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base repository: viamrobotics/rdk
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base: 4ca3aba86593814cf68ef1a13a59a668bd38610a
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head repository: viamrobotics/rdk
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compare: 215ebb8fa1fe08cad87d712d2dd7ee68866152f5
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Showing with 4,042 additions and 4,750 deletions.
  1. +5 −10 .github/workflows/npm-bump-version.yml
  2. +63 −0 .github/workflows/test-module-generation.yml
  3. +148 −167 .github/workflows/test.yml
  4. +0 −5 Makefile
  5. +23 −0 cli/app.go
  6. +2 −0 cli/module_build.go
  7. +723 −0 cli/module_generate.go
  8. +208 −0 cli/module_generate/scripts/generate_stubs.py
  9. +20 −0 cli/module_generate/templates/.github/workflows/deploy.yml
  10. +164 −0 cli/module_generate/templates/python/.gitignore
  11. +13 −0 cli/module_generate/templates/python/build.sh
  12. +13 −0 cli/module_generate/templates/python/run.sh
  13. +41 −0 cli/module_generate/templates/python/setup.sh
  14. +53 −0 cli/module_generate/templates/python/src/tmpl-main.py
  15. +6 −0 cli/module_generate/templates/python/tmpl-requirements.txt
  16. +165 −0 cli/module_generate_test.go
  17. +8 −4 components/arm/arm.go
  18. +11 −2 components/audioinput/microphone/microphone.go
  19. +1 −1 components/base/kinematicbase/differentialDrive_test.go
  20. +19 −5 components/base/sensorcontrolled/sensorcontrolled.go
  21. +1 −3 components/base/sensorcontrolled/sensorcontrolled_test.go
  22. +1 −1 components/board/config.go
  23. +0 −9 components/board/pi/common/common.go
  24. +0 −33 components/board/pi/common/config.go
  25. +0 −166 components/board/pi/common/errors.go
  26. +0 −2 components/board/pi/doc.go
  27. +0 −707 components/board/pi/impl/board.go
  28. +0 −321 components/board/pi/impl/board_test.go
  29. +0 −199 components/board/pi/impl/digital_interrupts.go
  30. +0 −203 components/board/pi/impl/digital_interrupts_test.go
  31. +0 −263 components/board/pi/impl/external_hardware_test.go
  32. +0 −125 components/board/pi/impl/i2c.go
  33. +0 −32 components/board/pi/impl/pi.c
  34. +0 −6 components/board/pi/impl/pi.h
  35. +0 −221 components/board/pi/impl/servo.go
  36. +0 −80 components/board/pi/impl/utils.go
  37. +0 −14 components/board/pi/impl/verify_main_test.go
  38. +0 −45 components/board/pi/pi_notsupported.go
  39. +0 −8 components/board/pi/pi_supported.go
  40. +0 −12 components/board/pi/verify_main_test.go
  41. +0 −8 components/board/register/register_cgo.go
  42. +2 −2 components/camera/videosource/webcam.go
  43. +19 −6 components/motor/gpio/controlled.go
  44. +1 −3 components/motor/gpio/controlled_test.go
  45. +1 −1 components/motor/gpio/setup.go
  46. +20 −1 components/motor/motor.go
  47. +18 −4 components/motor/ulnstepper/28byj-48.go
  48. +1 −1 components/motor/ulnstepper/28byj-48_test.go
  49. +73 −84 components/movementsensor/imuvectornav/imu.go
  50. +4 −4 components/movementsensor/movementsensor.go
  51. +44 −56 config/config.go
  52. +40 −33 config/config_test.go
  53. +34 −0 config/proto_conversions.go
  54. +38 −0 config/proto_conversions_test.go
  55. +21 −12 control/control_loop.go
  56. +1 −3 control/control_loop_test.go
  57. +17 −3 control/control_signal.go
  58. +140 −80 control/pid.go
  59. +93 −43 control/pid_test.go
  60. +27 −16 control/setup_control.go
  61. +1 −1 etc/ld_wrapper.sh
  62. +0 −3 etc/setup.sh
  63. +463 −0 ftdc/custom_format.go
  64. +159 −0 ftdc/custom_format_test.go
  65. +103 −0 ftdc/doc.go
  66. +121 −0 ftdc/ftdc.go
  67. +28 −10 go.mod
  68. +58 −20 go.sum
  69. +9 −0 logging/logger_registry.go
  70. +41 −8 module/modmanager/manager.go
  71. +67 −23 module/modmanager/manager_test.go
  72. +18 −5 module/module.go
  73. +10 −2 module/testmodule/main.go
  74. +4 −3 resource/discovery.go
  75. +9 −0 resource/name.go
  76. +28 −0 resource/name_test.go
  77. +1 −1 resource/resource.go
  78. +2 −2 resource/resource_graph.go
  79. +2 −2 resource/resource_registry_test.go
  80. +21 −2 robot/client/client.go
  81. +5 −1 robot/client/client_test.go
  82. +7 −7 robot/impl/discovery_test.go
  83. +70 −6 robot/impl/local_robot.go
  84. +356 −52 robot/impl/local_robot_test.go
  85. +0 −3 robot/impl/robot_framesystem_test.go
  86. +0 −27 robot/impl/robot_reconfigure_remote_test.go
  87. +5 −19 robot/impl/robot_reconfigure_test.go
  88. +0 −112 robot/impl/robot_reconfigure_weak_dependencies_test.go
  89. +16 −18 robot/robot.go
  90. +10 −2 robot/server/server.go
  91. +4 −3 robot/server/server_test.go
  92. +0 −625 services/motion/explore/explore.go
  93. +0 −386 services/motion/explore/explore_test.go
  94. +0 −187 services/motion/explore/explore_utils_test.go
  95. +1 −20 services/navigation/builtin/builtin.go
  96. +0 −7 services/navigation/builtin/builtin_test.go
  97. +0 −50 services/navigation/builtin/explore.go
  98. +0 −37 services/navigation/builtin/explore_test.go
  99. +3 −1 services/sensors/builtin/builtin.go
  100. +31 −28 spatialmath/dualquaternion.go
  101. +38 −44 spatialmath/orientationVector.go
  102. +32 −1 spatialmath/pose_test.go
  103. +3 −3 spatialmath/quat_test.go
  104. +12 −0 testutils/inject/sensor.go
  105. +16 −15 web/frontend/package-lock.json
  106. +2 −2 web/frontend/package.json
  107. +3 −7 web/server/entrypoint.go
  108. +1 −1 web/server/entrypoint_test.go
15 changes: 5 additions & 10 deletions .github/workflows/npm-bump-version.yml
Original file line number Diff line number Diff line change
@@ -11,13 +11,13 @@ on:
type: string
description: |
Typescript SDK Version.
If specified, may be `rc`, `latest`, or a specific version.
If specified, may be `latest`, `next`, or a specific version.
Defaults to unspecified, which will not update the TypeScript SDK.
bump:
required: false
type: string
default: 'patch'
default: "patch"
description: |
RC version to bump to.
May be `patch`, `minor`, `major`, or a specific version.
@@ -30,12 +30,7 @@ jobs:
- name: Check out code
uses: actions/checkout@v3

- name: Bump SDK Version
if: ${{ inputs.sdk_version}}
working-directory: web/frontend
run: npm install --save --save-exact @viamrobotics/sdk@${{ inputs.sdk_version }}

- name: Bump RC Version
- name: Bump SDK + RC Version
run: |
cd web/frontend
npm install --save --save-exact @viamrobotics/sdk@${{ inputs.sdk_version }}
@@ -44,8 +39,8 @@ jobs:
- name: Add + Commit + Open PR
uses: peter-evans/create-pull-request@v3
with:
commit-message: '[WORKFLOW] Updating remote-control'
branch: 'workflow/bump-remote-control/${{ github.ref_name }}'
commit-message: "[WORKFLOW] Updating remote-control"
branch: "workflow/bump-remote-control/${{ github.ref_name }}"
delete-branch: true
base: ${{ github.ref_name }}
title: Automated remote-control Version Update
63 changes: 63 additions & 0 deletions .github/workflows/test-module-generation.yml
Original file line number Diff line number Diff line change
@@ -0,0 +1,63 @@
name: Test Template Generators

on:
workflow_dispatch:

jobs:
generate_and_run_module:
if: github.repository_owner == 'viamrobotics'
runs-on: ubuntu-latest
strategy:
fail-fast: true
matrix:
resource:
[
{ subtype: "arm", type: "component" },
{ subtype: "audio_input", type: "component" },
{ subtype: "base", type: "component" },
{ subtype: "camera", type: "component" },
{ subtype: "encoder", type: "component" },
{ subtype: "gantry", type: "component" },
{ subtype: "generic", type: "component" },
{ subtype: "gripper", type: "component" },
{ subtype: "input", type: "component" },
{ subtype: "motor", type: "component" },
{ subtype: "movement_sensor", type: "component" },
{ subtype: "pose_tracker", type: "component" },
{ subtype: "power_sensor", type: "component" },
{ subtype: "sensor", type: "component" },
{ subtype: "servo", type: "component" },

{ subtype: "generic", type: "service" },
{ subtype: "mlmodel", type: "service" },
{ subtype: "motion", type: "service" },
{ subtype: "navigation", type: "service" },
{ subtype: "slam", type: "service" },
{ subtype: "vision", type: "service" },
]
steps:
- name: Checkout Code
uses: actions/checkout@v4

- name: Setup Go environment
uses: actions/setup-go@v5
with:
go-version-file: go.mod

- name: Run module generator
run: go run ./cli/viam --debug module generate --resource-subtype "${{ matrix.resource.subtype }}" --resource-type "${{ matrix.resource.type }}"

- name: Run module
run: |
cd my-module
chmod +x run.sh
./run.sh /tmp/viam.sock &
PID=$!
sleep 5
if ps -p $PID > /dev/null; then
echo "Module is running."
kill -SIGTERM $PID
else
echo "Module failed to start."
exit 1
fi
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