Dev, Week of March 30th (#106)

* Deleted .vscode and stopped its tracking

* Created a env_files dir to hold env files for all platforms

* Implemented and tested bridge-gps

* updated a rover requirement

* Created a sphinx Documentation site that can auto load documentation from the docstrings

* Added a sphinx build workflow script

* Added a requirement to the theme

* added explicit dependency to docutils to fetch the latest version

* Specified docutils version

* Trying to deploy from _build instead of build

* Set build dirs in workflow

* Switched to deploying from main

* Wrote some doc string for a_star_navigator

* Added dependencies

* Removed pyqt6 dep

* Removed RPi dep

* Removed sambus dep

* Back to min requirements

* Added a few dependencies that i think wont break

* Rendering sphinx from dev

* Anything ending in 'env' in the proj root will be ignored

* match files whose file extension ends in .*env

* merge requirements.txt into the env files

* update readme to reflect dual dependency files

* Dev fixes before pull to main
* Removed Wireless lidar from the list of lidars in lidar.py
* Reenabled the hover to set goal option in Pathfinder Visualizer

* remove unnecessary modules, test dependencies on pi (#111)

---------

Co-authored-by: Rahul <[email protected]>

.github/workflows/sphinx.yml

@@ -0,0 +1,24 @@
+name: "Sphinx: Render docs"
+
+on: push
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build HTML
+      uses: ammaraskar/sphinx-action@master
+    - name: Upload artifacts
+      uses: actions/upload-artifact@v4
+      with:
+        name: html-docs
+        path: docs/_build/html/
+    - name: Deploy
+      uses: peaceiris/actions-gh-pages@v3
+      if: github.ref == 'refs/heads/dev'
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: docs/_build/html

.gitignore

@@ -4,13 +4,12 @@ __pycache__/
 
 .python-version
 
-.env
-.venv
-env/
-venv/
+*env
+*.*env
 ENV/
 env.bak/
 venv.bak/
 
 **.freq
 frequency_analysis.json
+**_build

CommandScripts/AutoHelp.py

@@ -1,6 +1,6 @@
 import math
 #from modules.LSM303 import Compass
-from modules.LSM303 import Compass
+from proj_modules.LSM303 import Compass
 import json
 
 class AutoHelp:
@@ -75,12 +75,15 @@ def jsonify_commands(self, commands):
 
 
     def get_bearing(self, current_GPS, target_GPS):
-        """Returns the angle between two GPS coordinates
+        """
+        Returns the angle between two GPS coordinates
+        
         PARAMS:
             current_GPS (tuple): (latitude, longitude)
             target_GPS (tuple):  (latitude, longitude)
         RETURNS:
             float. angle between the two coordinates
+
         """
         try:
             current_latitude = math.radians(current_GPS[1])

CommandScripts/GPS_NAV.py

@@ -2,7 +2,7 @@
 import os, sys
 
 sys.path.insert(0, os.path.abspath(".."))
-from modules.LSM303 import Compass
+from proj_modules.LSM303 import Compass
 from CommandScripts import AutoHelp
 from simple_pid import PID
 import time
@@ -19,6 +19,7 @@ def get_target_angle(
         self, lidar_data, rover_angle, current_longlat, target_longlat
     ):
         """Obstacle avoidance logic that uses vector field histogram (VFH)
+        
         PARAMS:
             lidar_data (list):      array of 360 elements. each index is an angle
             rover_angle (int):      the angle that the rover is currently facing

CommandScripts/MMT_drive_command.py

@@ -0,0 +1,26 @@
+import sys
+import requests
+import serial.tools.list_ports as port_list
+import os, sys
+sys.path.insert(0, os.path.abspath(".."))
+from proj_modules.Serial import SerialSystem
+
+if __name__=='__main__':
+    port = "/dev/ttyUSB0"
+    get_initial_commands_url = "http://192.168.1.133:5000/drive"
+
+    web_response = requests.get(get_initial_commands_url)
+    print("Getting data from: " + web_response.text)
+
+    try:
+        serial = SerialSystem(port, 38400)
+        print("Using port: " + port)
+    except:
+        ports = list(port_list.comports())
+        print('====> Designated Port not found. Using Port:', ports[0].device)
+        port = ports[0].device
+        serial = SerialSystem(port, 38400)
+
+    while True:
+        web_response = requests.get(get_initial_commands_url)
+        serial.read_write_serial(web_response.text)

CommandScripts/autonomy.py

@@ -7,8 +7,8 @@
 sys.path.insert(0, os.path.abspath(".."))
 from CommandScripts.GPS_NAV import GPS_Nav
 from CommandScripts import AutoHelp
-from modules.LSM303 import Compass
-from modules.WiFi import WiFi
+from proj_modules.LSM303 import Compass
+from proj_modules.WiFi import WiFi
 import time
 import threading
 

CommandScripts/drive_command.py

@@ -0,0 +1,31 @@
+import sys
+import requests
+import serial.tools.list_ports as port_list
+import os, sys
+sys.path.insert(0, os.path.abspath(".."))
+from proj_modules.Serial import SerialSystem
+
+if __name__=='__main__':
+    port = "/dev/ttyUSB0"
+    get_initial_commands_url = "http://192.168.50.243:5000/drive"
+
+    web_response = requests.get(get_initial_commands_url)
+    print("Getting data from: " + web_response.text)
+
+    try:
+        serial = SerialSystem(port, 38400)
+        print("Using port: " + port)
+    except:
+        ports = list(port_list.comports())
+        print('====> Designated Port not found. Using Port:', ports[0].device)
+        port = ports[0].device
+        serial = SerialSystem(port, 38400)
+
+    homing_end = "Starting control loop..."
+    while True:
+        response = serial.read_serial()
+        if homing_end in response:
+            while True:
+                web_response = requests.get(get_initial_commands_url)
+                serial.read_write_serial(web_response.text)
+

Missions/MMT_testing.py

@@ -2,9 +2,9 @@
 sys.path.insert(0, os.path.abspath(".."))
 import requests
 import serial.tools.list_ports as port_list
-from modules.Serial import SerialSystem
+from proj_modules.Serial import SerialSystem
 from CommandScripts.autonomy import Autonomy
-from modules.old_GPS import gpsRead
+from proj_modules.old_GPS import gpsRead
 import json
 
 serial_port = "/dev/ttyACM2"
@@ -16,51 +16,52 @@
 server = 'http://13.56.207.97:5000'
 GPS_list = []
 
-try:
-    serial = SerialSystem(serial_port, serial_baudrate)
-    print("Using port: " + serial_port, "For Serial Comms")
-except:
-    ports = list(port_list.comports())
-    print('====> Designated Port not found. Using Port:', ports[0].device, "For Serial Connection")
-    serial_port = ports[0].device
-    serial = SerialSystem(serial_port, serial_baudrate)
+if __name__=='__main__':
+    try:
+        serial = SerialSystem(serial_port, serial_baudrate)
+        print("Using port: " + serial_port, "For Serial Comms")
+    except:
+        ports = list(port_list.comports())
+        print('====> Designated Port not found. Using Port:', ports[0].device, "For Serial Connection")
+        serial_port = ports[0].device
+        serial = SerialSystem(serial_port, serial_baudrate)
 
 
-try:
-    GPS = gpsRead(gps_port,gps_baudrate)
-    print("Using port: " + gps_port, "For GPS")
-except:
-        port_number = 0
-        ports = list(port_list.comports())
-        print('====> Designated Port not found. Using Port:', ports[port_number].device, "For GPS Connection")
-        port = ports[port_number].device
-        GPS = gpsRead(port,gps_baudrate)
-        while GPS.get_position() == ['error', 'error'] or GPS.get_position() == ["None", "None"]:
-            print("Port not found, going to next port...")
-            port_number += 1
-            gps_port = ports[port_number].device
-            try:
-                GPS = gpsRead(port,gps_baudrate)
-            except:
-                continue
-            break
+    try:
+        GPS = gpsRead(gps_port,gps_baudrate)
+        print("Using port: " + gps_port, "For GPS")
+    except:
+            port_number = 0
+            ports = list(port_list.comports())
+            print('====> Designated Port not found. Using Port:', ports[port_number].device, "For GPS Connection")
+            port = ports[port_number].device
+            GPS = gpsRead(port,gps_baudrate)
+            while GPS.get_position() == ['error', 'error'] or GPS.get_position() == ["None", "None"]:
+                print("Port not found, going to next port...")
+                port_number += 1
+                gps_port = ports[port_number].device
+                try:
+                    GPS = gpsRead(port,gps_baudrate)
+                except:
+                    continue
+                break
 
 
-GPS_map_url = f"{server}/gps"
-try:
-    GPS_map = requests.get(GPS_map_url)
-except:
-    print("Could not get GPS map from mission control")
-    exit(1)
+    GPS_map_url = f"{server}/gps"
+    try:
+        GPS_map = requests.get(GPS_map_url)
+    except:
+        print("Could not get GPS map from mission control")
+        exit(1)
 
-GPS_map = json.loads(GPS_map.text)
+    GPS_map = json.loads(GPS_map.text)
 
-for i in GPS_map:
-    GPS_list.append(GPS_map[i])
-print("GPS List:", GPS_list)
+    for i in GPS_map:
+        GPS_list.append(GPS_map[i])
+    print("GPS List:", GPS_list)
 
-GPS_list = [[-121.8818685, 37.33699716666666], [-121.881868, 37.33696233333334], [-121.88177050000002, 37.336928833333324]]
-print("GPS List:", GPS_list)
+    GPS_list = [[-121.8818685, 37.33699716666666], [-121.881868, 37.33696233333334], [-121.88177050000002, 37.336928833333324]]
+    print("GPS List:", GPS_list)
 
-rover = Autonomy(serial, server, max_speed, max_angle, GPS, GPS_list)
-rover.start_mission()
+    rover = Autonomy(serial, server, max_speed, max_angle, GPS, GPS_list)
+    rover.start_mission()