Deploy MADSci Version

.github/workflows/docker.yml

@@ -0,0 +1,71 @@
+name: Docker Image Build and Publish
+
+on:
+  push: # * Run for every push
+    branches: [ "*" ]
+    tags: [ '*' ]
+  schedule: # Run on Tuesday's at 12:00
+    - cron: '0 12 * * 2'
+  workflow_dispatch: # Run manually
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
+
+jobs:
+  build_and_publish:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      # Login against a Docker registry
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@343f7c4344506bcbf9b4de18042ae17996df046d # v3.0.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@96383f45573cb7f253c731d3b3ab81c87ef81934 # v5.0.0
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=schedule
+            type=ref,event=branch
+            type=ref,event=tag
+            type=ref,event=pr
+            type=raw,value=latest,enable={{is_default_branch}}
+
+      # Build and push Docker image with Buildx
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker image
+        id: build-and-push
+        uses: docker/build-push-action@0565240e2d4ab88bba5387d719585280857ece09 # v5.0.0
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/amd64,linux/arm64
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

.github/workflows/pre-commit.yml

@@ -0,0 +1,20 @@
+name: Pre-Commit Checks
+
+on:
+  push: # Run for every push
+    branches: ["*"]
+    tags: ["*"]
+  workflow_dispatch: # Run manually
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      name: Checkout code
+    - uses: actions/setup-python@v4
+      name: Setup Python
+      with:
+        python-version: 3.9
+    - uses: pre-commit/action@v3.0.1
+      name: Run Pre-Commit Checks

.justfile

@@ -0,0 +1,28 @@
+# List available commands
+default:
+  @just --list --justfile {{justfile()}}
+
+# initialize the project
+init:
+  @which pdm || echo "pdm not found, you'll need to install it: https://github.com/pdm-project/pdm"
+  @pdm install -G:all
+  @OSTYPE="" . .venv/bin/activate
+  @which pre-commit && pre-commit install && pre-commit autoupdate || true
+
+# Build the project
+build: init dcb
+
+# Run the pre-commit checks
+checks:
+  @pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; }
+check: checks
+
+# Run automated tests
+test:
+  @pytest
+tests: test
+pytest: test
+
+# Build docker image
+dcb:
+  @docker compose build

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ repos:
       - id: nbstripout
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.9.9
+    rev: v0.11.5
     hooks:
       # Run the linter.
       - id: ruff

Dockerfile

@@ -0,0 +1,25 @@
+FROM ghcr.io/ad-sdl/madsci
+
+LABEL org.opencontainers.image.source=https://github.com/AD-SDL/hudson_platecrane_module
+LABEL org.opencontainers.image.description="Drivers and REST API's for the Hudson Platecrane and Sciclops robots"
+LABEL org.opencontainers.image.licenses=MIT
+
+#########################################
+# Module specific logic goes below here #
+#########################################
+
+RUN apt update && apt install -y libusb-1.0-0-dev && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p sciclops_module
+
+COPY ./src sciclops_module/src
+COPY ./README.md sciclops_module/README.md
+COPY ./pyproject.toml sciclops_module/pyproject.toml
+
+RUN --mount=type=cache,target=/root/.cache \
+    pip install -e ./sciclops_module
+
+RUN usermod -aG dialout madsci
+
+CMD ["python", "-,", "sciclops_rest_node"]
+#########################################

README.md

@@ -1,2 +1,26 @@
 # sciclops_module
-A MADSci node module for interfacing with the Hudson Robotics Sciclops Platecrane
+
+A MADSci Node module for interfacing with the Hudson Robotics Sciclops Platecrane.
+
+## Installation and Usage
+
+### Python
+
+```bash
+# Create a virtual environment named .venv
+python -m venv .venv
+# Activate the virtual environment on Linux or macOS
+source .venv/bin/activate
+# Alternatively, activate the virtual environment on Windows
+# .venv\Scripts\activate
+# Install the module and dependencies in the venv
+pip install .
+# Run the environment
+python -m sciclops_rest_node --host 127.0.0.1 --port 2000
+```
+
+### Docker
+
+- We provide a `Dockerfile` and example docker compose file (`compose.yaml`) to run this node dockerized.
+- There is also a pre-built image available as `ghcr.io/ad-sdl/sciclops_module`.
+- You can control the container user's id and group id by setting the `USER_ID` and `GROUP_ID`

compose.yaml

@@ -0,0 +1,16 @@
+name: sciclops_node
+services:
+  sciclops:
+    container_name: sciclops
+    image: ghcr.io/ad-sdl/sciclops_module
+    build:
+      context: .
+      dockerfile: Dockerfile
+      tags:
+        - ghcr.io/ad-sdl/sciclops_module:latest
+        - ghcr.io/ad-sdl/sciclops_module:dev
+    command: python -m sciclops_rest_node
+    privileged: true
+    network_mode: host
+    volumes:
+      - ./definitions:/home/madsci/definitions

pyproject.toml

@@ -0,0 +1,144 @@
+[project]
+name = "hudson_platecrane_module"
+version = "1.5.0"
+description = "Driver for the Platecrane and Sciclops"
+authors = [
+    {name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"},
+    {name = "Rafael Vescovi", email="ravescovi@anl.gov"},
+    {name = "Doga Ozgulbas", email="dozgulbas@anl.gov"},
+    {name = "Abe Stroka", email="astroka@anl.gov"},
+    {name = "Kyle Hippe", email = "khippe@anl.gov"},
+    {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
+]
+dependencies = [
+    "fastapi>=0.103",
+    "uvicorn>=0.14.0",
+    "pyusb",
+    "libusb",
+    "pyserial",
+    "madsci.node_module>=0.1.9",
+    "pydantic>=2.7",
+    "pytest"
+]
+requires-python = ">=3.9.1"
+readme = "README.md"
+license = {text = "MIT"}
+
+[project.urls]
+homepage = "https://github.com/AD-SDL/sciclops_module"
+
+######################
+# Build Info + Tools #
+######################
+[build-system]
+requires = ["setuptools", "wheel"]
+build-backend = "setuptools.build_meta"
+
+#####################
+# Development Tools #
+#####################
+
+[tool.ruff]
+# https://docs.astral.sh/ruff/configuration/
+
+# Exclude a variety of commonly ignored directories.
+exclude = [
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".git-rewrite",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+    "docs",
+]
+
+# Same as Black.
+line-length = 88
+indent-width = 4
+
+# Assume Python 3.8
+target-version = "py38"
+
+[tool.ruff.lint]
+# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`)  codes by default.
+select = [
+    # pycodestyle
+    "E",
+    # Pyflakes
+    "F",
+    # pyupgrade
+    # "UP",
+    # flake8-bugbear
+    "B",
+    # flake8-simplify
+    # "SIM",
+    # isort
+    "I",
+    # Warning
+    "W",
+    # pydocstyle
+    "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107",
+    # ruff
+    # "RUF"
+]
+ignore = [
+    "E501" # Line too long
+]
+
+# Allow fix for all enabled rules (when `--fix`) is provided.
+fixable = ["ALL"]
+unfixable = []
+
+# Allow unused variables when underscore-prefixed.
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+
+[tool.ruff.format]
+# Like Black, use double quotes for strings.
+quote-style = "double"
+
+# Like Black, indent with spaces, rather than tabs.
+indent-style = "space"
+
+# Like Black, respect magic trailing commas.
+skip-magic-trailing-comma = false
+
+# Like Black, automatically detect the appropriate line ending.
+line-ending = "auto"
+
+[tool.pytest.ini_options]
+# https://docs.pytest.org/en/stable/customize.html
+addopts = "-x"
+junit_family="xunit1"
+filterwarnings = [
+    "ignore::DeprecationWarning",
+    "ignore::pottery.exceptions.InefficientAccessWarning",
+]
+markers = [
+    "hardware: marks test as requiring hardware (deselect with '-m \"not hardware\"')",
+]
+
+[tool.mypy]
+# https://mypy.readthedocs.io/en/stable/config_file.html#using-a-pyproject-toml
+show_error_codes = true
+check_untyped_defs = true
+follow_imports = "normal"
+strict_optional = true
+plugins = ["pydantic.mypy"]
+strict = true
+disallow_untyped_defs = true
+implicit_reexport = true