{"id":18275801,"url":"https://github.com/ctlst-tech/ctlst-hw-demo-rig","last_synced_at":"2025-07-11T14:36:45.132Z","repository":{"id":161956923,"uuid":"636436906","full_name":"ctlst-tech/ctlst-hw-demo-rig","owner":"ctlst-tech","description":"CatPilot Settings and pyQt visitation script for Catalyst's hardware public demo rig","archived":false,"fork":false,"pushed_at":"2023-05-12T17:18:52.000Z","size":133,"stargazers_count":0,"open_issues_count":0,"forks_count":1,"subscribers_count":0,"default_branch":"main","last_synced_at":"2025-04-09T04:13:59.467Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ctlst-tech.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-05-04T21:05:37.000Z","updated_at":"2023-05-07T00:11:31.000Z","dependencies_parsed_at":null,"dependency_job_id":"507d57a8-e189-4e0e-bc79-19656bae7608","html_url":"https://github.com/ctlst-tech/ctlst-hw-demo-rig","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ctlst-tech/ctlst-hw-demo-rig","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ctlst-tech%2Fctlst-hw-demo-rig","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ctlst-tech%2Fctlst-hw-demo-rig/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ctlst-tech%2Fctlst-hw-demo-rig/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ctlst-tech%2Fctlst-hw-demo-rig/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ctlst-tech","download_url":"https://codeload.github.com/ctlst-tech/ctlst-hw-demo-rig/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ctlst-tech%2Fctlst-hw-demo-rig/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264833288,"owners_count":23670617,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-05T12:14:07.086Z","updated_at":"2025-07-11T14:36:45.109Z","avatar_url":"https://github.com/ctlst-tech.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ctlst-hw-demo-rig\nCatPilot Settings and pyQt visitation script for Catalyst's hardware public demo rig\n\n---\n\n## Build, Upload, Run\n\n### Clone repo\n```bash\ngit clone git@github.com:ctlst-tech/ctlst-hw-demo-rig.git\ngit submodule --init --recursive\n```\n\n### Build\n```bash\nmake atomics\nmake ctlst\n```\n\n### Upload\n```bash\nmake upload ip=192.168.1.20\n```\n\n### Run\nOn Autopilot\n```bash\ncatpilot\n```\nOn GCU:\n```bash\n./gui.py --ip 192.168.1.20\n```\n\n---\n\n## Architecture\nfile `config/swsys.xml` is divided into 5 parts:\n- Buses declaration\n- Boards\n- Nav processing\n- Bridges\n- Connection\n\nThere are 4 internal buses (gen_bus, nav_bus, imu_bus, io_bus) and 1 bus (gcu_bus) for transmittion to the GCU.\nAlso there are 3 main flows for following subsystems: imu, adc, io. You can change priorities and timings if needed.\n\n---\n\n## Primary validation\n\n### 1. Check connection with GCU\n- open `configs/swsys.xml`\n- check ip and ports\n```xml\n    \u003c!-- Connection --\u003e\n    \u003cservice type=\"sdtl\" name=\"gcu_link\"\u003e\n        \u003ctype value=\"udp\"/\u003e\n\n        \u003cip value=\"192.168.1.2\"/\u003e\n        \u003cport value=\"20001\"/\u003e\n        \u003cserver_ip value=\"0.0.0.0\"/\u003e\n        \u003cserver_port value=\"20000\"/\u003e\n\n        \u003cchannel id=\"1\" name=\"downlink\" type=\"rel\"/\u003e\n        \u003cchannel id=\"2\" name=\"downlink_sk\" type=\"unrel\"/\u003e\n        \u003cchannel id=\"4\" name=\"cmd\" type=\"unrel\"/\u003e\n    \u003c/service\u003e\n\n    \u003cservice type=\"eqrb_sdtl\" name=\"debug_sdtl\"\u003e\n        \u003cevent_queue_source value=\"gcu_bus\"/\u003e\n        \u003csdtl_service value=\"gcu_link\"/\u003e\n        \u003cchannel_1_name value=\"downlink\"/\u003e\n        \u003cchannel_2_name value=\"downlink_sk\"/\u003e\n    \u003c/service\u003e\n```\n- correct if necessary\n- upload firmware\n- start the GUI app\n\n**you may face with problems when strating the GUI app (not all topics were registered). Just try to restart it*\n\n### 2. Check LEDs and relay\n- by default it uses a meander with 1 sec period to control all LEDs\n- file `configs/flow_io_gpio.xml` contains the control logic\n```xml\n        \u003cf name=\"out1\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/out1\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e2\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"out2\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/out2\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e3\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"relay\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/relay\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e4\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"phase\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/phase\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e5\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"overheat\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/overheat\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e6\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"status\" by_spec=\"ctlst.io.gpio_out\"\u003e\n            \u003cin alias=\"input_float\"\u003einputs/status\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e7\u003c/param\u003e\n        \u003c/f\u003e\n```\n\n### 3. Check servo and motor\n- by default it uses a standard pwm for a servo and random parameters for an engine\n- file `configs/flow_io_gpio.xml` contains the control logic\n```xml\n        \u003cf name=\"servo\" by_spec=\"ctlst.io.pwm_out\"\u003e\n            \u003cin alias=\"input\"\u003einputs/servo\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e0\u003c/param\u003e\n            \u003cparam alias=\"period\"\u003e20000\u003c/param\u003e\n            \u003cparam alias=\"min\"\u003e500\u003c/param\u003e\n            \u003cparam alias=\"max\"\u003e2500\u003c/param\u003e\n            \u003cparam alias=\"bipolar\"\u003etrue\u003c/param\u003e\n        \u003c/f\u003e\n        \u003cf name=\"engine\" by_spec=\"ctlst.io.pwm_out\"\u003e\n            \u003cin alias=\"input\"\u003einputs/engine\u003c/in\u003e\n            \u003cparam alias=\"channel\"\u003e1\u003c/param\u003e\n            \u003cparam alias=\"period\"\u003e2000\u003c/param\u003e\n            \u003cparam alias=\"min\"\u003e250\u003c/param\u003e\n            \u003cparam alias=\"max\"\u003e750\u003c/param\u003e\n            \u003cparam alias=\"bipolar\"\u003efalse\u003c/param\u003e\n        \u003c/f\u003e\n```\n\n### 4. Check thermosensors, potentiometer\n- open ADC tab in the GCU app and check the values when heating\n\n### 5. Check buttons\n- open IO tab in the GCU app and check the values when pressing\n\n### 5. Check OUT1/OUT2 and IN1\n- connect OUT1/OUT2 with IN1 and check IO tab in the GCU\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fctlst-tech%2Fctlst-hw-demo-rig","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fctlst-tech%2Fctlst-hw-demo-rig","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fctlst-tech%2Fctlst-hw-demo-rig/lists"}