Groundstation

software/Dockerfile.rover

@@ -1,21 +1,17 @@
-FROM --platform=linux/arm64 ros:foxy
+FROM --platform=linux/arm64 ros:humble
 
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
- ros-foxy-angles ros-foxy-composition ros-foxy-depthimage-to-laserscan \
- ros-foxy-image-tools ros-foxy-joy ros-foxy-lifecycle ros-foxy-pcl-conversions \
- ros-foxy-pendulum-control ros-foxy-pendulum-msgs ros-foxy-rqt-common-plugins \
- ros-foxy-rviz2 ros-foxy-rviz-default-plugins ros-foxy-teleop-twist-joy \
- ros-foxy-teleop-twist-keyboard ros-foxy-tlsf ros-foxy-tlsf-cpp ros-foxy-topic-monitor \
- ros-foxy-image-common ros-foxy-image-pipeline ros-foxy-image-transport-plugins \
- ros-foxy-laser-geometry ros-foxy-perception-pcl ros-foxy-vision-opencv ros-foxy-ros-ign \
- ros-foxy-nmea-msgs nano socat xxd pip \
+ ros-humble-vision-opencv ros-humble-cv-bridge ros-humble-image-transport \
+ ros-humble-image-transport-plugins ros-humble-image-common ros-humble-image-pipeline \
+ ros-humble-image-tools ros-humble-rosbridge-server ros-humble-nmea-msgs \
+ nano pip \
 && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 RUN pip install numpy pyserial pynmea2 minimalmodbus
 
-RUN /bin/bash -c 'echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc'
+RUN /bin/bash -c 'echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc'
 
-RUN git clone https://github.com/OSURoboticsClub/Rover_2022_2023.git
+RUN git clone https://github.com/OSURoboticsClub/Rover_2023_2024.git
 
 ENTRYPOINT []
 

software/firmware/modbus_master/modbus_master.py

@@ -1,6 +1,5 @@
 import struct
 import serial
-from typing import Any, List, Tuple, Dict
 
 # Constants
 _WRITE_INSTR = 16
@@ -22,17 +21,17 @@
 _MAX_DATA_BYTES = 255
 _INT_MAX = 65536
 
-_serialports: Dict[str, serial.Serial] = {}
+_serialports = {}
 
 class Instrument:
  """Represents a slave
  """
  def __init__(
  self,
- port: str,
- slave_id: int,
- baudrate: int = 19200
- ) -> None:
+ port,
+ slave_id,
+ baudrate=19200
+ ):
  """Opens serial comms with a node and assigns it a slave id
  """
  self.slave_id = slave_id
@@ -50,9 +49,9 @@ def __init__(
 
  def write_registers(
  self,
- register_addr: int,
- values: List[Any]
- ) -> None:
+ register_addr,
+ values
+ ):
  """Write a list of values starting at register_addr
  """
  if not self.serial:
@@ -101,9 +100,9 @@ def write_registers(
 
  def read_registers(
  self,
- register_addr: int,
- num_registers: int
- ) -> List[Any]:
+ register_addr,
+ num_registers
+ ):
  """Read num_registers starting at register_addr
  """
  if not self.serial:
@@ -161,23 +160,23 @@ def read_registers(
 
  def write_register(
  self,
- register_addr: int,
- value: Any
- ) -> None:
+ register_addr,
+ value
+ ):
  """Write a value to register at register_addr
  """
  self.write_registers(register_addr, [value])
 
  def read_register(
  self,
- register_addr: int,
- ) -> Any:
+ register_addr,
+ ):
  """Read register at register_addr
  """
  res = self.read_registers(register_addr, 1)
  return res[0] if res else None
 
-def _create_byte_string(values: List[Any]) -> str:
+def _create_byte_string(values):
  """Convert a list of values into a byte string
  """
  bstr = ''
@@ -193,7 +192,7 @@ def _create_byte_string(values: List[Any]) -> str:
  return bstr
 
 
-def _create_byte_string_int8(values: List[int]) -> str:
+def _create_byte_string_int8(values):
  """Converts a list of integers into a uint8 byte string
  """
  bstr = ''
@@ -202,7 +201,7 @@ def _create_byte_string_int8(values: List[int]) -> str:
  return bstr
 
 
-def _calculate_num_bytes(values: List[Any]) -> int:
+def _calculate_num_bytes(values):
  """Calculates the total number of bytes for a list of values
  """
  num_bytes = 0
@@ -218,7 +217,7 @@ def _calculate_num_bytes(values: List[Any]) -> int:
  return num_bytes
 
 
-def _calculate_resp_size(instr: int, num_bytes: int = 0) -> int:
+def _calculate_resp_size(instr, num_bytes=0):
  """Calculates the expected response size for a command
  """
  if instr == _WRITE_INSTR:
@@ -227,7 +226,7 @@ def _calculate_resp_size(instr: int, num_bytes: int = 0) -> int:
  return _READ_RESP_SZ_BASE + num_bytes
 
 
-def _calculate_crc(packet: bytes) -> int:
+def _calculate_crc(packet):
  """Calculates the CRC for a list of values (BLACK MAGIC)
  """
  crc = 0xffff
@@ -244,31 +243,31 @@ def _calculate_crc(packet: bytes) -> int:
  return crc
 
 
-def _check_crc(resp: bytes, crc: int) -> bool:
+def _check_crc(resp, crc):
  """Checks that the CRC of a list of values matches the expected CRC
  """
  return _calculate_crc(resp[:-2]) == crc
 
 
-def _add_crc(packet: bytes) -> bytes:
+def _add_crc(packet):
  """Adds crc to packet"""
  crc = _calculate_crc(packet)
  packet += crc.to_bytes(2, 'big')
  return packet
 
 
-def _pack(formatstring: str, value: Any) -> str:
+def _pack(formatstring, value):
  """Packs a value into a bytestring based on format
  """
  return str(struct.pack(formatstring, value), encoding='latin1')
 
 
 def _unpack(
- resp: bytes,
- register_addr: int,
- num_registers: int,
- skip_header: bool = True
-) -> List[Any]:
+ resp,
+ register_addr,
+ num_registers,
+ skip_header=True
+):
  """Given a response byte string, unpacks it into a list of values
  """
  # Get the number of each register type in the packet
@@ -310,10 +309,10 @@ def _unpack(
 
 
 def _calc_num_type(
- register_addr: int,
- num_registers: int,
- max_reg: int
-) -> int:
+ register_addr,
+ num_registers,
+ max_reg
+):
  """Returns the number of a register type in a packet
  """
  if num_registers <= 0:
@@ -329,9 +328,9 @@ def _calc_num_type(
 
 
 def _calc_num_types(
- register_addr: int,
- num_registers: int,
-) -> Tuple[int]:
+ register_addr,
+ num_registers,
+):
  """Returns the total number of each register type in a packet
  """
  # To calculate the number of each register type, we increase the register
@@ -361,16 +360,16 @@ def _calc_num_types(
  return num_ints, num_floats, num_chars, num_bools
 
 
-def _reg_in_range(addr: int, start: int, end: int) -> bool:
+def _reg_in_range(addr, start, end):
  """Checks whether a given register address falls within the range provided (end exclusive)
  """
  return addr >= start and addr < end
 
 
 def _is_valid_write_data (
- reg_addr: int,
- values: list[Any]
-) -> bool:
+ reg_addr,
+ values
+):
  """Checks that the type of the given list of values matches the registers
  """
  if reg_addr < _INT_REG_OFFSET or reg_addr >= _REG_MAX:

software/firmware/modbus_master/test.py

@@ -0,0 +1,5 @@
+from modbus_master import Instrument
+
+inst = Instrument('/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_D3499JFZ-if00-port0', 15, 115200)
+
+inst.write_registers(1, [1])

software/react_groundstation/.gitignore

@@ -0,0 +1,23 @@
+# See https://help.github.com/articles/ignoring-files/ for more about ignoring files.
+
+# dependencies
+/node_modules
+/.pnp
+.pnp.js
+
+# testing
+/coverage
+
+# production
+/build
+
+# misc
+.DS_Store
+.env.local
+.env.development.local
+.env.test.local
+.env.production.local
+
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*

software/react_groundstation/README.md

@@ -0,0 +1,70 @@
+# Getting Started with Create React App
+
+This project was bootstrapped with [Create React App](https://github.com/facebook/create-react-app).
+
+## Available Scripts
+
+In the project directory, you can run:
+
+### `npm start`
+
+Runs the app in the development mode.\
+Open [http://localhost:3000](http://localhost:3000) to view it in your browser.
+
+The page will reload when you make changes.\
+You may also see any lint errors in the console.
+
+### `npm test`
+
+Launches the test runner in the interactive watch mode.\
+See the section about [running tests](https://facebook.github.io/create-react-app/docs/running-tests) for more information.
+
+### `npm run build`
+
+Builds the app for production to the `build` folder.\
+It correctly bundles React in production mode and optimizes the build for the best performance.
+
+The build is minified and the filenames include the hashes.\
+Your app is ready to be deployed!
+
+See the section about [deployment](https://facebook.github.io/create-react-app/docs/deployment) for more information.
+
+### `npm run eject`
+
+**Note: this is a one-way operation. Once you `eject`, you can't go back!**
+
+If you aren't satisfied with the build tool and configuration choices, you can `eject` at any time. This command will remove the single build dependency from your project.
+
+Instead, it will copy all the configuration files and the transitive dependencies (webpack, Babel, ESLint, etc) right into your project so you have full control over them. All of the commands except `eject` will still work, but they will point to the copied scripts so you can tweak them. At this point you're on your own.
+
+You don't have to ever use `eject`. The curated feature set is suitable for small and middle deployments, and you shouldn't feel obligated to use this feature. However we understand that this tool wouldn't be useful if you couldn't customize it when you are ready for it.
+
+## Learn More
+
+You can learn more in the [Create React App documentation](https://facebook.github.io/create-react-app/docs/getting-started).
+
+To learn React, check out the [React documentation](https://reactjs.org/).
+
+### Code Splitting
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/code-splitting](https://facebook.github.io/create-react-app/docs/code-splitting)
+
+### Analyzing the Bundle Size
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size](https://facebook.github.io/create-react-app/docs/analyzing-the-bundle-size)
+
+### Making a Progressive Web App
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app](https://facebook.github.io/create-react-app/docs/making-a-progressive-web-app)
+
+### Advanced Configuration
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/advanced-configuration](https://facebook.github.io/create-react-app/docs/advanced-configuration)
+
+### Deployment
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/deployment](https://facebook.github.io/create-react-app/docs/deployment)
+
+### `npm run build` fails to minify
+
+This section has moved here: [https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify](https://facebook.github.io/create-react-app/docs/troubleshooting#npm-run-build-fails-to-minify)