merge with recent missions

.github/workflows/autopush.yaml

@@ -25,7 +25,8 @@ env:
 jobs:
   pre-commit:
     name: Run pre-commit
-    runs-on: ubuntu-latest
+    runs-on:
+      group: mala-lab-pre-commit
     if: github.event.sender.login == 'cbrxyz'
     steps:
       - name: Check out code from GitHub

.github/workflows/ci.yaml

@@ -37,7 +37,8 @@ jobs:
     name: Run tests and build docs
     needs: avoid-duplicate-ci
     if: needs.avoid-duplicate-ci.outputs.should_skip != 'true'
-    runs-on: self-hosted
+    runs-on:
+      group: mala-lab-main
     steps:
       - name: Configure catkin workspace folder structure
         run: |
@@ -111,7 +112,8 @@ jobs:
 
   deploy-docs:
     name: Deploy docs from master
-    runs-on: self-hosted
+    runs-on:
+      group: mala-lab-main
     needs: super-ci
     # https://github.com/actions/runner/issues/491#issuecomment-850884422
     if: |

.github/workflows/pre-commit.yaml

@@ -0,0 +1,61 @@
+---
+name: Run pre-commit
+
+# yamllint disable-line rule:truthy
+on: [push, workflow_dispatch]
+
+# Cancels this run if a new one referring to the same object and same workflow
+# is requested
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  # The version of caching we are using. This can be upgraded if we
+  # significantly change CI to the point where old caches become irrelevant.
+  CACHE_VERSION: 0
+  # Default Python version. Noetic defaults to 3.8.
+  DEFAULT_PYTHON: 3.8
+  # Location of the pre-commit cache. This is set by pre-commit, not us!
+  PRE_COMMIT_CACHE: ~/.cache/pre-commit
+
+jobs:
+  pre-commit:
+    name: Run pre-commit
+    runs-on:
+      group: mala-lab-pre-commit
+    steps:
+      - name: Check out code from GitHub
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Set up Python ${{ env.DEFAULT_PYTHON }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.DEFAULT_PYTHON }}
+          cache: "pip"
+      - name: Install pre-commit hooks
+        run: |
+          python --version
+          pip install "$(cat requirements.txt | grep pre-commit)"
+      - name: Generate pre-commit cache key
+        id: pre-commit_cache_key
+        run: >
+          echo "::set-output
+          name=key::${{ env.CACHE_VERSION }}-${{ env.DEFAULT_PYTHON }}-${{
+          hashFiles('.pre-commit-config.yaml') }}"
+      - name: Restore base pre-commit environment
+        id: cache-pre-commmit
+        uses: actions/cache@v4
+        with:
+          path: ${{ env.PRE_COMMIT_CACHE }}
+          key: >
+            ${{ runner.os
+            }}-pre-commit-${{ steps.pre-commit_cache_key.outputs.key }}
+      - name: Install pre-commit dependencies if no cache
+        if: steps.cache-precommit.outputs.cache-hit != 'true'
+        run: |
+          pre-commit install-hooks
+      - name: Run pre-commit
+        run: |
+          pre-commit run --all-files --show-diff-on-failure

.pre-commit-config.yaml

@@ -3,6 +3,7 @@ exclude: ^deprecated/
 
 default_language_version:
   python: python3.8
+  node: lts
 
 ci:
   autofix_prs: false
@@ -19,7 +20,7 @@ repos:
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.8
+    rev: v19.1.1
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
@@ -40,7 +41,7 @@ repos:
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.6.3'
+    rev: 'v0.6.9'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
@@ -50,7 +51,7 @@ repos:
     hooks:
       - id: codespell
         args:
-          - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd,wronly,Voight,assertIn
+          - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd,wronly,Voight,assertIn,flor
           - --skip="./.*,*.csv,*.json"
           - --quiet-level=2
         exclude_types: [csv, json]
@@ -74,7 +75,7 @@ repos:
       - id: prettier-package-xml
       - id: sort-package-xml
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict

NaviGator/hardware_drivers/navigator_ball_launcher/navigator_ball_launcher/driver.py

@@ -33,7 +33,7 @@ def __init__(self, port: str):
         self.heard_nack = False
         self.drops = 0
         self.temp_timer = None
-        print("done init")
+        rospy.loginfo("Ball launcher device initialized")
 
     def get_drop_count(self) -> int:
         return self.drops
@@ -51,10 +51,10 @@ def _check_for_valid_response(self, event: str):
         elif not self.heard_ack:
             rospy.logerr(f"Failed to {event} (no response from board)")
 
-    def _check_for_dropped_ball(self):
+    def _check_for_dropped_ball(self, _):
         self._check_for_valid_response("drop ball")
 
-    def _check_for_spun(self):
+    def _check_for_spun(self, _):
         self._check_for_valid_response("set spin")
 
     def drop_ball(self, _: EmptyRequest):
@@ -84,7 +84,6 @@ def spin(self, request: SetBoolRequest):
         return {}
 
     def on_packet_received(self, packet: AckPacket | NackPacket) -> None:
-        print("inc packet", packet)
         if isinstance(packet, AckPacket):
             self.heard_ack = True
         elif isinstance(packet, NackPacket):

NaviGator/hardware_drivers/navigator_ball_launcher/nodes/driver.py

@@ -4,6 +4,6 @@
 
 if __name__ == "__main__":
     rospy.init_node("ball_launcher")
-    port = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6635C08CB65BC36-if00"
+    port = str(rospy.get_param("~port"))
     device = BallLauncherDevice(port)
     rospy.spin()

NaviGator/hardware_drivers/navigator_drone_comm/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(navigator_drone_comm)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+catkin_package()
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)

NaviGator/hardware_drivers/navigator_drone_comm/navigator_drone_comm/__init__.py

@@ -0,0 +1,10 @@
+from .packets import (
+    Color,
+    EStopPacket,
+    GPSDronePacket,
+    HeartbeatReceivePacket,
+    HeartbeatSetPacket,
+    StartPacket,
+    StopPacket,
+    TargetPacket,
+)

NaviGator/hardware_drivers/navigator_drone_comm/navigator_drone_comm/packets.py

@@ -0,0 +1,91 @@
+from dataclasses import dataclass
+from enum import Enum
+
+from electrical_protocol import Packet
+
+
+@dataclass
+class HeartbeatReceivePacket(
+    Packet,
+    class_id=0x20,
+    subclass_id=0x00,
+    payload_format="",
+):
+    """
+    Heartbeat packet sent from the drone.
+    """
+
+
+@dataclass
+class HeartbeatSetPacket(Packet, class_id=0x20, subclass_id=0x01, payload_format=""):
+    """
+    Heartbeat packet sent from the boat.
+    """
+
+
+@dataclass
+class GPSDronePacket(Packet, class_id=0x20, subclass_id=0x02, payload_format="<fff"):
+    """
+    GPS location of drone packet.
+
+    Attributes:
+        lat (float): The latitude of the drone.
+        lon (float): The longitude of the drone.
+        alt (float): The altitude of the drone.
+    """
+
+    lat: float
+    lon: float
+    alt: float
+
+
+@dataclass
+class EStopPacket(Packet, class_id=0x20, subclass_id=0x03, payload_format=""):
+    """
+    Emergency stop drone packet.
+    """
+
+
+@dataclass
+class StartPacket(Packet, class_id=0x20, subclass_id=0x04, payload_format="<20s"):
+    """
+    Start drone mission packet.
+
+    Attributes:
+        name (str): The name of the mission to run on the drone. Limited to 20 characters.
+    """
+
+    name: str
+
+
+@dataclass
+class StopPacket(Packet, class_id=0x20, subclass_id=0x05, payload_format=""):
+    """
+    Stop drone and return packet.
+    """
+
+
+class Color(Enum):
+    """
+    Enum to represent the color of a target.
+    """
+
+    BLUE = "b"
+    GREEN = "g"
+    RED = "r"
+
+
+@dataclass
+class TargetPacket(Packet, class_id=0x20, subclass_id=0x06, payload_format="<ffc"):
+    """
+    GPS of drone-identified target packet.
+
+    Attributes:
+        lat (float): The latitude of the target.
+        lon (float): The longitude of the target.
+        color (Color): The color of the target.
+    """
+
+    lat: float
+    lon: float
+    color: Color

NaviGator/hardware_drivers/navigator_drone_comm/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>navigator_drone_comm</name>
+  <version>0.0.0</version>
+  <description>The navigator_drone_comm package</description>
+
+  <maintainer email="[email protected]">Alex Johnson</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+</package>

NaviGator/hardware_drivers/navigator_drone_comm/setup.py

@@ -0,0 +1,11 @@
+# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from catkin_pkg.python_setup import generate_distutils_setup
+from setuptools import setup
+
+# Fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=["navigator_drone_comm"],
+)
+
+setup(**setup_args)

NaviGator/mission_control/navigator_launch/config/bounds_sarasota_a.yaml

@@ -0,0 +1,42 @@
+---
+!!python/object/new:dynamic_reconfigure.encoding.Config
+dictitems:
+  frame: ecef
+  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+    dictitems:
+      frame: ecef
+      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      id: 0
+      name: Default
+      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
+        state: []
+      parent: 0
+      state: true
+      type: ''
+      x1: 744450.0
+      x2: 744336.0
+      x3: 744342.0
+      x4: 744456.0
+      y1: -5618775.0
+      y2: -5618790.0
+      y3: -5618835.0
+      y4: -5618820.0
+      z1: 2915236.0
+      z2: 2915236.0
+      z3: 2915150.0
+      z4: 2915150.0
+    state: []
+  x1: 744450.0
+  x2: 744336.0
+  x3: 744342.0
+  x4: 744456.0
+  y1: -5618775.0
+  y2: -5618790.0
+  y3: -5618835.0
+  y4: -5618820.0
+  z1: 2915236.0
+  z2: 2915236.0
+  z3: 2915150.0
+  z4: 2915150.0
+state: []