tweaks

lunabotics/lunabase-lib/src/telemetry.rs

@@ -484,7 +484,7 @@ impl LunabotConn {
     fn tilt_bucket_up(&self) {
         let shared = self.shared.as_ref().unwrap();
         let mut controls_packet = shared.controls_data.load();
-        controls_packet.arm_params.tilt = ArmAction::Extend;
+        controls_packet.arm_params.tilt = ArmAction::Retract;
         shared.controls_data.store(controls_packet);
         shared.echo_controls.store(true, Ordering::Relaxed);
     }
@@ -493,7 +493,7 @@ impl LunabotConn {
     fn tilt_bucket_down(&self) {
         let shared = self.shared.as_ref().unwrap();
         let mut controls_packet = shared.controls_data.load();
-        controls_packet.arm_params.tilt = ArmAction::Retract;
+        controls_packet.arm_params.tilt = ArmAction::Extend;
         shared.controls_data.store(controls_packet);
         shared.echo_controls.store(true, Ordering::Relaxed);
     }

lunabotics/lunabase/lunabase.gdextension

@@ -4,11 +4,11 @@ compatibility_minimum = 4.1
 reloadable = true
 
 [libraries]
-linux.debug.x86_64 =     "res://../target/debug/liblunabase_lib.so"
-linux.release.x86_64 =   "res://../target/release/liblunabase_lib.so"
-windows.debug.x86_64 =   "res://../target/release/lunabase_lib.dll"
-windows.release.x86_64 = "res://../target/release/lunabase_lib.dll"
-macos.debug =            "res://../target/debug/liblunabase_lib.dylib"
-macos.release =          "res://../target/release/liblunabase_lib.dylib"
-macos.debug.arm64 =      "res://../target/debug/liblunabase_lib.dylib"
-macos.release.arm64 =    "res://../target/release/liblunabase_lib.dylib"
+linux.debug.x86_64 =     "res://../../target/debug/liblunabase_lib.so"
+linux.release.x86_64 =   "res://../../target/release/liblunabase_lib.so"
+windows.debug.x86_64 =   "res://../../target/release/lunabase_lib.dll"
+windows.release.x86_64 = "res://../../target/release/lunabase_lib.dll"
+macos.debug =            "res://../../target/debug/liblunabase_lib.dylib"
+macos.release =          "res://../../target/release/liblunabase_lib.dylib"
+macos.debug.arm64 =      "res://../../target/debug/liblunabase_lib.dylib"
+macos.release.arm64 =    "res://../../target/release/liblunabase_lib.dylib"

lunabotics/lunabase/lunabase.tscn

@@ -29,6 +29,12 @@ func _input(event: InputEvent) -> void:
 
 	elif event.is_action_pressed(\"Restart\"):
 		get_tree().change_scene_to_file(scene_file_path)
+
+	elif event.is_action_pressed(\"NextCamera\"):
+		Lunabot.next_camera()
+
+	elif event.is_action_pressed(\"PreviousCamera\"):
+		Lunabot.previous_camera()
 "
 
 [sub_resource type="GDScript" id="GDScript_wemvy"]
@@ -96,14 +102,14 @@ func _on_pressed() -> void:
 
 
 func _on_button_up() -> void:
-	Lunabot.stop_arm()
+	Lunabot.stop_tilt_bucket()
 
 
 func _input(event: InputEvent) -> void:
 	if event.is_action_pressed(\"TiltArmUp\"):
 		Lunabot.tilt_bucket_up()
 	elif event.is_action_released(\"TiltArmUp\"):
-		Lunabot.stop_arm()
+		Lunabot.stop_tilt_bucket()
 "
 
 [sub_resource type="GDScript" id="GDScript_2xh7u"]
@@ -115,14 +121,14 @@ func _on_pressed() -> void:
 
 
 func _on_button_up() -> void:
-	Lunabot.stop_arm()
+	Lunabot.stop_tilt_bucket()
 
 
 func _input(event: InputEvent) -> void:
 	if event.is_action_pressed(\"TiltArmDown\"):
 		Lunabot.tilt_bucket_down()
 	elif event.is_action_released(\"TiltArmDown\"):
-		Lunabot.stop_arm()
+		Lunabot.stop_tilt_bucket()
 "
 
 [sub_resource type="GDScript" id="GDScript_dn1oa"]
@@ -134,14 +140,14 @@ func _on_pressed() -> void:
 
 
 func _on_button_up() -> void:
-	Lunabot.stop_arm()
+	Lunabot.stop_lift_arm()
 
 
 func _input(event: InputEvent) -> void:
 	if event.is_action_pressed(\"LiftArm\"):
 		Lunabot.lift_arm()
 	elif event.is_action_released(\"LiftArm\"):
-		Lunabot.stop_arm()
+		Lunabot.stop_lift_arm()
 "
 
 [sub_resource type="GDScript" id="GDScript_qbnfj"]
@@ -153,14 +159,14 @@ func _on_pressed() -> void:
 
 
 func _on_button_up() -> void:
-	Lunabot.stop_arm()
+	Lunabot.stop_lift_arm()
 
 
 func _input(event: InputEvent) -> void:
 	if event.is_action_pressed(\"LowerArm\"):
 		Lunabot.lower_arm()
 	elif event.is_action_released(\"LowerArm\"):
-		Lunabot.stop_arm()
+		Lunabot.stop_lift_arm()
 "
 
 [sub_resource type="GDScript" id="GDScript_amk46"]

lunabotics/lunabase/project.godot

@@ -42,12 +42,12 @@ DriveBackward={
 }
 SteerLeft={
 "deadzone": 0.5,
-"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":2,"axis_value":-1.0,"script":null)
+"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":0,"axis_value":-1.0,"script":null)
 ]
 }
 SteerRight={
 "deadzone": 0.5,
-"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":2,"axis_value":1.0,"script":null)
+"events": [Object(InputEventJoypadMotion,"resource_local_to_scene":false,"resource_name":"","device":-1,"axis":0,"axis_value":1.0,"script":null)
 ]
 }
 WalkForward={
@@ -114,6 +114,16 @@ MainMenu={
 "events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":true,"ctrl_pressed":true,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":81,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
+NextCamera={
+"deadzone": 0.5,
+"events": [Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"button_index":14,"pressure":0.0,"pressed":false,"script":null)
+]
+}
+PreviousCamera={
+"deadzone": 0.5,
+"events": [Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"button_index":13,"pressure":0.0,"pressed":false,"script":null)
+]
+}
 
 [rendering]
 

lunabotics/lunabot/Cargo.toml

@@ -8,7 +8,7 @@ edition = "2021"
 [dependencies]
 unros = { workspace = true }
 camera = { workspace = true }
-localization = { workspace = true }
+# localization = { workspace = true }
 apriltag = { workspace = true }
 networking = { workspace = true }
 rig = { workspace = true }

lunabotics/lunabot/src/main.rs

@@ -6,10 +6,10 @@ use std::sync::{
 // use apriltag::{AprilTagDetector, PoseObservation};
 use camera::discover_all_cameras;
 use fxhash::FxBuildHasher;
-use localization::{
-    engines::window::{DefaultWindowConfig, WindowLocalizer},
-    Localizer,
-};
+// use localization::{
+//     engines::window::{DefaultWindowConfig, WindowLocalizer},
+//     Localizer,
+// };
 use rig::Robot;
 use telemetry::Telemetry;
 use unros::{
@@ -80,21 +80,25 @@ async fn main(context: MainRuntimeContext) -> anyhow::Result<()> {
 
     match serial::connect_to_serial() {
         Ok((arms, drive)) => {
-            telemetry
-                .steering_pub()
-                .accept_subscription(drive.get_steering_sub());
-
-            telemetry.arm_pub().accept_subscription(arms.get_arm_sub());
-            drive.spawn(context.make_context("drive"));
-            arms.spawn(context.make_context("arms"));
+            if let Some(drive) = drive {
+                telemetry
+                    .steering_pub()
+                    .accept_subscription(drive.get_steering_sub());
+                drive.spawn(context.make_context("drive"));
+            }
+
+            if let Some(arms) = arms {
+                telemetry.arm_pub().accept_subscription(arms.get_arm_sub());
+                arms.spawn(context.make_context("arms"));
+            }
         }
         Err(e) => {
             error!("{e}");
         }
     }
 
-    let localizer: Localizer<f32, WindowLocalizer<f32, _, _, _, _>> =
-        Localizer::new(robot_base, DefaultWindowConfig::default());
+    // let localizer: Localizer<f32, WindowLocalizer<f32, _, _, _, _>> =
+    //     Localizer::new(robot_base, DefaultWindowConfig::default());
 
     // let mut apriltag = AprilTagDetector::new(640.0, 1280, 720, camera_element.get_ref());
     // apriltag.add_tag(Default::default(), Default::default(), 0.134, 0);
@@ -134,7 +138,7 @@ async fn main(context: MainRuntimeContext) -> anyhow::Result<()> {
     //     .msg_received_pub()
     //     .accept_subscription(localizer.create_imu_sub().set_name("imu01"));
 
-    localizer.spawn(context.make_context("localizer"));
+    // localizer.spawn(context.make_context("localizer"));
     telemetry.spawn(context.make_context("telemetry"));
 
     context.wait_for_exit().await;

lunabotics/lunabot/src/serial.rs

@@ -1,10 +1,11 @@
 use unros::anyhow;
+use unros::log::error;
 
 use crate::{actuators::Arms, drive::Drive};
 use std::fs::{self, DirEntry};
 use std::process::Command;
 
-pub fn connect_to_serial() -> anyhow::Result<(Arms, Drive)> {
+pub fn connect_to_serial() -> anyhow::Result<(Option<Arms>, Option<Drive>)> {
     let dev_directory = fs::read_dir("/dev")?;
     let acm_devices: Vec<DirEntry> = dev_directory
         .filter_map(|entry| {
@@ -31,16 +32,8 @@ pub fn connect_to_serial() -> anyhow::Result<(Arms, Drive)> {
         return Err(anyhow::anyhow!("No ttyACM devices found"));
     }
 
-    if acm_devices.len() != 4 {
-        return Err(anyhow::anyhow!(
-            "Expected 4 ttyACM devices, got {}",
-            acm_devices.len()
-        ));
-    }
-
-    let mut micro_python_paths = [None, None];
+    let mut micro_python_paths = Vec::with_capacity(2);
     let mut vesc_paths = Vec::with_capacity(2);
-    let mut micro_py_count = 0usize;
     for entry in &acm_devices {
         let path = entry.path();
         let output = Command::new("udevadm")
@@ -52,33 +45,45 @@ pub fn connect_to_serial() -> anyhow::Result<(Arms, Drive)> {
             .output()?;
         let stdout = String::from_utf8_lossy(&output.stdout);
         if stdout.contains("MicroPython") {
-            if micro_py_count >= 2 {
+            if micro_python_paths.len() >= 2 {
                 return Err(anyhow::anyhow!("More than two MicroPython devices found"));
             }
-            micro_python_paths[micro_py_count] = Some(path);
-            micro_py_count += 1;
+            micro_python_paths.push(path);
         } else if vesc_paths.len() >= 2 {
             return Err(anyhow::anyhow!("More than two VESC devices found"));
         } else {
             vesc_paths.push(path);
         }
     }
 
-    if micro_py_count < 2 {
-        return Err(anyhow::anyhow!(
-            "Expected 2 MicroPython devices, got {}",
-            micro_py_count
+    let mut arms = None;
+
+    if micro_python_paths.len() < 2 {
+        arms = Some(Arms::new(
+            micro_python_paths[0].to_string_lossy(),
+            micro_python_paths[1].to_string_lossy(),
         ));
     }
 
-    Ok((
-        Arms::new(
-            micro_python_paths[0].take().unwrap().to_string_lossy(),
-            micro_python_paths[1].take().unwrap().to_string_lossy(),
-        ),
-        Drive::new(
-            vesc_paths.pop().unwrap().to_string_lossy(),
-            vesc_paths.pop().unwrap().to_string_lossy(),
-        )?,
-    ))
+    let mut drive = None;
+
+    if vesc_paths.len() < 2 {
+        match Drive::new(
+            vesc_paths[0].to_string_lossy(),
+            vesc_paths[1].to_string_lossy(),
+        ) {
+            Ok(d) => drive = Some(d),
+            Err(e) => error!("{e}"),
+        }
+    }
+
+    if arms.is_none() {
+        error!("Failed to connect to arms");
+    }
+
+    if drive.is_none() {
+        error!("Failed to connect to drive");
+    }
+
+    Ok((arms, drive))
 }