Update network bridge from main

.github/workflows/publish.yaml

@@ -30,7 +30,7 @@ jobs:
     with:
       image_name: umroboticsteam/umrt-build-dev
       dockerfile: umrt-build-dev.Dockerfile
-      docker_build_args: "UMRT_BUILD_IMAGE_ID=${{ needs.build-umrt-build.outputs.image_tag }}"
+      docker_build_args: "UMRT_BUILD_IMAGE_ID=ghcr.io/umroboticsteam/umrt-build@${{ needs.build-umrt-build.outputs.image_tag }}"
       tag_repo_with_version: false
     secrets:
       APT_SERVER_NAME: raw.githubusercontent.com

Dockerfile

@@ -1,5 +1,7 @@
 FROM ros:humble-ros-base
 
+SHELL ["/bin/bash", "-c"]
+
 RUN echo "deb [arch=amd64,arm64 signed-by=/etc/apt/keyrings/umrt.asc] https://raw.githubusercontent.com/UMRoboticsTeam/umrt-apt-repo/main/ humble main" > /etc/apt/sources.list.d/umrt_source.list
 
 RUN --mount=type=secret,id=apt_auth_conf,target=/etc/apt/auth.conf.d/umrt.conf --mount=type=secret,id=apt_pubkey,target=/etc/apt/keyrings/umrt.asc,mode=0644 \
@@ -27,6 +29,7 @@ RUN --mount=type=secret,id=apt_auth_conf,target=/etc/apt/auth.conf.d/umrt.conf -
         ros-humble-ros2-controllers \
         ros-humble-moveit \
         ros-humble-ublox-dgnss \
+        ros-humble-usb-cam \
         ros-humble-foxglove-msgs \
         ros-humble-foxglove-compressed-video-transport \
         ros-humble-depthai-v3 \
@@ -45,20 +48,27 @@ RUN --mount=type=secret,id=apt_auth_conf,target=/etc/apt/auth.conf.d/umrt.conf -
         ros-humble-joint-state-publisher \
         ros-humble-aruco-opencv \
         ros-humble-libstatistics-collector \
+        ros-humble-ros-babel-fish \
         openframeworksarduino=0.0.3 \
         umrt-imu-interface=0.0.4 \
         umrt-geiger-interface=0.1.3 \
         umrt-arm-firmware-lib=0.5.0 \
         ros-humble-umrt-project-perry-description=0.0.9-0jammy \
         umrt-arm-encoder-driver=2.0.0 \
+        iproute2 \
     && rm -rf /var/lib/apt/lists/*
 
 RUN sudo pip3 install cantools
 
-COPY . /ws
+COPY src /ws/src
+COPY Messages.sym /ws
+COPY version /ws
+
+RUN cd /ws/src && git clone https://github.com/UMRoboticsTeam/ros2_j1939_babbler.git && cd ros2_j1939_babbler && \
+    git checkout v0.2.4
 
 RUN cd /ws/src && ./build_scripts.sh
 
-RUN sudo rm -rf /src
+RUN sudo rm -rf /src /ws
 
 RUN sudo rm -f /etc/apt/sources.list.d/umrt_source.list

Messages.sym

@@ -5,7 +5,7 @@ IDMask=FFFF00h
 {ENUMS}
 Enum=Assigned_Source_Addresses(128="ROS Controller", 104="CAN-PPM Gateways", 105="CAN-PPM Gateways",
   106="CAN-PPM Gateways", 107="CAN-PPM Gateways", 108="CAN-PPM Gateways", 109="CAN-PPM Gateways",
-  110="CAN-PPM Gateways", 111="CAN-PPM Gateways", 236="Embedded Controller")
+  110="CAN-PPM Gateways", 111="CAN-PPM Gateways", 236="Embedded Controller", 96="Soil Sensor (ESP32)")
 Enum=Battery_Charge_State(0="Stationary", 1="Charging", 2="Discharging")
 Enum=Balance_State(0="Closed", 1="Open")
 
@@ -194,7 +194,7 @@ Var=Dischg_Over_Temp_Fault bit 12,1 /u:bool
 Var=Dischg_Over_Temp_Critical_Fault bit 13,1 /u:bool
 Var=Dischg_Under_Temp_Fault bit 14,1 /u:bool
 Var=Dischg_Under_Temp_Critical_Fault bit 15,1 /u:bool
-Var=Charge_Over_Curr_Fault_ bit 16,1 /u:bool
+Var=Charge_Over_Curr_Fault bit 16,1 /u:bool
 Var=Charge_Over_Curr_Critical_Fault bit 17,1 /u:bool
 Var=Dischg_Over_Curr_Fault bit 18,1 /u:bool
 Var=Dischg_Over_Curr_Critical_Fault bit 19,1 /u:bool
@@ -307,3 +307,12 @@ ID=00980140h
 Type=Extended
 Len=8
 Var=Reserved raw 0,64
+
+[Soil_Sensor]
+ID=18FFEB00h
+Type=Extended
+Len=8
+Var=Soil_Temperature signed 0,16 /u:degC /f:0.1 /min:-40 /max:85
+Var=Soil_Moisture signed 16,16 /u:% /f:0.1 /min:0 /max:100
+Var=Soil_EC signed 32,16 /u:uS/cm /f:0.1 /min:0 /max:3276.7
+Var=Soil_PH signed 48,16 /u:pH /f:0.1 /min:0 /max:14

src/build_scripts.sh

@@ -1,4 +1,5 @@
 #!/usr/bin/bash
+set -e
 
 # Compile and install umrt-can-definitions
 cd umrt-can-definitions
@@ -9,6 +10,15 @@ cpack -G DEB
 
 apt install -y ./output-packages/*.deb
 cd ../
-rm -r build
+rm -rf build
 cd ../
 
+# Compile and install ros2_j1939_babbler with our symbol definitions baked in
+cd ros2_j1939_babbler
+source /opt/ros/humble/setup.bash
+colcon build --event-handlers console_direct+ --merge-install --install-base ./build-output --cmake-args -DDBC_PATH=/opt/umrt-can-definitions/share/umrt-can-definitions/Messages.stripped.sym
+rm -r ./build-output/share/colcon-core
+cp -r ./build-output/share/* /opt/ros/humble/share/
+cp -r ./build-output/lib/* /opt/ros/humble/lib/
+cp -r ./build-output/include/* /opt/ros/humble/include/
+cp -r ./build-output/local/lib/python3.10/dist-packages/* /opt/ros/humble/local/lib/python3.10/dist-packages/

src/umrt-can-definitions/CMakeLists.txt

@@ -1,12 +1,15 @@
 cmake_minimum_required(VERSION 3.22.1)
 project(umrt-can-definitions)
 
-set(SYMBOL_FILE "${CMAKE_CURRENT_SOURCE_DIR}/Messages.sym")
+set(SYMBOL_FILE "${CMAKE_CURRENT_SOURCE_DIR}/Messages.sym" CACHE STRING "Symbol file to read for message definitions")
 set(GENERATED_CODE_BASENAME "messages")
+set(Python3_EXECUTABLE python3)
 
 set(GENERATED_CODE_FOLDER ${CMAKE_CURRENT_BINARY_DIR})
 set(GENERATED_HEADER ${GENERATED_CODE_FOLDER}/${GENERATED_CODE_BASENAME}.h)
 set(GENERATED_SOURCE ${GENERATED_CODE_FOLDER}/${GENERATED_CODE_BASENAME}.c)
+set(STRIPPED_SYMBOL_FILE_PATH ${CMAKE_CURRENT_BINARY_DIR}/Messages.stripped.sym)
+set(DBC_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/Messages.dbc)
 
 # ********** Setup CMake **********
 
@@ -32,9 +35,15 @@ endif()
 # If symbol file is a symlink, get the absolute real path
 get_filename_component(RESOLVED_SYMBOL_FILE "${SYMBOL_FILE}" REALPATH)
 
+execute_process(
+        COMMAND ./strip_sym_file.sh
+        "${RESOLVED_SYMBOL_FILE}" "${STRIPPED_SYMBOL_FILE_PATH}"
+)
+
 execute_process(
         COMMAND ./generate_definitions_from_sym.sh
-        "${RESOLVED_SYMBOL_FILE}" "${GENERATED_CODE_BASENAME}" "${GENERATED_CODE_FOLDER}"
+        "${STRIPPED_SYMBOL_FILE_PATH}" "${GENERATED_CODE_BASENAME}" "${GENERATED_CODE_FOLDER}"
+        "${CMAKE_CURRENT_SOURCE_DIR}/TranslateToDbc.py" "${DBC_OUTPUT_PATH}"
 )
 
 # Tell CMake that it needs to reconfigure if the symbol file changes
@@ -45,7 +54,7 @@ set_property(DIRECTORY APPEND PROPERTY
 )
 
 install(
-        FILES "${RESOLVED_SYMBOL_FILE}"
+        FILES "${RESOLVED_SYMBOL_FILE}" "${STRIPPED_SYMBOL_FILE_PATH}" "${DBC_OUTPUT_PATH}" 
         DESTINATION share/${PROJECT_NAME}/
 )
 
@@ -105,7 +114,7 @@ install(FILES
 )
 
 install(
-        TARGETS ${lib_target} ${arduino_communication_test_target} ${mks_test_target} # These targets will be packaged
+        TARGETS ${lib_target}  # These targets will be packaged
         EXPORT ${PROJECT_NAME}Targets
         PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
 )

src/umrt-can-definitions/TranslateToDbc.py

@@ -0,0 +1,24 @@
+import cantools.database
+import sys
+import os
+
+def translate(source_path: str, dbc_export_path: str):
+    db = cantools.database.load_file(source_path)
+    cantools.database.dump_file(db, dbc_export_path)
+
+
+if __name__ == "__main__":
+    if len(sys.argv) != 3:
+        raise RuntimeError(f"Script must be called with a path to a cantools-supported file, and a path to export the "
+                           f"DBC file to. Received: {sys.argv}")
+    source_path = sys.argv[1]
+    dbc_export_path = sys.argv[2]
+
+    if not dbc_export_path.endswith('.dbc'):
+        raise RuntimeError(f"DBC file to export to must end in \".dbc\". Received: {dbc_export_path}")
+
+    print("Ensuring output folder exists")
+    os.makedirs(os.path.dirname(dbc_export_path), exist_ok=True)
+
+    translate(source_path, dbc_export_path)
+

src/umrt-can-definitions/generate_definitions_from_sym.sh

@@ -1,11 +1,16 @@
 #!/usr/bin/bash
 
+# Generates C code from a sym file as well as a translation of it to DBC
+
 SYMBOL_FILE="$1"
 OUTPUT_FILE_BASENAME="$2"
 OUTPUT_FOLDER="$3"
+TRANSLATION_SCRIPT_PATH="$4"
+DBC_OUTPUT_PATH="$5"
+
+echo "Generating source from sym file"
+echo "Reading from '${SYMBOL_FILE}'"
 
-# Strip "/slot:" tags, cantools doesn't like it
-sed -E "s|/slot:[0-9]+||g" < "$SYMBOL_FILE" | \
-sed -E "s|IDMask=[0-9A-F]+h||g" > "$OUTPUT_FOLDER/.tmp.sym"
+python3 -m cantools generate_c_source --database-name "${OUTPUT_FILE_BASENAME}" -o "${OUTPUT_FOLDER}" "${SYMBOL_FILE}"
 
-python3 -m cantools generate_c_source --database-name "$OUTPUT_FILE_BASENAME" -o "${OUTPUT_FOLDER}" "${OUTPUT_FOLDER}/.tmp.sym"
+python3 "${TRANSLATION_SCRIPT_PATH}" "${SYMBOL_FILE}" "${DBC_OUTPUT_PATH}"

src/umrt-can-definitions/strip_sym_file.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/bash
+
+# Removes the tags from a sym file that Python cantools doesn't like
+
+SYMBOL_FILE="$1"
+OUTPUT_FILE="$2"
+
+echo "Stripping problematic sym file tags"
+echo "Reading from '${SYMBOL_FILE}'"
+
+# Strip "/slot:" tags, cantools doesn't like it
+sed -E "s|/slot:[0-9]+||g" < "${SYMBOL_FILE}" | \
+sed -E "s|IDMask=[0-9A-F]+h||g" > "${OUTPUT_FILE}"

version

@@ -1,2 +1 @@
-0.0.40
-
+0.0.46