merge develop 3.0

Author: previ

.circleci/config.yml

@@ -0,0 +1,53 @@
+# Python CircleCI 2.0 configuration file
+#
+# Check https://circleci.com/docs/2.0/language-python/ for more details
+#
+version: 2
+jobs:
+  build:
+    docker:
+      # specify the version you desire here
+      - image: coderbot/python-gpac:3.5
+      
+    working_directory: ~/repo
+
+    steps:
+      - checkout
+
+      # Download and cache dependencies
+      - restore_cache:
+          keys:
+          - v1-dependencies-{{ checksum "requirements_stub.txt" }}
+          # fallback to using the latest cache if no exact match is found
+          - v1-dependencies-
+
+      - run:
+          name: install dependencies
+          command: |
+            python3 -m venv venv
+            . venv/bin/activate
+            pip install -r requirements_stub.txt
+
+      - save_cache:
+          paths:
+            - ./venv
+          key: v1-dependencies-{{ checksum "requirements_stub.txt" }}
+        
+      # run tests!
+      - run:
+          name: run tests
+          command: |
+            . venv/bin/activate
+            export PYTHONPATH=./stub
+            mkdir test-reports
+            python3 -m unittest test/coderbot_test.py 2>&1 | tee test-reports/test_report.txt
+            #python3 -m unittest test/cnn_test.py 2>&1 | tee test-reports/test_report.txt
+            python3 -m unittest test/camera_test.py 2>&1 | tee test-reports/test_report.txt
+            echo "test complete"
+      - store_artifacts:
+          path: test-reports/
+          destination: tr1
+
+      - store_test_results:
+          path: test-reports/
+

.gitignore

@@ -38,6 +38,10 @@ photos/*.mp4
 photos/*.h264
 photos/*.json
 
+#cnn models
+cnn_models/*
+cnn_models/cache/*
+
 # Sounds recorded
 sounds/*.wav
 
@@ -48,9 +52,6 @@ logs/*.log.*
 # User programs
 data/*.data
 
-# CNN Models
-cnn_models/*
-
 # Tutorial
 static/blockly-tutorial
 
@@ -72,5 +73,22 @@ Thumbs.db
 
 bin/
 lib/
+lib64/
+lib64
 share/
 pyvenv.cfg
+
+# Vue build
+dist/
+# Docs
+cb_docs/
+
+coderbot.cfg
+
+swagger-ui/
+
+# Photos
+photos/metadata.json
+
+# Uploaded updates folder
+updatePackages/

LICENSE.txt

@@ -1,3 +1,5 @@
+(C) 2014 - 2019 Roberto Previtera, Antonio Vivace, CoderBot contributors.
+
                     GNU GENERAL PUBLIC LICENSE
                        Version 2, June 1991
 

MPU6050.py

@@ -1,13 +1,12 @@
-from __future__ import print_function
 """This program handles the communication over I2C
 between a Raspberry Pi and a MPU-6050 Gyroscope / Accelerometer combo.
 Made by: MrTijn/Tijndagamer
 Released under the MIT License
 Copyright 2015
 """
 
-import smbus2 as smbus
 import time
+import smbus2 as smbus
 
 class MPU6050:
 
@@ -88,10 +87,9 @@ def read_i2c_word(self, register):
 
         value = (high << 8) + low
 
-        if (value >= 0x8000):
+        if value >= 0x8000:
             return -((65535 - value) + 1)
-        else:
-            return value
+        return value
 
     # MPU-6050 Methods
 
@@ -120,7 +118,7 @@ def set_accel_range(self, accel_range):
         # Write the new range to the ACCEL_CONFIG register
         self.bus.write_byte_data(self.address, self.ACCEL_CONFIG, accel_range)
 
-    def read_accel_range(self, raw = False):
+    def read_accel_range(self, raw=False):
         """Reads the range the accelerometer is set to.
         If raw is True, it will return the raw value from the ACCEL_CONFIG
         register
@@ -141,10 +139,9 @@ def read_accel_range(self, raw = False):
                 return 8
             elif raw_data == self.ACCEL_RANGE_16G:
                 return 16
-            else:
-                return -1
+        return -1
 
-    def get_accel_data(self, g = False):
+    def get_accel_data(self, g=False):
         """Gets and returns the X, Y and Z values from the accelerometer.
         If g is True, it will return the data in g
         If g is False, it will return the data in m/s^2
@@ -174,13 +171,11 @@ def get_accel_data(self, g = False):
         y = y / accel_scale_modifier
         z = z / accel_scale_modifier
 
-        if g is True:
-            return {'x': x, 'y': y, 'z': z}
-        elif g is False:
+        if g is False:
             x = x * self.GRAVITIY_MS2
             y = y * self.GRAVITIY_MS2
             z = z * self.GRAVITIY_MS2
-            return {'x': x, 'y': y, 'z': z}
+        return {'x': x, 'y': y, 'z': z}
 
     def set_gyro_range(self, gyro_range):
         """Sets the range of the gyroscope to range.
@@ -193,7 +188,7 @@ def set_gyro_range(self, gyro_range):
         # Write the new range to the ACCEL_CONFIG register
         self.bus.write_byte_data(self.address, self.GYRO_CONFIG, gyro_range)
 
-    def read_gyro_range(self, raw = False):
+    def read_gyro_range(self, raw=False):
         """Reads the range the gyroscope is set to.
         If raw is True, it will return the raw value from the GYRO_CONFIG
         register.
@@ -214,8 +209,7 @@ def read_gyro_range(self, raw = False):
                 return 1000
             elif raw_data == self.GYRO_RANGE_2000DEG:
                 return 2000
-            else:
-                return -1
+        return -1
 
     def get_gyro_data(self):
         """Gets and returns the X, Y and Z values from the gyroscope.
@@ -249,9 +243,9 @@ def get_gyro_data(self):
 
     def get_all_data(self):
         """Reads and returns all the available data."""
-        temp = get_temp()
-        accel = get_accel_data()
-        gyro = get_gyro_data()
+        temp = self.get_temp()
+        accel = self.get_accel_data()
+        gyro = self.get_gyro_data()
 
         return [accel, gyro, temp]
 
@@ -267,4 +261,4 @@ def get_all_data(self):
         if abs(gyro_data['z']) > mpu.GYRO_THRESHOLD_Z:
             dz = gyro_data['z'] * dt
             z = z + dz
-            print( "z: ", z, end="\r")
+            print("z: ", z, end="\r")

README.md

@@ -1,11 +1,47 @@
-CoderBot
-========
+# backend
 
-A RaspberryPI-based bot controller
+> CoderBot is a RaspberryPI-based programmable robot for educational purposes. Check the [project website](https://www.coderbot.org) for more information.
+>
+> For further information about development and technical documentation, see the [Wiki](https://github.com/CoderBotOrg/coderbot/wiki).
 
-The module provide a simple web interface to a raspberry py "robot".
+This repository contains the backend, exposing the [CoderBot API](https://github.com/CoderBotOrg/backend/wiki/API-v2).
 
-See the [wiki](https://github.com/CoderBotOrg/coderbot/wiki) for the documentation
+### Quickstart
 
+Prerequisites:
 
+```bash
+sudo apt install python3 python3-venv
+```
+
+Be sure you have Python **3.6**. You may need to use `python3.6` and `python3.6-venv` packages on some repositories with python3 already pointing to **3.7** (e.g. debian unstable/sid).
+
+
+
+```bash
+git clone https://github.com/CoderBotOrg/coderbot.git
+cd coderbot
+python3 -m venv .
+source bin/activate
+
+# Install the basic requirements
+pip3 install -r requirements_stub.txt
+# Additional packages if you are running the real thing
+pip3 install -r requirements.txt
+
+# Start the backend in stub mode
+PYTHONPATH=stub python3 init.py
+
+# or, run the real thing if you're on a physical RPi
+python3 init.py
+```
+
+Once started, the backend will expose a number of endpoints:
+
+- Legacy API: [localhost:5000/`<LEGACY_METHOD>`](http://localhost:5000/);
+- Legacy JQuery web application: [localhost:5000/old](http://localhost:5000/old);
+- API v2: [localhost:5000/v2](http://localhost:5000/v2);
+- New Vue web application: [localhost:5000/](http://localhost:5000/) (assuming a [vue-app](https://github.com/coderbotorg/vue-app) build is placed in the `dist/` folder);
+- Documentation: [localhost:5000/docs](http://localhost:5000/docs) assuming a [docs](https://github.com/coderbotorg/docs) build is placed in the `cb_docs/` folder);
+- Swagger UI dynamic documentation of the API v2: [localhost:5000/v2/ui/index.html](http://localhost:5000/v2/ui/index.html) (once you cloned the [swagger-ui](https://github.com/coderbotorg/swagger-ui) repository inside the backend folder).