feat: add navigator dog_bridge module

navigator/dog_bridge.py

@@ -0,0 +1,136 @@
+"""dog_bridge.py — TCP bridge between Navigator and Freenove Robot Dog.
+
+HARDWARE STATUS: NOT YET WIRED
+This file is a ready-to-use client for when the Freenove Robot Dog Kit
+is assembled and running its Server.py on the Raspberry Pi. It requires:
+
+  Pi-side changes (NOT yet applied):
+    - Command.py: add CMD_FOOTPAD = "CMD_FOOTPAD"
+    - Server.py:  add measuring_footpad() method + elif handler
+
+  Hardware wiring (NOT yet done):
+    - 4x 500g FSR sensors on footpads, each with 10kOhm pull-down
+    - FSR front-left  -> ADS7830 channel 1
+    - FSR front-right -> ADS7830 channel 2
+    - FSR rear-left   -> ADS7830 channel 3
+    - FSR rear-right  -> ADS7830 channel 4
+
+  Connection: WiFi TCP to Pi IP, port 5001 (commands), 8001 (video).
+"""
+import socket
+import threading
+
+
+class DogBridge:
+    """TCP client for commanding the Freenove Robot Dog and reading sensors."""
+
+    def __init__(self, host, cmd_port=5001):
+        self.host = host
+        self.cmd_port = cmd_port
+        self.sock = None
+        self.lock = threading.Lock()
+        self._buffer = ""
+
+    def connect(self):
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.sock.connect((self.host, self.cmd_port))
+        self.sock.settimeout(2.0)
+
+    def disconnect(self):
+        if self.sock:
+            self.sock.close()
+            self.sock = None
+
+    def send_cmd(self, cmd_str):
+        """Send a command string (e.g. 'CMD_MOVE_FORWARD#8')."""
+        with self.lock:
+            self.sock.sendall((cmd_str + "\n").encode("utf-8"))
+
+    def recv_response(self):
+        """Read one newline-delimited response from the dog."""
+        with self.lock:
+            while "\n" not in self._buffer:
+                chunk = self.sock.recv(1024).decode("utf-8")
+                if not chunk:
+                    raise ConnectionError("Dog disconnected")
+                self._buffer += chunk
+            line, self._buffer = self._buffer.split("\n", 1)
+            return line
+
+    # --- Movement ---
+
+    def move_forward(self, speed=8):
+        self.send_cmd(f"CMD_MOVE_FORWARD#{speed}")
+
+    def move_backward(self, speed=8):
+        self.send_cmd(f"CMD_MOVE_BACKWARD#{speed}")
+
+    def turn_left(self, speed=8):
+        self.send_cmd(f"CMD_TURN_LEFT#{speed}")
+
+    def turn_right(self, speed=8):
+        self.send_cmd(f"CMD_TURN_RIGHT#{speed}")
+
+    def stop(self):
+        self.send_cmd("CMD_MOVE_STOP#")
+
+    # --- Sensors ---
+
+    def get_distance(self):
+        """Ultrasonic distance in cm."""
+        self.send_cmd("CMD_SONIC#")
+        resp = self.recv_response()  # CMD_SONIC#<cm>
+        return float(resp.split("#")[1])
+
+    def get_battery(self):
+        """Battery voltage (2S LiPo, ~6.4-8.4V range)."""
+        self.send_cmd("CMD_POWER#")
+        resp = self.recv_response()  # CMD_POWER#<volts>
+        return float(resp.split("#")[1])
+
+    def get_footpads(self):
+        """Per-foot pressure readings (0-255 each, 500g FSR sensors).
+
+        Returns dict with keys: front_left, front_right, rear_left, rear_right.
+        Requires Pi-side CMD_FOOTPAD handler (see module docstring).
+        """
+        self.send_cmd("CMD_FOOTPAD#")
+        resp = self.recv_response()  # CMD_FOOTPAD#FL#FR#RL#RR
+        parts = resp.split("#")
+        return {
+            "front_left": int(parts[1]),
+            "front_right": int(parts[2]),
+            "rear_left": int(parts[3]),
+            "rear_right": int(parts[4]),
+        }
+
+    # --- Posture & Head ---
+
+    def set_head(self, angle):
+        """Set head servo angle."""
+        self.send_cmd(f"CMD_HEAD#{angle}")
+
+    def relax(self):
+        """Disengage all servos."""
+        self.send_cmd("CMD_RELAX#")
+
+    def balance_on(self):
+        """Enable IMU-based self-balancing."""
+        self.send_cmd("CMD_BALANCE#1")
+
+    def balance_off(self):
+        self.send_cmd("CMD_BALANCE#0")
+
+    def set_height(self, height):
+        """Adjust standing height."""
+        self.send_cmd(f"CMD_HEIGHT#{height}")
+
+    # --- LED & Buzzer ---
+
+    def buzzer(self, state):
+        """state: '1' on, '0' off."""
+        self.send_cmd(f"CMD_BUZZER#{state}")
+
+    def led(self, index, r, g, b):
+        """Set LED color. index: 0-based LED number."""
+        self.send_cmd(f"CMD_LED#{index}#{r}#{g}#{b}")