Lint in CI

.flake8

@@ -0,0 +1,14 @@
+[flake8]
+max-line-length = 160
+exclude =
+  **/pulse_utils/pulse_lib.py
+  kuri_slack_bot/app.py
+max-complexity = 20
+# We import modules here to make the API cleaner
+per-file-ignores =
+  **/kuri_api/lights.py:W293
+  **/kuri_api/__init__.py:F401
+  **/kuri_navigation/__init__.py:F401
+  **/anim/__init__.py:F401
+  **/utils/__init__.py:F401
+  **/kuri_api/base.py:N801

.github/workflows/ci.yaml

@@ -4,12 +4,32 @@ on: [push, pull_request]
 
 jobs:
   industrial_ci:
+    env:
+      AFTER_INSTALL_TARGET_DEPENDENCIES: 'pip2 install --upgrade pip && pip2 install --upgrade "setuptools<0.45"'
+      CATKIN_LINT: true
+      ROS_REPO: main
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: indigo, ROS_REPO: main}
+          - {ROS_DISTRO: indigo}
+          - {ROS_DISTRO: noetic}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+    - uses: actions/checkout@v2
+    - uses: 'ros-industrial/industrial_ci@master'
+      env: ${{matrix.env}}
+      continue-on-error: ${{ matrix.env.ROS_DISTRO == 'noetic' }}
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Setup Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: 2.7
+    - name: Install dependencies
+      run: |
+        pip install flake8 pep8-naming
+    - name: Lint
+      run: |
+        flake8 -v

audio_msgs/CMakeLists.txt

@@ -44,6 +44,9 @@ generate_messages(
 
 catkin_package(
         CATKIN_DEPENDS
+        geometry_msgs
+        mayfield_msgs
+        message_runtime
         std_msgs
 )
 

gizmo_description/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(gizmo_description)
 
-find_package(catkin)
+find_package(catkin REQUIRED COMPONENTS)
 
 catkin_package()

kuri_api/CMakeLists.txt

@@ -22,14 +22,9 @@ generate_messages(
   )
 
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES robot_api
-  CATKIN_DEPENDS roscpp rospy
+  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
 )
 
+catkin_install_python(PROGRAMS scripts/base_demo scripts/volume_interface
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)

kuri_api/package.xml

@@ -3,14 +3,18 @@
   <name>kuri_api</name>
   <version>0.1.0</version>
   <description>High-level API for controlling the Kuri robot.</description>
-  <maintainer email="nwalker@cs.uw.edu">Nick Walker</maintainer>
+  <maintainer email="nswalker@cs.uw.edu">Nick Walker</maintainer>
   <license>None</license>
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>actionlib</depend>
-  <depend>control_msgs</depend>
+
+  <exec_depend>actionlib</exec_depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>
-  <depend>trajectory_msgs</depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>std_msgs</depend>
   <export>
   </export>
 </package>

kuri_api/setup.py

@@ -1,11 +1,11 @@
-## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+# DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
 
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-    packages=['kuri_api','assets'],
+    packages=['kuri_api', 'assets'],
     package_dir={'': 'src'})
 
 setup(**setup_args)

kuri_api/src/assets/__init__.py

@@ -1,8 +1,9 @@
 from .memoize import memoize
 from .mov import img_to_pix, mov_to_wav, mov_to_pixels, pixel_positions
+
 __all__ = [
- 'memoize',
- 'img_to_pix',
- 'mov_to_wav',
- 'mov_to_pixels',
- 'pixel_positions']
+    'memoize',
+    'img_to_pix',
+    'mov_to_wav',
+    'mov_to_pixels',
+    'pixel_positions']

kuri_api/src/assets/config.py

@@ -1,5 +1,6 @@
 import os
 
+
 def get_data_path():
     """
     Return the data path for either the GBZ or a development workspace.

kuri_api/src/assets/memoize.py

@@ -1,4 +1,8 @@
-import functools, hashlib, os, cPickle as pickle
+import cPickle
+import functools
+import hashlib
+import os
+
 
 def _sha1(s):
     return hashlib.sha1(s).hexdigest()
@@ -14,7 +18,7 @@ def _store(cache_dir, key, val):
     if not os.path.isdir(objd):
         os.makedirs(objd)
     with open(os.path.join(objd, hash[2:]), 'w') as (f):
-        pickle.dump(val, f)
+        cPickle.dump(val, f)
 
 
 def _load(cache_dir, key):
@@ -24,12 +28,12 @@ def _load(cache_dir, key):
     hash = _keyhash(key)
     objd = os.path.join(cache_dir, hash[:2])
     with open(os.path.join(objd, hash[2:])) as (f):
-        return pickle.load(f)
+        return cPickle.load(f)
 
 
 def memoize(root_dir):
     """ A better memoize:
-         - pickle objects instead of yaml
+         - cPickle objects instead of yaml
          - one file per object instead of a big dict
          - objects are lazily loaded from disk when first used
     """
@@ -41,7 +45,7 @@ def memoize_helper(f):
 
         @functools.wraps(f)
         def cached(*args, **kwargs):
-            key = ('{}{}{}').format(f.func_name, pickle.dumps(args), pickle.dumps(kwargs))
+            key = '{}{}{}'.format(f.func_name, cPickle.dumps(args), cPickle.dumps(kwargs))
             if key not in cache:
                 try:
                     cache[key] = _load(cache_dir, key)

kuri_api/src/assets/mov.py

@@ -1,11 +1,17 @@
-import glob, os, subprocess
+import glob
+import os
+import subprocess
 from PIL import Image
+
 import numpy as np
+
 from . import config
 from . import memoize
+
 MOVIE_WIDTH_HEIGHT = 720
 
-@memoize(lambda : config.get_assets_path())
+
+@memoize(lambda: config.get_assets_path())
 def mov_to_pixels(mov_name):
     """
     These pixels are generated at build-time and cached through memoization.
@@ -14,7 +20,7 @@ def mov_to_pixels(mov_name):
     return _pixels_for_file(mov_path)
 
 
-@memoize(lambda : config.get_assets_path())
+@memoize(lambda: config.get_assets_path())
 def mov_to_wav(mov_name):
     """
     These wavs are generated at build-time and cached through memoization.
@@ -32,10 +38,10 @@ def _pixels_for_file(mov_path):
     _, fname = os.path.split(mov_path)
     mov_name = os.path.splitext(fname)[0]
     subprocess.call([
-     'avconv', '-y', '-i', mov_path, ('/tmp/{}%06d.png').format(mov_name)])
+        'avconv', '-y', '-i', mov_path, ('/tmp/{}%06d.png').format(mov_name)])
     imgs_list = glob.glob(('/tmp/{}*.png').format(mov_name))
     imgs_list.sort()
-    pixels = [ img_to_pix(img_name) for img_name in imgs_list ]
+    pixels = [img_to_pix(img_name) for img_name in imgs_list]
     for img_name in imgs_list:
         subprocess.call(['rm', img_name])
 
@@ -53,8 +59,8 @@ def _wav_for_file(mov_path):
     wav_name = os.path.splitext(mov_name)[0] + '.wav'
     wav_loc = os.path.join(config.get_sounds_path(), wav_name)
     ret = subprocess.call([
-     'avconv', '-y', '-i', mov_path, '-vn', '-ar', '48000', '-ac', '2',
-     '-ab', '192', '-f', 'wav', wav_loc])
+        'avconv', '-y', '-i', mov_path, '-vn', '-ar', '48000', '-ac', '2',
+        '-ab', '192', '-f', 'wav', wav_loc])
     if ret:
         raise RuntimeError(('Unable to convert {} to wav at {}.').format(mov_path, wav_loc))
     return wav_name
@@ -67,7 +73,7 @@ def _add_pixel_ring(width, height, count, radius, angle):
     for i in range(count):
         a = float(angle) + float(i) * 2 * np.pi / float(count)
         pixels.append((int(x - float(radius) * np.cos(a) + 0.5),
-         int(y - float(radius) * np.sin(a) + 0.5)))
+                       int(y - float(radius) * np.sin(a) + 0.5)))
 
     return pixels
 
@@ -84,4 +90,4 @@ def pixel_positions():
 def img_to_pix(fname):
     pixels = pixel_positions()
     img = Image.open(fname)
-    return [ img.getpixel(p) for p in pixels ]
+    return [img.getpixel(p) for p in pixels]

kuri_api/src/kuri_api/__init__.py

@@ -6,4 +6,4 @@
 from .listener import Listener
 from .power import PowerMonitor
 from .voice import Voice
-from .volume import Volume
+from .volume import Volume

kuri_api/src/kuri_api/alive.py

@@ -1,9 +1,11 @@
 import random
-from threading import Lock, RLock
 import time
-from kuri_api.utils.timeouts import EventTimeout
+from threading import Lock, RLock
+
 from kuri_api.anim import AnimationPlayer
 from kuri_api.anim.library.blink_animations import BlinkAnimations
+from kuri_api.utils.timeouts import EventTimeout
+
 
 class Alive(object):
     """
@@ -127,4 +129,4 @@ def _kill_timer(self, blocking=False):
         if self._blink_timer:
             self._blink_timer.shutdown(blocking=blocking)
             self._blink_timer = None
-        return
+        return

kuri_api/src/kuri_api/anim/__init__.py

@@ -1,3 +1,3 @@
-from .track import Track, TrackPlayer
 from .animation_group import AnimationGroup
-from .player import AnimationPlayer, LoopingAnimationPlayer
+from .player import AnimationPlayer, LoopingAnimationPlayer
+from .track import Track, TrackPlayer

kuri_api/src/kuri_api/anim/animation_group.py

@@ -1,8 +1,9 @@
 from kuri_api.anim.primitives.head import HeadMotions
-from kuri_api.anim.primitives.wheels import WheelMotions
 from kuri_api.anim.primitives.light import Light
-from kuri_api.anim.primitives.sound import Sound
 from kuri_api.anim.primitives.movies import Movies
+from kuri_api.anim.primitives.sound import Sound
+from kuri_api.anim.primitives.wheels import WheelMotions
+
 
 class AnimationGroup(object):
     """
@@ -24,4 +25,4 @@ def __init__(self, head=None, wheels=None, chest_leds=None, sound_srcs=None, mov
                 self.movies = Movies(lights=self.lights_mot, sound=self.sound_mot)
             else:
                 self.movies = None
-        return
+        return

kuri_api/src/kuri_api/anim/animator.py

@@ -1,15 +1,19 @@
+import logging
 import threading
+
 from gizmo.utils.animation import AnimationParser
 from gizmo.utils.animation import AnimationTrackAssembler
 from kuri_api.anim import Track
-import logging
+
 logger = logging.getLogger(__name__)
 
+
 class Animator(object):
 
     def __init__(self, comm_interface, head=None, wheels=None, sound_srcs=None, chest_leds=None):
         self._lock = threading.RLock()
-        self.animation_assembler = AnimationTrackAssembler(head=head, wheels=wheels, sound_srcs=sound_srcs, chest_leds=chest_leds)
+        self.animation_assembler = AnimationTrackAssembler(head=head, wheels=wheels, sound_srcs=sound_srcs,
+                                                           chest_leds=chest_leds)
         self.currentTrackPlayer = None
         return
 
@@ -37,8 +41,8 @@ def cancel(self, timeout=1.0):
         return
 
     def play_live_animation(self, command):
-        animationCommand = command
-        animation = AnimationParser.parse_animation(animationCommand.json)
+        animation_command = command
+        animation = AnimationParser.parse_animation(animation_command.json)
         if animation is not None and not animation.hasParseErrors:
             track = Track()
             self.animation_assembler.add_animation_to_track(animation, track)
@@ -52,4 +56,4 @@ def play_animation_from_container_json(self, container_json, done_cb=None):
         self._play_track(track, done_cb)
 
     def shutdown(self):
-        self.cancel()
+        self.cancel()