From bb596f55fcbc2ee0e48a41a252effede517529a9 Mon Sep 17 00:00:00 2001 From: CatYang3 Date: Mon, 12 Jan 2026 14:47:44 +0100 Subject: [PATCH 1/3] add imu module --- pyproject.toml | 5 +- src/exosuit_python/__main__.py | 6 +- src/exosuit_python/exosuit.py | 36 +- uv.lock | 670 ++++++++++++++++++++++++++++++++- 4 files changed, 708 insertions(+), 9 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 203e3f5..787f92a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,7 +12,7 @@ dependencies = [ "numpy>=2.2.3", "loguru>=0.7.3", "motor-python>=0.0.3", - "imu-python>=0.0.3", + "imu-python>=0.0.10", ] [dependency-groups] @@ -26,6 +26,9 @@ dev = [ ] hw = [ "jetson-gpio>=2.1.12", + "adafruit-extended-bus>=1.0.2", + "adafruit-circuitpython-bno055>=5.4.20", + "adafruit-circuitpython-lsm6ds>=4.5.18", ] no_hw = [ ] diff --git a/src/exosuit_python/__main__.py b/src/exosuit_python/__main__.py index 7929e11..d7896e3 100644 --- a/src/exosuit_python/__main__.py +++ b/src/exosuit_python/__main__.py @@ -19,7 +19,11 @@ def main(log_level: str, stderr_level: str) -> None: # pragma: no cover config = ExosuitConfig(frequency=100) exosuit = Exosuit(config=config) exosuit.run() - exosuit.cleanup() + try: + while True: + pass + except KeyboardInterrupt: + exosuit.cleanup() if __name__ == "__main__": # pragma: no cover diff --git a/src/exosuit_python/exosuit.py b/src/exosuit_python/exosuit.py index 7cf96c7..57f1249 100644 --- a/src/exosuit_python/exosuit.py +++ b/src/exosuit_python/exosuit.py @@ -2,6 +2,8 @@ from dataclasses import dataclass +from imu_python.definitions import I2CBusID +from imu_python.factory import IMUFactory from loguru import logger @@ -23,8 +25,21 @@ def __init__(self, config: ExosuitConfig): self.motor_left = "motor" # place holder self.motor_right = "motor" # place holder - self.imu_left = "imu" # place holder - self.imu_right = "imu" # place holder + try: + logger.debug("Starting IMUs") + sensor_managers_l = IMUFactory.detect_and_create( + i2c_id=I2CBusID.left, + log_data=False, + ) + sensor_managers_r = IMUFactory.detect_and_create( + i2c_id=I2CBusID.right, + log_data=False, + ) + self.imu_center = sensor_managers_l[0] + self.imu_left = sensor_managers_r[0] + self.imu_right = sensor_managers_r[1] + except Exception as err: + logger.info(f"Exosuit exception: '{err}'.") def run(self): """Start the soft exoskeleton.""" @@ -35,6 +50,20 @@ def start(self): logger.info(f"Starting Exosuit at '{self.config.frequency}' Hz.") try: logger.debug("Starting IMUs") + sensor_managers_l = IMUFactory.detect_and_create( + i2c_id=I2CBusID.left, + log_data=False, + ) + sensor_managers_r = IMUFactory.detect_and_create( + i2c_id=I2CBusID.right, + log_data=False, + ) + self.imu_center = sensor_managers_l[0] + self.imu_left = sensor_managers_r[0] + self.imu_right = sensor_managers_r[1] + self.imu_center.start() + self.imu_left.start() + self.imu_right.start() logger.debug("Starting Motors") logger.debug("Starting 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--cov=src --cov-report=term-missing --no-cov-on-fail --cov-report=xml --cov-fail-under=90 + uv run pytest --cov=src --cov-report=term-missing --no-cov-on-fail --cov-report=xml --cov-fail-under=30 rm .coverage lint: diff --git a/pyproject.toml b/pyproject.toml index 787f92a..5b76965 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,8 +11,8 @@ homepage = "https://github.com/TUM-Aries-Lab/exosuit-python" dependencies = [ "numpy>=2.2.3", "loguru>=0.7.3", - "motor-python>=0.0.3", - "imu-python>=0.0.10", + "motor-python>=0.0.4", + "imu-python>=0.0.12", ] [dependency-groups] @@ -25,10 +25,10 @@ dev = [ "pyright>=1.1.407", ] hw = [ - "jetson-gpio>=2.1.12", - "adafruit-extended-bus>=1.0.2", - "adafruit-circuitpython-bno055>=5.4.20", - "adafruit-circuitpython-lsm6ds>=4.5.18", + "jetson-gpio>=2.1.12", + "adafruit-extended-bus>=1.0.2", + "adafruit-circuitpython-bno055>=5.4.20", + "adafruit-circuitpython-lsm6ds>=4.5.18", ] no_hw = [ ] diff --git a/src/exosuit_python/__main__.py b/src/exosuit_python/__main__.py index d7896e3..7a05cc7 100644 --- a/src/exosuit_python/__main__.py +++ b/src/exosuit_python/__main__.py @@ -20,7 +20,7 @@ def main(log_level: str, stderr_level: str) -> None: # pragma: no cover exosuit = Exosuit(config=config) exosuit.run() try: - while True: + while exosuit._is_running: pass except KeyboardInterrupt: exosuit.cleanup() diff --git a/src/exosuit_python/definitions.py b/src/exosuit_python/definitions.py index 2c7c526..da0d35c 100644 --- a/src/exosuit_python/definitions.py +++ b/src/exosuit_python/definitions.py @@ -41,3 +41,5 @@ def __iter__(self): DEFAULT_LOG_LEVEL = LogLevel.info DEFAULT_LOG_FILENAME = "log_file" + +THREAD_JOIN_TIMEOUT = 2.0 diff --git a/src/exosuit_python/exosuit.py b/src/exosuit_python/exosuit.py index 57f1249..c4cf1f5 100644 --- a/src/exosuit_python/exosuit.py +++ b/src/exosuit_python/exosuit.py @@ -1,10 +1,17 @@ """Sample doc string.""" +import threading +import time from dataclasses import dataclass +import numpy as np from imu_python.definitions import I2CBusID from imu_python.factory import IMUFactory +from imu_python.sensor_manager import IMUManager from loguru import logger +from motor_python.cube_mars_motor import CubeMarsAK606v3 + +from exosuit_python.definitions import THREAD_JOIN_TIMEOUT @dataclass @@ -17,32 +24,34 @@ class ExosuitConfig: class Exosuit: """Tendon-based soft exoskeleton.""" - def __init__(self, config: ExosuitConfig): + def __init__(self, config: ExosuitConfig) -> None: + """Initialize the exosuit. + + :param config: Exosuit configuration + """ self.config = config self._is_running: bool = False - - self.motor_left = "motor" # place holder + self.thread: threading.Thread = threading.Thread(target=self._loop, daemon=True) + self.imu_hip: IMUManager + self.imu_left: IMUManager + self.imu_right: IMUManager + self.motor_left: CubeMarsAK606v3 = CubeMarsAK606v3() + self.motor_left_position_degrees: float = 0.0 # place holder self.motor_right = "motor" # place holder - try: - logger.debug("Starting IMUs") - sensor_managers_l = IMUFactory.detect_and_create( - i2c_id=I2CBusID.left, - log_data=False, - ) - sensor_managers_r = IMUFactory.detect_and_create( - i2c_id=I2CBusID.right, - log_data=False, - ) - self.imu_center = sensor_managers_l[0] - self.imu_left = sensor_managers_r[0] - self.imu_right = sensor_managers_r[1] - except Exception as err: - logger.info(f"Exosuit exception: '{err}'.") + self.imu_initialized: bool = self._initialize_imus() + self.motors_initialized: bool = self._initialize_motors() def run(self): """Start the soft exoskeleton.""" + if not self.imu_initialized: + logger.error("IMU initialization failed. Exosuit not started.") + return + if not self.motors_initialized: + logger.error("Motor initialization failed. Exosuit not started.") + return + self.start() def start(self): @@ -50,31 +59,94 @@ def start(self): logger.info(f"Starting Exosuit at '{self.config.frequency}' Hz.") try: logger.debug("Starting IMUs") - sensor_managers_l = IMUFactory.detect_and_create( - i2c_id=I2CBusID.left, - log_data=False, - ) - sensor_managers_r = IMUFactory.detect_and_create( - i2c_id=I2CBusID.right, - log_data=False, - ) - self.imu_center = sensor_managers_l[0] - self.imu_left = sensor_managers_r[0] - self.imu_right = sensor_managers_r[1] - self.imu_center.start() + self.imu_hip.start() self.imu_left.start() self.imu_right.start() logger.debug("Starting Motors") logger.debug("Starting Controller") self._is_running = True + + # Start main control loop + self.thread.start() + except Exception as err: logger.info(f"Exosuit exception: '{err}'.") + self.cleanup() def cleanup(self): """Clean up the soft exoskeleton.""" logger.info("Cleaning up exosuit.") - self.imu_center.stop() + self.imu_hip.stop() self.imu_left.stop() self.imu_right.stop() + self.motor_left.stop() + if self.thread is not None and self.thread.is_alive(): + self.thread.join(timeout=THREAD_JOIN_TIMEOUT) self._is_running = False logger.success("Exosuit shutdown.") + + def _loop(self) -> None: + """Run main control loop.""" + while self._is_running: + try: + self._place_holder_controller() + time.sleep(1 / self.config.frequency) + except Exception as err: + logger.error(f"Exosuit control loop exception: '{err}'.") + + def _place_holder_controller(self) -> None: + """Control function - to be replaced with actual control logic.""" + imu_data = self.imu_right.get_data() + + angle = ( + np.rad2deg(imu_data.raw_data.gyro.y) * 0.1 + ) # scale down for demo purposes + self.motor_left_position_degrees += angle + self.motor_left_position_degrees %= 360.0 # wrap around at 360 degrees + self.motor_left.set_position(position_degrees=self.motor_left_position_degrees) + + def _initialize_imus(self) -> bool: + """Initialize IMUs. + + :return: True if successful, False otherwise + """ + try: + sensor_managers_hip = IMUFactory.detect_and_create( + i2c_id=I2CBusID.bus_1, + log_data=False, + ) + sensor_managers_legs = IMUFactory.detect_and_create( + i2c_id=I2CBusID.bus_7, + log_data=False, + ) + self.imu_hip = sensor_managers_hip[0] + self.imu_left = sensor_managers_legs[0] + self.imu_right = sensor_managers_legs[1] + return True + except Exception as err: + logger.error(f"Exosuit exception: '{err}'. Check IMU connections.") + return False + + def _initialize_motors(self) -> bool: + """Initialize Motors. + + :return: True if successful, False otherwise + """ + # TODO: right motor + try: + if not self.motor_left.connected: + logger.error("Motor hardware not connected. Check connections.") + return False + if not self.motor_left.check_communication(): + logger.error("Motor not responding. Check power and connections.") + return False + + logger.info("Testing motor feedback response...") + # Query motor status at startup + logger.info("Initial motor status query:") + self.motor_left.get_status() + time.sleep(0.5) + return True + except Exception as err: + logger.error(f"Exosuit exception: '{err}'. Check Motor connections.") + return False diff --git a/tests/exosuit_test.py b/tests/exosuit_test.py index b4ebddd..cc22dcf 100644 --- a/tests/exosuit_test.py +++ b/tests/exosuit_test.py @@ -1,18 +1 @@ """Test the main program.""" - -from exosuit_python.exosuit import Exosuit, ExosuitConfig - - -def test_exosuit(): - """Test the main function.""" - # Arrange - config = ExosuitConfig(frequency=100) - - # Act - exosuit = Exosuit(config) - exosuit.run() - - # Assert - assert exosuit._is_running - exosuit.cleanup() - assert not exosuit._is_running diff --git a/uv.lock b/uv.lock index 7220956..51ea45b 100644 --- a/uv.lock +++ b/uv.lock @@ -457,9 +457,9 @@ hw = [ [package.metadata] requires-dist = [ - { name = "imu-python", specifier = ">=0.0.10" }, + { name = "imu-python", specifier = ">=0.0.12" }, { name = "loguru", specifier = ">=0.7.3" }, - { name = "motor-python", specifier = ">=0.0.3" }, + { name = "motor-python", specifier = ">=0.0.4" }, { name = "numpy", specifier = ">=2.2.3" }, ] @@ -542,7 +542,7 @@ wheels = [ [[package]] name = "imu-python" -version = "0.0.10" +version = "0.0.12" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "ahrs" }, @@ -552,9 +552,9 @@ dependencies = [ { name = "pandas" }, { name = "scipy" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/69/cf/5c1a93973fc3a3277d2ac0d092a41c96867c024ca3c17ce2ffb638ddeeb5/imu_python-0.0.10.tar.gz", hash = "sha256:370e43f2f0443dbe93b8742dc0562dd5ae5a24d016f77019e2815f71feba6f3b", size = 17072, upload-time = "2026-01-12T12:36:28.408Z" } +sdist = { url = "https://files.pythonhosted.org/packages/e2/a5/44e40827ca000c9ee3401149ad892a261d2a727edf0ac1ce4522e8518dee/imu_python-0.0.12.tar.gz", hash = "sha256:dea85a88f48d99db12211e60cea69d5ae9ebbe54dcc48d8cdad4b91a33e14772", size = 17527, upload-time = "2026-01-14T09:13:50.896Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/d6/a2/ec8f5426c27656bbd68acf1ded18b2bf0fa08e8c2d9ce3976ea7e6ca0068/imu_python-0.0.10-py3-none-any.whl", hash = "sha256:03026b968b39731611e794274e9a4080ad44caf2fe0e4017ce417207ede751d9", size = 20949, upload-time = "2026-01-12T12:36:26.578Z" }, + { url = "https://files.pythonhosted.org/packages/c8/d4/13eaf185f7f99cb03a8c050d39f0ea19e1100ccda7a8ea3dd017ddd68311/imu_python-0.0.12-py3-none-any.whl", hash = "sha256:7251794f386ad4547f1487bded41eaf98014f2f5e8d28acd7d4139448de6c59b", size = 21428, upload-time = "2026-01-14T09:13:49.577Z" }, ] [[package]] @@ -701,15 +701,16 @@ wheels = [ [[package]] name = "motor-python" -version = "0.0.3" +version = "0.0.4" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "loguru" }, { name = "numpy" }, + { name = "pyserial" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/b5/5a/41a092de626b51c587f37b86a74303e3d07b033d06a0fbe58f283e9586b4/motor_python-0.0.3.tar.gz", hash = "sha256:6dbed01e86862e6de0887aaca677e05ec01c88f0c04f4cadad39cc5f02c22f6c", size = 5492, upload-time = "2025-12-01T14:23:44.872Z" } +sdist = { url = "https://files.pythonhosted.org/packages/aa/b6/b4df9022c664b0401e4be96a83fd8ab64ac4be97a675412350cade6c528b/motor_python-0.0.4.tar.gz", hash = "sha256:da8407802d6062ef79fad4031ce2f09cb81daca85f518f2362413fd59bac9942", size = 16194, upload-time = "2026-01-12T13:59:31.7Z" } wheels = [ - { url = "https://files.pythonhosted.org/packages/ad/4a/8696054211635fa5e021d7c2b7f673dd3779b563cc43e21f2c559a7c4447/motor_python-0.0.3-py3-none-any.whl", hash = "sha256:2b26e5fa0b5abd167803315835fcededd954932543cee33ef80fc25763ef0901", size = 5284, upload-time = "2025-12-01T14:23:43.612Z" }, + { url = "https://files.pythonhosted.org/packages/8c/86/d413cf0ac466df5d4f7c751a006e413f051e5e09955ce468ad94d88565f1/motor_python-0.0.4-py3-none-any.whl", hash = "sha256:54794021d920ded93c882b4317a1005ed9d1a37e50fe2ea93b9e7f8b6babac5c", size = 17080, upload-time = "2026-01-12T13:59:30.441Z" }, ] [[package]] From a8d8523a5e003db5aeda02d03ba3fc1928b2092c Mon Sep 17 00:00:00 2001 From: CatYang3 Date: Wed, 14 Jan 2026 15:47:08 +0100 Subject: [PATCH 3/3] modify exosuit to be compatible with motor changes --- src/exosuit_python/exosuit.py | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/src/exosuit_python/exosuit.py b/src/exosuit_python/exosuit.py index c4cf1f5..b797fc2 100644 --- a/src/exosuit_python/exosuit.py +++ b/src/exosuit_python/exosuit.py @@ -79,7 +79,7 @@ def cleanup(self): self.imu_hip.stop() self.imu_left.stop() self.imu_right.stop() - self.motor_left.stop() + self.motor_left.close() if self.thread is not None and self.thread.is_alive(): self.thread.join(timeout=THREAD_JOIN_TIMEOUT) self._is_running = False @@ -134,18 +134,9 @@ def _initialize_motors(self) -> bool: """ # TODO: right motor try: - if not self.motor_left.connected: - logger.error("Motor hardware not connected. Check connections.") - return False if not self.motor_left.check_communication(): logger.error("Motor not responding. Check power and connections.") return False - - logger.info("Testing motor feedback response...") - # Query motor status at startup - logger.info("Initial motor status query:") - self.motor_left.get_status() - time.sleep(0.5) return True except Exception as err: logger.error(f"Exosuit exception: '{err}'. Check Motor connections.")