Add OTOS calibration tool - #203
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…nsumers Replace the global `consumer_count_` and single `sem_update_` semaphore with a shared memory array of up to 32 consumer PIDs (`consumer_pids_`) and dedicated per-PID semaphores (e.g., `/<name>_update_<PID>`). This prevents ghost processes (e.g., consumers that crashed or were killed abruptly) from desynchronizing the update signals for other active consumers. Key changes: - Implement ghost process cleanup in `registerConsumer()` using `kill(pid, 0)` to detect dead processes, reclaim their slots, and unlink orphaned semaphores. - Update `postUpdate()` to signal each registered PID individually. - Add an `unordered_map` cache (`update_sems_cache_`) in `postUpdate()` to store opened semaphores, ensuring the hot path remains extremely fast without syscall overhead. - Ensure graceful cleanup of semaphores and PID slots in the destructor. Signed-off-by: Eric Courtois <eric.courtois@gmail.com>
Pydantic OTOSParameters / OTOSCalibrationResult pair and the OTOS_SCALAR_MIN / OTOS_SCALAR_MAX bounds (0.872 / 1.127, per the OTOS spec). Used by the upcoming firmware_otos_calibration tool to read the current sensor scalars from firmware, clamp computed values to the allowed range, and write the corrected ones back. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
Host-side calibration tool for the SparkFun OTOS sensor, published as the cogip-otos-calibration entrypoint. Two phases: - Linear scalar: drive a commanded straight line, ask the operator for the physically measured distance, derive the corrected linear_scalar and write it back. - Angular scalar: rotate N full turns, ask the operator for the physically measured rotation, derive the corrected angular_scalar and write it back. Motion is sent via the existing /calibration SocketIO namespace (pose_start + pose_order + pose_reached). Parameters are read and written through FirmwareParameterManager against the new OTOS parameter keys exposed by the firmware. Computed scalars are clamped to the OTOS allowed range [0.872, 1.127]; out-of-range results raise a console warning pointing at a mechanical issue. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
copilot.sio_events.on_pose_order references models.MotionDirection.FORWARD_ONLY without importing it directly, so the handler raised AttributeError and crashed silently the moment any tool sent a pose_order on SocketIO (systemd StandardOutput=null hid the traceback). test_squares kept working only because it goes through the shared-memory path in copilot.py, which uses the C++ import explicitly. Re-exporting the enum from the models package fixes the calibration tools pose_order flow without touching the copilot code. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
A 1000 mm straight-line calibration move completes in ~3 s at the default speed ratio. A 60 s timeout masked the silent pose_order failure for a full minute each time, and added nothing once the move is actually wired through. 10 s leaves comfortable margin without hiding stalls. Signed-off-by: Gilles DOFFE <g.doffe@gmail.com>
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Summary
New
cogip-otos-calibrationCLI undercogip/tools/firmware_otos_calibration/that mirrors the structure offirmware_odometry_calibrationbut drives the two OTOS scalars exposed by the firmware (cogip/mcu-firmware#243).Two calibration phases driven through the
/calibrationSocketIO namespace:(0, 0, 0), command a straight line ofN mm, prompt the operator for the physically measured distance,new = current * measured / commanded, clamp to[0.872, 1.127], write back.(0, 0, 0), commandNfull in-place turns (four90°sub-moves per turn so the control loop takes the short path), prompt for the actually rotated angle, same ratio, write back.Reuses the existing
FirmwareParameterManager,ConsoleUI, and thepose_start/pose_order/pose_reachedmotion pattern. No change to server, copilot or planner apart from theMotionDirectionre-export below.Also in this PR
models: export MotionDirection from cogip.models—copilot/sio_events.py:on_pose_orderwas referencingmodels.MotionDirection.FORWARD_ONLYwithout importing it directly, so every pose_order sent on SocketIO crashed silently withAttributeError(systemdStandardOutput=nullon the robot hid the traceback).test_squareskept working because it goes through the shared-memory path incopilot.py, which uses the C++ import directly. Re-exporting the enum fixes the SocketIO pose_order flow without touching copilot.tools: firmware_otos_calibration: shorten straight-line timeout to 10s— 60 s masked silent stalls; a 1000 mm straight-line completes in ~3 s.Depends on
otos_linear_scalar/otos_angular_scalaras liveParameter<float>and reapplies them to the chip on change via thehas_changed/clear_changedpolling API.Closes
Closes #202.