✨ Add rmd_drc_v2 and rmd_mc_x_v2 drivers (#20)

* ✨ Add rmd_drc_v2 and rmd_mc_x_v2 drivers

These drivers use the v2 can interfaces, primarily
`hal::can_transceiver`.

* 🐛 Add can filter to drivers

* ⬆️ libhal/5.4.1

* Remove demos updates, move to new branch

CMakeLists.txt

@@ -22,13 +22,16 @@ libhal_test_and_make_library(
   src/rc_servo.cpp
   src/smart_servo/rmd/drc_adaptors.cpp
   src/smart_servo/rmd/drc.cpp
+  src/smart_servo/rmd/drc_v2.cpp
   src/smart_servo/rmd/mc_x_adaptors.cpp
   src/smart_servo/rmd/mc_x.cpp
+  src/smart_servo/rmd/mc_x_v2.cpp
 
   TEST_SOURCES
   tests/main.test.cpp
   tests/rc_servo.test.cpp
   tests/smart_servo/rmd/drc.test.cpp
+  # tests/smart_servo/rmd/drc_v2.test.cpp
   tests/smart_servo/rmd/mc_x.test.cpp
   tests/smart_servo/rmd/drc_adaptors.test.cpp
 

conanfile.py

@@ -26,14 +26,12 @@ class libhal_actuator_conan(ConanFile):
     topics = ("actuator", "libhal", "driver")
     settings = "compiler", "build_type", "os", "arch"
 
-    python_requires = "libhal-bootstrap/[^3.0.0]"
+    python_requires = "libhal-bootstrap/[^4.1.1]"
     python_requires_extend = "libhal-bootstrap.library"
 
     def requirements(self):
-        # Adds libhal and libhal-util as transitive headers, meaning library
-        # consumers get the libhal and libhal-util headers downstream.
-        bootstrap = self.python_requires["libhal-bootstrap"]
-        bootstrap.module.add_library_requirements(self)
+        self.requires("libhal/[^4.9.0]", transitive_headers=True)
+        self.requires("libhal-util/[^5.4.1]", transitive_headers=True)
         self.requires("libhal-canrouter/[^3.0.0]")
 
     def package_info(self):

demos/applications/drc_v2.cpp

@@ -0,0 +1,157 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-actuator/smart_servo/rmd/drc_v2.hpp>
+#include <libhal-util/can.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_resources)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_resources.clock.value();
+  auto& console = *p_resources.console.value();
+  auto& can_transceiver = *p_resources.can_transceiver.value();
+  auto& can_bus_manager = *p_resources.can_bus_manager.value();
+  auto& can_identifier_filter = *p_resources.can_identifier_filter.value();
+
+  // Needs to be set to this baud rate to work with the default firmware CAN
+  // baud rate.
+  can_bus_manager.baud_rate(1.0_MHz);
+
+  hal::print(console, "RMD DRC Smart Servo Application Starting...\n\n");
+
+  constexpr std::uint16_t starting_device_address = 0x140;
+  std::uint16_t address_offset = 0;
+
+  while (true) {
+    try {
+      auto const address = starting_device_address + address_offset;
+      hal::actuator::rmd_drc_v2 drc(
+        can_transceiver, can_identifier_filter, clock, 6.0f, address);
+
+      auto print_feedback = [&drc, &console]() {
+        drc.feedback_request(hal::actuator::rmd_drc_v2::read::status_2);
+        drc.feedback_request(
+          hal::actuator::rmd_drc_v2::read::multi_turns_angle);
+        drc.feedback_request(
+          hal::actuator::rmd_drc_v2::read::status_1_and_error_flags);
+
+        hal::print<2048>(
+          console,
+          "[%u] =================================\n"
+          "raw_multi_turn_angle = %f\n"
+          "raw_current = %d\n"
+          "raw_speed = %d\n"
+          "raw_volts = %d\n"
+          "encoder = %d\n"
+          "raw_motor_temperature = %d"
+          "\n"
+          "over_voltage_protection_tripped = %d\n"
+          "over_temperature_protection_tripped = %d\n"
+          "-------\n"
+          "angle() = %f °deg\n"
+          "current() = %f A\n"
+          "speed() = %f rpm\n"
+          "volts() = %f V\n"
+          "temperature() = %f °C\n\n",
+
+          drc.feedback().message_number,
+          static_cast<float>(drc.feedback().raw_multi_turn_angle),
+          drc.feedback().raw_current,
+          drc.feedback().raw_speed,
+          drc.feedback().raw_volts,
+          drc.feedback().encoder,
+          drc.feedback().raw_motor_temperature,
+          drc.feedback().over_voltage_protection_tripped(),
+          drc.feedback().over_temperature_protection_tripped(),
+          drc.feedback().angle(),
+          drc.feedback().current(),
+          drc.feedback().speed(),
+          drc.feedback().volts(),
+          drc.feedback().temperature());
+      };
+
+      hal::delay(clock, 500ms);
+
+      while (true) {
+        drc.velocity_control(10.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.velocity_control(-10.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(0.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(-45.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(90.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(180.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(-360.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        drc.position_control(0.0_deg, 50.0_rpm);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+      }
+    } catch (hal::timed_out const&) {
+      hal::print(
+        console,
+        "hal::timed_out exception! which means that the device did not "
+        "respond. Moving to the next device address in the list.\n");
+    } catch (hal::resource_unavailable_try_again const& p_error) {
+      hal::print(console, "hal::resource_unavailable_try_again\n");
+      if (p_error.instance() == &can_transceiver) {
+        hal::print(
+          console,
+          "\n"
+          "The CAN peripheral has received no acknowledgements from any other "
+          "device on the bus. It appears as if the peripheral is not connected "
+          "to a can network. This can happen if the baud rate is incorrect, "
+          "the CAN transceiver is not functioning, or the devices on the bus "
+          "are not responding."
+          "\n"
+          "Calling terminate!"
+          "\n"
+          "Consider powering down the system and checking all of your "
+          "connections before restarting the application.");
+        std::terminate();
+      }
+      // otherwise keep trying with other addresses
+    } catch (...) {
+      hal::print(console, "Unknown exception caught in (...) block\n");
+      throw;  // see if anyone else can handle the exception
+    }
+
+    address_offset = (address_offset + 1) % 8;
+    hal::delay(clock, 1s);
+  }
+}

demos/applications/drc_v2_resources.cpp

@@ -0,0 +1,131 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-actuator/smart_servo/rmd/drc_v2.hpp>
+#include <libhal-util/can.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_resources)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_resources.clock.value();
+  auto& console = *p_resources.console.value();
+  auto& can_transceiver = *p_resources.can_transceiver.value();
+  auto& can_bus_manager = *p_resources.can_bus_manager.value();
+  auto& can_identifier_filter = *p_resources.can_identifier_filter.value();
+
+  // Needs to be set to this baud rate to work with the default firmware CAN
+  // baud rate.
+  can_bus_manager.baud_rate(1.0_MHz);
+
+  hal::print(console, "RMD DRC Smart Servo Application Starting...\n\n");
+
+  constexpr std::uint16_t starting_device_address = 0x140;
+  std::uint16_t address_offset = 0;
+
+  while (true) {
+    try {
+      auto const address = starting_device_address + address_offset;
+      hal::actuator::rmd_drc_v2 drc(
+        can_transceiver, can_identifier_filter, clock, 6.0f, address);
+
+      auto motor = drc.acquire_motor(20.0_rpm);
+      auto servo = drc.acquire_servo(20.0_rpm);
+      auto temperature_sensor = drc.acquire_temperature_sensor();
+      auto rotation_sensor = drc.acquire_rotation_sensor();
+
+      auto print_feedback =
+        [&console, &temperature_sensor, &rotation_sensor]() {
+          hal::print<2048>(console,
+                           "[%u] =================================\n"
+                           "shaft angle = %f deg\n"
+                           "temperature = %f C\n"
+                           "\n\n",
+                           temperature_sensor.read(),
+                           rotation_sensor.read());
+        };
+
+      hal::delay(clock, 500ms);
+
+      while (true) {
+        motor.power(0.5f);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        motor.power(-0.5f);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(0.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(-45.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(90.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(180.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(-360.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+
+        servo.position(0.0_deg);
+        hal::delay(clock, 5000ms);
+        print_feedback();
+      }
+    } catch (hal::timed_out const&) {
+      hal::print(
+        console,
+        "hal::timed_out exception! which means that the device did not "
+        "respond. Moving to the next device address in the list.\n");
+    } catch (hal::resource_unavailable_try_again const& p_error) {
+      hal::print(console, "hal::resource_unavailable_try_again\n");
+      if (p_error.instance() == &can_transceiver) {
+        hal::print(
+          console,
+          "\n"
+          "The CAN peripheral has received no acknowledgements from any other "
+          "device on the bus. It appears as if the peripheral is not connected "
+          "to a can network. This can happen if the baud rate is incorrect, "
+          "the CAN transceiver is not functioning, or the devices on the bus "
+          "are not responding."
+          "\n"
+          "Calling terminate!"
+          "\n"
+          "Consider powering down the system and checking all of your "
+          "connections before restarting the application.");
+        std::terminate();
+      }
+      // otherwise keep trying with other addresses
+    } catch (...) {
+      hal::print(console, "Unknown exception caught in (...) block\n");
+      throw;  // see if anyone else can handle the exception
+    }
+
+    address_offset = (address_offset + 1) % 8;
+    hal::delay(clock, 1s);
+  }
+}