Draft: Preparing for v2 hardware interface

.gitignore

@@ -59,3 +59,4 @@ CATKIN_IGNORE
 
 cmake-build-debug/
 .vscode
+.venv

.gitmodules

@@ -25,3 +25,6 @@
 [submodule "src/lib/xbot_remote"]
 	path = src/lib/xbot_remote
 	url = https://github.com/ClemensElflein/xbot_remote
+[submodule "src/lib/xbot_framework"]
+	path = src/lib/xbot_framework
+	url = https://github.com/ClemensElflein/xbot_framework.git

docker/Dockerfile

@@ -8,7 +8,7 @@ ENV DEBIAN_FRONTEND=noninteractive
 #   - nginx (remove default site to free up port 80)
 RUN apt-get update && apt-get install --yes \
     git \
-    mosquitto \
+    mosquitto python3.8-venv \
     nginx && rm -rf /var/www /etc/nginx/sites-enabled/* \
     rm -rf /var/lib/apt/lists/*
 
@@ -43,7 +43,7 @@ COPY --link --from=fetch /opt/open_mower_ros/src/lib/slic3r_coverage_planner /op
 WORKDIR /opt/slic3r_coverage_planner_workspace
 RUN rosdep install --from-paths src --ignore-src --simulate | \
     sed --expression '1d' | sort | tr -d '\n' | sed --expression 's/  apt-get install//g' > apt-install_list && \
-    apt-get update && apt-get install --no-install-recommends --yes $(cat apt-install_list) && \
+    apt-get update && apt-get install --no-install-recommends --yes $(cat apt-install_list) libasio-dev && \
     rm -rf /var/lib/apt/lists/* apt-install_list
 RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make"
 RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && source /opt/slic3r_coverage_planner_workspace/devel/setup.bash && catkin_make -DCMAKE_INSTALL_PREFIX=/opt/prebuilt/slic3r_coverage_planner install"
@@ -77,7 +77,7 @@ COPY --link --from=slic3r /opt/prebuilt/slic3r_coverage_planner /opt/prebuilt/sl
 #Fetch the list of packages, this only changes if new dependencies have been added (only sometimes)
 COPY --link --from=dependencies /apt-install_list /apt-install_list
 RUN apt-get update && \
-    apt-get install --no-install-recommends --yes $(cat /apt-install_list) && \
+    apt-get install --no-install-recommends --yes $(cat /apt-install_list) libasio-dev && \
     rm -rf /var/lib/apt/lists/*
 
 # This will already have the submodules initialized, no need to clone again

services/diff_drive_service.json

@@ -0,0 +1,65 @@
+{
+  "inputs": [
+    {
+      "id": 0,
+      "name": "Control Twist",
+      "type": "double[6]"
+    }
+  ],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "Actual Twist",
+      "type": "double[6]"
+    },
+    {
+      "id": 1,
+      "name": "Left ESC Status",
+      "type": "uint8_t"
+    },
+    {
+      "id": 2,
+      "name": "Left ESC Temperature",
+      "type": "float"
+    },
+    {
+      "id": 3,
+      "name": "Left ESC Current",
+      "type": "float"
+    },
+    {
+      "id": 4,
+      "name": "Right ESC Status",
+      "type": "uint8_t"
+    },
+    {
+      "id": 5,
+      "name": "Right ESC Temperature",
+      "type": "float"
+    },
+    {
+      "id": 6,
+      "name": "Right ESC Current",
+      "type": "float"
+    },
+    {
+      "id": 7,
+      "name": "Wheel Ticks",
+      "type": "uint32_t[2]"
+    }
+  ],
+  "registers": [
+    {
+      "id": 0,
+      "name": "Wheel Ticks Per Meter",
+      "type": "double"
+    },
+    {
+      "id": 1,
+      "name": "Wheel Distance",
+      "type": "double"
+    }
+  ],
+  "type": "DiffDriveService",
+  "version": 1
+}

services/docking_sensor_service.json

@@ -0,0 +1,24 @@
+{
+  "inputs": [],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "Detected Sensors Left",
+      "type": "uint8_t"
+    },
+    {
+      "id": 1,
+      "name": "Detected Sensors Right",
+      "type": "uint8_t"
+    }
+  ],
+  "registers": [
+    {
+      "id": 0,
+      "name": "Sensor Timeout Ms",
+      "type": "uint32_t"
+    }
+  ],
+  "type": "DockingSensorService",
+  "version": 1
+}

services/emergency_service.json

@@ -0,0 +1,29 @@
+{
+  "inputs": [
+    {
+      "id": 0,
+      "name": "Set Emergency",
+      "type": "uint8_t"
+    }
+  ],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "Emergency Active",
+      "type": "uint8_t"
+    },
+    {
+      "id": 1,
+      "name": "Emergency Latch",
+      "type": "uint8_t"
+    },
+    {
+      "id": 2,
+      "name": "Emergency Reason",
+      "type": "char[255]"
+    }
+  ],
+  "registers": [],
+  "type": "EmergencyService",
+  "version": 1
+}

services/imu_service.json

@@ -0,0 +1,13 @@
+{
+  "inputs": [],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "Axes",
+      "type": "double[9]"
+    }
+  ],
+  "registers": [],
+  "type": "ImuService",
+  "version": 1
+}

services/lidar_service.json

@@ -0,0 +1,53 @@
+{
+  "type": "LidarService",
+  "version": 1,
+  "inputs": [],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "AngleMinRad",
+      "type": "double"
+    },
+    {
+      "id": 1,
+      "name": "AngleMaxRad",
+      "type": "double"
+    },
+    {
+      "id": 2,
+      "name": "TimeIncrementSeconds",
+      "type": "float"
+    },
+    {
+      "id": 3,
+      "name": "ScanTimeSeconds",
+      "type": "float"
+    },
+    {
+      "id": 4,
+      "name": "RangeMinM",
+      "type": "float"
+    },
+    {
+      "id": 5,
+      "name": "RangeMaxM",
+      "type": "float"
+    },
+    {
+      "id": 6,
+      "name": "Ranges",
+      "type": "float[100]"
+    },
+    {
+      "id": 7,
+      "name": "Intensities",
+      "type": "float[100]"
+    },
+    {
+      "id": 8,
+      "name": "NewScan",
+      "type": "uint8_t"
+    }
+  ],
+  "registers": []
+}

services/mower_service.json

@@ -0,0 +1,49 @@
+{
+  "inputs": [
+    {
+      "id": 0,
+      "name": "MowerEnabled",
+      "type": "uint8_t"
+    }
+  ],
+  "outputs": [
+    {
+      "id": 0,
+      "name": "Mower Status",
+      "type": "uint8_t"
+    },
+    {
+      "id": 1,
+      "name": "Rain Detected",
+      "type": "uint8_t"
+    },
+    {
+      "id": 2,
+      "name": "Mower Running",
+      "type": "uint8_t"
+    },
+    {
+      "id": 3,
+      "name": "Mower ESC Temperature",
+      "type": "float"
+    },
+    {
+      "id": 4,
+      "name": "Mower Motor Temperature",
+      "type": "float"
+    },
+    {
+      "id": 5,
+      "name": "Mower Motor Current",
+      "type": "float"
+    },
+    {
+      "id": 6,
+      "name": "Mower Motor RPM",
+      "type": "float"
+    }
+  ],
+  "registers": [],
+  "type": "MowerService",
+  "version": 1
+}

services/mower_ui_service.json

@@ -0,0 +1,60 @@
+{
+  "inputs": [
+    {
+      "id": 0,
+      "name": "State ID",
+      "type": "uint8_t"
+    },
+    {
+      "id": 1,
+      "name": "State Name",
+      "type": "char[100]"
+    },
+    {
+      "id": 2,
+      "name": "Gps Quality",
+      "type": "float"
+    },
+    {
+      "id": 3,
+      "name": "Battery Percent",
+      "type": "float"
+    }
+  ],
+  "outputs": [
+    {
+      "id": 8,
+      "name": "Left ESC Temperature",
+      "type": "uint8_t"
+    },
+    {
+      "id": 9,
+      "name": "Right ESC Temperature",
+      "type": "uint8_t"
+    },
+    {
+      "id": 10,
+      "name": "Mow ESC Temperature",
+      "type": "uint8_t"
+    },
+    {
+      "id": 11,
+      "name": "Mow Motor Temperature",
+      "type": "uint8_t"
+    }
+  ],
+  "registers": [
+    {
+      "id": 0,
+      "name": "Wheel Ticks Per Meter",
+      "type": "double"
+    },
+    {
+      "id": 1,
+      "name": "Wheel Distance",
+      "type": "double"
+    }
+  ],
+  "type": "MowerUiService",
+  "version": 1
+}