Merge branch 'main' into horizontal-pilot-gui

pyproject.toml

@@ -16,6 +16,7 @@ dependencies = [
     'pytest-qt',
     'pytest-xvfb',
     'TCA9555@git+https://github.com/InvincibleRMC/TCA9555',
+    'bluerobotics-tsys01@git+https://github.com/bluerobotics/tsys01-python',
     'pymavlink',
     'mavproxy'
 ]

src/pi/pi_main/launch/pi_launch.py

@@ -64,9 +64,9 @@ def generate_launch_description() -> LaunchDescription:
         ])
     )
 
+    # Flood detection
     flood_sensors_path = get_package_share_directory('flood_detection')
 
-    # Launches Realsense
     flood_detection_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             os.path.join(
@@ -75,13 +75,25 @@ def generate_launch_description() -> LaunchDescription:
         ])
     )
 
+    # Temperature sensor
+    temp_sensor_path = get_package_share_directory('temp_sensor')
+
+    temp_sensor_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(
+                temp_sensor_path, 'launch', 'temp_sensor_launch.py'
+            )
+        ])
+    )
+
     namespace_launch = GroupAction(
         actions=[
             PushRosNamespace(NAMESPACE),
             manip_launch,
             pixhawk_launch,
             # cam_launch,
             flood_detection_launch,
+            temp_sensor_launch,
             pi_info_launch
         ]
     )

src/pi/temp_sensor/README.md

@@ -0,0 +1,37 @@
+# Flood Detection
+
+## Overview
+
+This package reads from the temperature sensor.
+
+## Installation
+
+
+## Usage
+
+```bash
+ros2 launch temp_sensor temp_sensor_launch.py
+```
+
+## Launch files
+
+* **temp_sensor_launch.py:**  Primary launch file for temp sensor.
+
+## Nodes
+
+### temp_sensor
+
+Reads and publishes temperature.
+
+#### Published Topics
+
+* **`/temperature`** ([rov_msgs/temperature])
+
+    Temperature readings as floats
+
+
+### test
+
+Tests flooding.
+
+[rov_msgs/temperature]: ../../rov_msgs/msg/Temperature.msg

src/pi/temp_sensor/launch/temp_sensor_launch.py

@@ -0,0 +1,25 @@
+from launch.launch_description import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    """
+    Generate LaunchDescription for temp_sensor.
+
+    Returns
+    -------
+    LaunchDescription
+        Launches temperature sensor node
+
+    """
+    temp_sensor = Node(
+        package='temp_sensor',
+        executable='temp_sensor',
+        emulate_tty=True,
+        output='screen',
+        remappings=[('/pi/temperature', '/tether/temperature')]
+    )
+
+    return LaunchDescription([
+        temp_sensor
+    ])

src/pi/temp_sensor/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>temp_sensor</name>
+  <version>0.0.3</version>
+  <description>Measures temperature</description>
+  <maintainer email="[email protected]">Benjamin Poulin</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>python3-smbus</exec_depend>
+
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_mypy</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/pi/temp_sensor/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/temp_sensor
+[install]
+install_scripts=$base/lib/temp_sensor

src/pi/temp_sensor/setup.py

@@ -0,0 +1,32 @@
+from setuptools import setup
+from glob import glob
+import os
+
+package_name = 'temp_sensor'
+
+setup(
+    name=package_name,
+    version='0.0.3',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        # Include all launch files.
+        (os.path.join('share', package_name, 'launch'),
+         glob('launch/*launch.[pxy][yma]*'))
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Benjamin Poulin',
+    maintainer_email='[email protected]',
+    description='Temperature sensor',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'temp_sensor = temp_sensor.temp_sensor:main',
+            'dry_run = temp_sensor.temp_sensor_dry_run:main'
+        ],
+    },
+)

src/pi/temp_sensor/temp_sensor/temp_sensor.py

@@ -0,0 +1,42 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSPresetProfiles
+import tsys01
+
+from rov_msgs.msg import Temperature
+
+READING_TIMER_PERIOD = 0.5  # Seconds
+
+
+class TempSensor(Node):
+
+    def __init__(self) -> None:
+        super().__init__('temp_sensor', parameter_overrides=[])
+        self.publisher = self.create_publisher(Temperature, 'temperature',
+                                               QoSPresetProfiles.DEFAULT.value)
+        self.sensor = tsys01.TSYS01()
+        self.sensor.init()
+
+        self.timer = self.create_timer(READING_TIMER_PERIOD, self.timer_callback)
+
+    def timer_callback(self) -> None:
+        try:
+            self.sensor.read()
+            temp_reading = self.sensor.temperature()
+
+            # If any of the sensors detect water, send true to /tether/flooding
+            self.publisher.publish(Temperature(reading=temp_reading))
+        except OSError:
+            print('Failed to read temperature, skipping this read')
+
+
+def main(args: None = None) -> None:
+    rclpy.init()
+    temp_sensor = TempSensor()
+    rclpy.spin(temp_sensor)
+    temp_sensor.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/pi/temp_sensor/temp_sensor/temp_sensor_dry_run.py

@@ -0,0 +1,26 @@
+from time import sleep
+
+import tsys01  # https://github.com/bluerobotics/tsys01-python
+
+
+def main() -> None:
+    sensor = tsys01.TSYS01()  # Use default I2C bus 1
+
+    sensor.init()
+
+    while True:
+        try:
+            sensor.read()  # Sometimes throws OSError: [Errno 121] Remote I/O error
+            print(
+                sensor.temperature(),  # Get temperature in default units (Centigrade)
+                '\t',
+                sensor.temperature(tsys01.UNITS_Farenheit)
+            )
+        except OSError:
+            print('Failed to read temperature, trying again')
+
+        sleep(1)
+
+
+if __name__ == "__main__":
+    main()

src/pi/temp_sensor/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8() -> None:
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/pi/temp_sensor/test/test_mypy.py

@@ -0,0 +1,14 @@
+"""Test mypy on this module."""
+
+import os
+import pytest
+from ament_mypy.main import main
+
+
+@pytest.mark.mypy
+@pytest.mark.linter
+def test_mypy() -> None:
+    """Tests mypy on this module."""
+    path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
+    error_code = main(argv=["--config", path])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/temp_sensor/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257() -> None:
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/rov_msgs/CMakeLists.txt

@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Manip.msg"
   "msg/CameraControllerSwitch.msg"
   "msg/Flooding.msg"
+  "msg/Temperature.msg"
   "msg/IPAddress.msg"
   "msg/VehicleState.msg"
   "msg/ValveManip.msg"

src/rov_msgs/msg/Temperature.msg

@@ -0,0 +1 @@
+float64 reading

src/surface/gui/gui/operator_app.py

@@ -5,6 +5,10 @@
 from gui.widgets.timer import InteractiveTimer
 from gui.widgets.task_selector import TaskSelector
 from gui.widgets.flood_warning import FloodWarning
+from gui.widgets.temperature import TemperatureSensor
+from gui.widgets.heartbeat import HeartbeatWidget
+from gui.widgets.ip_widget import IPWidget
+from PyQt6.QtCore import Qt
 from PyQt6.QtWidgets import QTabWidget, QWidget, QVBoxLayout, QHBoxLayout
 
 
@@ -37,6 +41,9 @@ def __init__(self) -> None:
         flood_warning = FloodWarning()
         right_pane.addWidget(flood_warning)
 
+        temp_sensor = TemperatureSensor()
+        right_pane.addWidget(temp_sensor)
+
         right_pane.addStretch()
 
         task_selector = TaskSelector()