Migrate to rye.... with CI

.github/workflows/ci.yml

@@ -0,0 +1,56 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+    ci:
+        runs-on: ubuntu-latest
+        strategy:
+            matrix:
+                include:
+                    - rye_version: "0.32.0"
+                      rye_home: "/opt/rye"
+                      use_uv: "true"
+
+        steps:
+            - uses: actions/checkout@v3
+
+            - name: Check cache for Rye
+              uses: actions/cache@v4
+              id: get-cache
+              with:
+                  key: "${{ matrix.rye_version }}-${{ matrix.use_uv }}"
+                  path: "${{ matrix.rye_home }}"
+
+            - name: Add Rye to PATH
+              run: echo "${{ matrix.rye_home }}/shims" >> $GITHUB_PATH && echo "${{ matrix.rye_home }}/tools" >> $GITHUB_PATH
+
+            - name: Install Rye
+              uses: phi-friday/[email protected]
+              if: steps.get-cache.outputs.cache-hit != 'true'
+              id: install-rye
+              with:
+                  rye_version: "${{ matrix.rye_version }}"
+                  rye_home: "${{ matrix.rye_home }}"
+                  use_uv: "${{ matrix.use_uv }}"
+
+            - name: Cache virtual environment
+              uses: actions/cache@v4
+              id: venv-cache
+              with:
+                  key: venv-${{ runner.os }}-${{ hashFiles('requirements.lock') }}
+                  path: ".venv"
+
+            - name: Get dependencies
+              run: rye sync
+
+            - name: Enter virtual env
+              run: . .venv/bin/activate
+
+            - name: Run Ruff formatter/linter
+              run: ./.venv/bin/ruff check && ./.venv/bin/ruff format --check
+
+            - name: Check types with MyPy
+              uses: sasanquaneuf/mypy-github-action@releases/v1
+              with:
+                  checkName: "ci"

.gitignore

@@ -0,0 +1,4 @@
+build
+**/.vscode
+**/__pycache__
+**/.DS_Store

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "gps"]
 	path = gps
 	url = ../gps/
+[submodule "YOLO"]
+	path = YOLO
+	url = https://github.com/Sooner-Rover-Team/YOLO
+[submodule "src/autonomous/gps"]
+	path = src/autonomous/gps
+	url = https://github.com/Sooner-Rover-Team/gps

.python-version

@@ -0,0 +1 @@
+[email protected]

Notes/codebase_tips.md

@@ -0,0 +1,28 @@
+# Codebase Tips
+
+This codebase is a multi-generational. Here are some small tips to get started.
+
+## Python
+
+Let's discuss some weird Python semantics/syntax you'll see around here.
+
+### Modules
+
+Each file in `src` is a **module**. These are imported by typing `import module_name` in a file.
+
+However, modules can also contain other modules. For example, the `libs` folder is technically a module, containing submodules like `Drive`, `Location`, etc.
+
+To import a submodule that's in a folder, you'd usually type `from folder_name import submodule_name`. But! Some of the modules, like `examples`, aren't inside `src`.
+
+That means you have to use the import dot syntax to use them.
+
+- `.` represents the current directory (submodule).
+- `..` represents the previous directory (module).
+
+So, to get `src/libs/Location.py` from `examples/ar.py`, you'll have to:
+
+- escape from the `examples` module with `..`
+- enter the `src/libs` submodule with `src.libs`  
+- import the `Location` module
+
+From these steps, you'll end up with: `from ..src.libs import Location`. It looks a bit weird, but it's consistent and keeps example/test code from our actual libraries.

README.md

@@ -1,6 +1,6 @@
 # Autonomous Code
 
-This folder contains all of the code needed for the autonomous program to run. We tied for 2nd in the 2022 autonomous course with this code when one of our wheels wasn't moving!
+This folder contains all of the code needed for the Autonomous program to run. We tied for 2nd in the 2022 autonomous course with this code when one of our wheels wasn't moving!
 
 ## Dependencies
 

examples/ar.py

@@ -1,12 +1,13 @@
 from time import sleep
 
-import os
-from libs import ARTracker
+from ..src.libs import ARTracker
 
-tracker = ARTracker.ARTracker(['/dev/video1'], write=False, useYOLO = False) #ARTracker requires a list of camera files
+tracker = ARTracker.ARTracker(
+    ["/dev/video1"], write=False, useYOLO=False
+)  # ARTracker requires a list of camera files
 
 while True:
-    tracker.findMarker(1)#, id2 = 1)
-    print('Distance (in cm): ', tracker.distanceToMarker)
-    print('Angle: ', tracker.angleToMarker)
-    sleep(.5)
+    tracker.findMarker(1)  # , id2 = 1)
+    print("Distance (in cm): ", tracker.distanceToMarker)
+    print("Angle: ", tracker.angleToMarker)
+    sleep(0.5)

examples/location.py

@@ -1,16 +1,16 @@
 from time import sleep
-from libs import Location
+from ..src.libs import Location
 
-#os.chdir(os.path.dirname(os.path.abspath(__file__)))
-if __name__ == '__main__':
-    l = Location.Location('10.0.0.222','55556')
-    print('starting gps')
-    l.start_GPS()
-    l.start_GPS_thread()
-    print('reading data')
+# os.chdir(os.path.dirname(os.path.abspath(__file__)))
+if __name__ == "__main__":
+    loc = Location.Location("10.0.0.222", "55556")
+    print("starting gps")
+    loc.start_GPS()
+    loc.start_GPS_thread()
+    print("reading data")
     while True:
-        print(l.latitude)
-        print(l.longitude)
-        print(l.bearing)
+        print(loc.latitude)
+        print(loc.longitude)
+        print(loc.bearing)
         print()
         sleep(1)

examples/map.py

@@ -1,22 +1,19 @@
-from nis import maps
 import os
-from random import randint, random
+import threading
+import sys
+
+from ..src.RoverMap.server import MapServer
+from ..src.libs import Location
 
-from scipy import rand
 os.chdir(os.path.dirname(os.path.abspath(__file__)))
 
-import threading
 
-import sys
-sys.path.append('../../Mission Control/RoverMap/')
+sys.path.append("../../Mission Control/RoverMap/")
 
-from server import MapServer
-from libs import Location
 
-if __name__ == '__main__':
-
-    loc = Location.Location('10.0.0.222', '55556')
-    print('Starting GPS')
+if __name__ == "__main__":
+    loc = Location.Location("10.0.0.222", "55556")
+    print("Starting GPS")
     loc.start_GPS()
     loc.start_GPS_thread()
 
@@ -28,14 +25,14 @@ def set_interval(func, sec):
         def func_wrapper():
             set_interval(func, sec)
             func()
+
         t = threading.Timer(sec, func_wrapper)
         t.start()
         return t
 
     def update():
         print("sending update...")
-        #mapServer.update_rover_coords([38.4375 + randint(0, 100) / 10000 , -110.8125])
+        # mapServer.update_rover_coords([38.4375 + randint(0, 100) / 10000 , -110.8125])
         mapServer.update_rover_coords([loc.latitude, loc.longitude])
-
-    set_interval(update, 0.500)
 
+    set_interval(update, 0.500)

examples/wheels.py

@@ -1,20 +1,20 @@
-#If someone knows a better way to write the next 5 lines, lmk
+# If someone knows a better way to write the next 5 lines, lmk
 import os
-os.chdir(os.path.dirname(os.path.abspath(__file__)))
-
 import sys
-sys.path.append('../')
+from ..src.libs import UDPOut
+
+os.chdir(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append("../")
 
-from libs import UDPOut
 
-HOST = '127.0.0.1' 
+HOST = "127.0.0.1"
 # 127.0.0.1 is the 'loopback' address, or the address
 # of your own computer
 
-PORT = 2000 
+PORT = 2000
 # this number is arbitrary as long as it is above 1024
 
 UDPOut.sendWheelSpeeds(HOST, PORT, 255, 255, 255, 255, 255, 255)
 # the six arguments represent each wheels speed (on a scale between 0 and 255, since it will be stored in a byte).
-# the order of the wheels in the arguments is Front Left, Middle Left, Rear Left, Front Right, Middle Right, and Rear Right. 
+# the order of the wheels in the arguments is Front Left, Middle Left, Rear Left, Front Right, Middle Right, and Rear Right.
 # sendWheelSpeeds(HOST, PORT, fl, ml, rl, rt, mr, rr)