Physical e-stop support for MacOS#3800
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| struct EstopUsbId | ||
| { | ||
| const char* vendor_id; | ||
| const char* product_id; | ||
| }; | ||
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| constexpr EstopUsbId ESTOP_USB_DEVICE_IDS[] = { | ||
| {"2341", "0043"}, // Arduino Uno Rev3 | ||
| {"1a86", "7523"}, // CH340-based Arduino clones | ||
| }; | ||
|
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| constexpr int NUM_ESTOP_USB_DEVICE_IDS = | ||
| sizeof(ESTOP_USB_DEVICE_IDS) / sizeof(ESTOP_USB_DEVICE_IDS[0]); |
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Note that we can't use std::pair or std::array since this code is required by the estop firmware which doesn't have STL
Andrewyx
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Jun 25, 2026
williamckha
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Jun 25, 2026
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Description
This is a stacked PR: #3800 #3802
Instead of relying on hardcoded linux device paths for the physical estop, uses pyserial and checks the vendor id and product id of the arduino used for the estop to locate the path of the estop. This is necessary since the macos serial ports are dynamic.
Testing Done
Ran diagnostics and estop was detected and works like expected.
Resolved Issues
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue