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Third-party dependencies

pgear_tools

Upstream: Keikibayev/pgear_tools
Branch: feature/patient-profiles-cp-support

Gressus uses pi_gui/pgear_pi/transport/esp32_link.py from the ROS package gressus_pgear (direct device control — no WebSocket bridge).

Python import path (pgear_pi is not an ament package):

docker/ros-env.sh sets PYTHONPATH (Docker entrypoint and interactive shells).

Override repo root with GRESSUS_REPO_ROOT if not at /gressus.

To register as a git submodule (recommended for production):

git submodule add -b feature/patient-profiles-cp-support \
  https://github.com/Keikibayev/pgear_tools.git third_party/pgear_tools

Bump intentionally after upstream protocol changes; do not fork unless necessary.

pgear_v8_firmware

Upstream: Keikibayev/pgear_v8_firmware
Branch: feature/torque-assist-ops

ESP32-S3 main-controller firmware — the device twin of pgear_tools. Source of truth for the wire protocol (pgear_main/protocol.h) and the external control ICD (docs/API.md, §7 patient-profile schema). Reference only; not built by Gressus (flashed to the ESP32 separately).

To register as a git submodule:

git submodule add -b feature/torque-assist-ops \
  https://github.com/Keikibayev/pgear_v8_firmware.git third_party/pgear_v8_firmware

This branch adds the torque-mode tunables (opcodes 35–39: SET_TORQUE_ASSIST, SET_FREE_RUN, SET_TORQUE_CAP, SET_LIMB_WEIGHT, SET_KNEE_ASSIST) on top of the position-mode profile fields — see docs/API.md §2.