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385 | class OdometryCalibration:
"""
Odometry Calibration controller.
Orchestrates the calibration process by coordinating:
- SocketIO connection to cogip-server
- FirmwareAdapter for all firmware operations
- User interaction via ConsoleUI
"""
def __init__(self, server_url: str, parameters_group: FirmwareParametersGroup):
"""
Initialize the calibration controller.
Args:
server_url: URL of the cogip-server
parameters_group: Firmware parameters configuration
"""
self.server_url = server_url
self.console = ConsoleUI()
# Event to signal pose reached
self.pose_reached_event = asyncio.Event()
# SocketIO client and namespaces
self.sio = socketio.AsyncClient(logger=False)
self.sio_ns = SioEvents(self)
self.sio.register_namespace(self.sio_ns)
# Managers (they register their own namespaces)
self.param_manager = FirmwareParameterManager(self.sio, parameters_group)
self.telemetry_manager = FirmwareTelemetryManager(self.sio)
# Firmware adapter for motion control
self.firmware = FirmwareAdapter(
self.sio, self.param_manager, self.telemetry_manager, self.pose_reached_event, self.console
)
# Calibration state
self.params: OdometryParameters | None = None
self.initial_params: OdometryParameters | None = None
self.state = CalibrationState()
async def _connect(self) -> None:
"""Connect to cogip-server."""
self.console.show_info(f"Connecting to {self.server_url}...")
await self.sio.connect(
self.server_url,
namespaces=[
self.sio_ns.namespace,
self.param_manager.namespace,
self.telemetry_manager.namespace,
],
)
# Wait for all namespaces to be connected
self.console.show_info("Waiting for connections...")
while not (self.sio_ns.connected and self.param_manager.is_connected and self.telemetry_manager.is_connected):
await asyncio.sleep(0.1)
self.console.show_success("Connected to cogip-server")
# Enable telemetry
await self.telemetry_manager.enable()
await asyncio.sleep(0.2)
async def _disconnect(self) -> None:
"""Disconnect from server."""
if self.sio and self.sio.connected:
await self.sio.disconnect()
def _display_intro(self) -> None:
"""Display introduction panel."""
self.console.show_panel(
"This tool calibrates the robot's odometry parameters through 3 phases:\n"
"1. [header]Wheel Distance[/] - Robot will rotates in place\n"
"2. [header]Right Wheel Radius[/] - Robot will performs square paths\n"
"3. [header]Left Wheel Radius[/] - Robot will travels along a straight line",
title="Odometry Calibration Tool",
)
def _display_parameters(self, params: OdometryParameters, title: str) -> None:
"""Display parameters in a table."""
self.console.show_key_value_table(
[
("Wheels Distance", f"{params.wheels_distance:.3f} mm"),
("Left Wheel Radius", f"{params.left_wheel_radius:.3f} mm"),
("Right Wheel Radius", f"{params.right_wheel_radius:.3f} mm"),
("Left Polarity", f"{params.left_polarity:.0f}"),
("Right Polarity", f"{params.right_polarity:.0f}"),
("Encoder Ticks", f"{params.encoder_ticks:.0f} ticks/rev"),
],
title=title,
)
def _display_result(self, result: CalibrationResult, current: OdometryParameters) -> None:
"""Display calibration result comparison."""
change_wd = result.wheels_distance - current.wheels_distance
change_lr = result.left_wheel_radius - current.left_wheel_radius
change_rr = result.right_wheel_radius - current.right_wheel_radius
table = self.console.create_table(
title="Calibration Result",
columns=[
("Parameter", {"style": "label"}),
("Before", {"style": "muted", "justify": "right"}),
("After", {"style": "value", "justify": "right"}),
("Change", {"style": "warning", "justify": "right"}),
],
)
table.add_row(
"Wheels Distance (mm)",
f"{current.wheels_distance:.3f}",
f"{result.wheels_distance:.3f}",
f"{change_wd:+.3f}",
)
table.add_row(
"Left Wheel Radius (mm)",
f"{current.left_wheel_radius:.3f}",
f"{result.left_wheel_radius:.3f}",
f"{change_lr:+.3f}",
)
table.add_row(
"Right Wheel Radius (mm)",
f"{current.right_wheel_radius:.3f}",
f"{result.right_wheel_radius:.3f}",
f"{change_rr:+.3f}",
)
self.console.print(table)
async def _apply_result(self, result: CalibrationResult) -> None:
"""Apply calibration result to current parameters and save to firmware."""
self.params.wheels_distance = result.wheels_distance
self.params.right_wheel_radius = result.right_wheel_radius
self.params.left_wheel_radius = result.left_wheel_radius
self.console.show_info("Saving parameters to firmware...")
await self.firmware.save_parameters(self.params)
self.console.show_success("Parameters saved to firmware")
async def _execute_motion_sequence(
self,
motion_fn: Callable[[int], Awaitable[bool]],
motion_arg: int,
) -> EncoderDeltas | None:
"""
Execute motion and collect encoder tick deltas.
Args:
motion_fn: Async function to execute the motion (e.g., execute_rotations).
motion_arg: Argument to pass to the motion function (e.g., number of rotations).
Returns:
EncoderDeltas or None if motion failed.
"""
await self.console.wait_for_enter("Position the robot at the starting position")
left_before, right_before = await self.firmware.get_encoder_ticks()
logger.info(f"Encoder ticks before: L={left_before}, R={right_before}")
if not await motion_fn(motion_arg):
return None
await self.console.wait_for_enter("Reposition the robot to its theoretical position")
left_after, right_after = await self.firmware.get_encoder_ticks()
logger.info(f"Encoder ticks after: L={left_after}, R={right_after}")
deltas = EncoderDeltas(left=left_after - left_before, right=right_after - right_before)
logger.info(f"Encoder deltas: L={deltas.left}, R={deltas.right}")
return deltas
async def _handle_phase_result(
self,
result_tuple: tuple[CalibrationResult, CalibrationState] | None,
phase: CalibrationPhaseType,
) -> bool:
"""
Handle calibration result: display, confirm, and apply.
Args:
result_tuple: The computation result or None if computation failed.
phase: The calibration phase type for error messages.
Returns:
True if result was accepted and applied, False otherwise.
"""
if result_tuple is None:
self.console.show_error(phase.error_message)
return False
result, new_state = result_tuple
self._display_result(result, self.params)
accepted = await self.console.confirm("Accept this result?")
self.console.show_info(f"Accepted: {accepted}")
if accepted:
await self._apply_result(result)
self.state = new_state
return True
return False
async def _run_phase_1(self) -> bool:
"""Phase 1: Wheel Distance Calibration (Turn in Place)."""
phase = CalibrationPhaseType.WHEEL_DISTANCE
self.console.show_rule(phase.title)
self.console.show_info(phase.description)
num_rotations = await self.console.get_integer(phase.input_prompt, default=phase.default_value)
deltas = await self._execute_motion_sequence(self.firmware.execute_rotations, num_rotations)
if deltas is None:
return False
result_tuple = compute_wheel_distance_result(
turns=num_rotations,
lticks_delta=deltas.left,
rticks_delta=deltas.right,
encoder_ticks=self.params.encoder_ticks,
left_wheel_radius=self.params.left_wheel_radius,
right_wheel_radius=self.params.right_wheel_radius,
left_polarity=self.params.left_polarity,
right_polarity=self.params.right_polarity,
)
return await self._handle_phase_result(result_tuple, phase)
async def _run_phase_2(self) -> bool:
"""Phase 2: Right Wheel Radius Calibration (Square Trajectories)."""
phase = CalibrationPhaseType.RIGHT_WHEEL_RADIUS
self.console.show_rule(phase.title)
self.console.show_info(phase.description)
num_squares = await self.console.get_integer(phase.input_prompt, default=phase.default_value)
deltas = await self._execute_motion_sequence(self.firmware.execute_squares, num_squares)
if deltas is None:
return False
result_tuple = compute_right_wheel_radius_result(
squares=num_squares,
lticks_delta=deltas.left,
rticks_delta=deltas.right,
state=self.state,
encoder_ticks=self.params.encoder_ticks,
left_wheel_radius=self.params.left_wheel_radius,
left_polarity=self.params.left_polarity,
right_polarity=self.params.right_polarity,
)
return await self._handle_phase_result(result_tuple, phase)
async def _run_phase_3(self) -> bool:
"""Phase 3: Left Wheel Radius Calibration (Straight Line)."""
phase = CalibrationPhaseType.LEFT_WHEEL_RADIUS
self.console.show_rule(phase.title)
self.console.show_info(phase.description)
distance_mm = await self.console.get_integer(phase.input_prompt, default=phase.default_value)
deltas = await self._execute_motion_sequence(self.firmware.execute_straight_line, distance_mm)
if deltas is None:
return False
result_tuple = compute_left_wheel_radius_result(
distance_mm=distance_mm,
lticks_delta=deltas.left,
rticks_delta=deltas.right,
state=self.state,
encoder_ticks=self.params.encoder_ticks,
left_polarity=self.params.left_polarity,
right_polarity=self.params.right_polarity,
)
return await self._handle_phase_result(result_tuple, phase)
async def _run_calibration(self) -> None:
"""Run the calibration phases."""
self._display_intro()
# Load parameters from firmware
self.console.show_info("Loading odometry parameters from firmware...")
self.params = await self.firmware.load_parameters()
self.initial_params = self.params.model_copy()
self.console.show_success("Parameters loaded successfully")
self._display_parameters(self.params, "Initial Parameters")
# Phase 1: Wheel distance
while not await self._run_phase_1():
self.console.show_warning("Retrying Phase 1...")
# Phase 2: Right wheel radius
while not await self._run_phase_2():
self.console.show_warning("Retrying Phase 2...")
# Phase 3: Left wheel radius
while not await self._run_phase_3():
self.console.show_warning("Retrying Phase 3...")
# Final summary
self.console.print()
self._display_parameters(self.params, "Final Calibrated Parameters")
# Save or restore
save_params = await self.console.confirm("Save calibrated parameters to firmware?")
self.console.show_info(f"Save: {save_params}")
if save_params:
self.console.show_info("Saving parameters to firmware...")
await self.firmware.save_parameters(self.params)
self.console.show_success("Parameters saved successfully!")
else:
self.console.show_warning("Restoring initial parameters...")
await self.firmware.save_parameters(self.initial_params)
self.console.show_warning("Initial parameters restored.")
async def run(self) -> None:
"""Main entry point: connect, run calibration, disconnect."""
try:
await self._connect()
await self._run_calibration()
except KeyboardInterrupt:
self.console.show_warning("\nCalibration interrupted by user")
if self.initial_params and self.firmware:
self.console.show_warning("Restoring initial parameters...")
await self.firmware.save_parameters(self.initial_params)
sys.exit(0)
except Exception as e:
self.console.show_error(str(e))
logger.error("Unexpected error during calibration")
if self.initial_params and self.firmware:
try:
await self.firmware.save_parameters(self.initial_params)
except Exception:
pass
sys.exit(1)
finally:
await self._disconnect()
|