(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { - return {lhs.latitude - rhs.latitude, lhs.longitude - rhs.longitude}; +inline Vector2d operator-(GPSCoordinate const& lhs, GPSCoordinate const& rhs) { + return Vector2d{lhs.latitude - rhs.latitude, lhs.longitude - rhs.longitude}; } inline GPSCoordinate operator*(GPSCoordinate const& coord, double scalar) { diff --git a/src/types/MotorLocation.hpp b/src/types/MotorLocation.hpp index 4767321..c2879c3 100644 --- a/src/types/MotorLocation.hpp +++ b/src/types/MotorLocation.hpp @@ -1,22 +1,25 @@ #pragma once #include "GPSCoordinate.hpp" #include + +#include +using namespace Eigen; + +//IMPORTANT: If the robot is placed facing north, the front motors should be facing north enum MotorLocation { FrontRight, FrontLeft, BackRight, BackLeft }; constexpr double SQRT2 = 1.41421356237309504880; -//TODO make sure these stay up to date, and maybe consider a seperate point class that isn't a GPScoord -GPSCoordinate thrust_vector(MotorLocation m){ +//TODO make sure these stay up to date +Vector2d thrust_vector(MotorLocation m){ switch(m){ case FrontLeft: return {0.5 * SQRT2, 0.5 * SQRT2}; case FrontRight: - return {-0.5* SQRT2, 0.5* SQRT2}; + return {0.5* SQRT2, -0.5* SQRT2}; case BackRight: - return {-0.5* SQRT2, -0.5* SQRT2}; + return {-0.5* SQRT2, 0.5* SQRT2}; case BackLeft: - return {0.5* SQRT2, -0.5* SQRT2}; + return {-0.5* SQRT2, -0.5* SQRT2}; } throw std::logic_error("Invalid type"); } -// 0 - lat -// 1 - long From d010f7ebe9ac9c73c3e20295e16933b32f4b1037 Mon Sep 17 00:00:00 2001 From: WilyHyperion Date: Thu, 28 May 2026 03:30:30 +0000 Subject: [PATCH 10/10] fix motors not stopping on ctrl c and wrong turn dirc --- src/main.cpp | 6 ++++++ src/neptune.hpp | 2 +- src/states/menu.hpp | 11 ++++++----- 3 files changed, 13 insertions(+), 6 deletions(-) diff --git a/src/main.cpp b/src/main.cpp index ff75627..95363c4 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -11,6 +11,11 @@ #include #include #include +#include +void handle_quit(int signum){ + Neptune::instance->stop(); + exit(0); +} int main(int argc, char **argv) { CLI::App app; @@ -42,5 +47,6 @@ int main(int argc, char **argv) neptune->front_right = front_right; neptune->compass = new Compass(); neptune->state = new Menu(); + std::signal(SIGINT,handle_quit); neptune->start(); } diff --git a/src/neptune.hpp b/src/neptune.hpp index bd839e3..3da81d4 100644 --- a/src/neptune.hpp +++ b/src/neptune.hpp @@ -175,7 +175,7 @@ class Neptune void start() { Neptune::instance = this; - gps->await_lock(5, 500); + //gps->await_lock(5, 500); std::cout << "Arming motors" << std::endl; front_left->armMotor(); front_right->armMotor(); diff --git a/src/states/menu.hpp b/src/states/menu.hpp index 62b929a..531e81c 100644 --- a/src/states/menu.hpp +++ b/src/states/menu.hpp @@ -31,14 +31,13 @@ class Menu : public State std::cin.ignore(std::numeric_limits::max(), '\n'); std::cout << "Invalid input. Please enter a number: "; } - std::cout << "running:" << out << std::endl; switch (out) { case 0: Neptune::instance->rotate(true, speed); return std::chrono::milliseconds(wait); case 1: - Neptune::instance->rotate(true, speed); + Neptune::instance->rotate(false, speed); return std::chrono::milliseconds(wait); case 2: Neptune::instance->forwards(speed); @@ -48,6 +47,7 @@ class Menu : public State return std::chrono::milliseconds(wait); case 4: int wait; + std::cout << "New duration(ms):"; while (!(std::cin >> wait)) { std::cin.clear(); @@ -55,9 +55,10 @@ class Menu : public State std::cout << "Invalid input. Please enter a number: "; } this->wait = wait; - return std::chrono::milliseconds(wait); + return std::chrono::milliseconds(10); case 5: double speed; + std::cout << "New speed(0.01 to 1):"; while (!(std::cin >> speed) && (0.01 <= speed) && (speed <= 1)) { std::cin.clear(); @@ -65,10 +66,10 @@ class Menu : public State std::cout << "Invalid input. Please enter a number: "; } this->speed = speed; - return std::chrono::milliseconds(wait); + return std::chrono::milliseconds(10); case 6: Neptune::instance->dispData(); - return std::chrono::milliseconds(wait); + return std::chrono::milliseconds(10); } return std::chrono::milliseconds(wait); }