Merge pull request #27 from clearpathrobotics/fenders

Fenders

clearpath_config/platform/attachments/config.py

@@ -29,6 +29,7 @@
 from clearpath_config.common.utils.dictionary import merge_dict
 from clearpath_config.platform.types.attachment import BaseAttachment
 from clearpath_config.platform.types.bumper import Bumper
+from clearpath_config.platform.types.fender import Fender
 from clearpath_config.platform.types.structure import Structure
 from clearpath_config.platform.types.top_plate import TopPlate
 from typing import List
@@ -67,6 +68,10 @@ def __init__(self) -> None:
             uid=ListConfig.uid_name,
             obj_type=Structure,
             uid_type=str)
+        self.__fenders = ListConfig[Fender, str](
+            uid=ListConfig.uid_name,
+            obj_type=Fender,
+            uid_type=str)
 
     def to_dict(self):
         d = {}
@@ -119,9 +124,25 @@ def structures(self, value: List[Structure] | ListConfig) -> None:
                 "Structures must be list of 'Structure' or 'ListConfig'"
             )
 
+    @property
+    def fenders(self):
+        return self.__fenders
+
+    @fenders.setter
+    def fenders(self, value: List[Fender] | ListConfig) -> None:
+        if isinstance(value, list):
+            self.__fenders.set_all(value)
+        elif isinstance(value, ListConfig):
+            self.__fenders = value
+        else:
+            assert isinstance(value, list) or isinstance(value, ListConfig), (
+                "Fenders must be list of 'Fender' or 'ListConfig'"
+            )
+
     def get_all(self) -> List[BaseAttachment]:
         attachments = []
         attachments.extend(self.bumpers.get_all())
         attachments.extend(self.top_plates.get_all())
         attachments.extend(self.structures.get_all())
+        attachments.extend(self.fenders.get_all())
         return attachments

clearpath_config/platform/attachments/j100.py

@@ -31,6 +31,7 @@
 from clearpath_config.common.utils.dictionary import flip_dict
 from clearpath_config.platform.attachments.config import BaseAttachmentsConfig
 from clearpath_config.platform.types.bumper import Bumper
+from clearpath_config.platform.types.fender import Fender
 
 
 # J100 Jackal Attachments Configuration
@@ -40,11 +41,15 @@ class J100AttachmentsConfig(BaseConfig, BaseAttachmentsConfig):
     ATTACHMENTS = "attachments"
     FRONT_BUMPER = "front_bumper"
     REAR_BUMPER = "rear_bumper"
+    FRONT_FENDER = "front_fender"
+    REAR_FENDER = "rear_fender"
 
     TEMPLATE = {
         ATTACHMENTS: {
             FRONT_BUMPER: FRONT_BUMPER,
             REAR_BUMPER: REAR_BUMPER,
+            FRONT_FENDER: FRONT_FENDER,
+            REAR_FENDER: REAR_FENDER
         }
     }
 
@@ -62,6 +67,16 @@ class J100AttachmentsConfig(BaseConfig, BaseAttachmentsConfig):
             'extension': Bumper.EXTENSION,
             'model': Bumper.DEFAULT
             },
+        FRONT_FENDER: {
+            'name': FRONT_FENDER,
+            'enabled': Fender.ENABLED,
+            'model': Fender.DEFAULT
+        },
+        REAR_FENDER: {
+            'name': REAR_FENDER,
+            'enabled': Fender.ENABLED,
+            'model': Fender.DEFAULT
+        },
     }
 
     def __init__(
@@ -73,10 +88,14 @@ def __init__(
         self._config = {}
         self.front_bumper = self.DEFAULTS[self.FRONT_BUMPER]
         self.rear_bumper = self.DEFAULTS[self.REAR_BUMPER]
+        self.front_fender = self.DEFAULTS[self.FRONT_FENDER]
+        self.rear_fender = self.DEFAULTS[self.REAR_FENDER]
         # Setter Template
         setters = {
             self.KEYS[self.FRONT_BUMPER]: J100AttachmentsConfig.front_bumper,
             self.KEYS[self.REAR_BUMPER]: J100AttachmentsConfig.rear_bumper,
+            self.KEYS[self.FRONT_FENDER]: J100AttachmentsConfig.front_fender,
+            self.KEYS[self.REAR_FENDER]: J100AttachmentsConfig.rear_fender,
         }
         # Set from Config
         BaseConfig.__init__(self, setters, config, self.ATTACHMENTS)
@@ -130,3 +149,53 @@ def rear_bumper(self, value: dict | Bumper):
             assert isinstance(value, dict) or isinstance(value, Bumper), (
                 "Bumper must be of type 'dict' or 'Bumper'"
             )
+
+    @property
+    def front_fender(self):
+        front_fender = self.fenders.get(self.FRONT_FENDER)
+        self.set_config_param(
+            key=self.KEYS[self.FRONT_FENDER],
+            value=front_fender.to_dict()[self.FRONT_FENDER]
+        )
+        return front_fender
+
+    @front_fender.setter
+    def front_fender(self, value: dict | Fender):
+        if isinstance(value, dict):
+            new = Fender(name=self.FRONT_FENDER)
+            new.from_dict(value)
+            self.fenders.set(new)
+        elif isinstance(value, Fender):
+            assert value.get_name() == self.FRONT_FENDER, (
+                "Front fender must be Fender with name %s" % self.FRONT_FENDER
+            )
+            self.fenders.set(new)
+        else:
+            assert isinstance(value, dict) or isinstance(value, Fender), (
+                "Fender must be of type 'dict' or 'Fender'"
+            )
+
+    @property
+    def rear_fender(self):
+        rear_fender = self.fenders.get(self.REAR_FENDER)
+        self.set_config_param(
+            key=self.KEYS[self.REAR_FENDER],
+            value=rear_fender.to_dict()[self.REAR_FENDER]
+        )
+        return rear_fender
+
+    @rear_fender.setter
+    def rear_fender(self, value: dict | Fender):
+        if isinstance(value, dict):
+            new = Fender(name=self.REAR_FENDER)
+            new.from_dict(value)
+            self.fenders.set(new)
+        elif isinstance(value, Fender):
+            assert value.get_name() == self.REAR_FENDER, (
+                "Rear fender must be Fender with name %s" % self.FRONT_FENDER
+            )
+            self.fenders.set(new)
+        else:
+            assert isinstance(value, dict) or isinstance(value, Fender), (
+                "Fender must be of type 'dict' or 'Fender'"
+            )

clearpath_config/platform/types/attachment.py

@@ -31,7 +31,7 @@
 
 class BaseAttachment(Accessory):
     ATTACHMENT_MODEL = "base_attachment"
-    ENABLED = True
+    ENABLED = False
     DEFAULT = "default"
     MODELS = [DEFAULT]
 

clearpath_config/platform/types/fender.py

@@ -0,0 +1,55 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from clearpath_config.common.types.accessory import Accessory
+from clearpath_config.platform.types.attachment import BaseAttachment
+from typing import List
+
+
+class Fender(BaseAttachment):
+    ATTACHMENT_MODEL = "fender"
+    DEFAULT = "default"
+    SENSOR = "sensor"
+    MODELS = [DEFAULT, SENSOR]
+
+    def __init__(
+            self,
+            name: str = ATTACHMENT_MODEL,
+            enabled: bool = BaseAttachment.ENABLED,
+            model: str = DEFAULT,
+            parent: str = Accessory.PARENT,
+            xyz: List[float] = Accessory.XYZ,
+            rpy: List[float] = Accessory.RPY
+            ) -> None:
+        super().__init__(
+            name,
+            enabled,
+            model,
+            parent,
+            xyz,
+            rpy
+        )

clearpath_config/platform/types/mux.py

@@ -39,7 +39,7 @@ class AttachmentMux():
     MODEL = {
         BUMPER: Bumper,
         TOP_PLATE: TopPlate,
-        STRUCTURE: Structure
+        STRUCTURE: Structure,
     }
 
     def __new__(cls, model: str) -> BaseAttachment:

clearpath_config/platform/types/structure.py

@@ -35,7 +35,6 @@ class Structure(BaseAttachment):
     ARCH_300 = "sensor_arch_300"
     ARCH_510 = "sensor_arch_510"
     DEFAULT = ARCH_300
-    ENABLED = False
     MODELS = [DEFAULT, ARCH_300, ARCH_510]
 
     def __init__(