V2.3.2 release branch (#214)

farm-ng · Jul 25, 2024 · 5210153 · 5210153
1 parent b15d2d9
commit 5210153
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Showing 3 changed files with 4 additions and 14 deletions.
diff --git a/protos/farm_ng/canbus/amiga_v6.proto b/protos/farm_ng/canbus/amiga_v6.proto
@@ -44,7 +44,6 @@ message AmigaTpdo1 {
   double measured_angular_rate = 5;     // Based on unicycle model
   uint32 pto_bits = 6;                  // bit masked PTO device states
   uint32 hbridge_bits = 7;              // bit masked H-bridge device states
-  uint32 state_of_charge = 8;           // Battery state of charge (0-100%)
 }
 
 message AmigaPdo2 {

diff --git a/py/farm_ng/canbus/packet.py b/py/farm_ng/canbus/packet.py
@@ -249,8 +249,6 @@ class AmigaTpdo1(Packet):
     """State, speed, and angular rate of the Amiga vehicle control unit (VCU).
 
     New in fw v0.1.9 / farm-ng-amiga v0.0.7: Add pto & hbridge control. Message data is now 8 bytes (was 5).
-
-    New in fw v0.6.0 / farm-ng-amiga v2.4.0: Add SOC (state of charge) to the message.
     """
 
     cob_id = 0x180
@@ -262,17 +260,15 @@ def __init__(
         meas_ang_rate: float = 0.0,
         pto_bits: int = 0x0,
         hbridge_bits: int = 0x0,
-        soc: int = 0x0,
     ):
-        self.format = "<BhhBBB"
+        self.format = "<BhhBBx"
         self.legacy_format = "<Bhh"
 
         self.state = state
         self.meas_speed = meas_speed
         self.meas_ang_rate = meas_ang_rate
         self.pto_bits = pto_bits
         self.hbridge_bits = hbridge_bits
-        self.soc = soc
 
         self.stamp_packet(time.monotonic())
 
@@ -285,7 +281,6 @@ def encode(self):
             int(self.meas_ang_rate * 1000.0),
             self.pto_bits,
             self.hbridge_bits,
-            self.soc,
         )
 
     def decode(self, data):
@@ -297,9 +292,7 @@ def decode(self, data):
             self.meas_speed = meas_speed / 1000.0
             self.meas_ang_rate = meas_ang_rate / 1000.0
         else:
-            (self.state, meas_speed, meas_ang_rate, self.pto_bits, self.hbridge_bits, self.soc) = unpack(
-                self.format, data
-            )
+            (self.state, meas_speed, meas_ang_rate, self.pto_bits, self.hbridge_bits) = unpack(self.format, data)
             self.meas_speed = meas_speed / 1000.0
             self.meas_ang_rate = meas_ang_rate / 1000.0
 
@@ -316,7 +309,6 @@ def to_proto(self) -> amiga_v6_pb2.AmigaTpdo1:
             measured_angular_rate=self.meas_ang_rate,
             pto_bits=self.pto_bits,
             hbridge_bits=self.hbridge_bits,
-            state_of_charge=self.soc,
         )
 
     @classmethod
@@ -337,7 +329,6 @@ def from_proto(cls, proto: amiga_v6_pb2.AmigaTpdo1) -> AmigaTpdo1:
         obj.meas_ang_rate = proto.measured_angular_rate
         obj.pto_bits = proto.pto_bits
         obj.hbridge_bits = proto.hbridge_bits
-        obj.soc = proto.state_of_charge
         return obj
 
     @classmethod
@@ -361,7 +352,7 @@ def from_raw_canbus_message(cls, message: canbus_pb2.RawCanbusMessage) -> AmigaT
     def __str__(self):
         return "AMIGA TPDO1 Amiga state {} Measured speed {:0.3f} Measured angular rate {:0.3f} @ time {}".format(
             self.state, self.meas_speed, self.meas_ang_rate, self.stamp.stamp
-        ) + " PTO bits 0x{:x} h-bridge bits 0x{:x} charge level: {}%".format(self.pto_bits, self.hbridge_bits, self.soc)
+        ) + " PTO bits 0x{:x} h-bridge bits 0x{:x}".format(self.pto_bits, self.hbridge_bits)
 
 
 def parse_amiga_tpdo1_proto(message: canbus_pb2.RawCanbusMessage) -> AmigaTpdo1 | None:

diff --git a/setup.cfg b/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = farm_ng_amiga
-version = 2.3.2-dev
+version = 2.3.2
 description = Amiga development kit for third party hardware or software extensions
 long_description = file: README.md
 long_description_content_type = text/markdown