SpaceGrantEngine

'Engine' for handling concurrency and other 'low-level' tasks

See ROS Humble documentation for details on how to use ros2.

Submodules

This engine uses external dependencies that are located in the extern directory.

To directly clone the repository with these submodules add the --recursive flag to your git clone command.

To clone the submodules after cloning the engine, run git submodule update --init --recursive

Building and Sourcing Package

make

source install/setup.bash

Then you can call anything defined in the package.

For example: ros2 run sgengine pico

Typical Development Workflow

1. Create a new branch
2. Add/modify desired functionality
3. Run make check to run tests
4. Open a pull request

Style Guide

Python code should follow snake case, with proper public/private seperation in class development. Public/private in Python is done with an underscore at the front of an attribute. For example,

self._example: str = "example" is private

self.example: str = "example" is public

Using the Makefile

make help Displays all possible commands for utilizing the Makefile.

make Builds all ros packages

make check runs all tests (including ros and formatting tests). This must pass before your code can be merged into main.

Raspberry Pi Setup

1. Flash SD card to "Ubuntu Desktop 22.04 LTS (64-bit)" and boot
2. Go through initial setup, set username to pi
3. Clone this repository in the $HOME directory with the --recursive flag
4. Run the scripts/pi_software_install.py script to set up the Pi
5. Run the scripts/install_deps.py script to configure this repositories' dependencies
6. Reboot
7. Clone the https://github.com/atar-axis/xpadneo repository and follow the instructions in the Prerequisites and Installation sections of the README
8. Use sudo usermod -a -G dialout pi to give pi user serial access
9. Enable serial hardware in raspi-config in Interface Options->Serial Port. Second option must be set to
10. Enable SSH in raspi-config in Interface Options->SSH
11. Reboot

Launching the code automatically

To enable the launch service:

Make sure that the SpaceGrantEngine repository is located at /home/pi/SpaceGrantEngine

Run systemctl enable $HOME/SpaceGrantEngine/scripts/engine_launch.service to enable the service on boot.