Add list of possible vid and pid pairs

Author: nycrat

src/shared/constants.h

@@ -213,11 +213,22 @@ static const unsigned int NUM_TIMES_SEND_STOP = 10;
 // disconnected
 static const double DISCONNECT_DURATION_MS = 1 * MILLISECONDS_PER_SECOND;
 
-// product and vendor id for Arduino Uno Rev3 (retrieved from
-// http://www.linux-usb.org/usb.ids )
-#define ARDUINO_ID_LENGTH 5
-static const char ARDUINO_VENDOR_ID[ARDUINO_ID_LENGTH]  = "2341";
-static const char ARDUINO_PRODUCT_ID[ARDUINO_ID_LENGTH] = "0043";
+// Vendor and product id pairs for the USB-to-serial adapters used by the
+// physical estop. Multiple pairs are supported since estop units may use
+// different adapters. IDs retrieved from http://www.linux-usb.org/usb.ids
+struct EstopUsbId
+{
+    const char* vendor_id;
+    const char* product_id;
+};
+
+constexpr EstopUsbId ESTOP_USB_DEVICE_IDS[] = {
+    {"2341", "0043"},  // Arduino Uno Rev3
+    {"1a86", "7523"},  // CH340-based Arduino clones
+};
+
+constexpr int NUM_ESTOP_USB_DEVICE_IDS =
+    sizeof(ESTOP_USB_DEVICE_IDS) / sizeof(ESTOP_USB_DEVICE_IDS[0]);
 
 // Number of times thunderloop should tick per second
 static const unsigned THUNDERLOOP_HZ = 300u;

src/software/estop/arduino_util.cpp

@@ -21,11 +21,15 @@ std::optional<std::string> ArduinoUtil::getArduinoPort()
         std::optional<HwInfo> hwInfo = getInfo(device);
         if (hwInfo.has_value())
         {
-            if (hwInfo.value().vendor == ARDUINO_VENDOR_ID &&
-                hwInfo.value().product == ARDUINO_PRODUCT_ID)
+            for (const auto& id : ESTOP_USB_DEVICE_IDS)
             {
-                std::string device_path = (boost::format("/dev/%1%") % device).str();
-                return device_path;
+                if (hwInfo.value().vendor == id.vendor_id &&
+                    hwInfo.value().product == id.product_id)
+                {
+                    std::string device_path =
+                        (boost::format("/dev/%1%") % device).str();
+                    return device_path;
+                }
             }
         }
     }

src/software/py_constants.cpp

@@ -1,4 +1,5 @@
 #include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
 
 #include "shared/constants.h"
 #include "software/constants.h"
@@ -170,7 +171,12 @@ PYBIND11_MODULE(py_constants, m)
     m.attr("AUTO_KICK_SPEED_DEFAULT_M_PER_S")  = AUTO_KICK_SPEED_DEFAULT_M_PER_S;
     m.attr("WHEEL_ROTATION_MAX_SPEED_M_PER_S") = WHEEL_ROTATION_MAX_SPEED_M_PER_S;
 
-    // Estop Arduino USB identifiers
-    m.attr("ARDUINO_VENDOR_ID")  = std::string(ARDUINO_VENDOR_ID);
-    m.attr("ARDUINO_PRODUCT_ID") = std::string(ARDUINO_PRODUCT_ID);
+    // Estop USB-to-serial adapter identifiers, as a list of
+    // (vendor_id, product_id) pairs
+    std::vector<std::pair<std::string, std::string>> estop_usb_device_ids;
+    for (const auto& id : ESTOP_USB_DEVICE_IDS)
+    {
+        estop_usb_device_ids.emplace_back(id.vendor_id, id.product_id);
+    }
+    m.attr("ESTOP_USB_DEVICE_IDS") = estop_usb_device_ids;
 }

src/software/thunderscope/estop_helpers.py

@@ -1,7 +1,7 @@
 import os
 from serial.tools import list_ports
 
-from software.py_constants import ARDUINO_VENDOR_ID, ARDUINO_PRODUCT_ID
+from software.py_constants import ESTOP_USB_DEVICE_IDS
 from software.thunderscope.constants import EstopMode, ESTOP_PATH_1, ESTOP_PATH_2
 
 
@@ -13,13 +13,13 @@ def get_estop_path() -> str | None:
 
     :return: the estop's serial port path, or None if no estop was found
     """
+    estop_usb_ids = {
+        (vendor.lower(), product.lower()) for vendor, product in ESTOP_USB_DEVICE_IDS
+    }
     for port in list_ports.comports():
         if port.vid is None or port.pid is None:
             continue
-        if (
-            f"{port.vid:04x}".lower() == ARDUINO_VENDOR_ID.lower()
-            and f"{port.pid:04x}".lower() == ARDUINO_PRODUCT_ID.lower()
-        ):
+        if (f"{port.vid:04x}".lower(), f"{port.pid:04x}".lower()) in estop_usb_ids:
             return port.device
 
     # Fall back to linux device paths