Replicate pbcmd

[andermi]

The physical buoy has a cli called pbcmd with several aliases for commands:

available commands aliases for pbcmd (help message):

pbcmd: Multi-call command Power Buoy dispatcher
Supported commands:
*             bender  - Sets the state of the bender module
*      reset_battery  - Reset battery controller (caution - no args)

*               pump  - Spring Controller pump  off or on for a time in minutes <= 127
*              valve  - Spring Controller valve off or on for a time in seconds <= 127
*             tether  - Spring Controller tether power on or off
*       sc_pack_rate  - Set the CANBUS packet rate from the spring controller
*       reset_spring  - Reset Spring Controller (caution - no args)

*           pc_Scale  - Set the scale factor
*         pc_Retract  - Set the retract factor
*        pc_VTargMax  - Set the max target voltage
*   pc_ChargeCurrLim  - Set the maximum battery charge current
*     pc_DrawCurrLim  - Set the maximum battery current draw
*      pc_BattSwitch  - Set the battery switch state
*            pc_Gain  - Set the gain scheduler gain
*      pc_StdDevTarg  - Set the target RPM standard deviation
*        pc_WindCurr  - Set the winding current target
*        pc_BiasCurr  - Set the winding current bias
*        pc_PackRate  - Set the CANBUS packet rate

*          tf_SetPos  - Open/close the doors in the heave-cone
*    tf_SetActualPos  - Open/close the doors in the heave-cone
*         tf_SetMode  - Set controller mode
*   tf_SetChargeMode  - Set Battery Charge mode
* tf_SetStateMachine  - Set Battery Charge mode
*      tf_SetCurrLim  - Set controller current limit
*        tf_WatchDog  - Toggle controller watchdog (caution - no args)
*           tf_Reset  - Reset Controller (caution - no args)


For help on a command use the command name, i.e., "bender"

Except the reset commands which take no arguments.

DO NOT enter reset_power and expect to get help. The command will execute!

For the Sim, only a few of these are implemented:
aliases TODO:

• pump
• valve
• sc_pack_rate
• pc_Scale
• pc_Retract
• pc_WindCurr
• pc_BiasCurr
• pc_PackRate

Usage:

As part of the build, the post-install step will run the alias installer and install aliases to ~/.local/bin

To test:

Build and source the workspace and run the sim, then inspect ~/.local/bin to see symlinks installed.

In a new terminal, source the workspace and try running commands:

$ pbcmd

should print the available commands like above.

try other commands like:

$ valve -h
usage: valve [-h] duration_sec

positional arguments:
  duration_sec  Executing valve to Spring Controller valve off or on for a time in seconds <= 12...

optional arguments:
  -h, --help    show this help message and exit

should print valve usage

missing args should print something like

$ valve
usage: valve [-h] duration_sec
valve: error: the following arguments are required: duration_sec

and using the command properly:

$ valve 10
Executing valve to Spring Controller valve: 10 second(s)
[INFO] [1660956604.401288018] [pbcmd]: /pc_pack_rate_command not available
[INFO] [1660956604.652030356] [pbcmd]: /sc_pack_rate_command not available
[INFO] [1660956604.654093281] [pbcmd]: Command Successful
done!

[INFO] [1660956615.447699560] [spring_controller]: [ROS 2 Spring Control] ValveCommand Received (10s)
[INFO] [1660956623.602440647] [spring_controller]: Valve open (10s)

should run the valve in the sim for 10 seconds and:

$ valve off
Executing valve to Spring Controller valve: off
[INFO] [1660957253.049844816] [pbcmd]: /pc_pack_rate_command not available
[INFO] [1660957253.300562933] [pbcmd]: /sc_pack_rate_command not available
[INFO] [1660957253.303867220] [pbcmd]: Command Successful
done!

[INFO] [1660957253.301667417] [spring_controller]: [ROS 2 Spring Control] ValveCommand Received (0s)
[INFO] [1660957510.409397573] [spring_controller]: Valve closed after (2.53s)

should turn it off

commands that aren't implemented should let the user know:

$ tether
tether not currently implemented

[andermi]

Also todo (in buoy_sim osrf/mbari_wec_gz#85):

• add test for command busy (trying to run pump and valve at the same time)

[quarkytale]

Probably better to automate this?

for directory in $ALIAS_INSTALL_DIR; do
    ln -sf $SCRIPT_DIR/pbcmd $ALIAS_INSTALL_DIR/$directory
done

[quarkytale]

Any reason why this shouldn't be installed with the package itself instead of running the script manually?

[andermi]

I wasn't sure if everybody wanted to install it. And I wasn't sure about having a sudo blocking the build

[quarkytale]

We could have a flag to integrate this. Hmm, I'm not sure about the sudo too.
@mjcarroll thoughts?

[andermi]

~/.local/bin doesn't exist by default, but if you create the directory, it will be added to $PATH automatically in Ubuntu. So, the install script could create the directory, and then create the symlinks locally so it wouldn't require sudo

[andermi]

see the latest commit... I believe I did it!

[quarkytale]

Awesome! Tested, works out of the box. But system doesn't recognize pbcmd directly, had to use .local/bin/pbcmd

[andermi]

Try in a new terminal.
$ echo $PATH
Should also show ~/.local/bin

[andermi]

Also, source ~/.profile should update $PATH to include ~/.local/bin after the folder is created buy the install script

[quarkytale]

Cool tool, tried them all, works for me! Good to go after comments on installation.