finished hardware interface refactor

Author: aaronrhim

.gitignore

@@ -56,6 +56,9 @@ qtcreator-*
 # Glade temp file
 #*.glade*
 
+#other hmi things
+src/rover_hmi_v2
+
 # Catkin custom files
 CATKIN_IGNORE
 install/

src/arm_hardware_interface/CMakeLists.txt

@@ -5,65 +5,34 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(serial REQUIRED)
 find_package(rover_msgs REQUIRED)
-find_package(arm_control REQUIRED)
 find_package(std_msgs REQUIRED)
-# uncomment the following section in order to fill in further dependencies
-# manually. find_package(<dependency> REQUIRED)
-include_directories(include ${arm_control_INCLUDE_DIRS})
-
-add_subdirectory(moteus)
-add_library(${PROJECT_NAME} src/armprotocol.cpp
-                            include/arm_hardware_interface/ArmSerialProtocol.h)
+find_package(sensor_msgs REQUIRED)
 
-# For old and new arm
-add_executable(
-  serial_arm_driver src/ArmSerialInterface.cpp include/ArmSerialInterface.h
-                    include/arm_hardware_interface/ArmSerialProtocol.h)
-add_executable(
-  moteus_arm_driver
-    src/moteus_CAN_interface/MoteusMain.cpp
-    src/moteus_CAN_interface/MoteusNode.cpp
-    src/moteus_CAN_interface/CommandCallback.cpp
-    src/moteus_CAN_interface/MoteusInterface.cpp
-    src/moteus_CAN_interface/MoteusIO.cpp)
+include_directories(include)
 
-target_compile_definitions(moteus_arm_driver PRIVATE BUILDING_NEW_DRIVER=1) #??
+add_subdirectory(moteus)
 
-target_link_libraries(moteus_arm_driver moteus::cpp)
-ament_target_dependencies(serial_arm_driver rclcpp sensor_msgs serial
-                          rover_msgs arm_control)
-ament_target_dependencies(moteus_arm_driver rclcpp sensor_msgs serial
-                          rover_msgs arm_control std_msgs)
+add_executable(moteus_driver src/moteus_driver_node.cpp)
+target_link_libraries(moteus_driver moteus::cpp)
+ament_target_dependencies(moteus_driver rclcpp rover_msgs std_msgs sensor_msgs)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights comment the
-  # line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo) comment the line
-  # when this package is in a git repo and when a copyright and license is added
-  # to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/launch)
 
-# Install headers for other packages (for arm serial protocol)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/launch)
 install(DIRECTORY include/ DESTINATION include/)
 
 install(
-  TARGETS serial_arm_driver moteus_arm_driver ${PROJECT_NAME}
-  DESTINATION lib/${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
+  TARGETS moteus_driver
+  DESTINATION lib/${PROJECT_NAME})
 
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME})
 
-ament_package()
+ament_package()

src/arm_hardware_interface/include/ArmMoteusInterface.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <cmath>  // NAN
+
+// =============================================================================
+// Arm Command Types  (arm_commands.h)
+// =============================================================================
+//
+// This file defines what commands the ROS layer can send to the driver and
+// how those commands are stored internally while they wait to be sent on the
+// CAN bus.
+//
+// Flow:
+//   /arm/command topic → commandCallback() → pending_cmds_[]
+//                                          → (next poll tick) → active_cmds_[]
+//                                          → CAN frame via moteus_protocol.h
+//
+// Why two arrays (pending / active)?
+//   The moteus controller has a watchdog: if it stops receiving valid CAN
+//   frames it will fault (fault code 32 = timeout).  active_cmds_ is
+//   re-sent every poll cycle so the watchdog never fires, even if the ROS
+//   topic goes quiet.  pending_cmds_ just holds the latest user intent
+//   until the next poll tick picks it up.
+// =============================================================================
+
+
+// -----------------------------------------------------------------------------
+// Command codes — carried in rover_msgs::msg::ArmCommand::cmd_type
+// -----------------------------------------------------------------------------
+
+// Stop all motors immediately.
+//   - Motor enters kStopped mode → no torque, no position hold (goes limp).
+//   - Always accepted, even when a fault is active.
+//   - Clears fault-blocking so motion commands can resume afterwards.
+constexpr char CMD_STOP    = 'S';
+
+// Absolute position command.
+//   positions[]  = target output-shaft revolutions for each motor (NaN = skip that motor)
+//   velocities[] = optional velocity feed-forward in rev/s    (NaN = use motion profile)
+//   Blocked if the target motor has an active fault — send CMD_STOP first.
+constexpr char CMD_ABS_POS = 'P';
+
+// Velocity command (jog mode — hold the button to move).
+//   velocities[] = target output-shaft rev/s for each motor (NaN = skip that motor)
+//   A velocity of exactly 0.0 is treated as CMD_STOP for that motor
+//   (motor goes limp, not hold-position), matching the jog-button release behaviour.
+constexpr char CMD_ABS_VEL = 'V';
+
+// Zero (re-home) command — equivalent to "d exact 0" in tview.
+//   Resets the position counter to 0.0 at the current physical position.
+//   The motor does NOT move — only the position reference is updated.
+//   Use this to establish a new zero point after manually positioning the arm.
+//   positions[] used as a flag: any non-NaN entry means "zero that motor".
+constexpr char CMD_ZERO    = 'Z';
+
+
+// -----------------------------------------------------------------------------
+// Internal command state — one slot per motor
+// -----------------------------------------------------------------------------
+
+// Represents one pending or active motion instruction for a single motor.
+// Stored in MoteusDriverNode::pending_cmds_[] and active_cmds_[].
+struct MotorCommand {
+    bool   active     = false;  // true → there is something to send this cycle
+    bool   is_stop    = false;  // true → send MakeStop; overrides everything
+    bool   is_zero    = false;  // true → send "d exact 0" (re-home in place); one-shot
+    double position   = 0.0;   // output-shaft revolutions  (NaN = no position target)
+    double velocity   = 0.0;   // output-shaft rev/s        (NaN = use motion profile)
+    double max_torque = NAN;   // N·m output-shaft cap      (NaN = firmware default)
+};