Feature/56 python part of utility library for sdo data type conversion

rise_motion_dev_ws/src/py_sdo_serializer/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>py_sdo_serializer</name>
+  <version>0.0.0</version>
+  <description>Offers functions to serialize and deserialize EtherCAT base data types.</description>
+  <maintainer email="anton.ohler@gmail.com">a</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

rise_motion_dev_ws/src/py_sdo_serializer/py_sdo_serializer/temp_test_node.py

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+#!/usr/bin/env python3
+
+# execute this using 
+# python3 path/to/this/file
+
+import sys
+import rclpy
+from rclpy.node import Node
+from rise_motion_messages.msg import MotorPositions
+from rise_motion_messages.srv import EnableEthercatSrv, SDOReadSrv
+from rise_motion_dev_ws.src.py_sdo_serialization.sdo_serializer import deserialize, serialize
+
+
+class TestNode(Node):
+    def __init__(self, increment: int):
+        super().__init__("python_sdo_test_node")
+        self.increment = increment
+        self.valid_positions = False
+        self.motor_pos: list[int] = []
+
+        self.get_logger().info("Starting TestNode")
+
+        self.input_sub = self.create_subscription(
+            MotorPositions,
+            "motor_feedback",
+            self._feedback_cb,
+            10,
+        )
+
+        self.output_pub = self.create_publisher(MotorPositions, "motor_commands", 10)
+
+        self.publish_timer = self.create_timer(0.001, self._publish_cb)  # 1 ms
+
+        self.enable_client = self.create_client(EnableEthercatSrv, "enable_ethercat")
+
+    def __del__(self):
+        self.get_logger().info("Bye :)")
+
+    # ---------------------------------------------------------------------------
+    # Callbacks
+    # ---------------------------------------------------------------------------
+
+    def _feedback_cb(self, msg: MotorPositions):
+        if not self.valid_positions:
+            self.get_logger().info("Got feedback")
+            self.valid_positions = True
+        self.motor_pos = list(msg.positions)
+
+    def _publish_cb(self):
+        if not self.valid_positions:
+            return
+        response = MotorPositions()
+        response.positions = [p + self.increment for p in self.motor_pos]
+        self.output_pub.publish(response)
+
+    # ---------------------------------------------------------------------------
+    # Service calls
+    # ---------------------------------------------------------------------------
+
+    def request_enable_ethercat(self) -> bool:
+        """Returns True on success (mirrors the C++ int == 0 success check)."""
+        self.get_logger().info(f"Incrementing motor position with {self.increment}")
+        self.get_logger().info("Requesting Enable Ethercat")
+
+        while not self.enable_client.wait_for_service(timeout_sec=1.0):
+            if not rclpy.ok():
+                self.get_logger().error("Interrupted while waiting for enable_ethercat service.")
+                return False
+            self.get_logger().info("Waiting for enable_ethercat service...")
+
+        request = EnableEthercatSrv.Request()
+        request.enable = True
+
+        future = self.enable_client.call_async(request)
+        rclpy.spin_until_future_complete(self, future)
+
+        if future.result() is None:
+            self.get_logger().error("enable_ethercat service call failed.")
+            return False
+
+        self.get_logger().info("Done requesting")
+        return bool(future.result().status_enable)
+
+    def sdo_read(
+        self,
+        device_id: int,
+        index: int,
+        subindex: int,
+        value_type: int = 0,
+        *,
+        type_name: str | None = None,
+        base_data_type: str | None = None,
+    ):
+        """
+        Call the sdo_read service and deserialize the result.
+
+        Returns the deserialized value, or None on error.
+        """
+        client = self.create_client(SDOReadSrv, "sdo_read")
+
+        while not client.wait_for_service(timeout_sec=1.0):
+            if not rclpy.ok():
+                self.get_logger().error("Interrupted while waiting for sdo_read service.")
+                return None
+            self.get_logger().info("Waiting for sdo_read service...")
+
+        request = SDOReadSrv.Request()
+        request.device_id = device_id
+        request.index = index
+        request.subindex = subindex
+        request.value_type = value_type
+
+        future = client.call_async(request)
+        rclpy.spin_until_future_complete(self, future)
+
+        if future.result() is None:
+            self.get_logger().error("sdo_read service call failed.")
+            return None
+
+        raw: list[int] = list(future.result().value)
+        result = deserialize(raw, name=type_name, base_data_type=base_data_type)
+
+        if result == -1:
+            self.get_logger().error("sdo deserialization failed for index 0x%04X sub %d", index, subindex)
+            return None
+
+        return result
+
+
+# ---------------------------------------------------------------------------
+# Entry point
+# ---------------------------------------------------------------------------
+
+def main():
+    increment = int(sys.argv[1]) if len(sys.argv) >= 2 else 10
+
+    rclpy.init()
+    node = TestNode(increment)
+
+    # Keep calling until EtherCAT is enabled
+    while not node.request_enable_ethercat():
+        pass
+
+    for p in [
+        [1,0x1008,0,"VISIBLE_STRING"], [1,0x1000,0,"UDINT"], 
+        [1,0x1005,0,"DINT"], [1,0x1018,1,"UDINT"]]:
+        # Read device name (object 0x1008, sub 0) as a VISIBLE_STRING
+        result = node.sdo_read(
+            device_id=p[0],
+            index=p[1],
+            subindex=p[2],
+            type_name=p[3],
+        )
+
+        if result == -1:
+            rclpy.get_logger("rclcpp").error(f"SDO read {p[1]} {p[3]} failed")
+        else:
+            node.get_logger().info(f"sdo read value {p[1]} {p[3]}: %s", str(result))
+
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

rise_motion_dev_ws/src/py_sdo_serializer/setup.cfg

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+[develop]
+script_dir=$base/lib/py_sdo_serializer
+[install]
+install_scripts=$base/lib/py_sdo_serializer

rise_motion_dev_ws/src/py_sdo_serializer/setup.py

@@ -0,0 +1,30 @@
+from setuptools import find_packages, setup
+
+package_name = 'py_sdo_serializer'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='a',
+    maintainer_email='anton.ohler@gmail.com',
+    description='Offers functions to serialize and deserialize EtherCAT base data types.',
+    license='TODO: License declaration',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+    tests_require=['pytest'],
+)

rise_motion_dev_ws/src/py_sdo_serializer/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

rise_motion_dev_ws/src/py_sdo_serializer/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

rise_motion_dev_ws/src/py_sdo_serializer/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'