Misc changes

.github/workflows/industrial_ci_action.yml

@@ -47,4 +47,4 @@ jobs:
           DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-24:main
           ROS_REPO: ${{ matrix.ROS_REPO }}          
           # Crazy one liner for install python dependencies
-          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'for d in /root/target_ws/src/rov-24/src/pi/*/ /root/target_ws/src/rov-24/src/surface/*/; do pip install -e "$d"; done'
+          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'for d in /root/target_ws/src/rov-24/src/pi/*/ /root/target_ws/src/rov-24/src/surface/*/; do pip install -e "$d"; done'

.pylintrc

@@ -0,0 +1,3 @@
+[main]
+disable=duplicate-code,fixme
+extension-pkg-whitelist=PyQt6,cv2

README.md

@@ -29,7 +29,7 @@ git clone --recurse-submodules git@github.com:cwruRobotics/rov-24.git
 
 If you've never contributed to a git repository before, you might receive an error message saying you don't have access. In that case visit [this tutorial](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/about-ssh) to set up SSH for local GitHub access.
 
-After cloning the code, we need to set up our IDE: VSCode. If you already have it, great. Otherwise follow [this](https://code.visualstudio.com/download) tutorial.
+After cloning the code, we need to set up our IDE: VSCode. If you already have it, great. Otherwise follow [this](https://code.visualstudio.com/download) tutorial. We recommend installing the mypy, flake8 and autoDocstring VSCode extensions. Our setting for autoDocstring are set to Numpy and auto docstring on new line.
 
 ### Linux
 
@@ -134,6 +134,8 @@ If you're working on package's `setup.py` or rov_msgs, you'll need to run `🏃
 
 If you want to run our unit tests use this command `colcon test --event-handlers=console_direct+`.
 
+n VSCode, press `F1` or `ctrl+shift+p` and enter `Tasks: Run Test Task` as another method to run the above command.
+
 It runs the tests and pipes the output to the terminal. To test pi_main make sure to type your password into the terminal after running the above command.
 
 If you install the flake8 and mypy extension they should help enforce the linters.
@@ -173,5 +175,26 @@ Any topics or services communicating across will be renamed first into the tethe
 Documentation will take place at 3 levels:
 
 - High Level - Overarching Design Document outlining our general structure and what goes where.
-- Device Level - ROS Docs as set out in the ROS2 standards.
-- Inline Level - Inline Documentation to the level that someone who has some basic code knowledge can understand what the code does.
+- Device Level - Following the markdown tempate in `doc` directory.
+- Inline Level - Using reST / Numpy Standard. To autogenerate in VSCode we use autoDocstring extension with the setting set to Numpy and auto docstring on new line. Below is an example of an inline function docstring.
+
+```python
+def __init__(self, srv_type: SrvType, topic: str, signal: pyqtBoundSignal,
+                 timeout: float = 1.0, expected_namespace: str = '/surface/gui'):
+        """
+        _summary_
+
+        Parameters
+        ----------
+        srv_type : SrvType
+            _description_
+        topic : str
+            _description_
+        signal : pyqtBoundSignal
+            _description_
+        timeout : float, optional
+            _description_, by default 1.0
+        expected_namespace : str, optional
+            _description_, by default '/surface/gui'
+        """
+```

src/pi/camera_streamer/launch/camera_launch.py

@@ -1,9 +1,18 @@
+"""camera_streamer launch file."""
 from launch.launch_description import LaunchDescription
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    """
+    Generate LaunchDescription for camera_streamer.
 
+    Returns
+    -------
+    LaunchDescription
+        Launches Front and Bottom Cameras nodes
+
+    """
     # Symlinks are auto-generated by V4L2
     # ls /dev/v4l/by-id to see all the available symlinks
     # ls /dev/v4l/by-path for usb slot based symlinks

src/pi/camera_streamer/setup.py

@@ -1,20 +1,21 @@
+"""setup.py for camera_streamer module."""
 import os
 from glob import glob
 
 from setuptools import setup
 
-package_name = 'camera_streamer'
+PACKAGE_NAME = 'camera_streamer'
 
 setup(
-    name=package_name,
+    name=PACKAGE_NAME,
     version='1.0.0',
-    packages=[package_name],
+    packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'),
+        (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
     install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],

src/pi/camera_streamer/test/test_flake8.py

@@ -1,3 +1,4 @@
+"""Test flake8 on this module."""
 # Copyright 2017 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,7 +20,8 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8() -> None:
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
+    """Tests flake8 on this module."""
+    error_code, errors = main_with_errors(argv=[])
+    assert error_code == 0, \
+        f'Found {len(errors)} code style errors / warnings:\n' + \
         '\n'.join(errors)

src/pi/camera_streamer/test/test_mypy.py

@@ -1,3 +1,4 @@
+"""Test mypy on this module."""
 import os
 
 import pytest
@@ -7,7 +8,8 @@
 @pytest.mark.mypy
 @pytest.mark.linter
 def test_mypy() -> None:
+    """Tests mypy on this module."""
     file_path = __file__.replace(f'{__name__}.py', '')
     config_file = os.path.join(file_path, '..', '..', '..', '..', 'mypy.ini')
-    rc = main(argv=['--config', config_file])
-    assert rc == 0, 'Found code style errors / warnings'
+    error_code = main(argv=['--config', config_file])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/camera_streamer/test/test_pep257.py

@@ -1,3 +1,4 @@
+"""Test pep257 on this module."""
 # Copyright 2015 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,5 +20,6 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257() -> None:
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    """Tests pep257 on this module."""
+    error_code = main(argv=['.', 'test'])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/manipulators/setup.py

@@ -1,24 +1,21 @@
+"""setup.py for manipulators module."""
 import os
-import sys
 from glob import glob
 
 from setuptools import setup
 
-major_num = sys.version_info[0]
-minor_num = sys.version_info[1]
-
-package_name = 'manipulators'
+PACKAGE_NAME = 'manipulators'
 
 setup(
-    name=package_name,
+    name=PACKAGE_NAME,
     version='1.0.0',
-    packages=[package_name],
+    packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'),
+        (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*'))
     ],
     install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],

src/pi/manipulators/test/test_flake8.py

@@ -1,3 +1,4 @@
+"""Test flake8 on this module."""
 # Copyright 2017 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,7 +20,8 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8() -> None:
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
+    """Tests flake8 on this module."""
+    error_code, errors = main_with_errors(argv=[])
+    assert error_code == 0, \
+        f'Found {len(errors)} code style errors / warnings:\n' + \
         '\n'.join(errors)

src/pi/manipulators/test/test_mypy.py

@@ -1,3 +1,4 @@
+"""Test mypy on this module."""
 import os
 
 import pytest
@@ -7,7 +8,8 @@
 @pytest.mark.mypy
 @pytest.mark.linter
 def test_mypy() -> None:
+    """Tests mypy on this module."""
     file_path = __file__.replace(f'{__name__}.py', '')
     config_file = os.path.join(file_path, '..', '..', '..', '..', 'mypy.ini')
-    rc = main(argv=['--config', config_file])
-    assert rc == 0, 'Found code style errors / warnings'
+    error_code = main(argv=['--config', config_file])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/manipulators/test/test_pep257.py

@@ -1,3 +1,4 @@
+"""Test pep257 on this module."""
 # Copyright 2015 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,5 +20,6 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257() -> None:
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    """Tests pep257 on this module."""
+    error_code = main(argv=['.', 'test'])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/pi_main/launch/pi_launch.py

@@ -1,3 +1,4 @@
+"""pi_launch launch file."""
 import os
 
 from ament_index_python.packages import get_package_share_directory
@@ -8,7 +9,16 @@
 
 
 def generate_launch_description() -> LaunchDescription:
-    NS = 'pi'
+    """
+    Generate LaunchDescription for pi_main.
+
+    Returns
+    -------
+    LaunchDescription
+        Launches camera_streamer package and pixhawk_communication package.
+
+    """
+    NAMESPACE = 'pi'
     # Manipulator Controller
     # manip_path: str = get_package_share_directory('manipulators')
     #
@@ -56,7 +66,7 @@ def generate_launch_description() -> LaunchDescription:
 
     namespace_launch = GroupAction(
         actions=[
-            PushRosNamespace(NS),
+            PushRosNamespace(NAMESPACE),
             # manip_launch,
             pixhawk_launch,
             cam_launch,

src/pi/pi_main/pi_main/install_on_boot.py → src/pi/pi_main/pi_main/run_on_boot.py

@@ -1,3 +1,4 @@
+"""When run sets up environment for the robot to run on boot."""
 import os
 import sys
 import subprocess
@@ -8,6 +9,13 @@
 
 
 def main() -> None:
+    """
+    Set up Pi file environment.
+
+    Copies udev rules from this package into udev folder.
+    Also uses robot_upstart to allow robot to automatically start on power on.
+
+    """
     pi_main_share = get_package_share_directory('pi_main')
 
     launch_dir = os.path.join(pi_main_share, 'launch')
@@ -27,14 +35,14 @@ def main() -> None:
     cmd = ['/usr/bin/sudo', '/usr/bin/python3', udev_script, pi_main_share]
 
     try:
-        p = subprocess.run(cmd, capture_output=True, check=True)
+        process = subprocess.run(cmd, capture_output=True, check=True)
     # Logs Error
-    except subprocess.CalledProcessError as e:
-        print(e.stderr)
+    except subprocess.CalledProcessError as error:
+        print(error.stderr)
         sys.exit(1)
 
     # Success Message
-    print(p.stdout.decode())
+    print(process.stdout.decode())
 
     install_path = os.path.join(pi_main_share, "..", "..")
     workspace_path = os.path.join(install_path, "setup.bash")

src/pi/pi_main/pi_main/udev_copy.py

@@ -1,3 +1,4 @@
+"""Copies udev rules from separate process to ensure ideal protections of sudo."""
 import os
 import shutil
 import sys

src/pi/pi_main/setup.py

@@ -1,23 +1,24 @@
+"""setup.py for pi_main module."""
 import os
 from glob import glob
 
 from setuptools import setup
 
-package_name = 'pi_main'
+PACKAGE_NAME = 'pi_main'
 
 
 setup(
-    name=package_name,
+    name=PACKAGE_NAME,
     version='1.0.0',
-    packages=[package_name],
+    packages=[PACKAGE_NAME],
     data_files=[
         ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'),
+        (os.path.join('share', PACKAGE_NAME, 'launch'),
          glob('launch/*launch.[pxy][yma]*')),
-        (os.path.join('share', package_name, 'udev_rules'),
+        (os.path.join('share', PACKAGE_NAME, 'udev_rules'),
          glob('udev_rules/*'))
     ],
     install_requires=['setuptools', 'flake8==4.0.1', 'mypy >= 1.7'],
@@ -29,7 +30,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'install = pi_main.install_on_boot:main',
+            'install = pi_main.run_on_boot:main',
         ],
     },
 )

src/pi/pi_main/test/test_flake8.py

@@ -1,3 +1,4 @@
+"""Test flake8 on this module."""
 # Copyright 2017 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,7 +20,8 @@
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8() -> None:
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
+    """Tests flake8 on this module."""
+    error_code, errors = main_with_errors(argv=[])
+    assert error_code == 0, \
+        f'Found {len(errors)} code style errors / warnings:\n' + \
         '\n'.join(errors)

src/pi/pi_main/test/test_mypy.py

@@ -1,3 +1,4 @@
+"""Test mypy on this module."""
 import os
 
 import pytest
@@ -7,7 +8,8 @@
 @pytest.mark.mypy
 @pytest.mark.linter
 def test_mypy() -> None:
+    """Tests mypy on this module."""
     file_path = __file__.replace(f'{__name__}.py', '')
     config_file = os.path.join(file_path, '..', '..', '..', '..', 'mypy.ini')
-    rc = main(argv=['--config', config_file])
-    assert rc == 0, 'Found code style errors / warnings'
+    error_code = main(argv=['--config', config_file])
+    assert error_code == 0, 'Found code style errors / warnings'

src/pi/pi_main/test/test_pep257.py

@@ -1,3 +1,4 @@
+"""Test pep257 on this module."""
 # Copyright 2015 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -19,5 +20,6 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257() -> None:
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    """Tests pep257 on this module."""
+    error_code = main(argv=['.', 'test'])
+    assert error_code == 0, 'Found code style errors / warnings'