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Clean rewrite of the driver in Python #13

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Clean rewrite of the driver in Python #13

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@stefanscherzinger stefanscherzinger commented Feb 13, 2025 •
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Features

  • Driver library with SCHUNK protocol-related operations
  • Modbus support
  • TCP/IP support
  • Thin ROS2 wrapper

@stefanscherzinger
Launch the driver under the /schunk namespace
8434bfa
@stefanscherzinger
Begin a complete rework of this driver in Python
ebf522e 
Goals:
- Use everything that we leaned in the C++ version and build a new
  driver in Python
- Use topics and services only (drop actions) to increase compatibility
  with other frameworks
- Use a `lifecycle node` to provide more control over the driver's state
- Support both TCP/IP and Modbus RTU grippers
- Write clean and well tested functionality
@stefanscherzinger
Add boilerplate code for lifecycle behavior
e48ee58
@stefanscherzinger
Restart the daemon inside the test setup fixture
ace17bd 
This should make sure that all test nodes find each other.
@stefanscherzinger
Deactivate the C++ driver sub packages for now
e059d52 
This focusses the CI on the python driver.
@stefanscherzinger stefanscherzinger force-pushed the develop branch 7 times, most recently from 2e1cad8 to d53065f Compare February 13, 2025 14:25
@stefanscherzinger
Fix the CI for the new driver
af5c05a 
Steps:
- Add missing python dependencies
- Drop the `IRON` workflows. That's EOL by now.
- Fix `mypy` warnings for duplicate modules
- Fix the setup fixture. That would require a sourced environment
@stefanscherzinger
Drop ignores for mypy's undefined attributes
007a9c0 
That's no longer needed with the top-level `__init__.py` file.
@stefanscherzinger
Adapt conftest include for test_launch
e688055 
That's needed now with the top-level `__init__.py` file from the last
commit.
@stefanscherzinger
Add a test for primary lifecycle states
ca8e8f1
@stefanscherzinger
Add a test for repeated configure and activate transitions
798ce4b
@stefanscherzinger
Remove the driver's entry point from setup.py
deda88a 
We make `driver.py` executable instead.
Without this, `ros2 launch ..` failed with not finding additional python
dependencies from virtual environments

Not sure if this is the way to go, though..
@stefanscherzinger stefanscherzinger force-pushed the develop branch 5 times, most recently from 94b60d8 to 7eeb6a7 Compare February 17, 2025 18:38
@stefanscherzinger
Connect to the modbus device on configure
c03469e 
Also add boilerplate code for the `acknowledge` and the `fast_stop`
services.
They are only exposed in a configured driver.
@stefanscherzinger
Use a parameter for the serial port
4bd6292
@stefanscherzinger
Add a parameter for the gripper's device id
a7028f3 
Also add two tracing functions what we actually send for debugging.
@stefanscherzinger
Start developing a low-level library
4e90414 
This will provide low-level communication and data handling between
Modbus RTU and Ethernet-based SCHUNK grippers.

This will keep the ROS2 driver lean and simple.
stefanscherzinger and others added 30 commits March 1, 2025 17:04
@stefanscherzinger
Fix reconnection in the driver library
58a24ef 
We now support repeated connects and disconnects.
@stefanscherzinger
Reformulate the test for the driver's startup
8235171 
We now check if the driver's lifecycle interface is up.
That's more robust.
@stefanscherzinger
Implement the driver's configure and cleanup
1644a63 
Also add a test for checking the driver's advertised services.
Use a skip decorator when no gripper (simulator) is available.
@stefanscherzinger
Add get_status_warning to driver library
efdcfc0 
This will be handy for the ROS2 driver's service result messages.
@stefanscherzinger
Add a getter for the gripper's full diagnostics
9a9f4b4 
Also rename the error, warning, and additional codes.
This is more aligned with the documentation.
@stefanscherzinger
Implement acknowledge
9deec24 
We might need a status check later so see if the acknowledge request
actually worked.
@stefanscherzinger
Implement the fast_stop service
b1b9544
@stefanscherzinger
Fix the driver library's threading test
27e8e79 
This was missing from commit 9a9f4b4
@stefanscherzinger
Add a test for concurrent receive calls
0e2dcf4
@stefanscherzinger
Use explicit hex strings for the status codes
9078cc2 
Those are straight-forward to search in SCHUNK's manuals and avoid
confusion with decimal codes.
@stefanscherzinger
Fix endianness in send and receive methods
3bb6e7f 
Pymodbus uses big endian internally for encoding and decoding, so we
need to stick to this.
@stefanscherzinger
Add a method to clear the plc output buffer
c017cc1
@stefanscherzinger
Try fixing acknowledge and fast stop
a4b4636 
Also add a bunch of logging.
Let's see if this works on PSX.
@stefanscherzinger
Fix acknowledge and fast_stop
87084f3 
We now wait for the correct status bits to report success.
This now works with the BKS simulator.
@stefanscherzinger
Merge pull request #16 from SCHUNK-SE-Co-KG/proof-of-concept
39de3f1 
Add a proof-of-concept Modbus RTU ROS2 wrapper
@mathisallweyer
fix modbus server
a626a43
@mathisallweyer
Add dependencies
1b18137
@mathisallweyer
Remove pytest-asyncio
b45dcf1
@mathisallweyer
remove comments and obsolet code
4ee006b
@stefanscherzinger
Merge pull request #18 from SCHUNK-SE-Co-KG/modbus-server
125bad3 
Improve modbus server
@stefanscherzinger
Use a background thread for continuous polling of updates
0c9685e 
Users of the library shouldn't take care of these details.
Future commits will also add more high-level functionality for the
gripper's features.
We needed to adjust some tests and now require the BKS simulator for
most communication-related testing.
@stefanscherzinger
Add a connection argument for update cycle
2855aad
@stefanscherzinger
Make the module update async
409ddfd 
That's a better usage of system resources.
@stefanscherzinger
Automatically invert fast stop bit in clear_plc_output
0f4bb72 
We'll call this in every high-level function.
This leads to less code and is the common practice with SCHUNK modules.
@stefanscherzinger
Add a waiting mechanism for desired states
1cd8cd2 
We'll use this in all high-level functions.
@stefanscherzinger
Clean interface of the wait_for_status method
d51a3da 
That's now in line with the rest of the bit operations.
@stefanscherzinger
Implement an acknowledge coroutine
0546260 
All of these high-level api functions will wrap bit-related operations
and module interaction as good as possible.
This will lead to a thin ROS2 driver wrapper.
@stefanscherzinger
Implement fast_stop
7821ef7
@stefanscherzinger
Use the library's coroutines in the ROS2 driver
3804d57 
This is now as thin as we want it.
Also drop receiving the module's state periodically in the driver.
The library does that now.
@stefanscherzinger
Merge pull request #17 from SCHUNK-SE-Co-KG/highlevel-api
7297f98 
Design highlevel API
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2 participants
@stefanscherzinger @mathisallweyer