Created packets for boat-drone communication (#1301)

* Created packets for boat-drone communication * fixed PR comments * navigator_drone_comm: Add packet listing to docs, export packet members in __init__, make catkin package python-centered --------- Co-authored-by: Cameron Brown <[email protected]>
uf-mil · Oct 29, 2024 · a62159b · a62159b
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diff --git a/NaviGator/hardware_drivers/navigator_drone_comm/CMakeLists.txt b/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}
+)
diff --git a/NaviGator/hardware_drivers/navigator_drone_comm/navigator_drone_comm/__init__.py b/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,
+)
diff --git a/NaviGator/hardware_drivers/navigator_drone_comm/navigator_drone_comm/packets.py b/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
diff --git a/NaviGator/hardware_drivers/navigator_drone_comm/package.xml b/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>
diff --git a/NaviGator/hardware_drivers/navigator_drone_comm/setup.py b/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)
diff --git a/docs/navigator/reference.rst b/docs/navigator/reference.rst
@@ -411,3 +411,65 @@ SetSpinPacket
 
 .. autoclass:: navigator_ball_launcher.SetSpinPacket
     :members:
+
+:mod:`navigator_drone_comm` - Boat-drone communication standard
+---------------------------------------------------------------
+
+.. automodule:: navigator_drone_comm
+    :members:
+
+HeartbeatReceivePacket
+^^^^^^^^^^^^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.HeartbeatReceivePacket
+
+.. autoclass:: navigator_drone_comm.HeartbeatReceivePacket
+    :members:
+
+HeartbeatSetPacket
+^^^^^^^^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.HeartbeatSetPacket
+
+.. autoclass:: navigator_drone_comm.HeartbeatSetPacket
+    :members:
+
+GPSDronePacket
+^^^^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.GPSDronePacket
+
+.. autoclass:: navigator_drone_comm.GPSDronePacket
+    :members:
+
+EStopPacket
+^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.EStopPacket
+
+.. autoclass:: navigator_drone_comm.EStopPacket
+    :members:
+
+StopPacket
+^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.StopPacket
+
+.. autoclass:: navigator_drone_comm.StopPacket
+    :members:
+
+StartPacket
+^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.StartPacket
+
+.. autoclass:: navigator_drone_comm.StartPacket
+    :members:
+
+Color
+^^^^^
+.. attributetable:: navigator_drone_comm.Color
+
+.. autoclass:: navigator_drone_comm.Color
+    :members:
+
+TargetPacket
+^^^^^^^^^^^^
+.. attributetable:: navigator_drone_comm.TargetPacket
+
+.. autoclass:: navigator_drone_comm.TargetPacket
+    :members:
diff --git a/docs/reference/electrical_protocol.rst b/docs/reference/electrical_protocol.rst
@@ -114,6 +114,20 @@ byte length.
 | Launcher   |              |                |                                                                         |
 | Board)     |              |                |                                                                         |
 +------------+--------------+----------------+-------------------------------------------------------------------------+
+| 0x20       | 0x00         | Empty          | :class:`navigator_drone_comm.HeartbeatReceivePacket`                    |
+| (Drone)    +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x01         | Empty          | :class:`navigator_drone_comm.HeartbeatSetPacket`                        |
++            +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x02         | ``fff``        | :class:`navigator_drone_comm.GPSDronePacket`                            |
++            +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x03         | Empty          | :class:`navigator_drone_comm.EStopPacket`                               |
++            +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x04         | ``20s``        | :class:`navigator_drone_comm.StartPacket`                               |
++            +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x05         | Empty          | :class:`navigator_drone_comm.StopPacket`                                |
++            +--------------+----------------+-------------------------------------------------------------------------+
+|            | 0x06         | ``ffc``        | :class:`navigator_drone_comm.TargetPacket`                              |
++------------+--------------+----------------+-------------------------------------------------------------------------+
 
 Exceptions
 ~~~~~~~~~~