From 6171bf49b8e1f490b885129b86a218ea21dcf7b1 Mon Sep 17 00:00:00 2001 From: alberto-abarzua Date: Fri, 8 Dec 2023 12:12:58 -0300 Subject: [PATCH 1/5] chore: renamte manage.py to ribot.py --- .github/workflows/backend-ci.yaml | 8 +- .github/workflows/controller-ci.yaml | 16 +- .github/workflows/firmware-ci.yaml | 16 +- .github/workflows/frontend-ci.yaml | 12 +- README.md | 12 +- arm_docs/docs/implementation/hardware.md | 6 +- arm_docs/static/img/wiring/tb660.jpg | Bin 0 -> 190280 bytes arm_docs/static/img/wiring/wiring_esp.png | Bin 0 -> 258613 bytes firmware/components/utils/utils.cpp | 2 +- manage.py | 714 --------------------- ribot.py | 715 +++++++++++++++++++++- settings.toml | 2 +- 12 files changed, 753 insertions(+), 750 deletions(-) create mode 100644 arm_docs/static/img/wiring/tb660.jpg create mode 100644 arm_docs/static/img/wiring/wiring_esp.png delete mode 100755 manage.py mode change 120000 => 100755 ribot.py diff --git a/.github/workflows/backend-ci.yaml b/.github/workflows/backend-ci.yaml index fce1703..2ed30a8 100644 --- a/.github/workflows/backend-ci.yaml +++ b/.github/workflows/backend-ci.yaml @@ -30,10 +30,10 @@ jobs: run: pip install toml - name: Build backend container - run: ./manage.py build --container backend --no-editable + run: ./ribot.py build --container backend --no-editable - name: Lint Backend - run: ./manage.py lint --container backend + run: ./ribot.py lint --container backend - name: Login to Docker Hub uses: docker/login-action@v3 @@ -43,10 +43,10 @@ jobs: - name: Push Backend Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container backend --op push + run: ./ribot.py docker-compose --container backend --op push - name: Stop and remove containers if: always() - run: ./manage.py down --container backend + run: ./ribot.py down --container backend diff --git a/.github/workflows/controller-ci.yaml b/.github/workflows/controller-ci.yaml index 06f15b5..8b7f291 100644 --- a/.github/workflows/controller-ci.yaml +++ b/.github/workflows/controller-ci.yaml @@ -33,20 +33,20 @@ jobs: run: pip install toml - name: Build Controller Container run: | - ./manage.py build --container controller + ./ribot.py build --container controller - name: Build Firmware Container run: | - ./manage.py build --container firmware + ./ribot.py build --container firmware - name: Lint Controller - run: ./manage.py lint --container controller + run: ./ribot.py lint --container controller - name: Run Firmware and Controller Tests - run: ./manage.py test + run: ./ribot.py test - name: Publish Controller Package if: github.ref == 'refs/heads/main' - run: ./manage.py publish-controller + run: ./ribot.py publish-controller - name: Login to Docker Hub uses: docker/login-action@v3 @@ -56,13 +56,13 @@ jobs: - name: Push Controller Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container controller --op push + run: ./ribot.py docker-compose --container controller --op push - name: Stop and remove containers if: always() run: | - ./manage.py down --container controller - ./manage.py down --container firmware + ./ribot.py down --container controller + ./ribot.py down --container firmware diff --git a/.github/workflows/firmware-ci.yaml b/.github/workflows/firmware-ci.yaml index a432064..0ef1a5a 100644 --- a/.github/workflows/firmware-ci.yaml +++ b/.github/workflows/firmware-ci.yaml @@ -26,10 +26,10 @@ jobs: - name: Install toml run: pip install toml - name: Build Firmware Container for Linux - run: ./manage.py build --container firmware + run: ./ribot.py build --container firmware - name: Build Firmware for Linux - run: ./manage.py buildf + run: ./ribot.py buildf - name: Login to Docker Hub uses: docker/login-action@v3 @@ -39,11 +39,11 @@ jobs: - name: Push Firmware-linux Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container firmware --op push + run: ./ribot.py docker-compose --container firmware --op push - name: Stop and remove containers if: always() - run: ./manage.py down --container firmware + run: ./ribot.py down --container firmware esp-idf-build: runs-on: ubuntu-latest @@ -64,10 +64,10 @@ jobs: run: printenv | grep -v "^\(PWD\|SHLVL\|HOME\)" > .env - name: Build ESP-IDF Container - run: ./manage.py build --container esp_idf + run: ./ribot.py build --container esp_idf - name: Build firmware for ESP32 using ESP-IDF - run: ./manage.py build-esp + run: ./ribot.py build-esp - name: Login to Docker Hub uses: docker/login-action@v3 @@ -77,10 +77,10 @@ jobs: - name: Push esp-idf Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container esp_idf --op push + run: ./ribot.py docker-compose --container esp_idf --op push - name: Stop and remove containers if: always() - run: ./manage.py down --container esp_idf + run: ./ribot.py down --container esp_idf diff --git a/.github/workflows/frontend-ci.yaml b/.github/workflows/frontend-ci.yaml index 6777ab0..ace8a08 100644 --- a/.github/workflows/frontend-ci.yaml +++ b/.github/workflows/frontend-ci.yaml @@ -29,13 +29,13 @@ jobs: - name: Install toml run: pip install toml - name: Build frontend container - run: ./manage.py build --container frontend + run: ./ribot.py build --container frontend - name: Build Unity Webgl - run: ./manage.py build --container unity_webgl_server + run: ./ribot.py build --container unity_webgl_server - name: Lint Frontend - run: ./manage.py lint --container frontend + run: ./ribot.py lint --container frontend - name: Login to Docker Hub uses: docker/login-action@v3 @@ -45,13 +45,13 @@ jobs: - name: Push Frontend Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container frontend --op push + run: ./ribot.py docker-compose --container frontend --op push - name: Push Unity Webgl Container if: github.ref == 'refs/heads/main' - run: ./manage.py docker-compose --container unity_webgl_server --op push + run: ./ribot.py docker-compose --container unity_webgl_server --op push - name: Stop and remove containers if: always() - run: ./manage.py down --container frontend + run: ./ribot.py down --container frontend diff --git a/README.md b/README.md index 68ad4cd..bccba94 100644 --- a/README.md +++ b/README.md @@ -22,31 +22,31 @@ Welcome to the Ribot project, your comprehensive solution for controlling roboti git clone https://github.com/alberto-abarzua/ribot.git ``` -2. **Manage.py Script** +2. **ribot.py Script** This utility script facilitates building, running, and managing the project. - Usage: ```bash - python manage.py --help + python ribot.py --help ``` 3. **Building the Firmware for ESP32** ```bash - python manage.py build-esp + python ribot.py build-esp ``` 4. **Flashing the Firmware** ```bash - python manage.py build-esp --flash + python ribot.py build-esp --flash ``` 5. **Running Backend and Frontend Services** For real ESP32: ```bash - python manage.py runserver --esp + python ribot.py runserver --esp ``` For a dummy firmware version (Docker): ```bash - python manage.py runserver + python ribot.py runserver ``` ## Project Components diff --git a/arm_docs/docs/implementation/hardware.md b/arm_docs/docs/implementation/hardware.md index 22978d9..9b15cf1 100644 --- a/arm_docs/docs/implementation/hardware.md +++ b/arm_docs/docs/implementation/hardware.md @@ -23,7 +23,11 @@ The ESP32 is the preferred microcontroller for several reasons: ### Wiring Diagram -(Insert a wiring diagram here showing how to connect the ESP32 to the motors.) +![Wiring Diagram](/img/wiring/wiring_esp.png) +Wiring Diagram for the ESP32 and Stepper Motors + +![Wiring Diagram](/img/wiring/tb660.png) +Example using TB6600 Stepper Motor Driver The wiring diagram is just an example; you can connect the motors in any way you wish, as long as you use the correct type of pins. 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std::chrono::milliseconds(static_cast((delay_ms)))); } void run_delay_microseconds(uint32_t delay_us) { diff --git a/manage.py b/manage.py deleted file mode 100755 index 3bdf174..0000000 --- a/manage.py +++ /dev/null @@ -1,714 +0,0 @@ -#!/usr/bin/env python3 - -from logging import captureWarnings -from sys import stdout -import time -import argparse -import subprocess -import re -import os -import signal -import socket -import toml -from typing import List -from pathlib import Path -import serial.tools.list_ports -from concurrent.futures import ThreadPoolExecutor - -CURRENT_FILE_PATH = Path(__file__).parent.absolute() -DOCKER_SERVICES = CURRENT_FILE_PATH/'docker_services' - - -# ======================== -# Manger for docker compose -# ======================== - -class DockerService: - - def __init__(self, file_path: Path) -> None: - - self.file_path = file_path - - @property - def name(self) -> str: - return self.file_path.name.split('.')[0] - - @property - def file_name(self) -> str: - return self.file_path.name - - @property - def full_path(self) -> str: - return str(self.file_path.absolute()) - - def get_dash_f(self) -> List[str]: - return ['-f', self.full_path] - - -class DockerManger: - - def __init__(self, base_path: Path) -> None: - self.base_path = base_path - self.services: List[DockerService] = self.get_services() - - def get_services(self): - services = [] - for file in self.base_path.iterdir(): - file = Path(file) - if file.is_file() and file.name.endswith('.yaml') or file.name.endswith('.yml'): - services.append(DockerService(file)) - return services - - def get_service_from_name(self, name: str) -> DockerService: - if name.endswith('.yaml') or name.endswith('.yml'): - name = name.split('.')[0] - for service in self.services: - if service.name == name: - return service - raise Exception(f"Service {name} not found") - - def get_file_list(self, services: List[str]) -> List[str]: - file_list = [] - - for service in services: - file_list.extend(['-f', self.get_service_from_name(service).full_path]) - return file_list - - def dc_run(self, service_name: str, command: str, env={}, service_ports_and_aliases=False, exec=False): - command_list = command.split(' ') - service = self.get_service_from_name(service_name) - - new_command = ['docker', 'compose'] + service.get_dash_f() - - if exec: - new_command.append('exec') - else: - new_command.extend(['run', '--rm']) - if service_ports_and_aliases: - new_command.extend(['--service-ports', '--use-aliases']) - - new_command.extend(command_list) - - result = subprocess.run(new_command, env={**os.environ, **env}) - # repalce with os.system to get output - # result = os.system(' '.join(new_command)) - - return result.returncode - - def dc_up(self, files: List[str], env: dict = {}, detached=False): - - file_list = self.get_file_list(files) - command = ['docker', 'compose', *file_list, 'up'] - if detached: - command.append('-d') - return subprocess.check_call(command, env={**os.environ, **env}) - - def dc_down(self, files: List[str]): - file_list = self.get_file_list(files) - return subprocess.check_call(['docker', 'compose', *file_list, 'down', '--remove-orphans']) - - def dc_build(self, files: List[str], no_cache=False): - file_list = self.get_file_list(files) - command = ['docker', 'compose', *file_list, 'build'] - if no_cache: - command.append('--no-cache') - return subprocess.check_call(command, env={**os.environ}) - - def dc_logs(self, files: List[str]): - file_list = self.get_file_list(files) - return subprocess.check_call(['docker', 'compose', *file_list, 'logs', '--follow']) - - def dc_command(self, files: List[str], command: str): - file_list = self.get_file_list(files) - command_list = [] - - if "run" in command: - command_list += ["run", "--service-ports", "--use-aliases"] - command_list += command.split(' ')[1:] - else: - command_list += command.split(' ') - return subprocess.check_call(['docker', 'compose', *file_list] + command_list, env={**os.environ}) - - -class Manager: - - def __init__(self): - self.docker_manager = DockerManger(DOCKER_SERVICES) - self.serivice_names = [service.name for service in self.docker_manager.services] - - self.current_host_ip = self.get_ip() - - def get_ip(self): - try: - s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - s.connect(("8.8.8.8", 80)) - ip = s.getsockname()[0] - s.close() - return ip - except Exception as e: - print(f"Error obtaining IP address: {e}") - exit(1) - - def source_settings(self, file_path): - with open(file_path, 'r') as f: - settings = toml.load(f) - for field, value_dict in settings.items(): - for sub_key, value in value_dict.items(): - if "no_pref" in field.lower(): - os.environ[sub_key.upper()] = str(value) - else: - os.environ[f"{field}_{sub_key}".upper()] = str(value) - - def source_env(self, file_path): - pattern = re.compile(r'^(?:export\s+)?([\w\.]+)\s*=\s*(.*)$') - with open(file_path, 'r') as f: - for line in f: - line = line.strip() - if line.startswith('#') or not line: - continue - match = pattern.match(line) - if match: - key, value = match.groups() - value = value.strip('\'"') - os.environ[key] = value - - def build_firmware(self, **kwargs): - locally = kwargs.get('locally', False) - if locally: - self.build_firmware_locally() - else: - self.docker_manager.dc_run('firmware.yaml', 'firmware build') - - def build_firmware_locally(self, **_): - subprocess.check_call(['rm', '-rf', 'build'], cwd='firmware') - subprocess.check_call(['cmake', '-DCMAKE_EXPORT_COMPILE_COMMANDS=1', '.'], - cwd='firmware') - subprocess.check_call(['cmake', '--build', '.', '--clean-first'], - cwd='firmware') - subprocess.check_call(['make'], cwd='firmware') - - def down(self, **kwargs): - container_name = kwargs.get('container', None) - if container_name is not None: - self.docker_manager.dc_down([container_name]) - else: - self.docker_manager.dc_down(self.serivice_names) - - def up(self, **kwargs): - container_name = kwargs.get('container', None) - if container_name is not None: - self.docker_manager.dc_up([container_name]) - - def build(self, **kwargs): - container_name = kwargs.get('container', None) - no_editable = kwargs.get('no_editable', False) - no_cache = kwargs.get('no_cache', False) - os.environ['BACKEND_EDITABLE_PACKAGES'] = 'true' if not no_editable else 'false' - try: - subprocess.check_call(['rm', '-rf', 'controller'], cwd='backend') - subprocess.check_call(['cp', '-r', '../controller', '.'], cwd='backend') - - if container_name is not None: - self.docker_manager.dc_build([container_name], no_cache=no_cache) - else: - self.docker_manager.dc_build(self.serivice_names, no_cache=no_cache) - - finally: - subprocess.check_call(['rm', '-rf', 'controller'], cwd='backend') - - def get_usb_port(self): - ports = serial.tools.list_ports.comports() - print("Available ports:") - - for port in ports: - print(f"{port.device} - {port.description}") - if 'CP210' in port.description or 'FTDI' in port.description or 'CH340' in port.description: - return port.device - return None - - def dc_command(self, **kwargs): - container_name = kwargs.get('container', None) - command = kwargs.get('op', None) - if container_name is not None: - self.docker_manager.dc_command([container_name], command) - else: - self.docker_manager.dc_command(self.serivice_names, command) - - def build_flash_esp(self, **kwargs): - usb_port = kwargs.get('usb_port', None) - - if usb_port is None: - usb_port = self.get_usb_port() - print(usb_port) - if usb_port is None: - print("No ESP32 found") - exit(1) - - os.environ['ESP_CONTROLLER_SERVER_HOST'] = self.current_host_ip - - print(f"Flashing ESP32 on port {usb_port}") - - process = None - try: - command_server = ['esp_rfc2217_server.py', '-p', '4000', usb_port] - - # run in background but still keep output - process = subprocess.Popen(command_server) - - time.sleep(2) - - if process.poll() is not None: - print("Error starting ESP32 server") - exit(1) - - print("Waiting for ESP32 to connect...") - - self.docker_manager.dc_run( - 'esp_idf.yaml', 'esp_idf idf.py build flash -p rfc2217://host.docker.internal:4000?ign_set_control monitor') - - finally: - if process: - # send sigint to stop server - process.send_signal(signal.SIGINT) - - def build_esp_locally(self, **kwargs): - print("Requires idf.py to be installed and environment variables to be set") - print("Also requires to export variables from .env file -->\n\t source .env") - if 'IDF_PATH' not in os.environ: - print("IDF_PATH is not set") - exit(1) - - flash = kwargs.get('flash', False) - - delete_command = ['rm', '-rf', 'build', 'CMakeFiles', 'CMakeCache.txt', - 'cmake_install.cmake', 'Makefile', 'compile_commands.json'] - subprocess.check_call(delete_command, cwd='firmware') - - command = ['idf.py', 'build'] - if flash: - command.append('flash') - - subprocess.check_call(['rm', '-rf', 'build'], cwd='firmware') - subprocess.check_call(command, - cwd='firmware', env=os.environ) - - def publish_controller(self, **kwargs): - if 'CONTROLLER_PDM_PUBLISH_USERNAME' not in os.environ: - print("CONTROLLER_PDM_PUBLISH_USERNAME is not set") - exit(1) - - if 'CONTROLLER_PDM_PUBLISH_PASSWORD' not in os.environ: - print("CONTROLLER_PDM_PUBLISH_PASSWORD is not set") - exit(1) - - version = kwargs.get('version', None) - - if version is not None: - os.environ['CONTROLLER_PDM_OVERRIDE_VERSION'] = version - - else: - os.environ['CONTROLLER_PDM_INCREMENT_VERSION'] = 'true' - - self.docker_manager.dc_run('controller.yaml', 'controller pdm publish') - - def build_esp(self, **kwargs): - - flash = kwargs.get('flash', False) - locally = kwargs.get('locally', False) - ssid = kwargs.get('ssid', None) - password = kwargs.get('password', None) - controller_host = kwargs.get('controller_host', None) - - if ssid is not None: - os.environ['ESP_WIFI_SSID'] = ssid - - if password is not None: - os.environ['ESP_WIFI_PASSWORD'] = password - - os.environ['ESP_CONTROLLER_SERVER_HOST'] = self.current_host_ip - - if controller_host is not None: - os.environ['ESP_CONTROLLER_SERVER_HOST'] = controller_host - - os.environ['VERBOSE'] = '1' - - if locally: - self.build_esp_locally(**kwargs) - - else: - if flash: - self.build_flash_esp(**kwargs) - - else: - self.docker_manager.dc_run('esp_idf.yaml', 'esp_idf idf.py build') - - def run_command(self, args): - container, cmd = args - try: - self.docker_manager.dc_run(container, cmd, service_ports_and_aliases=True) - except subprocess.CalledProcessError as e: - print(f"Error running command: {e}") - - def format_code(self, **kwargs): - container_name = kwargs.get('container', None) - - if container_name is None: - commands = [ - ('firmware.yaml', 'firmware format'), - ('controller.yaml', 'controller pdm run format'), - ('backend.yaml', 'backend pdm run format'), - ('frontend.yaml', 'frontend npm run format') - ] - with ThreadPoolExecutor(max_workers=len(commands)) as executor: - - futures = [] - for cmd in commands: - print('Formatting', cmd[0]) - time.sleep(0.4) - futures.append(executor.submit(self.run_command, cmd)) - for future in futures: - future.result() - return - if 'firmware' in container_name: - self.docker_manager.dc_run('firmware.yaml', 'firmware format') - return - - if 'controller' in container_name: - self.docker_manager.dc_run('controller.yaml', 'controller pdm run format') - return - - if 'backend' in container_name: - self.docker_manager.dc_run('backend.yaml', 'backend pdm run format') - return - - if 'frontend' in container_name: - self.docker_manager.dc_run('frontend.yaml', 'frontend npm run format') - return - - def lint(self, **kwargs): - container_name = kwargs.get('container', None) - - if container_name is None: - - commands = [ - ('controller.yaml', 'controller pdm run lint'), - ('backend.yaml', 'backend pdm run lint'), - ('frontend.yaml', 'frontend npm run lint') - ] - with ThreadPoolExecutor(max_workers=len(commands)) as executor: - - futures = [] - for cmd in commands: - print('Linting', cmd[0]) - time.sleep(1) - futures.append(executor.submit(self.run_command, cmd)) - for future in futures: - future.result() - return - - if 'frontend' in container_name: - self.docker_manager.dc_run('frontend.yaml', 'frontend npm run lint') - return - - if 'controller' in container_name: - self.docker_manager.dc_run('controller.yaml', 'controller pdm run lint') - return - - if 'backend' in container_name: - self.docker_manager.dc_run('backend.yaml', 'backend pdm run lint') - return - - def test_debug(self, **_): - os.environ["CONTROLLER_PRINT_STATUS"] = "true" - - self.docker_manager.dc_up(['controller.yaml', 'firmware.yaml'], env={ - "ESP_CONTROLLER_SERVER_HOST": "controller", "CONTROLLER_COMMAND": "test"}) - self.docker_manager.dc_down(['controller.yaml', 'firmware.yaml']) - - def test_no_debug(self, **_): - self.build_firmware() - self.docker_manager.dc_up(['firmware.yaml'], env={ - "ESP_CONTROLLER_SERVER_HOST": "controller"}, detached=True) - - exit_code = self.docker_manager.dc_run('controller.yaml', 'controller pdm run test', - service_ports_and_aliases=True) - - print(exit_code) - - self.docker_manager.dc_down(['firmware.yaml']) - if exit_code == 0: - print("Tests passed") - exit(0) - else: - print("Tests failed") - - exit(1) - - def test_esp(self, **_): - exit_code = self.docker_manager.dc_run('controller.yaml', 'controller pdm run test', - service_ports_and_aliases=True) - if exit_code == 0: - print("Tests passed") - exit(0) - else: - print("Tests failed") - exit(1) - - def test(self, **kwargs): - debug = kwargs['debug'] - esp = kwargs['esp'] - if esp: - self.test_esp(**kwargs) - return - if debug: - self.test_debug(**kwargs) - else: - self.test_no_debug(**kwargs) - - def runserver(self, **kwargs): - esp = kwargs.get('esp', False) - detached = kwargs.get('detached', False) - use_instanciator = kwargs.get('use_instanciator', False) - if use_instanciator: - os.environ['VITE_BACKEND_URL'] = 'no_backend' - service_list = ['frontend.yaml'] - else: - - service_list = ['backend.yaml', 'unity_webgl_server.yaml', 'frontend.yaml'] - - if not esp and not use_instanciator: - service_list.append('firmware.yaml') - - if esp: - os.environ["ESP_CONTROLLER_SERVER_HOST"] = self.current_host_ip - - self.docker_manager.dc_up(service_list, detached=detached) - - if not detached: - self.docker_manager.dc_down(service_list) - - def shell(self, **kwargs): - container_name = kwargs['container'] - self.docker_manager.dc_run(container_name, f'{container_name} /bin/sh', exec=False) - - def handle_sigint(self, signum, frame): - self.down() - print("Containers stopped. Exiting...") - exit(0) - - def parse_and_execute(self): - - try: - self.source_env(".env") - except FileNotFoundError: - self.source_settings("settings.toml") - - try: - self.source_settings("secrets.toml") - except FileNotFoundError: - print("No secrets.toml file found. Continuing without secrets") - - signal.signal(signal.SIGINT, self.handle_sigint) - parser = argparse.ArgumentParser( - description='Robot arm manager.', - formatter_class=argparse.RawTextHelpFormatter - ) - subparsers = parser.add_subparsers(dest='command') - # -------------- - # Docker compose command - # -------------- - - parser_dc = subparsers.add_parser( - 'docker-compose', help='Run docker compose command') - - parser_dc.set_defaults(func=self.dc_command) - - parser_dc.add_argument( - '--op', help='Command to run') - - parser_dc.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to run command in') - - # -------------- - # Build firmware - # -------------- - - parser_buildf = subparsers.add_parser( - 'buildf', help='Build the firmware for linux platform') - parser_buildf.set_defaults(func=self.build_firmware) - - parser_buildf.add_argument( - '--locally', '-l', action='store_true', help='Build firmware locally') - - # -------------- - # Build docker compose - # -------------- - - parser_build = subparsers.add_parser( - 'build', help='Build all docker compose services') - - parser_build.set_defaults(func=self.build) - - parser_build.add_argument( - '--no-cache', action='store_true', help='Build all docker compose services without cache') - parser_build.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to build') - - parser_build.add_argument( - '--no-editable', action='store_true', help='Build all docker compose services without editable mode') - - # -------------- - # Build esp - # -------------- - - parser_build_esp = subparsers.add_parser( - 'build-esp', help='Build the firmware for esp32 platform') - - parser_build_esp.set_defaults(func=self.build_esp) - - parser_build_esp.add_argument( - '--locally', '-l', action='store_true', help='Build firmware locally') - - parser_build_esp.add_argument( - '--usb-port', '-u', help='USB port for esp32') - - parser_build_esp.add_argument( - '--flash', '-f', action='store_true', help='Build and flash firmware to esp32') - - parser_build_esp.add_argument( - '--ssid', help='SSID for wifi') - parser_build_esp.add_argument( - '--password', help='Password for wifi') - - parser_build_esp.add_argument( - '--controller-host', help='Host for controller') - - # -------------- - # Format code - # -------------- - - parser_format = subparsers.add_parser( - 'format', help='Format all code') - - parser_format.set_defaults(func=self.format_code) - - parser_format.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to format') - - # -------------- - # Lint code - # -------------- - - parser_lint = subparsers.add_parser('lint', help='Lint all code') - - parser_lint.set_defaults(func=self.lint) - - parser_lint.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to lint') - - # -------------- - # Test code - # -------------- - - parser_test = subparsers.add_parser('test', help='Run all tests') - - parser_test.set_defaults(func=self.test) - - parser_test.add_argument( - '--debug', action='store_true', help='Run tests in debug mode') - - parser_test.add_argument( - '--esp', action='store_true', help='Run tests on esp32') - - # -------------- - # Run server - # -------------- - - parser_runserver = subparsers.add_parser( - 'runserver', help='Run server') - - parser_runserver.set_defaults(func=self.runserver) - - parser_runserver.add_argument( - '--esp', action='store_true', help='Run server for ESP-32 ') - parser_runserver.add_argument( - '--detached', '-d', action='store_true', help='Run server in detached mode') - - parser_runserver.add_argument( - '--use-instanciator', action='store_true', help='Run server with instanciator') - - # -------------- - # Publish controller - # -------------- - - parser_publish_controller = subparsers.add_parser( - 'publish-controller', help='Publish controller to PyPi') - - parser_publish_controller.set_defaults(func=self.publish_controller) - - parser_publish_controller.add_argument( - '--version', '-v', help='Version to publish') - - # -------------- - # Stop containers - # -------------- - - parser_down = subparsers.add_parser( - 'down', help='Stop all containers') - - parser_down.set_defaults(func=self.down) - - parser_down.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to stop') - - # -------------- - # Shell - # -------------- - - parser_shell = subparsers.add_parser( - 'shell', help='Run shell in container') - - parser_shell.set_defaults(func=self.shell) - - parser_shell.add_argument( - 'container', choices=self.serivice_names, help='Container to run shell in') - - # ------------ - # Up - # ------------ - - parser_up = subparsers.add_parser( - 'up', help='Start certain container') - - parser_up.set_defaults(func=self.up) - - parser_up.add_argument( - '--container', '-c', choices=self.serivice_names, help='Container to start') - - parsed_args, remaining_args = parser.parse_known_args() - command_map = { - 'build': self.build, - 'buildf': self.build_firmware, - 'build-esp': self.build_esp, - 'format': self.format_code, - 'lint': self.lint, - 'up': self.up, - 'test': self.test, - 'runserver': self.runserver, - 'down': self.down, - 'shell': self.shell, - 'publish-controller': self.publish_controller, - 'docker-compose': self.dc_command - - } - - if parsed_args.command is None: - parser.print_help() - exit(1) - - command_map[parsed_args.command](**vars(parsed_args)) - - -if __name__ == "__main__": - manager = Manager() - manager.parse_and_execute() diff --git a/ribot.py b/ribot.py deleted file mode 120000 index 30f5e9f..0000000 --- a/ribot.py +++ /dev/null @@ -1 +0,0 @@ -manage.py \ No newline at end of file diff --git a/ribot.py b/ribot.py new file mode 100755 index 0000000..3bdf174 --- /dev/null +++ b/ribot.py @@ -0,0 +1,714 @@ +#!/usr/bin/env python3 + +from logging import captureWarnings +from sys import stdout +import time +import argparse +import subprocess +import re +import os +import signal +import socket +import toml +from typing import List +from pathlib import Path +import serial.tools.list_ports +from concurrent.futures import ThreadPoolExecutor + +CURRENT_FILE_PATH = Path(__file__).parent.absolute() +DOCKER_SERVICES = CURRENT_FILE_PATH/'docker_services' + + +# ======================== +# Manger for docker compose +# ======================== + +class DockerService: + + def __init__(self, file_path: Path) -> None: + + self.file_path = file_path + + @property + def name(self) -> str: + return self.file_path.name.split('.')[0] + + @property + def file_name(self) -> str: + return self.file_path.name + + @property + def full_path(self) -> str: + return str(self.file_path.absolute()) + + def get_dash_f(self) -> List[str]: + return ['-f', self.full_path] + + +class DockerManger: + + def __init__(self, base_path: Path) -> None: + self.base_path = base_path + self.services: List[DockerService] = self.get_services() + + def get_services(self): + services = [] + for file in self.base_path.iterdir(): + file = Path(file) + if file.is_file() and file.name.endswith('.yaml') or file.name.endswith('.yml'): + services.append(DockerService(file)) + return services + + def get_service_from_name(self, name: str) -> DockerService: + if name.endswith('.yaml') or name.endswith('.yml'): + name = name.split('.')[0] + for service in self.services: + if service.name == name: + return service + raise Exception(f"Service {name} not found") + + def get_file_list(self, services: List[str]) -> List[str]: + file_list = [] + + for service in services: + file_list.extend(['-f', self.get_service_from_name(service).full_path]) + return file_list + + def dc_run(self, service_name: str, command: str, env={}, service_ports_and_aliases=False, exec=False): + command_list = command.split(' ') + service = self.get_service_from_name(service_name) + + new_command = ['docker', 'compose'] + service.get_dash_f() + + if exec: + new_command.append('exec') + else: + new_command.extend(['run', '--rm']) + if service_ports_and_aliases: + new_command.extend(['--service-ports', '--use-aliases']) + + new_command.extend(command_list) + + result = subprocess.run(new_command, env={**os.environ, **env}) + # repalce with os.system to get output + # result = os.system(' '.join(new_command)) + + return result.returncode + + def dc_up(self, files: List[str], env: dict = {}, detached=False): + + file_list = self.get_file_list(files) + command = ['docker', 'compose', *file_list, 'up'] + if detached: + command.append('-d') + return subprocess.check_call(command, env={**os.environ, **env}) + + def dc_down(self, files: List[str]): + file_list = self.get_file_list(files) + return subprocess.check_call(['docker', 'compose', *file_list, 'down', '--remove-orphans']) + + def dc_build(self, files: List[str], no_cache=False): + file_list = self.get_file_list(files) + command = ['docker', 'compose', *file_list, 'build'] + if no_cache: + command.append('--no-cache') + return subprocess.check_call(command, env={**os.environ}) + + def dc_logs(self, files: List[str]): + file_list = self.get_file_list(files) + return subprocess.check_call(['docker', 'compose', *file_list, 'logs', '--follow']) + + def dc_command(self, files: List[str], command: str): + file_list = self.get_file_list(files) + command_list = [] + + if "run" in command: + command_list += ["run", "--service-ports", "--use-aliases"] + command_list += command.split(' ')[1:] + else: + command_list += command.split(' ') + return subprocess.check_call(['docker', 'compose', *file_list] + command_list, env={**os.environ}) + + +class Manager: + + def __init__(self): + self.docker_manager = DockerManger(DOCKER_SERVICES) + self.serivice_names = [service.name for service in self.docker_manager.services] + + self.current_host_ip = self.get_ip() + + def get_ip(self): + try: + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + s.connect(("8.8.8.8", 80)) + ip = s.getsockname()[0] + s.close() + return ip + except Exception as e: + print(f"Error obtaining IP address: {e}") + exit(1) + + def source_settings(self, file_path): + with open(file_path, 'r') as f: + settings = toml.load(f) + for field, value_dict in settings.items(): + for sub_key, value in value_dict.items(): + if "no_pref" in field.lower(): + os.environ[sub_key.upper()] = str(value) + else: + os.environ[f"{field}_{sub_key}".upper()] = str(value) + + def source_env(self, file_path): + pattern = re.compile(r'^(?:export\s+)?([\w\.]+)\s*=\s*(.*)$') + with open(file_path, 'r') as f: + for line in f: + line = line.strip() + if line.startswith('#') or not line: + continue + match = pattern.match(line) + if match: + key, value = match.groups() + value = value.strip('\'"') + os.environ[key] = value + + def build_firmware(self, **kwargs): + locally = kwargs.get('locally', False) + if locally: + self.build_firmware_locally() + else: + self.docker_manager.dc_run('firmware.yaml', 'firmware build') + + def build_firmware_locally(self, **_): + subprocess.check_call(['rm', '-rf', 'build'], cwd='firmware') + subprocess.check_call(['cmake', '-DCMAKE_EXPORT_COMPILE_COMMANDS=1', '.'], + cwd='firmware') + subprocess.check_call(['cmake', '--build', '.', '--clean-first'], + cwd='firmware') + subprocess.check_call(['make'], cwd='firmware') + + def down(self, **kwargs): + container_name = kwargs.get('container', None) + if container_name is not None: + self.docker_manager.dc_down([container_name]) + else: + self.docker_manager.dc_down(self.serivice_names) + + def up(self, **kwargs): + container_name = kwargs.get('container', None) + if container_name is not None: + self.docker_manager.dc_up([container_name]) + + def build(self, **kwargs): + container_name = kwargs.get('container', None) + no_editable = kwargs.get('no_editable', False) + no_cache = kwargs.get('no_cache', False) + os.environ['BACKEND_EDITABLE_PACKAGES'] = 'true' if not no_editable else 'false' + try: + subprocess.check_call(['rm', '-rf', 'controller'], cwd='backend') + subprocess.check_call(['cp', '-r', '../controller', '.'], cwd='backend') + + if container_name is not None: + self.docker_manager.dc_build([container_name], no_cache=no_cache) + else: + self.docker_manager.dc_build(self.serivice_names, no_cache=no_cache) + + finally: + subprocess.check_call(['rm', '-rf', 'controller'], cwd='backend') + + def get_usb_port(self): + ports = serial.tools.list_ports.comports() + print("Available ports:") + + for port in ports: + print(f"{port.device} - {port.description}") + if 'CP210' in port.description or 'FTDI' in port.description or 'CH340' in port.description: + return port.device + return None + + def dc_command(self, **kwargs): + container_name = kwargs.get('container', None) + command = kwargs.get('op', None) + if container_name is not None: + self.docker_manager.dc_command([container_name], command) + else: + self.docker_manager.dc_command(self.serivice_names, command) + + def build_flash_esp(self, **kwargs): + usb_port = kwargs.get('usb_port', None) + + if usb_port is None: + usb_port = self.get_usb_port() + print(usb_port) + if usb_port is None: + print("No ESP32 found") + exit(1) + + os.environ['ESP_CONTROLLER_SERVER_HOST'] = self.current_host_ip + + print(f"Flashing ESP32 on port {usb_port}") + + process = None + try: + command_server = ['esp_rfc2217_server.py', '-p', '4000', usb_port] + + # run in background but still keep output + process = subprocess.Popen(command_server) + + time.sleep(2) + + if process.poll() is not None: + print("Error starting ESP32 server") + exit(1) + + print("Waiting for ESP32 to connect...") + + self.docker_manager.dc_run( + 'esp_idf.yaml', 'esp_idf idf.py build flash -p rfc2217://host.docker.internal:4000?ign_set_control monitor') + + finally: + if process: + # send sigint to stop server + process.send_signal(signal.SIGINT) + + def build_esp_locally(self, **kwargs): + print("Requires idf.py to be installed and environment variables to be set") + print("Also requires to export variables from .env file -->\n\t source .env") + if 'IDF_PATH' not in os.environ: + print("IDF_PATH is not set") + exit(1) + + flash = kwargs.get('flash', False) + + delete_command = ['rm', '-rf', 'build', 'CMakeFiles', 'CMakeCache.txt', + 'cmake_install.cmake', 'Makefile', 'compile_commands.json'] + subprocess.check_call(delete_command, cwd='firmware') + + command = ['idf.py', 'build'] + if flash: + command.append('flash') + + subprocess.check_call(['rm', '-rf', 'build'], cwd='firmware') + subprocess.check_call(command, + cwd='firmware', env=os.environ) + + def publish_controller(self, **kwargs): + if 'CONTROLLER_PDM_PUBLISH_USERNAME' not in os.environ: + print("CONTROLLER_PDM_PUBLISH_USERNAME is not set") + exit(1) + + if 'CONTROLLER_PDM_PUBLISH_PASSWORD' not in os.environ: + print("CONTROLLER_PDM_PUBLISH_PASSWORD is not set") + exit(1) + + version = kwargs.get('version', None) + + if version is not None: + os.environ['CONTROLLER_PDM_OVERRIDE_VERSION'] = version + + else: + os.environ['CONTROLLER_PDM_INCREMENT_VERSION'] = 'true' + + self.docker_manager.dc_run('controller.yaml', 'controller pdm publish') + + def build_esp(self, **kwargs): + + flash = kwargs.get('flash', False) + locally = kwargs.get('locally', False) + ssid = kwargs.get('ssid', None) + password = kwargs.get('password', None) + controller_host = kwargs.get('controller_host', None) + + if ssid is not None: + os.environ['ESP_WIFI_SSID'] = ssid + + if password is not None: + os.environ['ESP_WIFI_PASSWORD'] = password + + os.environ['ESP_CONTROLLER_SERVER_HOST'] = self.current_host_ip + + if controller_host is not None: + os.environ['ESP_CONTROLLER_SERVER_HOST'] = controller_host + + os.environ['VERBOSE'] = '1' + + if locally: + self.build_esp_locally(**kwargs) + + else: + if flash: + self.build_flash_esp(**kwargs) + + else: + self.docker_manager.dc_run('esp_idf.yaml', 'esp_idf idf.py build') + + def run_command(self, args): + container, cmd = args + try: + self.docker_manager.dc_run(container, cmd, service_ports_and_aliases=True) + except subprocess.CalledProcessError as e: + print(f"Error running command: {e}") + + def format_code(self, **kwargs): + container_name = kwargs.get('container', None) + + if container_name is None: + commands = [ + ('firmware.yaml', 'firmware format'), + ('controller.yaml', 'controller pdm run format'), + ('backend.yaml', 'backend pdm run format'), + ('frontend.yaml', 'frontend npm run format') + ] + with ThreadPoolExecutor(max_workers=len(commands)) as executor: + + futures = [] + for cmd in commands: + print('Formatting', cmd[0]) + time.sleep(0.4) + futures.append(executor.submit(self.run_command, cmd)) + for future in futures: + future.result() + return + if 'firmware' in container_name: + self.docker_manager.dc_run('firmware.yaml', 'firmware format') + return + + if 'controller' in container_name: + self.docker_manager.dc_run('controller.yaml', 'controller pdm run format') + return + + if 'backend' in container_name: + self.docker_manager.dc_run('backend.yaml', 'backend pdm run format') + return + + if 'frontend' in container_name: + self.docker_manager.dc_run('frontend.yaml', 'frontend npm run format') + return + + def lint(self, **kwargs): + container_name = kwargs.get('container', None) + + if container_name is None: + + commands = [ + ('controller.yaml', 'controller pdm run lint'), + ('backend.yaml', 'backend pdm run lint'), + ('frontend.yaml', 'frontend npm run lint') + ] + with ThreadPoolExecutor(max_workers=len(commands)) as executor: + + futures = [] + for cmd in commands: + print('Linting', cmd[0]) + time.sleep(1) + futures.append(executor.submit(self.run_command, cmd)) + for future in futures: + future.result() + return + + if 'frontend' in container_name: + self.docker_manager.dc_run('frontend.yaml', 'frontend npm run lint') + return + + if 'controller' in container_name: + self.docker_manager.dc_run('controller.yaml', 'controller pdm run lint') + return + + if 'backend' in container_name: + self.docker_manager.dc_run('backend.yaml', 'backend pdm run lint') + return + + def test_debug(self, **_): + os.environ["CONTROLLER_PRINT_STATUS"] = "true" + + self.docker_manager.dc_up(['controller.yaml', 'firmware.yaml'], env={ + "ESP_CONTROLLER_SERVER_HOST": "controller", "CONTROLLER_COMMAND": "test"}) + self.docker_manager.dc_down(['controller.yaml', 'firmware.yaml']) + + def test_no_debug(self, **_): + self.build_firmware() + self.docker_manager.dc_up(['firmware.yaml'], env={ + "ESP_CONTROLLER_SERVER_HOST": "controller"}, detached=True) + + exit_code = self.docker_manager.dc_run('controller.yaml', 'controller pdm run test', + service_ports_and_aliases=True) + + print(exit_code) + + self.docker_manager.dc_down(['firmware.yaml']) + if exit_code == 0: + print("Tests passed") + exit(0) + else: + print("Tests failed") + + exit(1) + + def test_esp(self, **_): + exit_code = self.docker_manager.dc_run('controller.yaml', 'controller pdm run test', + service_ports_and_aliases=True) + if exit_code == 0: + print("Tests passed") + exit(0) + else: + print("Tests failed") + exit(1) + + def test(self, **kwargs): + debug = kwargs['debug'] + esp = kwargs['esp'] + if esp: + self.test_esp(**kwargs) + return + if debug: + self.test_debug(**kwargs) + else: + self.test_no_debug(**kwargs) + + def runserver(self, **kwargs): + esp = kwargs.get('esp', False) + detached = kwargs.get('detached', False) + use_instanciator = kwargs.get('use_instanciator', False) + if use_instanciator: + os.environ['VITE_BACKEND_URL'] = 'no_backend' + service_list = ['frontend.yaml'] + else: + + service_list = ['backend.yaml', 'unity_webgl_server.yaml', 'frontend.yaml'] + + if not esp and not use_instanciator: + service_list.append('firmware.yaml') + + if esp: + os.environ["ESP_CONTROLLER_SERVER_HOST"] = self.current_host_ip + + self.docker_manager.dc_up(service_list, detached=detached) + + if not detached: + self.docker_manager.dc_down(service_list) + + def shell(self, **kwargs): + container_name = kwargs['container'] + self.docker_manager.dc_run(container_name, f'{container_name} /bin/sh', exec=False) + + def handle_sigint(self, signum, frame): + self.down() + print("Containers stopped. Exiting...") + exit(0) + + def parse_and_execute(self): + + try: + self.source_env(".env") + except FileNotFoundError: + self.source_settings("settings.toml") + + try: + self.source_settings("secrets.toml") + except FileNotFoundError: + print("No secrets.toml file found. Continuing without secrets") + + signal.signal(signal.SIGINT, self.handle_sigint) + parser = argparse.ArgumentParser( + description='Robot arm manager.', + formatter_class=argparse.RawTextHelpFormatter + ) + subparsers = parser.add_subparsers(dest='command') + # -------------- + # Docker compose command + # -------------- + + parser_dc = subparsers.add_parser( + 'docker-compose', help='Run docker compose command') + + parser_dc.set_defaults(func=self.dc_command) + + parser_dc.add_argument( + '--op', help='Command to run') + + parser_dc.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to run command in') + + # -------------- + # Build firmware + # -------------- + + parser_buildf = subparsers.add_parser( + 'buildf', help='Build the firmware for linux platform') + parser_buildf.set_defaults(func=self.build_firmware) + + parser_buildf.add_argument( + '--locally', '-l', action='store_true', help='Build firmware locally') + + # -------------- + # Build docker compose + # -------------- + + parser_build = subparsers.add_parser( + 'build', help='Build all docker compose services') + + parser_build.set_defaults(func=self.build) + + parser_build.add_argument( + '--no-cache', action='store_true', help='Build all docker compose services without cache') + parser_build.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to build') + + parser_build.add_argument( + '--no-editable', action='store_true', help='Build all docker compose services without editable mode') + + # -------------- + # Build esp + # -------------- + + parser_build_esp = subparsers.add_parser( + 'build-esp', help='Build the firmware for esp32 platform') + + parser_build_esp.set_defaults(func=self.build_esp) + + parser_build_esp.add_argument( + '--locally', '-l', action='store_true', help='Build firmware locally') + + parser_build_esp.add_argument( + '--usb-port', '-u', help='USB port for esp32') + + parser_build_esp.add_argument( + '--flash', '-f', action='store_true', help='Build and flash firmware to esp32') + + parser_build_esp.add_argument( + '--ssid', help='SSID for wifi') + parser_build_esp.add_argument( + '--password', help='Password for wifi') + + parser_build_esp.add_argument( + '--controller-host', help='Host for controller') + + # -------------- + # Format code + # -------------- + + parser_format = subparsers.add_parser( + 'format', help='Format all code') + + parser_format.set_defaults(func=self.format_code) + + parser_format.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to format') + + # -------------- + # Lint code + # -------------- + + parser_lint = subparsers.add_parser('lint', help='Lint all code') + + parser_lint.set_defaults(func=self.lint) + + parser_lint.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to lint') + + # -------------- + # Test code + # -------------- + + parser_test = subparsers.add_parser('test', help='Run all tests') + + parser_test.set_defaults(func=self.test) + + parser_test.add_argument( + '--debug', action='store_true', help='Run tests in debug mode') + + parser_test.add_argument( + '--esp', action='store_true', help='Run tests on esp32') + + # -------------- + # Run server + # -------------- + + parser_runserver = subparsers.add_parser( + 'runserver', help='Run server') + + parser_runserver.set_defaults(func=self.runserver) + + parser_runserver.add_argument( + '--esp', action='store_true', help='Run server for ESP-32 ') + parser_runserver.add_argument( + '--detached', '-d', action='store_true', help='Run server in detached mode') + + parser_runserver.add_argument( + '--use-instanciator', action='store_true', help='Run server with instanciator') + + # -------------- + # Publish controller + # -------------- + + parser_publish_controller = subparsers.add_parser( + 'publish-controller', help='Publish controller to PyPi') + + parser_publish_controller.set_defaults(func=self.publish_controller) + + parser_publish_controller.add_argument( + '--version', '-v', help='Version to publish') + + # -------------- + # Stop containers + # -------------- + + parser_down = subparsers.add_parser( + 'down', help='Stop all containers') + + parser_down.set_defaults(func=self.down) + + parser_down.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to stop') + + # -------------- + # Shell + # -------------- + + parser_shell = subparsers.add_parser( + 'shell', help='Run shell in container') + + parser_shell.set_defaults(func=self.shell) + + parser_shell.add_argument( + 'container', choices=self.serivice_names, help='Container to run shell in') + + # ------------ + # Up + # ------------ + + parser_up = subparsers.add_parser( + 'up', help='Start certain container') + + parser_up.set_defaults(func=self.up) + + parser_up.add_argument( + '--container', '-c', choices=self.serivice_names, help='Container to start') + + parsed_args, remaining_args = parser.parse_known_args() + command_map = { + 'build': self.build, + 'buildf': self.build_firmware, + 'build-esp': self.build_esp, + 'format': self.format_code, + 'lint': self.lint, + 'up': self.up, + 'test': self.test, + 'runserver': self.runserver, + 'down': self.down, + 'shell': self.shell, + 'publish-controller': self.publish_controller, + 'docker-compose': self.dc_command + + } + + if parsed_args.command is None: + parser.print_help() + exit(1) + + command_map[parsed_args.command](**vars(parsed_args)) + + +if __name__ == "__main__": + manager = Manager() + manager.parse_and_execute() diff --git a/settings.toml b/settings.toml index 10af3e5..6ed1b8c 100644 --- a/settings.toml +++ b/settings.toml @@ -16,7 +16,7 @@ update_ribot_controller = false editable_packages=false -[Vite] +[Front] backend_url = "http://localhost:5000" arm_simulation_websocket_port = 8600 arm_simulation_websocket_host = "localhost" From 950122ebfcdf48bff19ebb831afc3d4e974ec206 Mon Sep 17 00:00:00 2001 From: alberto-abarzua Date: Fri, 8 Dec 2023 12:15:45 -0300 Subject: [PATCH 2/5] chore: udpate deps --- backend/pdm.lock | 2 +- frontend/package.json | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/backend/pdm.lock b/backend/pdm.lock index b49dcb1..57ea648 100644 --- a/backend/pdm.lock +++ b/backend/pdm.lock @@ -405,7 +405,7 @@ files = [ [[package]] name = "ribot-controller" -version = "0.3.10+editable" +version = "0.3.11+editable" requires_python = ">=3.9" editable = true path = "./controller" diff --git a/frontend/package.json b/frontend/package.json index e4247be..bebaea8 100644 --- a/frontend/package.json +++ b/frontend/package.json @@ -64,11 +64,11 @@ "tailwindcss-animate": "^1.0.7" }, "devDependencies": { - "@types/node": "^20.10.3", + "@types/node": "^20.10.4", "@vitejs/plugin-react": "^4.2.1", "eslint-import-resolver-alias": "^1.1.2", "eslint-plugin-import": "^2.29.0", - "prettier-plugin-tailwindcss": "^0.5.8", - "vite": "^5.0.5" + "prettier-plugin-tailwindcss": "^0.5.9", + "vite": "^5.0.7" } } From 531adc53edb28031eda31acc938d1ec324cb105d Mon Sep 17 00:00:00 2001 From: alberto-abarzua Date: Fri, 8 Dec 2023 12:18:09 -0300 Subject: [PATCH 3/5] fix: broken path to image in docs --- arm_docs/docs/implementation/hardware.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/arm_docs/docs/implementation/hardware.md b/arm_docs/docs/implementation/hardware.md index 9b15cf1..6f882ed 100644 --- a/arm_docs/docs/implementation/hardware.md +++ b/arm_docs/docs/implementation/hardware.md @@ -26,7 +26,7 @@ The ESP32 is the preferred microcontroller for several reasons: ![Wiring Diagram](/img/wiring/wiring_esp.png) Wiring Diagram for the ESP32 and Stepper Motors -![Wiring Diagram](/img/wiring/tb660.png) +![Wiring Diagram](/img/wiring/tb660.jpg) Example using TB6600 Stepper Motor Driver The wiring diagram is just an example; you can connect the motors in any way you wish, as long as you use the correct type of pins. Make sure to refer to the [ESP32 Pinout Reference](https://randomnerdtutorials.com/esp32-pinout-reference-gpios/) to understand which pins are suitable for output (for motors) and input (for sensors). From 5eb742b82111eb419d0b804d538a0da55ccd79ba Mon Sep 17 00:00:00 2001 From: alberto-abarzua Date: Fri, 8 Dec 2023 12:25:53 -0300 Subject: [PATCH 4/5] chore: add sitemap to arm_docs --- arm_docs/docusaurus.config.js | 6 ++++++ arm_docs/package-lock.json | 1 + arm_docs/package.json | 1 + 3 files changed, 8 insertions(+) diff --git a/arm_docs/docusaurus.config.js b/arm_docs/docusaurus.config.js index d721f6f..9608a86 100644 --- a/arm_docs/docusaurus.config.js +++ b/arm_docs/docusaurus.config.js @@ -69,6 +69,12 @@ const config = { theme: { customCss: './src/css/custom.css', }, + sitemap: { + changefreq: 'weekly', + priority: 0.5, + ignorePatterns: ['/tags/**'], + filename: 'sitemap.xml', + }, }), ], ], diff --git a/arm_docs/package-lock.json b/arm_docs/package-lock.json index 216ebfd..830c34c 100644 --- a/arm_docs/package-lock.json +++ b/arm_docs/package-lock.json @@ -9,6 +9,7 @@ "version": "0.0.0", "dependencies": { "@docusaurus/core": "3.0.1", + "@docusaurus/plugin-sitemap": "^3.0.1", "@docusaurus/preset-classic": "3.0.1", "@mdx-js/react": "^3.0.0", "autoprefixer": "^10.4.16", diff --git a/arm_docs/package.json b/arm_docs/package.json index 51b7754..b4042ef 100644 --- a/arm_docs/package.json +++ b/arm_docs/package.json @@ -16,6 +16,7 @@ }, "dependencies": { "@docusaurus/core": "3.0.1", + "@docusaurus/plugin-sitemap": "^3.0.1", "@docusaurus/preset-classic": "3.0.1", "@mdx-js/react": "^3.0.0", "autoprefixer": "^10.4.16", From 4858ff687c7f903ab61285ac7d510710dcced089 Mon Sep 17 00:00:00 2001 From: alberto-abarzua Date: Fri, 8 Dec 2023 12:43:22 -0300 Subject: [PATCH 5/5] chore: update readmes --- README.md | 22 ++++++++++++++++++---- controller/README.md | 11 ++++++++++- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index bccba94..e6eb7c3 100644 --- a/README.md +++ b/README.md @@ -4,6 +4,12 @@ Welcome to the Ribot project, your comprehensive solution for controlling roboti ![Ribot](./arm_docs/static/img/general_page.gif) +## Demo Video + +[![Demo on Robot Arm](https://img.youtube.com/vi/HM4zTVW9VRM/0.jpg)](https://www.youtube.com/watch?v=HM4zTVW9VRM) + +[Click this or the image!](https://youtu.be/HM4zTVW9VRM) + ## Getting Started ### Prerequisites @@ -132,13 +138,21 @@ if __name__ == "__main__": This example demonstrates initializing the controller, setting up the arm parameters, and executing various movements including positioning, angling, and tool manipulation. ### Documentation -For more detailed information and additional functionalities of the `ribot-controller` library. +For detailed documentation, please visit our [Docs](https://ribot.dev). -Integrate `ribot-controller` into your project to experience the power and simplicity of controlling robotic arms with Python. +### Contributing -### Documentation -For detailed documentation, please visit our [Docs](https://ribot.dev). +Please feel free to contribute to this project! We welcome any and all contributions to help improve the Ribot project. We don't have any specific guidelines for contributing, but please follow the general guidelines below: + +**Issues**: If you find any bugs or have any feature requests, please create an issue on GitHub. + +**Pull Requests**: If you have any changes you'd like to make, please create a pull request on GitHub. We'll review it and merge it if it looks good! + +**Code Style**: Follow the existing code style (formatting and linting). For python code, we use black, isort, mypy, and flake8. For C++ code, we use clang-format and clang-tidy. For JavaScript code, we use prettier and eslint. +- You can check if you are following the code style by running `python ribot.py lint` in the root directory of the project. This will run all the linters and formatters on the codebase. +- To format the code, run `python ribot.py format` in the root directory of the project. This will run all the formatters on the codebase. +**Testing**: We have unit tests for the Python codebase. You can run them by running `python ribot.py test` in the root directory of the project. ### License This project is licensed under the [MIT License](#). diff --git a/controller/README.md b/controller/README.md index 9ffffcd..d235b95 100644 --- a/controller/README.md +++ b/controller/README.md @@ -1,4 +1,13 @@ # Ribot Python Control Library -TODO: Write a project description + +This is the controller library for the RiBot software project. + +This project focuess on creating a easy to use experience to manipulate and control robot arms + + +This library is used by the RiBot backend to control the robot arm. + +More info on the RiBot project can be found [here](https://ribot.dev). +

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