Aggregate data in ECM and use system to publish to ROS 2

[chapulina]

As an alternative to publishing all values as doubles and bridging each to a ROS topic, the approach here would be to put the values in a custom component, and then have a single system that's ROS-enabled and publishes a message with all of them.

[andermi]

@hamilton8415 to assist with any of these; I can make the first Controller as an example for the others. @rhenthorn let me know if this looks good to you. @chapulina should we open a separate issue for commands these controllers would need to handle?

We can break these into separate PR's that make sense

Todo:

• [x] @andermi Add SCRecord data to ECM from PneumaticSpring
• [x] @andermi Add XBRecord data to ECM from plugin or use sensor
• [x] @andermi Publish SCRecord data from ECM in SpringController ROS2 System Plugin
• [x] @andermi Publish XBRecord data from ECM in CrossbowController ROS2 System Plugin
• [ ] @rhenthorn Add PCRecord, BCRecord data to ECM from ElectroHydraulicPTO
• [ ] @rhenthorn Publish PCRecord data from ECM in PowerController ROS2 System Plugin
• [ ] @rhenthorn Add TFRecord data to ECM from plugin or use sensor
• [ ] @rhenthorn Publish BCRecord data from ECM in BatteryController ROS2 System Plugin
• [ ] @rhenthorn Publish TFRecord data from ECM in TrefoilController ROS2 System Plugin

[chapulina]

@chapulina should we open a separate issue for commands these controllers would need to handle?

Good point. I assume a similar strategy could be taken, where a system would take in the ROS 2 commands and distribute them to other plugins via the ECM?

[andermi]

@hamilton8415 @rhenthorn Can you provide a description of the status fields for the __Records? (or point me to the docs for them)

[hamilton8415]

My understanding is you're asking for the bit-field descriptions in the status words from the various converters. It's a closely held secret!! ;)

Kidding of course, a good start is from the source code for each controller, copied in here and generally in "types.h" in each of the controller firmwares on bitbucket:

SC_ struct StatusBits { unsigned int ReliefValveRequest : 7; //Request to open/close valve unsigned int ReliefValveStatus : 1; // Status of Relief valve open/close unsigned int PumpRequest : 1; // Request to turn pump on or off unsigned int PumpStatus : 1; // Status of pump switch unsigned int PumpOverTemp : 1; // Status of pump OverTemp signal unsigned int PumpToggle : 1; // Status of pump Toggle. unsigned int TetherPowerRequest : 1; //Request to turn tether power on or off unsigned int TetherPowerStatus : 1; //Status of tether power relay unsigned int LR_Fault : 1; //Status of LRF fault input unsigned int AUX_Fault : 1; //Status of AUX fault input };

typedef union { unsigned int status; struct StatusBits bits; } STATUS;

PC_ struct PowerConverterStatusBits { unsigned int Mode : 2; //controller mode. specified by defines in config.h (GENERATOR_MODE, TORQUE_MODE) unsigned int TorqueCmdLimited : 1; //defines what is limited the Torque Command (0 = Not limited, 1 = Rate, 2 = Min, 3 = Max). unsigned int BattSwitchRequest : 1; //Indicates state of battery switch that the user desires. 0 = off, 1 = on unsigned int BattSwitchSetting : 1; //Indicates instantaneous setting of Battery Switch unsigned int SlowSwitchSetting : 1; //Indicates instantaneous setting of Bettery Slow Switch unsigned int EXT_Voltage_Detect : 1; //Indicates if >170V is available on outside connector unsigned int GainScheduleMode : 1; // 0 = off. 1 = on. unsigned int OverCurrentShutdown : 1; //1 indicates drive is in overcurrent shutdown. unsigned int OverVoltageShutdown : 1; //1 indicates drive is in overvoltage shutdown. unsigned int SpringRangeValid : 1; //1 indicates the current SC_Range value is valid (received within approximately SC_RANGE_VALID_TIMEOUT milliseconds) unsigned int PermissiveMode : 1; //1 indicates user has selected "permissive mode" which allows WindingCurrent commands to be set even if SpringController Range packets aren't arriving };

BC_ struct StatusBits { unsigned int Balancing : 5; // Indicates number of batteries that are shunting power unsigned int StopCharge : 5; // Indicates number of batteries requesting stop-charge unsigned int PowerSupply : 1; //Indicates state of 24V load switch. 0 = off, 1 = on unsigned int Bender : 2; // Indicates state of Bender operation. 0 = off, 1 = on, 2 = auto (cycling) unsigned int BenderRequest : 2; //Indicates the Bender State request, changed only by CAN rcvd interrupt except for initialization. unsigned int BenderSwitchStatus : 1; //Indicates a fault with the bender power switch };

TC_ enum STATES{ST_MAXON_POWERED_DOWN, ST_MAXON_POWERED_UP_AND_DISABLED, ST_MAXON_ENABLED, ST_MOVING_HOME_TOWARDS_CURRENT_POSITION, ST_VELOCITY_MOVE_TOWARDS_TARGET_POSITION, ST_MOVING_HOME_TOWARDS_TARGET_POSITION, ST_PERFORMING_BACKUP_MOVE, ST_DOORS_SUCCESSFULY_MOVED }; //Bit mapping for "State" in StatusBits structure.

struct StatusBits { unsigned int ChargeMode : 2; // Offset = 0 unsigned int ChargeEnabled : 1; // Offset = 2 unsigned int MaxonPwrMode : 2; // Offset = 3 unsigned int MaxonPower : 1; // Offset = 5 unsigned int MaxonEnabled : 1; // Offset = 6 unsigned int DoorPositionTarget : 1; // Offset = 7 unsigned int DoorPositionActual : 1; // Offset = 8 unsigned int State : 4; // Offset = 9 unsigned int Maxon_CommError : 2; // Offset = 13 };