protocol.yaml

version: "1.0"

data_types:
  BOOLEAN:
    num_bits: 1
    id: 0x05
  UINT_2_BOOL:
    num_bits: 2
    id: 0x01
  UINT_8:
    num_bits: 8
    id: 0x02
  UINT_8_JOYSTICK:
    num_bits: 8
    id: 0x04
  UINT_16:
    num_bits: 16
    id: 0x03
  UINT_32:
    num_bits: 32
    id: 0x06
  INT_32:
    num_bits: 32
    id: 0x07
  INT_16:
    num_bits: 16
    id: 0x08
  FLOAT_32:
    num_bits: 32
    id: 0x09

messages:
  heartbeat:
    id: 0x01
    direction: to_rover
    signals:
      timestamp:
        type: UINT_16
        default: 0

  xbox:
    id: 0x02
    direction: to_rover
    signals:
      AXIS_LY:
        type: UINT_8_JOYSTICK
        default: 100
      AXIS_RY:
        type: UINT_8_JOYSTICK
        default: 100
      A:
        type: UINT_2_BOOL
        default: false
      B:
        type: UINT_2_BOOL
        default: false
      X:
        type: UINT_2_BOOL
        default: false
      Y:
        type: UINT_2_BOOL
        default: false
      LEFT_BUMPER:
        type: UINT_2_BOOL
        default: false
      RIGHT_BUMPER:
        type: UINT_2_BOOL
        default: false
      AXIS_LT:
        type: UINT_2_BOOL
        default: false
      AXIS_RT:
        type: UINT_2_BOOL
        default: false

  n64:
    id: 0x03
    direction: to_rover
    signals:
      A: { type: UINT_2_BOOL, default: false }
      B: { type: UINT_2_BOOL, default: false }
      L: { type: UINT_2_BOOL, default: false }
      R: { type: UINT_2_BOOL, default: false }
      C_UP: { type: UINT_2_BOOL, default: false }
      C_DOWN: { type: UINT_2_BOOL, default: false }
      C_LEFT: { type: UINT_2_BOOL, default: false }
      C_RIGHT: { type: UINT_2_BOOL, default: false }
      DP_UP: { type: UINT_2_BOOL, default: false }
      DP_DOWN: { type: UINT_2_BOOL, default: false }
      DP_LEFT: { type: UINT_2_BOOL, default: false }
      DP_RIGHT: { type: UINT_2_BOOL, default: false }
      Z: { type: UINT_2_BOOL, default: false }

  quit:
    id: 0x04
    direction: to_rover
    signals:
      QUIT:
        type: BOOLEAN
        default: true

  auto_state:
    id: 0x05
    direction: to_rover
    signals:
      auto_state:
        type: UINT_8
        default: 0

  spacemouse:
    id: 0x06
    direction: to_rover
    signals:
      x: { type: INT_16, default: 0 }
      y: { type: INT_16, default: 0 }
      z: { type: INT_16, default: 0 }
      rx: { type: INT_16, default: 0 }
      ry: { type: INT_16, default: 0 }
      rz: { type: INT_16, default: 0 }
      buttons: { type: UINT_16, default: 0 }

  keyboard:
    id: 0x07
    direction: to_rover
    signals:
      enable_science: { type: UINT_8, default: 0 }
      move_auger_up: { type: UINT_8, default: 0 }
      move_auger_down: { type: UINT_8, default: 0 }
      auger_home: { type: UINT_8, default: 0 }
      enable_drill: { type: UINT_8, default: 0 }
      slide_next: { type: UINT_8, default: 0 }
      pump_1: { type: UINT_8, default: 0 }
      pump_2: { type: UINT_8, default: 0 }
      pump_3: { type: UINT_8, default: 0 }
      pump_4: { type: UINT_8, default: 0 }
      spec_slide_next: { type: UINT_8, default: 0 }
      fluoro_slide_next: { type: UINT_8, default: 0 }
      fluoro_micro_pump: { type: UINT_8, default: 0 }
      enable_primer: { type: UINT_8, default: 0 }
      enable_vibration: { type: UINT_8, default: 0 }

  life_detection:
    id: 0xF0
    direction: from_rover
    signals:
      color_sensor:
        type: UINT_8
        default: 0
      limit_switch_1:
        type: UINT_2_BOOL
        default: false
      limit_switch_2:
        type: UINT_2_BOOL
        default: false
      auger_depth:
        type: UINT_8
        default: 0
      pump_output_level:
        type: UINT_8
        default: 0
      slide_position:
        type: UINT_8
        default: 0
      selected_tube:
        type: UINT_8
        default: 0
      spec_slide_position:
        type: UINT_8
        default: 0
      spec_color_sensor:
        type: UINT_8
        default: 0

  arm_encoders:
    id: 0xF1
    direction: from_rover
    signals:
      arm_base_position:
        type: INT_16
        default: 0
      shoulder_position:
        type: INT_16
        default: 0
      elbow_position:
        type: INT_16
        default: 0
      wrist_bend_position:
        type: INT_16
        default: 0
      wrist_twist_position:
        type: INT_16
        default: 0
      gripper_position:
        type: INT_16
        default: 0
      arm_solenoid_toggle:
        type: BOOLEAN
        default: 0
      arm_operation_mode:
        type: UINT_8
        default: 0

  drive_imu:
    id: 0xF2
    direction: from_rover
    signals:
      drive_speed_left:
        type: UINT_8_JOYSTICK
        default: 0.0
      drive_speed_right:
        type: UINT_8_JOYSTICK
        default: 0.0
      yaw:
        type: UINT_16
        default: 0
      pitch:
        type: UINT_16
        default: 0
      roll:
        type: UINT_16
        default: 0

  rover_estop:
    id: 0xF3
    direction: from_rover
    signals:
      rover_estop:
        type: BOOLEAN
        default: false

  subsystem_enabled:
    id: 0xF4
    direction: from_rover
    signals:
      arm_enabled:
        type: BOOLEAN
        default: false
      auto_enabled:
        type: BOOLEAN
        default: false
      life_enabled:
        type: BOOLEAN
        default: false

  control_mode:
    id: 0xF5
    direction: from_rover
    signals:
      control_mode:
        type: UINT_8
        default: 0

can_messages:
  estop:
    id: 0
    protocol: CAN
    signals:
      e_stop:
        type: UINT_8
        default: 0

  ros_heartbeat:
    id: 1
    protocol: CAN
    signals:
      source:
        type: UINT_8
        default: 0
      timestamp:
        type: UINT_32
        default: 0
      enabled:
        type: UINT_8
        default: 0

  teensy_heartbeat:
    id: 2
    protocol: CAN
    signals:
      source:
        type: UINT_8
        default: 0
      timestamp:
        type: UINT_32
        default: 0
      enabled:
        type: UINT_8
        default: 0

  enable_chassis:
    id: 10
    protocol: CAN
    signals:
      enable:
        type: UINT_8
        default: 0

  drive_power:
    id: 13
    protocol: CAN
    signals:
      left:
        type: FLOAT_32
        default: 0
      right:
        type: FLOAT_32
        default: 0

  enable_arm:
    id: 20
    protocol: CAN
    signals:
      enable:
        type: UINT_8
        default: 0

  move_base:
    id: 21
    protocol: CAN
    signals:
      position:
        type: FLOAT_32
        default: 0

  move_shoulder:
    id: 22
    protocol: CAN
    signals:
      position:
        type: FLOAT_32
        default: 0

  move_elbow:
    id: 23
    protocol: CAN
    signals:
      position:
        type: FLOAT_32
        default: 0

  bend_wrist:
    id: 24
    protocol: CAN
    signals:
      position:
        type: FLOAT_32
        default: 0

  twist_wrist:
    id: 25
    protocol: CAN
    signals:
      position:
        type: FLOAT_32
        default: 0

  move_gripper:
    id: 26
    protocol: CAN
    signals:
      state:
        type: UINT_8
        default: 0
      position:
        type: FLOAT_32
        default: 0

  move_solenoid:
    id: 27
    protocol: CAN
    signals:
      enabled:
        type: UINT_8
        default: 1

  read_base:
    id: 30
    protocol: CAN
    signals:
      position:
        type: INT_16
        default: 0

  read_shoulder:
    id: 31
    protocol: CAN
    signals:
      position:
        type: INT_16
        default: 0

  read_elbow:
    id: 32
    protocol: CAN
    signals:
      position:
        type: INT_16
        default: 0

  read_wrist_bend:
    id: 33
    protocol: CAN
    signals:
      position:
        type: INT_16
        default: 0

  read_wrist_twist:
    id: 34
    protocol: CAN
    signals:
      position:
        type: INT_16
        default: 0

  read_gripper:
    id: 35
    protocol: CAN
    signals:
      state:
        type: UINT_8
        default: 0
      position:
        type: INT_16
        default: 0

  enable_science:
    id: 40
    protocol: CAN
    signals:
      enabled:
        type: UINT_8
        default: 0

  move_auger:
    id: 41
    protocol: CAN
    signals:
      position:
        type: INT_32
        default: 0
      home:
        type: UINT_8
        default: 0

  enable_drill:
    id: 42
    protocol: CAN
    signals:
      enable:
        type: UINT_8
        default: 0

  move_slide:
    id: 43
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0

  enable_pump:
    id: 44
    protocol: CAN
    signals:
      id:
        type: UINT_8
        default: 0
      enable:
        type: UINT_8
        default: 0

  move_spectrometer_slide:
    id: 48
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0
      home:
        type: UINT_8
        default: 0

  move_florometer_slide:
    id: 49
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0
      home:
        type: UINT_8
        default: 0

  enable_florometer_micro_pump:
    id: 50
    protocol: CAN
    signals:
      enable:
        type: UINT_8
        default: 0

  enable_primer:
    id: 51
    protocol: CAN
    signals:
      enabled:
        type: UINT_8
        default: 0

  enable_vibration:
    id: 52
    protocol: CAN
    signals:
      enabled:
        type: UINT_8
        default: 0

  read_auger:
    id: 60
    protocol: CAN
    signals:
      position:
        type: UINT_32
        default: 0
      limit_switch:
        type: UINT_8
        default: 0

  read_slide:
    id: 61
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0
      position:
        type: INT_32
        default: 0
      limit_switch:
        type: UINT_8
        default: 0

  read_drill:
    id: 62
    protocol: CAN
    signals:
      enabled:
        type: UINT_8
        default: 0

  read_pumps:
    id: 63
    protocol: CAN
    signals:
      pump1_enabled:
        type: UINT_8
        default: 0
      pump2_enabled:
        type: UINT_8
        default: 0
      pump3_enabled:
        type: UINT_8
        default: 0
      pump4_enabled:
        type: UINT_8
        default: 0

  read_spectrometer_slide:
    id: 64
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0
      position:
        type: INT_32
        default: 0
      limit_switch:
        type: UINT_8
        default: 0

  read_florometer_slide:
    id: 65
    protocol: CAN
    signals:
      stage:
        type: UINT_8
        default: 0
      position:
        type: INT_32
        default: 0
      limit_switch:
        type: UINT_8
        default: 0

  read_spectrometer_light:
    id: 66
    protocol: CAN
    signals:
      wavelength:
        type: FLOAT_32
        default: 0

  read_florometer_color_sensor:
    id: 67
    protocol: CAN
    signals:
      red:
        type: INT_16
        default: 0
      green:
        type: INT_16
        default: 0
      blue:
        type: INT_16
        default: 0
      violet:
        type: INT_16
        default: 0

open_can_messages:
  send_base:
    id: 1537
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 0
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

  send_shoulder:
    id: 1538
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 0
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

  send_elbow:
    id: 1539
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 0
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

  read_base:
    id: 1409
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 67
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

  read_shoulder:
    id: 1410
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 67
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

  read_elbow:
    id: 1411
    protocol: OPEN_CAN
    signals:
      message_type:
        type: UINT_8
        default: 67
      op_code_lsb:
        type: UINT_8
        default: 0
      op_code_msb:
        type: UINT_8
        default: 96
      empty:
        type: UINT_8
        default: 0
      data_4:
        type: UINT_8
        default: 0
      data_3:
        type: UINT_8
        default: 0
      data_2:
        type: UINT_8
        default: 0
      data_1:
        type: UINT_8
        default: 0

controllers:
  xbox:
    name: xbox
    num_axes: 6
    num_used_axes: 2
    num_trigger: 2
    num_buttons: 8
    button_index_offset: 6
    joystick:
      min_value: 0
      neutral_int: 100
      neutral_float: 0.0
      max_value: 200
      axis_lx: 0
      axis_ly: 1
      axis_rx: 3
      axis_ry: 2
    trigger:
      axis_lt: 4
      axis_rt: 5
    button:
      "on": 2
      "off": 1
      a: 0
      b: 1
      x: 2
      y: 3
      left_bumper: 4
      right_bumper: 5
      select: 6
      start: 7
      home: 8
      left_stick: 9
      right_stick: 10
    joypad:
      up: [0, 1]
      down: [0, -1]
      left: [-1, 0]
      right: [1, 0]

  n64:
    name: n64
    num_axes: 2
    num_used_axes: 0
    num_trigger: 0
    num_buttons: 14
    joystick:
      min_value: 0
      neutral_int: 100
      max_value: 200
      axis_x: 0
      axis_y: 1
    button:
      "on": 2
      "off": 1
      a: 1
      b: 2
      c_up: 9
      c_down: 0
      c_left: 3
      c_right: 8
      l: 4
      r: 5
      z: 6
      start: 12
      dp_up: 20
      dp_down: 21
      dp_left: 22
      dp_right: 23
    joypad:
      up: [0, 1]
      down: [0, -1]
      left: [-1, 0]
      right: [1, 0]

  spacemouse:
    name: 3Dconnexion SpaceMouse
    vendor_id: 0x046d
    product_id: 0xC625
    axes:
      x: "x"
      y: "y"
      z: "z"
      rx: "rx"
      ry: "ry"
      rz: "rz"
    buttons: "buttons"

communication:
  serial:
    default_port_linux: "/dev/ttyUSB0"
    default_port_windows: "COM9"
    baud_rate: 230400
    remote_xbee_address: "0013A200423A7DDD"
  udp:
    host: "127.0.0.1"
    basestation_port: 5000
    rover_port: 5005
    telemetry_port: 5002

timing:
  update_frequency_ms: 40
  heartbeat_interval_ms: 500
  deadband_threshold: 0.10

controller_modes:
  normal_multiplier: 1.0
  creep_multiplier: 0.2
  reverse_multiplier: -1.0

auto_states:
  min: 0
  max: 5