cleanup gripper agent #487

jlashner · 2023-07-31T18:15:19Z

A few changes to the gripper-agent to address some things mentioned by Brian in the PR comments and to make it more compatible with the PRU monitor sobonelib changes.

This needs testing

… scheme. Agent interfaces with a beaglebone microcontroller to perform functions. File src/gripper_server.py and files located in the pru/ directory will be moved to the beaglebone home directory. During operation two beaglebone processes will be ongoing. One process in the "src" directory "python3 gripper_server.py" and one process in the "pru" directory "sudo ./run.sh". The "src" process sets up a server to receive control commands from the agent. The "pru" process continually sends the agent encoder and limit switch data packets. The compiled code is included along with the uncompiled C code.

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…isor agent. Rearranged structure of agent processes to better utilize the OCS framework. Added two files in the pru directory which were accidentally missing.

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…onelib" repository

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BrianJKoopman

Thanks for the structure clean up effort @jlashner! I mostly have documentation requests.

I feel pretty strongly about the need to have examples of the session.data in the docstrings, but the structure here of passing whatever comes back from the GripperServer in sobonelib straight to session.data makes that perhaps a bit awkward since changes in sobonelib might result in changes in the returned data structure that are documented here.

EDIT: Oh, and please resolve the test failure and pre-commit warnings.

socs/agents/hwp_gripper/agent.py

docs/agents/hwp_gripper.rst

socs/agents/hwp_gripper/agent.py

socs/agents/hwp_supervisor/agent.py

docs/conf.py

socs/agents/hwp_supervisor/agent.py

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socs/agents/hwp_gripper/agent.py

BrianJKoopman

Thanks for addressing all those comments @bbixler500. There's still one missing session.data example (I left the comment unresolved in the last review.) And also there's the mock that's still causing issues build the docs. Lastly, there are still a failing test, it looks related to the ibootbar states.

socs/agents/hwp_gripper/agent.py

…setting

…socs into gripper_agent_cleanup

BrianJKoopman · 2023-09-28T20:31:56Z

Let me know if I can help with the tests. Everything else looks good.

BrianJKoopman

Thanks for fixing the tests!

* Created hwp gripper agent * Updates from comments * Removed unused import * Uncommented input decorators * Protect local src imports when building docs * Fix permissions on Dockerfile * Added and modified files to account for the change in gripper control scheme. Agent interfaces with a beaglebone microcontroller to perform functions. File src/gripper_server.py and files located in the pru/ directory will be moved to the beaglebone home directory. During operation two beaglebone processes will be ongoing. One process in the "src" directory "python3 gripper_server.py" and one process in the "pru" directory "sudo ./run.sh". The "src" process sets up a server to receive control commands from the agent. The "pru" process continually sends the agent encoder and limit switch data packets. The compiled code is included along with the uncompiled C code. * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Changes to make the agent work in the SAT1 setup. Still WIP * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added energency shutdown functionality by interfacing with the supervisor agent. Rearranged structure of agent processes to better utilize the OCS framework. Added two files in the pru directory which were accidentally missing. * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * removed files unrelated to OCS and moved them into the "simonsobs/sobonelib" repository * Changes for socs update compatibility * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * small change * Remove dockerfile * Removed unused imports and variables * Added hwp_gripper.rst file * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * removed more unused imports * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added docstrings * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Moved control commands from agent.py into drivers/gripper_client.py * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added additional comments to explain the purpose of certain variables * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Fix syntax error * Fix Gripper docs page builds * Mock supervisor agent imports for docs builds * Add hwp gripper agent to docs index * Changed shutdown procedure to account for changes in supervisor agent * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added additional limit switch functionality and renamed method `grip_mode` to `grip_is_cold` * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Simple changes in response to PR * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * minor changes and renames * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Changed communication from UDP to TCP and improved logging messages sent to agent * Combined function of GripperBuilder.py and GripperCollector.py into single file gripper_collector.py * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * updated hwp_gripper.rst * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Moved pru packet collection out of the gripper agent and added additional functions to query actuator positions and limit states * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * cleanup gripper agent and make compatible with PRU monitor * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Changes to get gripper agent working on sat1 * Changed name of gripper class and fixed typo in supervisor monitor * Modified shutdown procedure and increased command timeout * Added monitoring of the bias power supply iboot bar * Disabled emergency grip procedure. Removed no data shutdown trigger. Added exception handling to state monitor * fixed typo * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * misc gripper agent updates * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added example session data, and fixed spelling mistakes * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added session.data description and changed structure of iboot outlet setting * trying to fix unit test * still trying to fix unit test * still trying to fix unit test * still trying to fix unit test * Remove other hwp_supervisor mock * still trying to fix unit test * still trying to fix unit test * still trying to fix unit test * still trying to fix unit test --------- Co-authored-by: Charles Hill <[email protected]> Co-authored-by: Brian Koopman <[email protected]> Co-authored-by: Bryce Bixler <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kevin Crowley <[email protected]> Co-authored-by: Kevin Crowley <[email protected]> Co-authored-by: Bryce Bixler <[email protected]>

jlashner requested a review from bbixler500 July 31, 2023 18:15

chill90 and others added 29 commits August 10, 2023 15:06

Created hwp gripper agent

742cd82

Updates from comments

4b10dd4

Removed unused import

bdcb6ec

Uncommented input decorators

961415d

Protect local src imports when building docs

1e4ded5

Fix permissions on Dockerfile

11916d0

[pre-commit.ci] auto fixes from pre-commit.com hooks

30fe2bf

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Changes to make the agent work in the SAT1 setup. Still WIP

65ccaf2

[pre-commit.ci] auto fixes from pre-commit.com hooks

ec0fb70

for more information, see https://pre-commit.ci

Added energency shutdown functionality by interfacing with the superv…

1c0895a

…isor agent. Rearranged structure of agent processes to better utilize the OCS framework. Added two files in the pru directory which were accidentally missing.

[pre-commit.ci] auto fixes from pre-commit.com hooks

a847be0

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removed files unrelated to OCS and moved them into the "simonsobs/sob…

01506c0

…onelib" repository

Changes for socs update compatibility

2bc2688

[pre-commit.ci] auto fixes from pre-commit.com hooks

c8f5342

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small change

69fff92

Remove dockerfile

c05b9f6

Removed unused imports and variables

e64e9e3

Added hwp_gripper.rst file

7ecbd05

[pre-commit.ci] auto fixes from pre-commit.com hooks

08e1133

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removed more unused imports

a65248d

[pre-commit.ci] auto fixes from pre-commit.com hooks

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[pre-commit.ci] auto fixes from pre-commit.com hooks

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Added docstrings

45da875

[pre-commit.ci] auto fixes from pre-commit.com hooks

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Moved control commands from agent.py into drivers/gripper_client.py

de89e75

[pre-commit.ci] auto fixes from pre-commit.com hooks

0f3f351

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Added additional comments to explain the purpose of certain variables

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BrianJKoopman mentioned this pull request Aug 23, 2023

Create hwp gripper agent #158

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BrianJKoopman requested review from BrianJKoopman and removed request for BrianJKoopman August 23, 2023 18:35

jlashner and others added 2 commits August 25, 2023 20:41

misc gripper agent updates

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[pre-commit.ci] auto fixes from pre-commit.com hooks

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BrianJKoopman self-requested a review September 1, 2023 13:53

BrianJKoopman requested changes Sep 18, 2023

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bbixler500 and others added 2 commits September 23, 2023 12:47

Added example session data, and fixed spelling mistakes

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BrianJKoopman reviewed Sep 26, 2023

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BrianJKoopman self-requested a review September 26, 2023 16:31

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bbixler500 and others added 7 commits September 27, 2023 10:59

Added session.data description and changed structure of iboot outlet …

aa980df

…setting

Merge branch 'gripper_agent_cleanup' of https://github.com/simonsobs/…

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…socs into gripper_agent_cleanup

trying to fix unit test

ab11ae4

still trying to fix unit test

8101aba

still trying to fix unit test

79f88e5

still trying to fix unit test

bd1d2fc

Remove other hwp_supervisor mock

d44000d

bbixler500 added 4 commits September 29, 2023 06:03

still trying to fix unit test

663392d

still trying to fix unit test

db6f155

still trying to fix unit test

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still trying to fix unit test

61fb3f2

BrianJKoopman self-requested a review September 29, 2023 21:16

BrianJKoopman approved these changes Sep 29, 2023

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BrianJKoopman merged commit 147149e into main Sep 29, 2023
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BrianJKoopman deleted the gripper_agent_cleanup branch September 29, 2023 21:18

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cleanup gripper agent #487

cleanup gripper agent #487

jlashner commented Jul 31, 2023 •

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cleanup gripper agent #487

cleanup gripper agent #487

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