Adapt Tornado and Safety to Lizard 0.5.2 (#205)

Add fix for zauberzeug/lizard#66 for the
tornado.

---------

Co-authored-by: Pascal Schade <pascal@zauberzeug.com>
Co-authored-by: Pascal Schade <165774906+pascalzauberzeug@users.noreply.github.com>

field_friend/hardware/__init__.py

@@ -22,7 +22,6 @@
 from .imu import IMUHardware
 from .led_eyes import LedEyesHardware
 from .safety import Safety, SafetyHardware, SafetySimulation
-from .safety_small import SmallSafetyHardware
 from .status_control import StatusControlHardware
 from .teltonika_router import TeltonikaRouter
 from .tornado import Tornado, TornadoHardware, TornadoSimulation

field_friend/hardware/field_friend_hardware.py

@@ -18,7 +18,6 @@
 from .imu import IMUHardware
 from .led_eyes import LedEyesHardware
 from .safety import SafetyHardware
-from .safety_small import SmallSafetyHardware
 from .status_control import StatusControlHardware
 from .tornado import TornadoHardware
 from .y_axis_canopen_hardware import YAxisCanOpenHardware
@@ -426,13 +425,8 @@ def __init__(self) -> None:
         else:
             self.status_control = None
 
-        safety: SafetyHardware | SmallSafetyHardware
-        if 'small_safety' in config_hardware:
-            safety = SmallSafetyHardware(robot_brain, wheels=wheels, estop=estop, bumper=bumper,
-                                         y_axis=y_axis, z_axis=z_axis, flashlight=flashlight)
-        else:
-            safety = SafetyHardware(robot_brain, estop=estop, wheels=wheels, bumper=bumper,
-                                    y_axis=y_axis, z_axis=z_axis, flashlight=flashlight, mower=mower)
+        safety: SafetyHardware = SafetyHardware(robot_brain, estop=estop, wheels=wheels, bumper=bumper,
+                                                y_axis=y_axis, z_axis=z_axis, flashlight=flashlight, mower=mower)
 
         modules = [bluetooth, can, wheels, serial, expander, can_open_master, y_axis,
                    z_axis, mower, flashlight, bms, estop, self.battery_control, bumper, self.imu, eyes, self.status_control, safety]

field_friend/hardware/safety.py

@@ -88,7 +88,8 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
         for name in estop.pins:
             lizard_code += f'when estop_{name}.level == 0 then stop(); end\n'
         if isinstance(bumper, rosys.hardware.BumperHardware):
-             for name in bumper.pins:
+            for name in bumper.pins:
+                # TODO: remove level = 0 when lizard issue 66 is fixed. https://github.com/zauberzeug/lizard/issues/66
                 lizard_code += f'bumper_{name}.level = 0\n'
                 lizard_code += f'when bumper_{name}.level == 1 then stop(); end\n'
 

field_friend/hardware/tornado.py

@@ -160,6 +160,13 @@ def __init__(self, robot_brain: rosys.hardware.RobotBrain, *,
             {name}_ref_knife_ground.inverted = true
             {name}_z = {expander.name + "." if motors_on_expander and expander else ""}MotorAxis({name}_motor_z, {name + "_end_bottom" if is_z_reversed else name + "_end_top"}, {name + "_end_top" if is_z_reversed else name + "_end_bottom"})
 
+            # TODO: remove when lizard issue 66 is fixed. https://github.com/zauberzeug/lizard/issues/66
+            {name}_ref_motor.level = 0
+            {name}_ref_gear.level = 0
+            {name}_ref_knife_stop.level = 0
+            {name}_ref_knife_ground.level = 0
+            {name}_ref_knife_ground.active = false
+
             bool {name}_is_referencing = false
             bool {name}_ref_motor_enabled = false
             bool {name}_ref_gear_enabled = false