Merge branch 'rc-v0.5.1'

.github/workflows/compile.yaml

@@ -0,0 +1,117 @@
+name: Tests
+
+on:
+  pull_request:
+    branches: [master, devel]
+    tags: ['fw-v*']
+  push:
+    branches: [master, devel]
+    tags: ['fw-v*']
+
+jobs:
+  compile:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-16.04, ubuntu-latest, windows-latest, macOS-latest]
+        board_version: [v3.6-56V]
+        debug: [true]
+
+        include:
+          - {os: ubuntu-latest, board_version: v3.2, debug: false}
+          - {os: ubuntu-latest, board_version: v3.3, debug: false}
+          - {os: ubuntu-latest, board_version: v3.4-24V, debug: false}
+          - {os: ubuntu-latest, board_version: v3.4-48V, debug: false}
+          - {os: ubuntu-latest, board_version: v3.5-24V, debug: false}
+          - {os: ubuntu-latest, board_version: v3.5-48V, debug: false}
+          - {os: ubuntu-latest, board_version: v3.6-24V, debug: false}
+          - {os: ubuntu-latest, board_version: v3.6-56V, debug: false}
+
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install prerequisites (Debian)
+        if: startsWith(matrix.os, 'ubuntu-')
+        run: |
+          DEBIAN_VERSION="$(lsb_release --release --short)"
+          echo Debian version: $DEBIAN_VERSION
+          if [ "$DEBIAN_VERSION" -gt 9 ]; then
+            sudo apt-get install gcc-arm-none-eabi
+          else
+            # Ubuntu 16.04 (Debian 9) is on ARM GCC 4.9 which is too old for us
+            sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+            sudo apt-get update
+            sudo apt-get install gcc-arm-embedded
+          fi
+
+          if ! (apt-cache search tup | grep "^tup - "); then
+            sudo add-apt-repository ppa:jonathonf/tup
+            sudo apt-get update
+          fi
+
+          sudo apt-get install tup
+
+          sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema
+
+      - name: Install prerequisites (macOS)
+        if: startsWith(matrix.os, 'macOS-')
+        run: |
+          brew install armmbed/formulae/arm-none-eabi-gcc
+          brew cask install osxfuse && brew install tup
+          pip3 install PyYAML Jinja2 jsonschema
+
+        
+      - name: Cache chocolatey
+        uses: actions/cache@v2
+        if: startsWith(matrix.os, 'windows-')
+        with:
+          path: C:\Users\runneradmin\AppData\Local\Temp\chocolatey\gcc-arm-embedded
+          key: ${{ runner.os }}-gcc-arm-embedded
+          restore-keys: |
+            ${{ runner.os }}-gcc-arm-embedded
+
+      - name: Install prerequisites (Windows)
+        if: startsWith(matrix.os, 'windows-')
+        run: |
+          Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip"
+          Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force
+          echo "::add-path::$(Resolve-Path .)\tup-latest"
+
+          choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip
+          
+          pip install PyYAML Jinja2 jsonschema
+
+      - name: Prepare Compilation
+        run: |
+          # for debugging
+          arm-none-eabi-gcc --version
+          python --version
+
+          cd ${{ github.workspace }}/Firmware
+          echo "CONFIG_BOARD_VERSION=${{ matrix.board_version }}" >> tup.config
+          echo "CONFIG_STRICT=true" >> tup.config
+          echo "CONFIG_DEBUG=${{ matrix.release }}" >> tup.config
+          tup init
+          tup generate ./tup_build.sh
+      
+      - name: Compile (Unix)
+        if: "!startsWith(matrix.os, 'windows-')"
+        run: |
+          cd ${{ github.workspace }}/Firmware
+          bash -xe ./tup_build.sh
+
+      - name: Compile (Windows)
+        if: startsWith(matrix.os, 'windows-')
+        run: |
+          cd ${{ github.workspace }}/Firmware
+          mv tup_build.sh tup_build.bat # in reality this is a .bat script on windows
+          .\tup_build.bat
+
+  #code-checks:
+  #  runs-on: ubuntu-latest
+  #  steps:
+  #    TODO:
+  #     - check if enums.py is consistent with yaml
+  #     - clang-format check
+  #     - check if interface_generator outputs the same thing with Python 3.5 and Python 3.8

.github/workflows/documentation.yml

@@ -0,0 +1,67 @@
+name: Build and publish HTML documentation website
+
+on:
+  push:
+    branches: [ feature/doc_autogen ]
+
+jobs:
+  jekyll:
+    runs-on: ubuntu-16.04
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Setup Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: '3.x'
+
+    # Use GitHub Actions' cache for ruby and python packages to shorten build times and decrease load on servers
+    - name: Cache gems
+      uses: actions/cache@v2
+      with:
+        path: docs/vendor/bundle
+        key: ${{ runner.os }}-gems-${{ hashFiles('docs/Gemfile.lock') }}
+        restore-keys: |
+          ${{ runner.os }}-gems-
+    
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-PyYAML-Jinja2-jsonschema
+        restore-keys: |
+          ${{ runner.os }}-pip-
+          ${{ runner.os }}-
+
+    - name: Install Python dependencies
+      run: pip install PyYAML Jinja2 jsonschema
+
+    # Autogenerate the API reference .md files in the python in the python/python3 container
+    - name: Autogenerate the API reference .md files in the python container
+      run: |
+        mkdir -p docs/_api docs/_includes
+        python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template docs/_layouts/api_documentation_template.j2 --outputs docs/_api/#.md
+        python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template docs/_layouts/api_index_template.j2 --output docs/_includes/apiindex.html
+    
+    - name: Build the site in the jekyll/builder container
+      run: |
+        docker run \
+        -v ${{ github.workspace }}:/srv/jekyll -e PAGES_REPO_NWO=${GITHUB_REPOSITORY} \
+        ruby:2.7-buster /bin/sh -c "
+          chmod 777 /srv/jekyll/docs && \
+          cd /srv/jekyll/docs && \
+          bundle config path vendor/bundle && \
+          bundle install && \
+          JEKYLL_ENV=production bundle exec jekyll build
+        "
+        touch .nojekyll
+
+    - name: Push to documentation branch
+      run: |
+        git config user.name "${GITHUB_ACTOR}"
+        git config user.email "${GITHUB_ACTOR}@users.noreply.github.com"
+        git add -f docs/_site
+        git commit -m "jekyll build from Action ${GITHUB_SHA}"
+        git push --force origin HEAD:${REMOTE_BRANCH}
+      env:
+        REMOTE_BRANCH: gh-pages

.github/workflows/nightly.yaml

@@ -0,0 +1,34 @@
+name: pip install odrive (nightly)
+
+on:
+  schedule:
+    - cron: '0 2 * * *' # run at 2 AM UTC
+
+jobs:
+  nightly:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macOS-latest]
+        #pip: [pip2, pip3]
+
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Install odrivetool
+        run: |
+          pip install monotonic # TODO: this is dishonest. Must be removed as soon as v0.5.0 is published!
+          pip install odrive
+
+      # This one currently fails because Github Actions runs pip as non-root
+      #- name: Check if udev rules were set up properly
+      #  if: matrix.os == 'ubuntu-latest'
+      #  run: test -f /etc/udev/rules.d/91-odrive.rules
+
+      # This step is mentioned in the user guide
+      - name: Add ~/.local/bin to path
+        if: matrix.os == 'ubuntu-latest'
+        run: echo "::add-path::~/.local/bin"
+
+      - name: Launch odrivetool
+        # This returns a non-zero exit code if the odrivetool throws an exception
+        run: echo 'quit()' | odrivetool shell

.gitignore

@@ -24,9 +24,6 @@ coverage.xml
 # Django stuff:
 *.log
 
-# Sphinx documentation
-docs/_build/
-
 # PyBuilder
 target/
 
@@ -37,7 +34,35 @@ target/
 .tup
 tup.config
 
-/ruby-bundle
-/_site
-/.bundle
+# Sphinx documentation
+/docs/_build/
+
+# Autogenerated API reference
+/docs/_api
+/docs/_includes/apiindex.html
+
+# Jekyll HTML documention and artifacts
+/docs/ruby-bundle
+/docs/_site
+/docs/.bundle/config
+/docs/.jekyll-metadata
+
+
+*.exe
+
+ODrive\.config
+
+ODrive\.creator
+
+ODrive\.creator\.user
+
+ODrive\.files
+
+ODrive\.includes
+
+Firmware/Tests/bin/
 
+# GUI
+GUI/dist_electron
+GUI/node_modules
+GUI/build

Arduino/ODriveArduino/ODriveArduino.cpp

@@ -66,7 +66,7 @@ bool ODriveArduino::run_state(int axis, int requested_state, bool wait) {
         do {
             delay(100);
             serial_ << "r axis" << axis << ".current_state\n";
-        } while (readInt() != AXIS_STATE_IDLE && --timeout_ctr > 0);
+        } while (readInt() != requested_state && --timeout_ctr > 0);
     }
 
     return timeout_ctr > 0;