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APA102 cpp implementation #108

Merged
merged 34 commits into from
May 10, 2023
Merged

APA102 cpp implementation #108

merged 34 commits into from
May 10, 2023

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Kotochleb
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bump::patch

Reduce APA102 CPU usage by rewriting it to CPP

@Kotochleb Kotochleb requested a review from KmakD April 17, 2023 12:27
KmakD
KmakD requested changes Apr 19, 2023
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Few more things:

  • I think all namespaces should be panther_lights as it refers to nodes specifically created for this ROS package.
  • no changes in README required at all?

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panther_lights/include/panther_lights/lights_driver_node.hpp Outdated Show resolved Hide resolved
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panther_lights/include/panther_lights/apa102.hpp Show resolved Hide resolved
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panther_lights/src/main.cpp Show resolved Hide resolved
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Kotochleb and others added 10 commits April 21, 2023 14:46
@Kotochleb Kotochleb requested a review from KmakD April 21, 2023 14:15
KmakD
KmakD requested changes Apr 24, 2023
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@Kotochleb Kotochleb requested a review from KmakD May 8, 2023 08:33
KmakD
KmakD approved these changes May 8, 2023
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This will need another approval after hardware tests

@Kotochleb Kotochleb marked this pull request as ready for review May 10, 2023 09:30
@Kotochleb Kotochleb requested a review from KmakD May 10, 2023 09:31
@KmakD KmakD merged commit 3d31a67 into ros1 May 10, 2023
@KmakD KmakD deleted the ros1-apa102-cpp branch May 10, 2023 11:08
rafal-gorecki added a commit that referenced this pull request Jun 12, 2023
@KmakD @rafal-gorecki
@Aayli @pkowalsk1 @Kotochleb
Ros1 manager bt update (#121)
3a19fdb 
* Light dimmer (#105)

* Light dimmer

* Update

* delete debug

* add brake

* fix

* formated

* battery_animation 3 stage

* fix

* add david suggestion

* Update panther_lights/src/animation/battery_animation.py

Co-authored-by: Dawid Kmak <[email protected]>

---------

Co-authored-by: aayli <[email protected]>
Co-authored-by: Dawid Kmak <[email protected]>

* add battery health info (#102)

* add health info

* Update README.md

* add logs

* add voltage mean count

* update republisher node

* fix typo

* Update panther_battery/src/adc_node.py

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update adc_node.py

* Update roboteq_republisher_node.py

* fix typo

---------

Co-authored-by: Dawid Kmak <[email protected]>
Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update changelog

* 1.0.1

* fix bug (#112)

* fix bug

* Pawel sugestions

---------

Co-authored-by: aayli <[email protected]>

* Update changelog

* 1.0.2

* Ros1 motor enable srv (#113)

* add motors enable srv

* add reseting can callback times

* disable motors if script reset fails

* working solution

* fix

* IO initial state pth1.05

* remove unneccessary method

* fix type

* update README

* Update panther_power_control/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* review changes

---------

Co-authored-by: Paweł Kowalski <[email protected]>

* Update changelog

* 1.0.3

* Thread lock (#110)

* thread lock

* undo fcn naming

* few more lock

* revert nodes

* Paweł suggestions

* change

* e_stop

---------

Co-authored-by: aayli <[email protected]>

* Update changelog

* 1.0.4

* APA102 cpp implementation (#108)

* Use CPP for APA102

* Add color correction

* Utilise gpiod

* Remove ::

* Fix lights after tests

* Fix default pin number

* Add set brightness service

* Invert LED_SBC_SEL pin

* Change SPI mode

* Change clock polarity

* Reduce number of ROS lgger instances

* Celan up code, update to libgpiod 2.0

* Update panther_lights/include/panther_lights/apa102.hpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/lights_driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/lights_driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/include/panther_lights/apa102.hpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review changes

* Update panther_lights/src/apa102.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review cleanup

* Add build dependencies

* FIx launchfile

* Update panther_lights/CMakeLists.txt

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/CMakeLists.txt

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/apa102.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review changes

* Fix inlude order

* Fix references and APA102 constructor

* Add build dependencies for libgpiod v2

* Bring back libgpiod v1

---------

Co-authored-by: Dawid Kmak <[email protected]>

* Update changelog

* 1.0.5

* Rviz lights plugin (#111)

* basic plugin usage - POC

* add rear animation texture

* fix rviz config

* fix .rviz file

* Update changelog

* 1.0.6

* check can err (#119)

* Update changelog

* 1.0.7

* update bt project and launch files

* remove scheduler_node

* fix queuing

* remove old variable

---------

Co-authored-by: rafal-gorecki <[email protected]>
Co-authored-by: aayli <[email protected]>
Co-authored-by: Paweł Kowalski <[email protected]>
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
Co-authored-by: action-bot <[email protected]>
Kotochleb added a commit that referenced this pull request Jul 25, 2023
@KmakD @Kotochleb
@rafal-gorecki @Aayli @pkowalsk1
ROS 1 Panther manager BehaviorTree (#145)
f0fa9d7 
* BT manager node draft (#100)

* BT manager node draft

* rename package | add AsyncSpinner

* update package version

* ROS 1 manager bt add basic plugins (#101)

* add basic ROS service plugins

* improve logging and naming

* Ros1 manager bt create basic trees (#104)

* create basic trees and update plugins

* update README | small fixes

* change shutdown nodes to stateful

* change param naming

* fix shutdown hosts node

* small fixes

* Update panther_manager/include/panther_manager/moving_average.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/moving_average.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/action/shutdown_hosts_from_file_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/shutdown_host_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/config/PantherManagerBT.xml

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/config/PantherManagerBT.xml

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/config/PantherManagerBT.xml

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* review fixes

* move nh | change set up tree method

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/src/manager_bt_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/action/call_trigger_service_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/plugins/action/call_trigger_service_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/action/call_set_led_animation_service_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/ros_service_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* review changes

* moving average initial value

* Update panther_manager/include/panther_manager/plugins/ros_service_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* use bat percent average

* update includes | unify sleep

* review fixes

* README draft

* moving average unique ptr

* Update panther_manager/include/panther_manager/manager_bt_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/manager_bt_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/plugins/action/call_set_led_animation_service_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/plugins/action/call_trigger_service_node.cpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/moving_average.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* review fixes

* fix moving avg | review fixes

---------

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* ros plugin | pass nh by reference (#116)

* ros plugin | pass nh by reference

* formating

* Ros1 manager bt signal shutdown (#117)

* add SignalShutdown node

* name type

* review fixes

* revert output port

* Ros1 bt shutdown nodes (#114)

* new shutdown structure

* small fixes

* remove old file

* small fix

* review fixes

* move Host class

* add fsm to ShutdownHost

* hosts list as shared_ptr

* change remove duplicates method

* remove shutdown_timeout bb entry

* Update panther_manager/include/panther_manager/plugins/shutdown_hosts_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/shutdown_host.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update panther_manager/include/panther_manager/plugins/shutdown_hosts_node.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* review fixes

* Update panther_manager/include/panther_manager/plugins/shutdown_host.hpp

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* change ssh_execute_command

* fix

---------

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* update shutdown nodes (#120)

* update shutdown nodes

* review fixes

* review fix

* Ros1 manager bt update (#121)

* Light dimmer (#105)

* Light dimmer

* Update

* delete debug

* add brake

* fix

* formated

* battery_animation 3 stage

* fix

* add david suggestion

* Update panther_lights/src/animation/battery_animation.py

Co-authored-by: Dawid Kmak <[email protected]>

---------

Co-authored-by: aayli <[email protected]>
Co-authored-by: Dawid Kmak <[email protected]>

* add battery health info (#102)

* add health info

* Update README.md

* add logs

* add voltage mean count

* update republisher node

* fix typo

* Update panther_battery/src/adc_node.py

Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update adc_node.py

* Update roboteq_republisher_node.py

* fix typo

---------

Co-authored-by: Dawid Kmak <[email protected]>
Co-authored-by: Krzysztof Wojciechowski <[email protected]>

* Update changelog

* 1.0.1

* fix bug (#112)

* fix bug

* Pawel sugestions

---------

Co-authored-by: aayli <[email protected]>

* Update changelog

* 1.0.2

* Ros1 motor enable srv (#113)

* add motors enable srv

* add reseting can callback times

* disable motors if script reset fails

* working solution

* fix

* IO initial state pth1.05

* remove unneccessary method

* fix type

* update README

* Update panther_power_control/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* review changes

---------

Co-authored-by: Paweł Kowalski <[email protected]>

* Update changelog

* 1.0.3

* Thread lock (#110)

* thread lock

* undo fcn naming

* few more lock

* revert nodes

* Paweł suggestions

* change

* e_stop

---------

Co-authored-by: aayli <[email protected]>

* Update changelog

* 1.0.4

* APA102 cpp implementation (#108)

* Use CPP for APA102

* Add color correction

* Utilise gpiod

* Remove ::

* Fix lights after tests

* Fix default pin number

* Add set brightness service

* Invert LED_SBC_SEL pin

* Change SPI mode

* Change clock polarity

* Reduce number of ROS lgger instances

* Celan up code, update to libgpiod 2.0

* Update panther_lights/include/panther_lights/apa102.hpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/lights_driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/lights_driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/include/panther_lights/apa102.hpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review changes

* Update panther_lights/src/apa102.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review cleanup

* Add build dependencies

* FIx launchfile

* Update panther_lights/CMakeLists.txt

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/CMakeLists.txt

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/apa102.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Update panther_lights/src/driver_node.cpp

Co-authored-by: Dawid Kmak <[email protected]>

* Review changes

* Fix inlude order

* Fix references and APA102 constructor

* Add build dependencies for libgpiod v2

* Bring back libgpiod v1

---------

Co-authored-by: Dawid Kmak <[email protected]>

* Update changelog

* 1.0.5

* Rviz lights plugin (#111)

* basic plugin usage - POC

* add rear animation texture

* fix rviz config

* fix .rviz file

* Update changelog

* 1.0.6

* check can err (#119)

* Update changelog

* 1.0.7

* update bt project and launch files

* remove scheduler_node

* fix queuing

* remove old variable

---------

Co-authored-by: rafal-gorecki <[email protected]>
Co-authored-by: aayli <[email protected]>
Co-authored-by: Paweł Kowalski <[email protected]>
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
Co-authored-by: action-bot <[email protected]>

* ROS 1 manager bt dosc (#126)

* update docs

* update docs

* ad medyfying bt section

* update lights tree png

* update README

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* Update panther_manager/README.md

Co-authored-by: Paweł Kowalski <[email protected]>

* review fixes

---------

Co-authored-by: Paweł Kowalski <[email protected]>

* add battery health check (#141)

* add battery health check

* update readme

* fix typo

* fix args

* Ros1 update bt images (#143)

* add battery health check

* update readme

* fix typo

* fix args

* update README imgs

* update README

* merge fix

* Update fan on/off thresholds (#146)

* install BT from rosdep

* fix rosdep install

* fix manager linking

---------

Co-authored-by: Krzysztof Wojciechowski <[email protected]>
Co-authored-by: rafal-gorecki <[email protected]>
Co-authored-by: aayli <[email protected]>
Co-authored-by: Paweł Kowalski <[email protected]>
Co-authored-by: action-bot <[email protected]>
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@Kotochleb @KmakD