Merge branch 'ajr/node-composition' into JRA/tag-detector

CMakeLists.txt

@@ -5,6 +5,7 @@ project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
 cmake_policy(SET CMP0148 OLD)
 
 set(CMAKE_CXX_STANDARD 23)
+set(CXX_STANDARD_REQUIRED ON)
 
 # Generate compile_commands.json for clangd language server.
 # Can be used by VSCode, CLion, VIM, etc.
@@ -248,10 +249,16 @@ if(ZED_FOUND AND CUDA_FOUND)
 	)
 
 	# ZED Wrapper
-	mrover_add_node(zed perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp)
-	target_compile_options(zed PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-std=c++20>)
+    # add_library(zed SHARED perception/zed_wrapper/zed_wrapper.cpp perception/zed_wrapper/ perception/zed_wrapper/pch.hpp)
+    # target_compile_definitions(zed PRIVATE "COMPOSITION_BUILDING_DLL")
+    # ament_target_dependencies(zed rclcpp rclcpp_components sensor_msgs ZED CUDA tf2 tf2_ros)
+    # rclcpp_components_register_nodes(zed "mrover::ZedWrapper")
+    # set(node_plugins "${node_plugins}mrover::ZedWrapper;$<TARGET_FILE:zed_wrapper>\n")
+
+    mrover_add_component(zed perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp)
+	# target_compile_options(zed PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-std=c++20>)
 	target_link_libraries(zed parameter_utils lie MANIF::manif ${CUDA_LIBRARIES} loop_profiler cuda_compiler_flags)
-	ament_target_dependencies(zed rclcpp sensor_msgs ZED CUDA tf2 tf2_ros)
+	ament_target_dependencies(zed rclcpp rclcpp_components sensor_msgs ZED CUDA tf2 tf2_ros)
 
 	# Learning Library
     # TODO(john): Update to use the new API

cmake/macros.cmake

@@ -30,6 +30,7 @@ endmacro()
 macro(mrover_add_component name sources includes)
     file(GLOB_RECURSE LIBRARY_SOURCES CONFIGURE_DEPENDS ${sources})
     add_library(${name} SHARED ${ARGV3} ${LIBRARY_SOURCES})
+    rclcpp_components_register_nodes(${name} "mrover::${name}")
     mrover_target(${name})
     target_compile_definitions(${name} PRIVATE "COMPOSITION_BUILDING_DLL")
 endmacro()  

perception/zed_wrapper/zed_wrapper.cpp

@@ -315,9 +315,5 @@ namespace mrover {
     }
 }; // namespace mrover
 
-auto main(int argc, char* argv[]) -> int {
-    rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<mrover::ZedWrapper>());
-    rclcpp::shutdown();
-    return 0;
-}
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(mrover::ZedWrapper)

teleoperation/basestation_gui/backend/__init__.py

@@ -0,0 +1 @@
+default_app_config = "backend.apps.backendConfig"

teleoperation/basestation_gui/backend/admin.py

@@ -0,0 +1,3 @@
+from django.contrib import admin
+
+# Register your models here.

teleoperation/basestation_gui/backend/apps.py

@@ -0,0 +1,11 @@
+from django.apps import AppConfig
+
+import rospy
+
+
+class BackendConfig(AppConfig):
+    default_auto_field = "django.db.models.BigAutoField"
+    name = "backend"
+
+    def ready(self):
+        rospy.init_node("teleop_starter")

teleoperation/basestation_gui/backend/consumers.py

@@ -0,0 +1,58 @@
+import json
+from channels.generic.websocket import JsonWebsocketConsumer
+import rospy
+from mrover.msg import Joystick, WheelCmd
+
+
+class GUIConsumer(JsonWebsocketConsumer):
+
+    def connect(self):
+        self.sub = rospy.Subscriber("/joystick", Joystick, self.joystick_callback)
+        self.accept()
+
+    def disconnect(self, close_code):
+        self.sub.unregister()
+
+    def receive(self, text_data):
+        """
+        Receive message from WebSocket.
+        """
+
+        message = json.loads(text_data)
+        if message["type"] == "joystick":
+            self.handle_joystick_message(message)
+
+    def handle_joystick_message(self, msg):
+        fb = msg["foward_back"]
+        lr = msg["left_right"]
+
+        pub = rospy.Publisher("/joystick", Joystick, queue_size=100)
+        message = Joystick()
+        message.forward_back = float(fb)
+        message.left_right = float(lr)
+        pub.publish(message)
+
+    def joystick_callback(self, msg):
+        forward_back = msg.forward_back
+        left_right = msg.left_right
+
+        # scaling multiplier to adjust values if needed
+        K = 1
+        left = K * (forward_back + left_right)
+        right = K * (forward_back - left_right)
+
+        # Ensure values are [-1,1] for each motor
+        if abs(left) > 1:
+            left = left / abs(left)
+        if abs(right) > 1:
+            right = right / abs(right)
+
+        # Send output to WebSocket
+        self.send(text_data=json.dumps({"type": "wheel_cmd", "left": left, "right": right}))
+
+        # publish motor output to ros topic
+        pub = rospy.Publisher("/wheel_cmd", WheelCmd, queue_size=100)
+        message = WheelCmd()
+        message.left = left
+        message.right = right
+        pub.publish(message)

teleoperation/basestation_gui/backend/migrations/0001_initial.py

@@ -0,0 +1,20 @@
+# Generated by Django 4.2.4 on 2023-09-03 19:35
+
+from django.db import migrations, models
+
+
+class Migration(migrations.Migration):
+
+    initial = True
+
+    dependencies = []
+
+    operations = [
+        migrations.CreateModel(
+            name="Note",
+            fields=[
+                ("id", models.BigAutoField(auto_created=True, primary_key=True, serialize=False, verbose_name="ID")),
+                ("note", models.CharField(max_length=180)),
+            ],
+        ),
+    ]

teleoperation/basestation_gui/backend/migrations/0002_joystick_delete_note.py

@@ -0,0 +1,24 @@
+# Generated by Django 4.2.4 on 2023-09-07 01:20
+
+from django.db import migrations, models
+
+
+class Migration(migrations.Migration):
+
+    dependencies = [
+        ("backend", "0001_initial"),
+    ]
+
+    operations = [
+        migrations.CreateModel(
+            name="Joystick",
+            fields=[
+                ("id", models.BigAutoField(auto_created=True, primary_key=True, serialize=False, verbose_name="ID")),
+                ("forward_back", models.FloatField()),
+                ("left_right", models.FloatField()),
+            ],
+        ),
+        migrations.DeleteModel(
+            name="Note",
+        ),
+    ]

teleoperation/basestation_gui/backend/models.py

@@ -0,0 +1,8 @@
+from django.db import models
+
+# Create your models here.
+
+
+class Joystick(models.Model):
+    forward_back = models.FloatField()
+    left_right = models.FloatField()

teleoperation/basestation_gui/backend/tests.py

@@ -0,0 +1,10 @@
+from django.test import TestCase
+
+# Create your tests here.
+from django.test import TestCase
+
+# Create your tests here.
+from django.test import TestCase
+
+# Create your tests here.
+h

teleoperation/basestation_gui/backend/urls.py

@@ -0,0 +1,2 @@
+from django.urls import path, include
+from backend import views

teleoperation/basestation_gui/backend/views.py

@@ -0,0 +1,3 @@
+from django.shortcuts import render
+
+# Create your views here.

teleoperation/basestation_gui/basestation_gui/asgi.py

@@ -0,0 +1,24 @@
+++++"""
+ASGI config for basestation_gui project.
+
+It exposes the ASGI callable as a module-level variable named ``application``.
+
+For more information on this file, see
+https://docs.djangoproject.com/en/4.2/howto/deployment/asgi/
+"""
+import os
+from channels.auth import AuthMiddlewareStack
+from channels.routing import ProtocolTypeRouter, URLRouter
+from django.core.asgi import get_asgi_application
+import basestation_gui.urls
+
+os.environ.setdefault("DJANGO_SETTINGS_MODULE", "basestation_gui.settings")
+
+application = ProtocolTypeRouter(
+    {
+        # handle http/https requests
+        "http": get_asgi_application(),
+        # handle ws/wss requests
+        "websocket": AuthMiddlewareStack(URLRouter(basestation_gui.urls.websocket_urlpatterns)),
+    }
+)

teleoperation/basestation_gui/basestation_gui/settings.py

@@ -0,0 +1,133 @@
+"""
+Django settings for basestation_gui project.
+
+Generated by 'django-admin startproject' using Django 4.2.4.
+
+For more information on this file, see
+https://docs.djangoproject.com/en/4.2/topics/settings/
+
+For the full list of settings and their values, see
+https://docs.djangoproject.com/en/4.2/ref/settings/
+"""
+
+import os
+from pathlib import Path
+
+# Build paths inside the project like this: BASE_DIR / 'subdir'.
+BASE_DIR = Path(__file__).resolve().parent.parent
+
+
+# Quick-start development settings - unsuitable for production
+# See https://docs.djangoproject.com/en/4.2/howto/deployment/checklist/
+
+# SECURITY WARNING: keep the secret key used in production secret!
+SECRET_KEY = "django-insecure-5^^0$(-3g%8+ge1(xjhwxenw3&*m*u4xhx7i0nu4xt+80yl)v)"
+
+# SECURITY WARNING: don't run with debug turned on in production!
+DEBUG = True
+
+ALLOWED_HOSTS = []
+
+
+# Application definition
+
+INSTALLED_APPS = [
+    "daphne",
+    "django.contrib.admin",
+    "django.contrib.auth",
+    "django.contrib.contenttypes",
+    "django.contrib.sessions",
+    "django.contrib.messages",
+    "django.contrib.staticfiles",
+    "channels",
+    "backend",
+]
+
+MIDDLEWARE = [
+    "django.middleware.security.SecurityMiddleware",
+    "django.contrib.sessions.middleware.SessionMiddleware",
+    "django.middleware.common.CommonMiddleware",
+    "django.middleware.csrf.CsrfViewMiddleware",
+    "django.contrib.auth.middleware.AuthenticationMiddleware",
+    "django.contrib.messages.middleware.MessageMiddleware",
+    "django.middleware.clickjacking.XFrameOptionsMiddleware",
+]
+
+ROOT_URLCONF = "basestation_gui.urls"
+
+TEMPLATES = [
+    {
+        "BACKEND": "django.template.backends.django.DjangoTemplates",
+        "DIRS": [os.path.join(BASE_DIR, "frontend/build/templates")],
+        "APP_DIRS": True,
+        "OPTIONS": {
+            "context_processors": [
+                "django.template.context_processors.debug",
+                "django.template.context_processors.request",
+                "django.contrib.auth.context_processors.auth",
+                "django.contrib.messages.context_processors.messages",
+            ],
+        },
+    },
+]
+
+WSGI_APPLICATION = "basestation_gui.wsgi.application"
+
+ASGI_APPLICATION = "basestation_gui.asgi.application"
+
+CHANNEL_LAYERS = {"default": {"BACKEND": "channels.layers.InMemoryChannelLayer"}}
+
+
+# Database
+# https://docs.djangoproject.com/en/4.2/ref/settings/#databases
+
+DATABASES = {
+    "default": {
+        "ENGINE": "django.db.backends.sqlite3",
+        "NAME": BASE_DIR / "db.sqlite3",
+    }
+}
+
+
+# Password validation
+# https://docs.djangoproject.com/en/4.2/ref/settings/#auth-password-validators
+
+AUTH_PASSWORD_VALIDATORS = [
+    {
+        "NAME": "django.contrib.auth.password_validation.UserAttributeSimilarityValidator",
+    },
+    {
+        "NAME": "django.contrib.auth.password_validation.MinimumLengthValidator",
+    },
+    {
+        "NAME": "django.contrib.auth.password_validation.CommonPasswordValidator",
+    },
+    {
+        "NAME": "django.contrib.auth.password_validation.NumericPasswordValidator",
+    },
+]
+
+
+# Internationalization
+# https://docs.djangoproject.com/en/4.2/topics/i18n/
+
+LANGUAGE_CODE = "en-us"
+
+TIME_ZONE = "UTC"
+
+USE_I18N = True
+
+USE_TZ = True
+
+
+# Static files (CSS, JavaScript, Images)
+# https://docs.djangoproject.com/en/4.2/howto/static-files/
+
+STATIC_URL = "/static/"
+STATIC_ROOT = "static/"
+STATICFILES_DIRS = [os.path.join(BASE_DIR, "frontend/build/static")]
+
+# Default primary key field type
+# https://docs.djangoproject.com/en/4.2/ref/settings/#default-auto-field
+
+DEFAULT_AUTO_FIELD = "django.db.models.BigAutoField"

teleoperation/basestation_gui/basestation_gui/urls.py

@@ -0,0 +1,35 @@
+"""
+URL configuration for basestation_gui project.
+
+The `urlpatterns` list routes URLs to views. For more information please see:
+    https://docs.djangoproject.com/en/4.2/topics/http/urls/
+Examples:
+Function views
+    1. Add an import:  from my_app import views
+    2. Add a URL to urlpatterns:  path('', views.home, name='home')
+Class-based views
+    1. Add an import:  from other_app.views import Home
+    2. Add a URL to urlpatterns:  path('', Home.as_view(), name='home')
+Including another URLconf
+    1. Import the include() function: from django.urls import include, path
+    2. Add a URL to urlpatterns:  path('blog/', include('blog.urls'))
+"""
+
+from django.contrib import admin
+from django.urls import path, include
+from django.http import HttpResponse
+from django.shortcuts import render
+
+from backend.consumers import GUIConsumer
+
+vue_urls = [
+    path("", lambda request: HttpResponse(render(request, "vue_index.html"))),
+    path("motor_sim/", lambda request: HttpResponse(render(request, "vue_index.html"))),
+]
+
+urlpatterns = [
+    path("admin/", admin.site.urls),
+    path("", include(vue_urls)),
+]
+
+websocket_urlpatterns = [path("ws/drive-controls", GUIConsumer.as_asgi())]