Merge branch 'smooth_thrusters' of github.com:CWRUbotix/rov-25 into smooth_thrusters

Author: benjaminwp18

.pre-commit-config.yaml

@@ -2,7 +2,7 @@
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.7.1
+    rev: v0.8.1
     hooks:
       # Run the linter.
       - id: ruff
@@ -11,7 +11,7 @@ repos:
       # Run the formatter.
       - id: ruff-format
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.2
+    rev: v19.1.4
     hooks:
       - id: clang-format
         types_or: [c++, c]
@@ -21,6 +21,6 @@ repos:
     hooks:
       - id: trailing-whitespace
   - repo: https://github.com/google/yamlfmt
-    rev: v0.13.0
+    rev: v0.14.0
     hooks:
       - id: yamlfmt

src/pi/manipulators/manipulators/valve_manipulator_dry_run.py

@@ -7,6 +7,7 @@
 FREQ = 50
 
 gpio_handle = lgpio.gpiochip_open(0)
+lgpio.gpio_claim_output(gpio_handle, SERVO_PIN)
 
 
 def test_gpio(width: int, freq: int = 50) -> None:

src/pi/manipulators/manipulators/valve_manipulator_node.py

@@ -1,3 +1,5 @@
+from typing import Final
+
 import lgpio
 import rclpy
 from rclpy.node import Node
@@ -6,7 +8,7 @@
 from rov_msgs.msg import ValveManip
 
 # Configuration
-SERVO_PIN = 12  # pin used to drive Valve Manip
+SERVO_PIN: Final = 12  # pin used to drive Valve Manip
 
 
 class ValveManipulator(Node):
@@ -17,6 +19,7 @@ def __init__(self) -> None:
         )
 
         self.gpio_handle = lgpio.gpiochip_open(0)
+        lgpio.gpio_claim_output(self.gpio_handle, SERVO_PIN)
         self.curr_active = False
 
     def servo(self, width: int, freq: int = 50) -> None:

src/surface/flight_control/flight_control/manual_control_node.py

@@ -93,8 +93,8 @@ def __init__(self) -> None:
             self.arm_client = self.create_client(CommandBool, 'mavros/cmd/arming')
 
         self.manip_buttons: dict[int, ManipButton] = {
-            X_BUTTON: ManipButton('left'),
-            O_BUTTON: ManipButton('right'),
+            X_BUTTON: ManipButton('right'),
+            O_BUTTON: ManipButton('left'),
         }
 
         self.seen_left_cam = False
@@ -125,16 +125,14 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
 
     def manip_callback(self, msg: Joy) -> None:
         buttons: MutableSequence[int] = msg.buttons
-
         for button_id, manip_button in self.manip_buttons.items():
             just_pressed = buttons[button_id] == PRESSED
-
             if manip_button.last_button_state is False and just_pressed:
                 new_manip_state = not manip_button.is_active
                 manip_button.is_active = new_manip_state
-
                 manip_msg = Manip(manip_id=manip_button.claw, activated=manip_button.is_active)
                 self.manip_publisher.publish(manip_msg)
+
             manip_button.last_button_state = just_pressed
 
     def valve_manip_callback(self, msg: Joy) -> None:

src/surface/flight_control/flight_control/multiplexer.py

@@ -137,10 +137,11 @@ def control_callback(self, msg: PixhawkInstruction) -> None:
             # TODO: look into maybe doing inheritance on a PixhawkInstruction
             msg = apply_function(msg, joystick_map)
         elif (
-            (msg.author == PixhawkInstruction.KEYBOARD_CONTROL
-            and self.state == AutonomousFlight.Request.STOP)
-            or (msg.author == PixhawkInstruction.AUTONOMOUS_CONTROL
-            and self.state == AutonomousFlight.Request.START)
+            msg.author == PixhawkInstruction.KEYBOARD_CONTROL
+            and self.state == AutonomousFlight.Request.STOP
+        ) or (
+            msg.author == PixhawkInstruction.AUTONOMOUS_CONTROL
+            and self.state == AutonomousFlight.Request.START
         ):
             pass
         else:

src/surface/gui/gui/styles/custom_styles.py

@@ -1,44 +1,57 @@
-from PyQt6.QtWidgets import QPushButton, QWidget
-
-
-class IndicatorMixin(QWidget):
-    _PROPERTY_NAME = 'widgetState'
-
-    # A component is running, enabled, or armed
-    _ON = 'on'
+from enum import IntEnum
+from typing import Final
 
-    # A component is disabled, not running, or disarmed, but could be enabled through this widget
-    _OFF = 'off'
-
-    # A component is disabled, not expected to have any effect or perform its function because of
-    # some external factor, either another widget or something external to the gui
-    # For example, a the arm button when the pi is not connected
-    _INACTIVE = 'inactive'
-
-    # Removes any state
-    _NO_STATE = ''
-
-    def set_on(self) -> None:
-        self.setProperty(IndicatorMixin._PROPERTY_NAME, IndicatorMixin._ON)
-        self._update_style()
+from PyQt6.QtWidgets import QPushButton, QWidget
 
-    def set_off(self) -> None:
-        self.setProperty(IndicatorMixin._PROPERTY_NAME, IndicatorMixin._OFF)
-        self._update_style()
 
-    def set_inactive(self) -> None:
-        self.setProperty(IndicatorMixin._PROPERTY_NAME, IndicatorMixin._INACTIVE)
-        self._update_style()
+class WidgetState(IntEnum):
+    ON = 1
+    OFF = 2
+    INACTIVE = 3
+    NONE = 4
 
-    def remove_state(self) -> None:
-        self.setProperty(IndicatorMixin._PROPERTY_NAME, IndicatorMixin._NO_STATE)
-        self._update_style()
 
-    def _update_style(self) -> None:
-        style = self.style()
-        if style is not None:
-            style.polish(self)
+class IndicatorMixin(QWidget):
+    # The stylesheets that correspond to each widget state
+    _STYLESHEETS: Final[dict[WidgetState, str]] = {
+        # Stylesheet for when a component is running, enabled, or armed
+        WidgetState.ON: 'QWidget { background-color: limegreen; }',
+        # Stylesheet for when a component is disabled, not running, or disarmed, but could be
+        # enabled through this widget
+        WidgetState.OFF: 'QWidget { background-color: red; }',
+        # Stylesheet for when a component is disabled, not expected to have any effect or perform
+        # its function because of some external factor, either another widget or something
+        # external to the gui. For example, a the arm button when the pi is not connected
+        WidgetState.INACTIVE: 'QWidget { background-color: silver; }',
+        WidgetState.NONE: '',
+    }
+
+    def set_initial_stylesheet(self, extra_styles: str = '') -> None:
+        """
+        Store the original stylesheet of the widget so changing state does not remove styles.
+
+        Parameters
+        ----------
+        extra_styles : str, optional
+            an additional stylesheet that will be constant for the widget, by default ''
+        """
+        self._original_stylesheet = self.styleSheet() + extra_styles
+        self.current_state = WidgetState.NONE
+
+    def set_state(self, new_state: WidgetState) -> None:
+        """
+        Set a new state for the widget.
+
+        Parameters
+        ----------
+        new_state : WidgetState
+            The new state for the widget
+        """
+        self.current_state = new_state
+        self.setStyleSheet(self._original_stylesheet + self._STYLESHEETS[self.current_state])
 
 
 class ButtonIndicator(QPushButton, IndicatorMixin):
-    pass
+    def __init__(self, text: str = '', extra_styles: str = '') -> None:
+        super().__init__(text)
+        self.set_initial_stylesheet(extra_styles)

src/surface/gui/gui/styles/dark.qss

@@ -3,7 +3,7 @@
 from PyQt6.QtWidgets import QHBoxLayout, QWidget
 
 from gui.gui_node import GUINode
-from gui.styles.custom_styles import ButtonIndicator
+from gui.styles.custom_styles import ButtonIndicator, WidgetState
 from rov_msgs.msg import VehicleState
 
 
@@ -25,8 +25,8 @@ def __init__(self) -> None:
         layout = QHBoxLayout()
         self.setLayout(layout)
 
-        self.arm_button = ButtonIndicator()
-        self.disarm_button = ButtonIndicator()
+        self.arm_button = ButtonIndicator(extra_styles=self.BUTTON_STYLESHEET)
+        self.disarm_button = ButtonIndicator(extra_styles=self.BUTTON_STYLESHEET)
 
         self.arm_button.setText('Arm')
         self.disarm_button.setText('Disarm')
@@ -37,10 +37,8 @@ def __init__(self) -> None:
         self.arm_button.setMinimumHeight(self.BUTTON_HEIGHT)
         self.disarm_button.setMinimumHeight(self.BUTTON_HEIGHT)
 
-        self.arm_button.setStyleSheet(self.BUTTON_STYLESHEET)
-        self.disarm_button.setStyleSheet(self.BUTTON_STYLESHEET)
-        self.arm_button.set_inactive()
-        self.disarm_button.set_inactive()
+        self.arm_button.set_state(WidgetState.INACTIVE)
+        self.disarm_button.set_state(WidgetState.INACTIVE)
 
         self.arm_button.clicked.connect(self.arm_clicked)
         self.disarm_button.clicked.connect(self.disarm_clicked)
@@ -79,11 +77,11 @@ def arm_status(self, res: CommandBool.Response) -> None:
     def vehicle_state_callback(self, msg: VehicleState) -> None:
         if msg.pixhawk_connected:
             if msg.armed:
-                self.arm_button.set_on()
-                self.disarm_button.remove_state()
+                self.arm_button.set_state(WidgetState.ON)
+                self.disarm_button.set_state(WidgetState.NONE)
             else:
-                self.arm_button.remove_state()
-                self.disarm_button.set_off()
+                self.arm_button.set_state(WidgetState.NONE)
+                self.disarm_button.set_state(WidgetState.OFF)
         else:
-            self.arm_button.set_inactive()
-            self.disarm_button.set_inactive()
+            self.arm_button.set_state(WidgetState.INACTIVE)
+            self.disarm_button.set_state(WidgetState.INACTIVE)