knr-auv / autonomy

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TCM client and interface for autonomy #8

Open niemiaszek opened 2 years ago

niemiaszek commented 2 years ago

So far, class Okon uses methods based on PacketTypes assigned to simulation. We want to abstract Okon, OkonClient and PacketTypes. Each class should have base class, as Okon base class will be used as interface with autonomy.

Okon (interface for autonomy):
    OkonSim
        PacketTypeSim
    OkonTCM
        PacketTypeTCM

mpfmorawski commented 2 years ago

Schedule:

Prepare Okon base class (Friday, August 5th)
Meeting with @kjonak to define if our assumptions about Okon Base class are possible to implement with TCM (Friday/Saturday/Sunday, August 5th-7th)
Reinventing if something not possible OR implementing OkonTCM

mpfmorawski commented 2 years ago

OkonTCM

Based on autonomy/okon_sim_client.py:

parser is equal to Simulation._handle_packet method - TBI
From Simulation methods connect, _receive_all, _send, disconnect will be handled by Maks
Simulation.send - TBI
Simulation._sync_thread - TBI
Simulation._comm_thread - TBI
Simulation.on_event, Simulation._emit_event will be handled by Maks

Schedule:

First try of implementation and draft pull request (Tuesday, August 9th)
TBC

mpfmorawski commented 2 years ago

Progress: The environment for testing commiunication via UART in Python developed by @RoboAsystent has been prepared. It can be reproduced as follows:

Requirements:

computer with Linux
Arduino

Instruction:

Install Arduino IDE (Linux Installation) - Important! Remember to follow ALL sections of instruction - including especially the last section "Please Read" after which the computer should be restarted. Following these instructions will prevent you from getting Error opening serial port error.
Do a loopback test (loopback using hardware), close Serial Monitor and don't disconnect the Arduino.
Run Serial/jetson_serial.py or Serial/jetson_serial_light.py (code available on branch okon-tcm-client)