Initial work on the API library.

.github/workflows/lint.yml

@@ -0,0 +1,31 @@
+name: Lint
+
+on:
+- push
+- workflow_dispatch
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    name: Lint
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          cache: 'pip'
+          python-version: "3.12"
+      - name: 'Install requirements'
+        run: |
+          python -m venv .venv
+          source .venv/bin/activate
+          pip install -r requirements.txt
+      - name: 'Modify Actions PATH'
+        run: echo "$PWD/.venv/bin" >> $GITHUB_PATH
+      - name: 'Lint: Pyright'
+        uses: jakebailey/pyright-action@v2
+        with:
+          version: PATH
+      - name: 'Lint: flake8'
+        uses: py-actions/[email protected]

.gitignore

@@ -1,2 +1,3 @@
+.mypy-cache
 .vscode
 __pycache__

README.md

@@ -5,6 +5,25 @@ koristi za buduće letnje projekte koji se bave izradom robota.
 
 U ovom repozitorijumu se može naći kod i potrebna dokumentacija za Miloja.
 
+## Doprinošenje
+[![Lint](https://github.com/pfe-rs/lk-s-2024-miloje-api/actions/workflows/lint.yml/badge.svg)](https://github.com/pfe-rs/lk-s-2024-miloje-api/actions/workflows/lint.yml)
+
+Ovaj repozitorijum koristi dva lintera:
+
+- [flake8](https://flake8.pycqa.org/), koji proverava da li stil Python koda
+  prati [PEP 8](https://pep8.org/), i
+- [Pyright](https://microsoft.github.io/pyright/), koji proverava dinamičke i
+  statičke tipove korišćene u Python kodu i određuje da li taj kod ima smisla sa
+  tim tipovima u vidu.
+
+Kako biste doprineli kod na glavnu granu, potrebno je da vaš kod prođe proveru
+oba lintera. Kako biste tokom razvoja bili sigurni da poštujete pravila ova dva
+lintera, možete instalirati
+[Pyright](https://marketplace.visualstudio.com/items?itemName=ms-pyright.pyright)
+i [Flake8](https://marketplace.visualstudio.com/items?itemName=ms-python.flake8)
+ekstenzije za [Visual Studio Code](https://code.visualstudio.com/), koje će vam
+automatski prijaviti ukoliko vaš kod ima ove greške.
+
 ## Istorija
 
 Ovaj projekat su radili:

api/Actuator.py

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+from Communication import Communication
+
+
+class Actuator:
+    '''Base Actuator class'''
+    def __init__(self, communication: Communication, index: int):
+        self.communication = communication
+        self.index = index
+
+
+class Stepper(Actuator):
+    '''Class for controlling a stepper motor'''
+    def __init__(self, communication: Communication, index: int):
+        super().__init__(communication, index)
+
+    def clockwise(self, speed: int, distance: int):
+        self.communication.send(f"{self.index} F {round(speed * 7.87)} {round(distance * 7.87)}")
+
+    def anticlockwise(self, speed: int, distance: int):
+        self.communication.send(f"{self.index} B {round(speed * 7.87)} {round(distance * 7.87)}")
+
+
+class Servo(Actuator):
+    '''Class for controlling a servo motor'''
+    def __init__(self, communication: Communication, index: int):
+        super().__init__(communication, index)
+
+    def setPosition(self, angle):
+        self.communication.send(f"{self.index} {angle}")

api/Communication.py

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+import serial
+
+
+class Communication():
+    def __init__(self, baudRate: int):
+        self.baudRate = baudRate
+
+    def send(self, data):
+        '''Send data to the communication channel'''
+        pass
+
+    def receive(self) -> str:
+        '''Receive data from the communication channel'''
+        return ''
+
+
+class UART(Communication):
+    def __init__(self, port: str, baudRate: int, timeout: int = 1):
+        super().__init__(baudRate)
+        self.port = port
+        self.byteSize = serial.EIGHTBITS
+        self.parity = serial.PARITY_NONE
+        self.stopBits = serial.STOPBITS_ONE
+        self.timeout = timeout
+        try:
+            self.conn = serial.Serial(
+                port=self.port,
+                baudrate=self.baudRate,
+                bytesize=self.byteSize,
+                parity=self.parity,
+                stopbits=self.stopBits,
+                timeout=self.timeout
+            )
+        except Exception as err:
+            print(f"Error: {err}")
+
+    def send(self, data: str):
+        '''Send data to the communication channel'''
+        try:
+            if not self.conn.is_open:
+                raise Exception(f"Serial port {self.port} is not open.")
+
+            self.conn.write(data.encode() + b'\n')
+
+        except Exception as err:
+            print(f"Error while sending: {err}")
+
+    def receive(self) -> str:
+        '''Receive data from the communication channel'''
+        if not self.conn.is_open:
+            raise Exception(f"Serial port {self.port} is not open.")
+
+        data_bytes = self.conn.read_all()
+        if data_bytes:
+            return data_bytes.decode()
+        else:
+            return ''

api/Head.py

@@ -0,0 +1,20 @@
+from Communication import Communication
+from Actuator import Servo
+from Sensor import UltraSonic
+
+
+class Head:
+    def __init__(self, communication: Communication, servo1: Servo, servo2: Servo, ultraSonic: UltraSonic):
+        self.communication = communication
+        self.servo1 = servo1
+        self.servo2 = servo2
+        self.ultraSonic = ultraSonic
+
+    def horizontal_angle(self, angle: int):
+        self.servo1.setPosition(angle)
+
+    def vertical_angle(self, angle: int):
+        self.servo2.setPosition(angle)
+
+    def ultraSonicRead(self) -> str:
+        return self.ultraSonic.get_data()

api/Miloje.py

@@ -0,0 +1,46 @@
+from Sensor import Battery, UltraSonic
+from Actuator import Stepper, Servo
+from Wheels import Wheels
+from Head import Head
+from Communication import Communication
+
+
+class Miloje:
+    def __init__(self, communication: Communication):
+        self.communication = communication
+
+        # Receiving MILOJE capabilities
+        self.communication.send("C")
+        capabilityTypes = self.communication.receive()
+        self.capabilities = {}
+        for index, char in enumerate(capabilityTypes):
+            if char not in self.capabilities and char.isalpha():
+                self.capabilities[char] = []
+            if char == "M":
+                self.capabilities[char].append(Stepper(self.communication, index))
+            if char == "S":
+                self.capabilities[char].append(Servo(self.communication, index))
+            if char == "B":
+                self.capabilities[char].append(Battery(self.communication, index))
+            if char == "U":
+                self.capabilities[char].append(UltraSonic(self.communication, index))
+
+        # MILOJE head
+        self.wheels = Wheels(self.communication, self.capabilities["M"][0],
+                             self.capabilities["M"][1])
+
+        # MILOJE wheels
+        self.head = Head(self.communication, self.capabilities["S"][0],
+                         self.capabilities["S"][1], self.capabilities["U"][0])
+
+    def get_actuators(self):
+        return self.capabilities["actuators"]
+
+    def get_sensors(self):
+        return self.capabilities["sensors"]
+
+    def get_head(self) -> Head:
+        return self.head
+
+    def get_wheels(self) -> Wheels:
+        return self.wheels

api/Sensor.py

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+from Communication import Communication
+
+
+class Sensor:
+    def __init__(self, communication: Communication, index: int):
+        self.communication = communication
+        self.index = index
+
+    def get_data(self) -> str:
+        return ''
+
+
+class UltraSonic(Sensor):
+    def __init__(self, communication: Communication, index: int):
+        super().__init__(communication, index)
+
+    def get_data(self) -> str:
+        '''Get value (distance) from the ultrasonic sensor'''
+        self.communication.send(f"{self.index}")
+        return self.communication.receive()
+
+
+class Battery(Sensor):
+    def __init__(self, communication: Communication, index: int):
+        super().__init__(communication, index)
+
+    def get_data(self) -> str:
+        '''Get value (voltage) from the battery'''
+        self.communication.send(f"{self.index}")
+        return self.communication.receive()

api/Wheels.py

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+from Communication import Communication
+from Actuator import Stepper
+
+
+class Wheels:
+    def __init__(self, communication: Communication, stepper1: Stepper, stepper2: Stepper):
+        self.communication = communication
+        self.stepper1 = stepper1
+        self.stepper2 = stepper2
+
+    def forward(self, speed: int, distance: int):
+        '''Move MILOJE forward'''
+        self.stepper1.anticlockwise(speed, distance)
+        self.stepper2.clockwise(speed, distance)
+
+    def backward(self, speed: int, distance: int):
+        '''Move MILOJE backward'''
+        self.stepper1.clockwise(speed, distance)
+        self.stepper2.anticlockwise(speed, distance)
+
+    def spinClockwise(self, speed: int, angle: int):
+        '''Spin MILOJE in the clockwise direction'''
+        self.stepper1.anticlockwise(speed, (2*angle)//8)
+        self.stepper2.anticlockwise(speed, (2*angle)//8)
+
+    def spinAntiClockwise(self, speed: int, angle: int):
+        '''Spin MILOJE in the anticlockwise direction'''
+        self.stepper1.clockwise(speed, (2*angle)//8)
+        self.stepper2.clockwise(speed, (2*angle)//8)

requirements.txt

@@ -0,0 +1,9 @@
+flake8==7.1.0
+keyboard==0.13.5
+mccabe==0.7.0
+nodeenv==1.9.1
+pycodestyle==2.12.0
+pyflakes==3.2.0
+pyright==1.1.373
+pyserial==3.5
+types-keyboard==0.13.2.20240310

setup.cfg

@@ -0,0 +1,5 @@
+[flake8]
+exclude =
+    .venv
+    __pycache__
+max-line-length = 120