Changes to Powerloop for Power Board 4.1

environment_setup/ubuntu20_requirements.txt

@@ -1,4 +1,4 @@
-ansible-lint==25.7.0
+ansible-lint==25.8.1
 pyqtgraph==0.13.7
 pyqt6==6.6.1
 PyQt6-Qt6==6.6.1

environment_setup/ubuntu22_requirements.txt

@@ -1,4 +1,4 @@
-ansible-lint==25.7.0
+ansible-lint==25.8.1
 pyqtgraph==0.13.7
 pyqt6==6.6.1
 PyQt6-Qt6==6.6.1

environment_setup/ubuntu24_requirements.txt

@@ -1,4 +1,4 @@
-ansible-lint==25.7.0
+ansible-lint==25.8.1
 pyqtgraph==0.13.7
 thefuzz==0.19.0
 iterfzf==0.5.0.20.0

src/proto/BUILD

@@ -9,7 +9,6 @@ proto_library(
     srcs = [
         "ball.proto",
         "game_state.proto",
-        "geneva_slot.proto",
         "geometry.proto",
         "ip_notification.proto",
         "parameters.proto",
@@ -50,7 +49,6 @@ py_proto_library(
         "ball.proto",
         "estop_state.proto",
         "game_state.proto",
-        "geneva_slot.proto",
         "geometry.proto",
         "ip_notification.proto",
         "parameters.proto",

src/proto/message_translation/power_frame_msg.hpp

@@ -99,14 +99,13 @@ void inline setPowerMsg(TbotsProto_PowerFrame& frame,
  *
  * @return a nanopb power status msg with provided fields
  */
-TbotsProto_PowerStatus inline createNanoPbPowerStatus(
-    float battery_voltage, float capacitor_voltage, float current_draw,
-    TbotsProto_Geneva_Slot geneva_slot, uint32_t sequence_num, bool breakbeam_tripped)
+TbotsProto_PowerStatus inline createNanoPbPowerStatus(float battery_voltage,
+                                                      float current_draw,
+                                                      uint32_t sequence_num,
+                                                      bool breakbeam_tripped)
 {
     TbotsProto_PowerStatus status = {.battery_voltage   = battery_voltage,
-                                     .capacitor_voltage = capacitor_voltage,
                                      .current_draw      = current_draw,
-                                     .geneva_slot       = geneva_slot,
                                      .sequence_num      = sequence_num,
                                      .breakbeam_tripped = breakbeam_tripped};
     return status;
@@ -198,26 +197,6 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
         default:
             break;
     }
-    switch (power_control.geneva_slot())
-    {
-        case TbotsProto::Geneva::LEFT:
-            nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_LEFT;
-            break;
-        case TbotsProto::Geneva::CENTRE_LEFT:
-            nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_CENTRE_LEFT;
-            break;
-        case TbotsProto::Geneva::CENTRE:
-            nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_CENTRE;
-            break;
-        case TbotsProto::Geneva::CENTRE_RIGHT:
-            nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_CENTRE_RIGHT;
-            break;
-        case TbotsProto::Geneva::RIGHT:
-            nanopb_control.geneva_slot = TbotsProto_Geneva_Slot_RIGHT;
-            break;
-        default:
-            break;
-    }
     return nanopb_control;
 }
 /**
@@ -229,12 +208,12 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
 TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
     ChickerCommandMode chicker_command, uint32_t kick_pulse_width,
     uint32_t chip_pulse_width, AutoChipOrKickMode auto_chip_or_kick,
-    uint32_t autochip_pulse_width, uint32_t autokick_pulse_width,
-    TbotsProto_Geneva_Slot geneva_slot)
+    uint32_t autochip_pulse_width, uint32_t autokick_pulse_width)
 {
     TbotsProto_PowerPulseControl control = TbotsProto_PowerPulseControl_init_default;
     TbotsProto_PowerPulseControl_ChickerControl chicker =
         TbotsProto_PowerPulseControl_ChickerControl_init_default;
+
     switch (chicker_command)
     {
         case ChickerCommandMode::CHIP:
@@ -272,8 +251,7 @@ TbotsProto_PowerPulseControl inline createNanoPbPowerPulseControl(
             break;
     }
 
-    control.chicker     = chicker;
-    control.geneva_slot = geneva_slot;
+    control.chicker = chicker;
 
     return control;
 }

src/proto/power_frame_msg.proto

@@ -3,7 +3,6 @@ syntax = "proto3";
 package TbotsProto;
 
 import "proto/robot_status_msg.proto";
-import "proto/geneva_slot.proto";
 
 // This is used on the robots. Similar proto in primitive.proto but with m_per_s instead
 // of pulse width
@@ -28,8 +27,9 @@ message PowerPulseControl
         }
     }
 
-    ChickerControl chicker  = 1;
-    Geneva.Slot geneva_slot = 2;
+    ChickerControl chicker = 1;
+
+    reserved 2;
 }
 
 message PowerFrame

src/proto/primitive.proto

@@ -4,7 +4,6 @@ package TbotsProto;
 
 import "google/protobuf/descriptor.proto";
 import "proto/geometry.proto";
-import "proto/geneva_slot.proto";
 import "proto/tbots_timestamp_msg.proto";
 
 extend google.protobuf.EnumValueOptions
@@ -95,8 +94,9 @@ message PowerControl
         };
     }
 
-    ChickerControl chicker  = 1;
-    Geneva.Slot geneva_slot = 2;
+    ChickerControl chicker = 1;
+
+    reserved 2;
 }
 
 message Primitive

src/proto/robot_status_msg.proto

@@ -3,7 +3,6 @@ syntax = "proto3";
 package TbotsProto;
 
 import "proto/tbots_timestamp_msg.proto";
-import "proto/geneva_slot.proto";
 import "proto/geometry.proto";
 
 message RobotStatus
@@ -142,15 +141,17 @@ message NetworkStatus
     uint32 primitive_packet_loss_percentage = 3;
 }
 
-/* Battery and capacitor voltages */
+/* Data from power board about battery voltages and current draw */
 message PowerStatus
 {
-    // The voltage on the robot’s battery, in volts.
-    float battery_voltage   = 1;
-    float capacitor_voltage = 2;
-    // voltage on the robot’s capacitor, in volts.
-    float current_draw      = 3;
-    Geneva.Slot geneva_slot = 4;
-    uint32 sequence_num     = 5;
-    bool breakbeam_tripped  = 6;
+    reserved 2, 4;
+
+    // The voltage on the robot’s battery, in volts
+    float battery_voltage = 1;
+
+    // The current draw on the robot's battery, in amps
+    float current_draw = 3;
+
+    uint32 sequence_num    = 5;
+    bool breakbeam_tripped = 6;
 }

src/shared/constants.h

@@ -181,10 +181,7 @@ static const double MAX_BATTERY_VOLTAGE =
     MAX_SINGLE_CELL_VOLTAGE * NUM_CELLS_IN_BATTERY * NUM_BATTERIES_IN_SERIES;
 static const double BATTERY_WARNING_VOLTAGE = MIN_BATTERY_VOLTAGE + 1.0;  // 1V headroom
 
-// Chick Capacitor Constants
-static const double MIN_CAPACITOR_VOLTAGE = 0;
-static const double MAX_CAPACITOR_VOLTAGE = 250.0 + 50.0;  // +50v headroom
-
+// Chicker Constants
 static const unsigned int ROBOT_CHIP_ANGLE_DEGREES = 45;
 static const double CHICKER_TIMEOUT                = 3 * MILLISECONDS_PER_SECOND;
 
@@ -224,7 +221,5 @@ static const char ARDUINO_PRODUCT_ID[ARDUINO_ID_LENGTH] = "0043";
 // Number of times thunderloop should tick per second
 static const unsigned THUNDERLOOP_HZ = 300u;
 
-static const unsigned NUM_GENEVA_ANGLES = 5;
-
 // Jetson Nano Constants
 static const double MAX_JETSON_TEMP_C = 97;

src/shared/uart_framing/uart_framing_test.cpp

@@ -94,9 +94,9 @@ class UartFramingTest : public ::testing::Test
    protected:
     void SetUp() override
     {
-        test_message = createNanoPbPowerPulseControl(
-            ChickerCommandMode::AUTOCHIPORKICK, 1.0, 2.0, AutoChipOrKickMode::AUTOCHIP,
-            3.0, 4.0, TbotsProto_Geneva_Slot_LEFT);
+        test_message =
+            createNanoPbPowerPulseControl(ChickerCommandMode::AUTOCHIPORKICK, 1.0, 2.0,
+                                          AutoChipOrKickMode::AUTOCHIP, 3.0, 4.0);
     }
 
     TbotsProto_PowerPulseControl test_message;

src/software/constants.h

@@ -53,7 +53,6 @@ const std::string ROBOT_KICK_EXP_COEFF_REDIS_KEY    = "/kick_coeff";
 const std::string ROBOT_CHIP_PULSE_WIDTH_REDIS_KEY  = "/chip_pulse_width";
 const std::string ROBOT_CURRENT_DRAW_REDIS_KEY      = "/current_draw";
 const std::string ROBOT_BATTERY_VOLTAGE_REDIS_KEY   = "/battery_voltage";
-const std::string ROBOT_CAPACITOR_VOLTAGE_REDIS_KEY = "/cap_voltage";
 
 const std::string SSL_VISION_ADDRESS          = "224.5.23.2";
 static constexpr unsigned int SSL_VISION_PORT = 10020;

src/software/embedded/ansible/playbooks/deploy_powerboard.yml

@@ -25,7 +25,7 @@
         echo: false
 
     - name: Flashing... (this will take a while on the first run)
-      ansible.builtin.command: "/opt/tbotspython/bin/platformio run --disable-auto-clean -t nobuild -t upload -d ~/powerloop/power"
+      ansible.builtin.command: "/opt/tbotspython/bin/platformio run --disable-auto-clean -t nobuild -t upload -d ~/powerloop/host/bin/software/power"
       register: result
       changed_when: true
 

src/software/embedded/ansible/requirements.in

@@ -1 +1 @@
-ansible==10.5.0
+ansible==11.9.0

src/software/embedded/ansible/requirements_lock.txt

@@ -4,13 +4,13 @@
 #
 #    bazel run //software/embedded/ansible:requirements.update
 #
-ansible==10.5.0 \
-    --hash=sha256:1d10bddba58f1edd0fe0b8e0387e0fafc519535066bb3c919c33b6ea3ec32a0f \
-    --hash=sha256:ba2045031a7d60c203b6e5fe1f8eaddd53ae076f7ada910e636494384135face
+ansible==11.9.0 \
+    --hash=sha256:528ca5a408f11cf1fea00daea7570e68d40e167be38b90c119a7cb45729e4921 \
+    --hash=sha256:79b087ef38105b93e0e092e7013a0f840e154a6a8ce9b5fddd1b47593adc542a
     # via -r software/embedded/ansible/requirements.in
-ansible-core==2.17.5 \
-    --hash=sha256:10f165b475cf2bc8d886e532cadb32c52ee6a533649793101d3166bca9bd3ea3 \
-    --hash=sha256:ae7f51fd13dc9d57c9bcd43ef23f9c255ca8f18f4b5c0011a4f9b724d92c5a8e
+ansible-core==2.18.8 \
+    --hash=sha256:b0766215a96a47ce39933d27e1e996ca2beb54cf1b3907c742d35c913b1f78cd \
+    --hash=sha256:b60bc23b2f11fd0559a79d10ac152b52f58a18ca1b7be0a620dfe87f34ced689
     # via ansible
 cffi==1.16.0 \
     --hash=sha256:0c9ef6ff37e974b73c25eecc13952c55bceed9112be2d9d938ded8e856138bcc \

src/software/embedded/ansible/tasks/setup_systemd.yml

@@ -15,10 +15,10 @@
         dest: ~/thunderbots_binaries/
         copy_links: true
 
-    - name: Compute Thunderloop MD5 Hash
-      ansible.builtin.command: "/home/{{ ansible_user }}/hash_thunderloop_binary.sh"
-      register: result
-      changed_when: true
+#    - name: Compute Thunderloop MD5 Hash
+#      ansible.builtin.command: "/home/{{ ansible_user }}/hash_thunderloop_binary.sh"
+#      register: result
+#      changed_when: true
 
     - name: Sync Thunderloop systemd file
       become_method: ansible.builtin.sudo

src/software/embedded/robot_diagnostics_cli/embedded_data.py

@@ -51,9 +51,6 @@ def get_current_draw(self) -> str:
     def get_battery_volt(self) -> str:
         return str(self.redis.get(ROBOT_BATTERY_VOLTAGE_REDIS_KEY))
 
-    def get_cap_volt(self) -> str:
-        return str(self.redis.get(ROBOT_CAPACITOR_VOLTAGE_REDIS_KEY))
-
     def __clamp(self, val: float, min_val: float, max_val: float) -> float:
         """Simple Math Clamp function (Faster than numpy & fewer dependencies)
         :param val: Value to clamp
@@ -117,7 +114,6 @@ def get_chip_primitive(self, auto: bool, distance: float) -> Primitive:
     def get_zero_power_control_primitive(self) -> Primitive:
         """Creates a PowerControl primitive with zeroed/default base values"""
         power_control_primitive = PowerControl()
-        power_control_primitive.geneva_slot = Slot.CENTRE_RIGHT
         return power_control_primitive
 
     def get_zero_motor_control_primitive(self) -> Primitive:

src/software/embedded/robot_diagnostics_cli/robot_diagnostics_cli.py

@@ -168,11 +168,6 @@ def __generate_redis_table(self) -> Table:
             f"{ROBOT_CURRENT_DRAW_REDIS_KEY}",
             self.embedded_data.get_current_draw(),
         )
-        table.add_row(
-            "Capacitor Voltage",
-            f"{ROBOT_CAPACITOR_VOLTAGE_REDIS_KEY}",
-            self.embedded_data.get_cap_volt(),
-        )
         return table
 
     def stats(self) -> None:

src/software/embedded/services/robot_auto_test.cpp

@@ -85,10 +85,6 @@ int main(int argc, char **argv)
         {
             LOG(WARNING) << "Battery voltage is zero";
         }
-        else if (abs(power_status.capacitor_voltage()) < THRESHOLD)
-        {
-            LOG(WARNING) << "Capacitor voltage is zero";
-        }
         else if (abs(power_status.current_draw()) < THRESHOLD)
         {
             LOG(WARNING) << "Current draw is zero";

src/software/embedded/thunderloop.cpp

@@ -124,10 +124,10 @@ Thunderloop::Thunderloop(const RobotConstants_t& robot_constants, bool enable_lo
     LOG(INFO)
         << "THUNDERLOOP: Power Service initialized! Next initializing Motor Service";
 
-    motor_service_  = std::make_unique<MotorService>(robot_constants, loop_hz);
-    g_motor_service = motor_service_.get();
-    motor_service_->setup();
-    LOG(INFO) << "THUNDERLOOP: Motor Service initialized!";
+    // motor_service_  = std::make_unique<MotorService>(robot_constants, loop_hz);
+    // g_motor_service = motor_service_.get();
+    // motor_service_->setup();
+    // LOG(INFO) << "THUNDERLOOP: Motor Service initialized!";
 
     LOG(INFO) << "THUNDERLOOP: finished initialization with ROBOT ID: " << robot_id_
               << ", CHANNEL ID: " << channel_id_
@@ -289,6 +289,8 @@ void Thunderloop::runLoop()
 
             // Power Service: execute the power control command
             power_status_ = pollPowerService(poll_time);
+            LOG(INFO) << "Thunderloop: Poll PowerService: "
+                      << power_status_.DebugString();
             thunderloop_status_.set_power_service_poll_time_ms(
                 getMilliseconds(poll_time));
 
@@ -328,8 +330,9 @@ void Thunderloop::runLoop()
             }
 
             // Motor Service: execute the motor control command
-            motor_status_ = pollMotorService(poll_time, direct_control_.motor_control(),
-                                             time_since_prev_iter);
+            // motor_status_ = pollMotorService(poll_time,
+            // direct_control_.motor_control(),
+            //                                 time_since_prev_iter);
             thunderloop_status_.set_motor_service_poll_time_ms(
                 getMilliseconds(poll_time));
 
@@ -340,9 +343,9 @@ void Thunderloop::runLoop()
             // Update Robot Status with poll responses
             robot_status_.set_robot_id(robot_id_);
             robot_status_.set_last_handled_primitive_set(last_handled_primitive_set);
-            *(robot_status_.mutable_time_sent())             = time_sent_;
-            *(robot_status_.mutable_thunderloop_status())    = thunderloop_status_;
-            *(robot_status_.mutable_motor_status())          = motor_status_.value();
+            *(robot_status_.mutable_time_sent())          = time_sent_;
+            *(robot_status_.mutable_thunderloop_status()) = thunderloop_status_;
+            //*(robot_status_.mutable_motor_status())          = motor_status_.value();
             *(robot_status_.mutable_power_status())          = power_status_;
             *(robot_status_.mutable_jetson_status())         = jetson_status_;
             *(robot_status_.mutable_network_status())        = network_status_;
@@ -491,10 +494,6 @@ void Thunderloop::updateErrorCodes()
     {
         robot_status_.mutable_error_code()->Add(TbotsProto::ErrorCode::LOW_BATTERY);
     }
-    if (power_status_.capacitor_voltage() >= MAX_CAPACITOR_VOLTAGE)
-    {
-        robot_status_.mutable_error_code()->Add(TbotsProto::ErrorCode::HIGH_CAP);
-    }
     if (jetson_status_.cpu_temperature() >= MAX_JETSON_TEMP_C)
     {
         robot_status_.mutable_error_code()->Add(TbotsProto::ErrorCode::HIGH_BOARD_TEMP);