Merge branch 'ament-mypy' into move-pynput-dep

.devcontainer/linux/devcontainer.json

@@ -1,6 +1,6 @@
 {
     "name" : "ROV Linux",
-    "image": "ghcr.io/cwrurobotics/rov-24:iron",
+    "image": "ghcr.io/cwrurobotics/rov-25:iron",
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
@@ -12,7 +12,7 @@
         // gitconfig
         "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
     ],
-    "workspaceFolder": "/home/rov/rov-24",
+    "workspaceFolder": "/home/rov/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.devcontainer/linux_test_environment/devcontainer.json

@@ -11,7 +11,7 @@
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
         "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
     ],
-    "workspaceFolder": "/home/rov/rov-24",
+    "workspaceFolder": "/home/rov/rov-25",
     "customizations": {
         "vscode": {
             "extensions": [

.devcontainer/macos/devcontainer.json

@@ -1,13 +1,13 @@
 {
     "name" : "ROV macOS",
-    "image": "ghcr.io/cwrurobotics/rov-24:iron",
+    "image": "ghcr.io/cwrurobotics/rov-25:iron",
     "containerEnv": {
         "DISPLAY": "unix:0"
     },
     "mounts": [
         "type=bind,source=/Users/${localEnv:USER}/.ssh,target=/home/rov/.ssh,readonly",
     ],
-    "workspaceFolder": "/home/rov/rov-24",
+    "workspaceFolder": "/home/rov/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.devcontainer/windows/devcontainer.json

@@ -1,10 +1,10 @@
 {
     "name" : "ROV Windows",
-    "image": "ghcr.io/cwrurobotics/rov-24:iron",
+    "image": "ghcr.io/cwrurobotics/rov-25:iron",
     "containerEnv": {  
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    "workspaceFolder": "/home/rov/rov-24",
+    "workspaceFolder": "/home/rov/rov-25",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.flake8

@@ -0,0 +1,3 @@
+[flake8]
+; Change line length to ros standard for project
+max-line-length=100

.github/workflows/docker.yml

@@ -47,7 +47,7 @@ jobs:
       # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
       # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
       - name: Build and push Docker image
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@v6
         with:
           context: .
           push: true

.github/workflows/industrial_ci_action.yml

@@ -43,14 +43,14 @@ jobs:
         env: # either pass all entries explicitly
           # Added back so testing without Dockerfile can be done
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-24:iron
+          DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-25:iron
           # Done to avoid permssion errors in the ros-industrial ci.
           DOCKER_RUN_OPTS: -u root
           ROS_REPO: ${{ matrix.ROS_REPO }}
           # Install missing libxcb-cursor0 xvfb for PyQt unit testing
           # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
           ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb'
           # Crazy one liner for install python dependencies
-          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-24 --user && rm -r /root/target_ws/src/rov-24/build'
-          # Used for running our CI but don't necessarily want to run others failing unit tests (ej. robot_upstart)
-          UPSTREAM_WORKSPACE: 'github:clearpathrobotics/robot_upstart#foxy-devel github:InvincibleRMC/ament_pep257#main'
+          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-25 --user && rm -r /root/target_ws/src/rov-25/build'
+          # Used for running our CI but don't necessarily want to run others failing unit tests (ej. ament_pep257)
+          UPSTREAM_WORKSPACE: 'github:InvincibleRMC/ament_pep257#main'

.gitignore

@@ -32,3 +32,6 @@ eeprom.bin
 
 # Mac Files @Georgia
 *.DS_Store
+
+# Mavproxy Files
+*.parm

.gitmodules

@@ -1,10 +1,6 @@
 [submodule "src/surface/ros2_video_streamer"]
 	path = src/surface/ros2_video_streamer
 	url = git@github.com:cwruRobotics/ros2_video_streamer.git
-[submodule "src/pi/robot_upstart"]
-	path = src/pi/robot_upstart
-	url = git@github.com:clearpathrobotics/robot_upstart.git
-	branch = foxy-devel
 [submodule "src/util/ament_pep257"]
 	path = src/util/ament_pep257
 	url = git@github.com:InvincibleRMC/ament_pep257.git

.vscode/tasks.json

@@ -46,9 +46,9 @@
         {
             "label": "Docker Pull",
             "type": "shell",
-            "command": "sudo docker pull ghcr.io/cwrurobotics/rov-24:iron",
+            "command": "sudo docker pull ghcr.io/cwrurobotics/rov-25:iron",
             "windows": {
-                "command": "docker pull ghcr.io/cwrurobotics/rov-24:iron"
+                "command": "docker pull ghcr.io/cwrurobotics/rov-25:iron"
             },
             "hide": true
         },

Dockerfile

@@ -60,7 +60,7 @@ RUN ./ardupilot_gazebo.sh \
 # Update Pip
 RUN pip install --no-cache-dir --upgrade  pip==24.0 
 
-WORKDIR /home/${USER_NAME}/rov-24
+WORKDIR /home/${USER_NAME}/rov-25
 
 # One might wonder why the following is done.
 # It is done so that the dependencies can be cached without needing to be reinstalled

README.md

@@ -1,6 +1,6 @@
 # MATE ROV 2023-24
 
-<a href="https://github.com/cwruRobotics/rov-24/actions"><img src="https://github.com/cwruRobotics/rov-24/workflows/Continuous Integration/badge.svg" alt="Build Status"></a>
+[![Continuous Integration](https://github.com/cwruRobotics/rov-25/actions/workflows/industrial_ci_action.yml/badge.svg)](https://github.com/cwruRobotics/rov-25/actions/workflows/industrial_ci_action.yml)
 <a href=" https://opensource.org/licenses/Apache-2.0"><img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg" alt="Apache License"></a>
 
 # Table of Contents
@@ -24,7 +24,7 @@
 Start by opening up a terminal and navigating to where you want the code to be saved and entering the following command.
 
 ```bash
-git clone --recurse-submodules git@github.com:cwruRobotics/rov-24.git
+git clone --recurse-submodules git@github.com:cwruRobotics/rov-25.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.
@@ -47,7 +47,7 @@ To open the container use `F1` or `ctrl+shift+p` to open the command bar and use
 
 For gui apps run `xhost + local:docker` before launching docker or add to `.bashrc`.
 
-To reopen after a build Go to File > Open Recent /stuff/rov-24 \[Dev Container]
+To reopen after a build Go to File > Open Recent /stuff/rov-25 \[Dev Container]
 
 #### Bare Metal
 
@@ -79,13 +79,13 @@ Then open up Command Prompt and type `ipconfig`.
 
 Then in the terminal of the docker container use `export DISPLAY={IPV4 of WSL}:0.0` where the IPV4 is from the `ipconfig` command.
 
-To reopen after a build Go to File > Open Recent /stuff/rov-24 \[Dev Container]
+To reopen after a build Go to File > Open Recent /stuff/rov-25 \[Dev Container]
 
 #### WSL
 
 Follow [this](https://learn.microsoft.com/en-us/windows/wsl/install) guide to install WSL.
 
-After WSL has been installed follow [this](https://code.visualstudio.com/docs/remote/wsl) guide to get VSCode and WSL to properly communicate and navigate to the rov-24 folder.
+After WSL has been installed follow [this](https://code.visualstudio.com/docs/remote/wsl) guide to get VSCode and WSL to properly communicate and navigate to the rov-25 folder.
 
 Then run the install script.
 
@@ -120,7 +120,7 @@ Make the settings look like this:
 
 To open the container use `F1` or `ctrl+shift+p` to open the command bar and use `Tasks: Runs Task`. Then from the Task selection choose `Docker Rebuild`. This will build and run the docker container. Make sure to choose `ROV macOS` for which type to run.
 
-To reopen after a build Go to File > Open Recent /stuff/rov-24 \[Dev Container]
+To reopen after a build Go to File > Open Recent /stuff/rov-25 \[Dev Container]
 
 <!-- https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285 -->
 

pyproject.toml

@@ -1,21 +1,23 @@
 [project]
-name = "rov-24"
+name = "rov-25"
 # I know Ben hates this but this required lol
-version = "1.1.0"
+version = "1.2.0"
 
 dependencies = [
     'setuptools',
-    'flake8==7.0.0',
+    'flake8==7.1.0',
     'mypy >= 1.7',
     'pyqt6',
+    'pyqtgraph',
     'pyqtdarktheme',
     'opencv-python>=4.8.1',
-    'numpy>=1.26',
+    'numpy < 2.0.0',
     'pytest-qt',
     'pytest-xvfb',
-    'Pyside2',  # can be removed when ament_pep257 is gone
-    'serial',
-    'TCA9555@git+https://github.com/InvincibleRMC/TCA9555'
+    'TCA9555@git+https://github.com/InvincibleRMC/TCA9555',
+    'bluerobotics-tsys01@git+https://github.com/bluerobotics/tsys01-python',
+    'pymavlink',
+    'mavproxy'
 ]
 
 [tool]

src/float/.clang-format.yaml

@@ -0,0 +1,31 @@
+---
+# Start based off ament_clang_formats .yaml
+Language: Cpp
+BasedOnStyle: Google
+
+IndentPPDirectives: BeforeHash
+
+AlignConsecutiveMacros: true
+AlignArrayOfStructures: Left
+AllowShortBlocksOnASingleLine: Empty
+AllowShortCaseLabelsOnASingleLine: true
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterStruct: false
+  AfterEnum: false
+  BeforeElse: true
+  BeforeCatch: true
+  BeforeWhile: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Left
+ReflowComments: false
+...

src/float/README.md

@@ -0,0 +1,9 @@
+# Transceiver Arduino Sketches
+
+These sketches must include files from `include/`, but that's impossible with the Arduino IDE. We hardlink the each file in `include/` manually.
+
+If you add more files to `include/`, do something like this to hardlink them:
+
+```bash
+source remake_links.sh
+```