Implement switches

Makefile

@@ -6,8 +6,8 @@ init:  # ENV SETUP
 	@echo "Environment initialized with uv."
 
 test:
-	uv run pytest --cov=src --cov-report=term-missing --no-cov-on-fail --cov-report=xml --cov-fail-under=30
-	rm .coverage
+	uv run pytest --cov=src --cov-report=term-missing --no-cov-on-fail --cov-report=xml --cov-fail-under=80
+	rm -f .coverage
 
 lint:
 	uv run ruff format src/ tests/

pyproject.toml

@@ -12,8 +12,8 @@ dependencies = [
   "numpy>=2.2.3",
   "loguru>=0.7.3",
   "motor-python>=0.0.4",
-  "imu-python>=0.0.12",
-  "hip-controller>=0.0.4",
+  "imu-python>=0.1.2",
+  "hip-controller>=0.1.1",
 ]
 
 [dependency-groups]

src/exosuit_python/__main__.py

@@ -1,13 +1,28 @@
 """Sample doc string."""
 
 import argparse
+import time
 
-from exosuit_python.definitions import DEFAULT_LOG_LEVEL, LogLevel
+from loguru import logger
+
+from exosuit_python.definitions import (
+    DEFAULT_LOG_LEVEL,
+    MODE_SWITCH_1,
+    MODE_SWITCH_2,
+    MODE_SWITCH_LOGIC,
+    OPERATION_SWITCH,
+    TENSION_SWITCH,
+    ExosuitStates,
+    LogLevel,
+)
 from exosuit_python.exosuit import Exosuit, ExosuitConfig
+from exosuit_python.gpio import MockGPIO
 from exosuit_python.utils import setup_logger
 
 
-def main(log_level: str, stderr_level: str) -> None:  # pragma: no cover
+def main(
+    log_level: str, stderr_level: str, mock_devices: bool, test_gpio: bool
+) -> None:  # pragma: no cover
     """Run the main pipeline.
 
     :param log_level: The log level to use.
@@ -16,16 +31,52 @@ def main(log_level: str, stderr_level: str) -> None:  # pragma: no cover
     """
     setup_logger(log_level=log_level, stderr_level=stderr_level)
 
-    config = ExosuitConfig(frequency=100)
+    config = ExosuitConfig(
+        frequency=100, mock_devices=mock_devices, test_gpio=test_gpio
+    )
     exosuit = Exosuit(config=config)
-    exosuit.turn_on_exosuit_switch()
     try:
-        while exosuit._is_running:
-            pass
+        while True:
+            test_pipeline(exosuit)
     except KeyboardInterrupt:
         exosuit._cleanup()
 
 
+def test_pipeline(exosuit: Exosuit) -> None:
+    """Run the test pipeline."""
+    if isinstance(exosuit.gpio, MockGPIO):
+        # wait for initialization
+        time.sleep(2)
+        # activate pre-tensioning
+        logger.info("Simulating tensioning switch ON...")
+        exosuit.gpio.simulate_switch(TENSION_SWITCH, exosuit.on_signal)
+        time.sleep(1)
+        # deactivate pre-tensioning
+        logger.info("Simulating tensioning switch OFF...")
+        exosuit.gpio.simulate_switch(TENSION_SWITCH, exosuit.off_signal)
+        time.sleep(3)
+        # start operation
+        logger.info("Simulating operation switch ON...")
+        exosuit.gpio.simulate_switch(OPERATION_SWITCH, exosuit.on_signal)
+        time.sleep(2)
+        for mode, state in MODE_SWITCH_LOGIC.items():
+            logger.info(f"Simulating mode {mode.name}...")
+            switch_1 = getattr(exosuit.gpio, state.switch_1)
+            switch_2 = getattr(exosuit.gpio, state.switch_2)
+            exosuit.gpio.simulate_switch(MODE_SWITCH_1, switch_1)
+            exosuit.gpio.simulate_switch(MODE_SWITCH_2, switch_2)
+            time.sleep(2)
+        # stop operation
+        logger.info("Simulating operation switch OFF...")
+        exosuit.gpio.simulate_switch(OPERATION_SWITCH, exosuit.off_signal)
+        time.sleep(4)
+    else:
+        if exosuit._status not in [ExosuitStates.INITIALIZING, ExosuitStates.STOPPED]:
+            operation_state = exosuit.gpio.input(OPERATION_SWITCH)
+            logger.info(operation_state)
+        time.sleep(0.2)
+
+
 if __name__ == "__main__":  # pragma: no cover
     parser = argparse.ArgumentParser("Run the pipeline.")
     parser.add_argument(
@@ -44,6 +95,21 @@ def main(log_level: str, stderr_level: str) -> None:  # pragma: no cover
         required=False,
         type=str,
     )
+    parser.add_argument(
+        "--mock",
+        help="Use mock devices.",
+        action="store_true",
+    )
+    parser.add_argument(
+        "--gpio",
+        help="Test GPIO on the Jetson.",
+        action="store_true",
+    )
     args = parser.parse_args()
 
-    main(log_level=args.log_level, stderr_level=args.stderr_level)
+    main(
+        log_level=args.log_level,
+        stderr_level=args.stderr_level,
+        mock_devices=args.mock,
+        test_gpio=args.gpio,
+    )

src/exosuit_python/definitions.py

@@ -1,9 +1,19 @@
 """Common definitions for this module."""
 
-from dataclasses import asdict, dataclass
+from __future__ import annotations
+
+from dataclasses import asdict, dataclass, field
+from enum import IntEnum, StrEnum
 from pathlib import Path
 
 import numpy as np
+from hip_controller.control.motor_reference_control.amplitude_modulation import (
+    AscendStairsMode,
+    DescendStairsMode,
+    LevelGroundMode,
+    ModeStrategy,
+)
+from imu_python.definitions import I2CBusID, IMUDescriptor
 
 np.set_printoptions(precision=3, floatmode="fixed", suppress=True)
 
@@ -42,14 +52,102 @@ def __iter__(self):
 DEFAULT_LOG_LEVEL = LogLevel.info
 DEFAULT_LOG_FILENAME = "log_file"
 
+DEFAULT_EXOSUIT_FREQUENCY_HZ = 100
+
 THREAD_JOIN_TIMEOUT = 2.0
 
+SWITCH_EVENT_HANDLER_INTERVAL = 0.5
+EXOSUIT_STANDBY_INTERVAL = 0.1
+
 
 @dataclass(frozen=True)
-class ConfigTension:
-    """Configurations for tensioning."""
+class TensionConfig:
+    """Configurations for tensioning."""  # TODO: unit
 
     tensioning_velocity: int = 3
     motor_torque_limit: float = 0.85  # tensioned when motor_torque >= 0.85
-
     tensioning_timeout: float = 1.0  # in sec
+    torque_check_interval: float = 0.1  # in sec
+
+
+@dataclass(frozen=True)
+class IMUConfig:
+    """IMU configuration dataclass containing busID, IMU name and index for each leg."""
+
+    left_leg_bus: int = I2CBusID.bus_7
+    left_leg_descr: IMUDescriptor = field(
+        default_factory=lambda: IMUDescriptor(name="MOCK", index=0)
+    )
+    right_leg_bus: int = I2CBusID.bus_7
+    right_leg_descr: IMUDescriptor = field(
+        default_factory=lambda: IMUDescriptor(name="MOCK", index=1)
+    )  # TODO: set actual IMUs
+
+
+# Switch pins
+OPERATION_SWITCH = 29
+TENSION_SWITCH = 31
+MODE_SWITCH_1 = 32
+MODE_SWITCH_2 = 33
+
+GPIO_SWITCH_BOUNCETIME = 50  # TODO: test this threshold
+
+
+# switch signals - used as 'getattr' keys for GPIO
+class SwitchStates(StrEnum):
+    """Enum to match switch states with electrical signals."""
+
+    ON = "HIGH"
+    OFF = "LOW"
+
+
+BOTH = "BOTH"
+
+
+class ExosuitStates(IntEnum):
+    """Enum for exosuit states."""
+
+    INITIALIZING = 0
+    STANDBY = 1
+    PRETENSIONING = 2
+    RUNNING = 3
+    STOPPED = 4
+
+
+class InclinationModes(IntEnum):
+    """Enum for operation modes for different inclinations."""
+
+    LEVEL_GROUND = 0
+    UPHILL = 1
+    DOWNHILL = 2
+
+
+@dataclass
+class ModeSwitchStates:
+    """Data class representing the states of the mode switch."""
+
+    switch_1: SwitchStates
+    switch_2: SwitchStates
+
+
+controller_modes: dict[InclinationModes, ModeStrategy] = {
+    InclinationModes.UPHILL: AscendStairsMode(),
+    InclinationModes.DOWNHILL: DescendStairsMode(),
+    InclinationModes.LEVEL_GROUND: LevelGroundMode(),
+}
+
+# mode switch wiring:
+MODE_SWITCH_LOGIC: dict[InclinationModes, ModeSwitchStates] = {
+    InclinationModes.UPHILL: ModeSwitchStates(
+        switch_1=SwitchStates.ON,
+        switch_2=SwitchStates.OFF,
+    ),
+    InclinationModes.DOWNHILL: ModeSwitchStates(
+        switch_1=SwitchStates.OFF,
+        switch_2=SwitchStates.ON,
+    ),
+    InclinationModes.LEVEL_GROUND: ModeSwitchStates(
+        switch_1=SwitchStates.OFF,
+        switch_2=SwitchStates.OFF,
+    ),
+}