Physical e-stop support for MacOS (#3800)

* Find estop device path on macos using usb id

* Add list of possible vid and pid pairs

* [pre-commit.ci lite] apply automatic fixes

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Author: nycrat

src/shared/constants.h

@@ -220,11 +220,22 @@ 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 +21,14 @@ 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"
@@ -169,4 +170,13 @@ PYBIND11_MODULE(py_constants, m)
     m.attr("AUTO_CHIP_DISTANCE_DEFAULT_M")     = AUTO_CHIP_DISTANCE_DEFAULT_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 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/BUILD

@@ -190,7 +190,9 @@ py_library(
 py_library(
     name = "estop_helpers",
     srcs = ["estop_helpers.py"],
+    data = ["//software:py_constants.so"],
     deps = [
         "//software/thunderscope:constants",
+        requirement("pyserial"),
     ],
 )

src/software/thunderscope/constants.py

@@ -107,7 +107,7 @@ class EstopMode(IntEnum):
     LogLevel.CONTRACT: "CONTRACT",
 }
 
-# Paths to check for estop when running diagnostics
+# Paths to check for estop when running diagnostics, used as a fallback for Linux.
 ESTOP_PATH_1 = "/dev/ttyACM0"
 ESTOP_PATH_2 = "/dev/ttyUSB0"
 

src/software/thunderscope/estop_helpers.py

@@ -1,10 +1,38 @@
 import os
+from serial.tools import list_ports
+
+from software.py_constants import ESTOP_USB_DEVICE_IDS
 from software.thunderscope.constants import EstopMode, ESTOP_PATH_1, ESTOP_PATH_2
 
 
+def get_estop_path() -> str | None:
+    """Find the serial port that the physical estop is connected to.
+
+    Falls back to the well-known Linux device paths if the estop cannot be
+    matched by its USB IDs.
+
+    :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(), f"{port.pid:04x}".lower()) in estop_usb_ids:
+            return port.device
+
+    # Fall back to linux device paths
+    for path in (ESTOP_PATH_1, ESTOP_PATH_2):
+        if os.path.exists(path):
+            return path
+
+    return None
+
+
 def get_estop_config(
     keyboard_estop: bool, disable_communication: bool
-) -> tuple[EstopMode, os.PathLike]:
+) -> tuple[EstopMode, str | None]:
     """Based on the estop mode argument provided, gets the corresponding
     estop mode and estop path (defined for physical estop mode only)
     Defaults to Physical estop if the given args are both False
@@ -21,15 +49,9 @@ def get_estop_config(
     if disable_communication:
         mode = EstopMode.DISABLE_ESTOP
 
-    # use different estop based on what is plugged in for physical estop mode
+    # locate the physical estop's serial port when in physical estop mode
     if mode == EstopMode.PHYSICAL_ESTOP:
-        path = (
-            ESTOP_PATH_1
-            if os.path.exists(ESTOP_PATH_1)
-            else ESTOP_PATH_2
-            if os.path.exists(ESTOP_PATH_2)
-            else None
-        )
+        path = get_estop_path()
         if not path:
             raise Exception(
                 "Estop is not plugged into a valid port, plug one in or use a different estop mode"

src/software/thunderscope/requirements.in

@@ -3,6 +3,7 @@ netifaces==0.11.0
 evdev==1.7.0; sys_platform == "linux"
 numpy==1.26.4
 protobuf==6.31.1
+pyserial==3.5
 pyqtgraph==0.13.7
 pyqtdarktheme-fork==2.3.2
 PyQt6-Qt6==6.8.1

src/software/thunderscope/requirements_lock.darwin.txt

@@ -120,6 +120,10 @@ pyqtgraph==0.13.7 \
     --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
     --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
     # via -r software/thunderscope/requirements.in
+pyserial==3.5 \
+    --hash=sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb \
+    --hash=sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0
+    # via -r software/thunderscope/requirements.in
 qtawesome==1.4.0 \
     --hash=sha256:783e414d1317f3e978bf67ea8e8a1b1498bad9dbd305dec814027e3b50521be6 \
     --hash=sha256:a4d689fa071c595aa6184171ce1f0f847677cb8d2db45382c43129f1d72a3d93

src/software/thunderscope/requirements_lock.txt

@@ -123,6 +123,10 @@ pyqtgraph==0.13.7 \
     --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
     --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
     # via -r software/thunderscope/requirements.in
+pyserial==3.5 \
+    --hash=sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb \
+    --hash=sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0
+    # via -r software/thunderscope/requirements.in
 qtawesome==1.4.0 \
     --hash=sha256:783e414d1317f3e978bf67ea8e8a1b1498bad9dbd305dec814027e3b50521be6 \
     --hash=sha256:a4d689fa071c595aa6184171ce1f0f847677cb8d2db45382c43129f1d72a3d93