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RyanTheRobotheadRyanTheRobothead
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Merge pull request #1 from AD-SDL/madsci
Deploy MADSci Beta 1 Version
2 parents 11e811d + 40936ef commit 42fefc9

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‎.github/workflows/docker.yml‎

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name: Docker Image Build and Publish
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on:
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push: # * Run for every push
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branches: [ "*" ]
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tags: [ '*' ]
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schedule: # Run on Tuesday's at 12:00
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- cron: '0 12 * * 2'
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workflow_dispatch: # Run manually
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env:
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# Use docker.io for Docker Hub if empty
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REGISTRY: ghcr.io
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# github.repository as <account>/<repo>
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IMAGE_NAME: ${{ github.repository }}
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jobs:
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build_and_publish:
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runs-on: ubuntu-latest
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permissions:
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contents: read
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packages: write
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steps:
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- name: Checkout repository
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uses: actions/checkout@v3
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v2
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v2
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# Login against a Docker registry
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# https://github.com/docker/login-action
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- name: Log into registry ${{ env.REGISTRY }}
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uses: docker/login-action@343f7c4344506bcbf9b4de18042ae17996df046d # v3.0.0
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with:
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registry: ${{ env.REGISTRY }}
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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# Extract metadata (tags, labels) for Docker
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# https://github.com/docker/metadata-action
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- name: Extract Docker metadata
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id: meta
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uses: docker/metadata-action@96383f45573cb7f253c731d3b3ab81c87ef81934 # v5.0.0
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with:
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images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
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tags: |
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type=schedule
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type=ref,event=branch
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type=ref,event=tag
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type=ref,event=pr
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type=raw,value=latest,enable={{is_default_branch}}
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# Build and push Docker image with Buildx
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# https://github.com/docker/build-push-action
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- name: Build and push Docker image
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id: build-and-push
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uses: docker/build-push-action@0565240e2d4ab88bba5387d719585280857ece09 # v5.0.0
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with:
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context: .
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push: true
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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platforms: linux/amd64,linux/arm64
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cache-from: type=gha
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cache-to: type=gha,mode=max

‎.github/workflows/pre-commit.yml‎

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name: Pre-Commit Checks
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on:
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push: # Run for every push
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branches: ["*"]
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tags: ["*"]
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workflow_dispatch: # Run manually
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jobs:
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pre-commit:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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name: Checkout code
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- uses: actions/setup-python@v4
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name: Setup Python
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with:
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python-version: 3.9
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- uses: pre-commit/action@v3.0.1
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name: Run Pre-Commit Checks

‎.justfile‎

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# List available commands
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default:
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@just --list --justfile {{justfile()}}
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# initialize the project
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init:
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@which pdm || echo "pdm not found, you'll need to install it: https://github.com/pdm-project/pdm"
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@pdm install -G:all
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@OSTYPE="" . .venv/bin/activate
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@which pre-commit && pre-commit install && pre-commit autoupdate || true
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# Build the project
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build: init dcb
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# Run the pre-commit checks
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checks:
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@pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; }
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check: checks
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# Run automated tests
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test:
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@pytest
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tests: test
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pytest: test
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# Build docker image
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dcb:
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@docker compose build

‎.pre-commit-config.yaml‎

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- id: nbstripout
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- repo: https://github.com/astral-sh/ruff-pre-commit
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# Ruff version.
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rev: v0.9.9
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rev: v0.11.5
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hooks:
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# Run the linter.
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- id: ruff

‎Dockerfile‎

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FROM ghcr.io/ad-sdl/madsci
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LABEL org.opencontainers.image.source=https://github.com/AD-SDL/hudson_platecrane_module
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LABEL org.opencontainers.image.description="Drivers and REST API's for the Hudson Platecrane and Sciclops robots"
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LABEL org.opencontainers.image.licenses=MIT
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#########################################
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# Module specific logic goes below here #
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#########################################
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RUN apt update && apt install -y libusb-1.0-0-dev && rm -rf /var/lib/apt/lists/*
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RUN mkdir -p sciclops_module
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COPY ./src sciclops_module/src
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COPY ./README.md sciclops_module/README.md
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COPY ./pyproject.toml sciclops_module/pyproject.toml
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RUN --mount=type=cache,target=/root/.cache \
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pip install -e ./sciclops_module
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RUN usermod -aG dialout madsci
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CMD ["python", "-,", "sciclops_rest_node"]
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#########################################

‎README.md‎

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# sciclops_module
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A MADSci node module for interfacing with the Hudson Robotics Sciclops Platecrane
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A MADSci Node module for interfacing with the Hudson Robotics Sciclops Platecrane.
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## Installation and Usage
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### Python
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```bash
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# Create a virtual environment named .venv
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python -m venv .venv
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# Activate the virtual environment on Linux or macOS
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source .venv/bin/activate
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# Alternatively, activate the virtual environment on Windows
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# .venv\Scripts\activate
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# Install the module and dependencies in the venv
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pip install .
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# Run the environment
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python -m sciclops_rest_node --host 127.0.0.1 --port 2000
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```
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### Docker
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- We provide a `Dockerfile` and example docker compose file (`compose.yaml`) to run this node dockerized.
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- There is also a pre-built image available as `ghcr.io/ad-sdl/sciclops_module`.
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- You can control the container user's id and group id by setting the `USER_ID` and `GROUP_ID`

‎compose.yaml‎

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name: sciclops_node
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services:
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sciclops:
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container_name: sciclops
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image: ghcr.io/ad-sdl/sciclops_module
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build:
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context: .
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dockerfile: Dockerfile
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tags:
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- ghcr.io/ad-sdl/sciclops_module:latest
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- ghcr.io/ad-sdl/sciclops_module:dev
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command: python -m sciclops_rest_node
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privileged: true
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network_mode: host
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volumes:
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- ./definitions:/home/madsci/definitions

‎pyproject.toml‎

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[project]
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name = "hudson_platecrane_module"
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version = "1.5.0"
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description = "Driver for the Platecrane and Sciclops"
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authors = [
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{name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"},
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{name = "Rafael Vescovi", email="ravescovi@anl.gov"},
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{name = "Doga Ozgulbas", email="dozgulbas@anl.gov"},
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{name = "Abe Stroka", email="astroka@anl.gov"},
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{name = "Kyle Hippe", email = "khippe@anl.gov"},
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{name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
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]
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dependencies = [
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"fastapi>=0.103",
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"uvicorn>=0.14.0",
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"pyusb",
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"libusb",
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"pyserial",
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"madsci.node_module>=0.1.9",
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"pydantic>=2.7",
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"pytest"
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]
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requires-python = ">=3.9.1"
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readme = "README.md"
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license = {text = "MIT"}
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[project.urls]
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homepage = "https://github.com/AD-SDL/sciclops_module"
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######################
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# Build Info + Tools #
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######################
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[build-system]
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requires = ["setuptools", "wheel"]
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build-backend = "setuptools.build_meta"
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#####################
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# Development Tools #
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#####################
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[tool.ruff]
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# https://docs.astral.sh/ruff/configuration/
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# Exclude a variety of commonly ignored directories.
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exclude = [
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".bzr",
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".direnv",
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".eggs",
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".git",
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".git-rewrite",
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".hg",
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".mypy_cache",
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".nox",
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".pants.d",
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".pytype",
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".ruff_cache",
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".svn",
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".tox",
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".venv",
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"__pypackages__",
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"_build",
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"buck-out",
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"build",
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"dist",
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"node_modules",
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"venv",
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"docs",
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]
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# Same as Black.
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line-length = 88
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indent-width = 4
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# Assume Python 3.8
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target-version = "py38"
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[tool.ruff.lint]
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# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default.
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select = [
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# pycodestyle
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"E",
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# Pyflakes
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"F",
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# pyupgrade
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# "UP",
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# flake8-bugbear
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"B",
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# flake8-simplify
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# "SIM",
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# isort
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"I",
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# Warning
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"W",
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# pydocstyle
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"D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107",
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# ruff
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# "RUF"
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]
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ignore = [
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"E501" # Line too long
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]
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# Allow fix for all enabled rules (when `--fix`) is provided.
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fixable = ["ALL"]
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unfixable = []
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# Allow unused variables when underscore-prefixed.
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dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
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[tool.ruff.format]
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# Like Black, use double quotes for strings.
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quote-style = "double"
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# Like Black, indent with spaces, rather than tabs.
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indent-style = "space"
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# Like Black, respect magic trailing commas.
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skip-magic-trailing-comma = false
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# Like Black, automatically detect the appropriate line ending.
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line-ending = "auto"
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[tool.pytest.ini_options]
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# https://docs.pytest.org/en/stable/customize.html
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addopts = "-x"
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junit_family="xunit1"
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filterwarnings = [
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"ignore::DeprecationWarning",
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"ignore::pottery.exceptions.InefficientAccessWarning",
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]
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markers = [
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"hardware: marks test as requiring hardware (deselect with '-m \"not hardware\"')",
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]
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[tool.mypy]
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# https://mypy.readthedocs.io/en/stable/config_file.html#using-a-pyproject-toml
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show_error_codes = true
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check_untyped_defs = true
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follow_imports = "normal"
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strict_optional = true
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plugins = ["pydantic.mypy"]
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strict = true
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disallow_untyped_defs = true
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implicit_reexport = true

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