Restructure the dummy package

It now installs with ROS2 and pip and offers the `start_dummy` script
globally in sourced environments.

Author: stefanscherzinger

.gitignore

@@ -1,7 +1,10 @@
-/build/
-/install/
-/log/
+build/
+install/
+log/
 /.vscode
 
 # Ignore test coverage artifacts
 *.coverage
+
+# Ignore pip install artifacts
+*.egg-info/

schunk_gripper_dummy/COLCON_IGNORE

@@ -0,0 +1 @@
+include schunk_gripper_dummy/config/*.json

schunk_gripper_dummy/MANIFEST.in

@@ -4,40 +4,36 @@ A minimalist protocol simulator for system tests.
 Use this SCHUNK gripper dummy whenever you don't have access to real hardware
 and still want to test your application.
 
-## Dependencies
-We need additional Python dependencies.
-Install them inside your favorite Python environment with
-
-```bash
-pip install --user fastapi uvicorn requests python-multipart
-```
-
 ## Getting started
-There's a convenience script `start_dummy` for starting the dummy simulator.
+Use the `start_dummy` script for starting the dummy simulator.
 It will start on localhost with port `8000` by default but you can specify another port via the `port:=<port-id>` syntax.
 
-### Plain python
+## Installation with plain python
 
 Although shipped inside a ROS2 package, the dummy itself doesn't need ROS2.
-You can simply navigate into the dummy's package and start it with
+You can simply navigate into the dummy's package, install it inside your favorite environment with
+
 ```bash
-./start_dummy port:=8000
+pip install .
 ```
-
-### ROS2
-When working in a sourced ROS2 environment, you can start the dummy with
+Now you can start the simulator anywhere your environment with
 ```bash
-ros2 run schunk_gripper_dummy start_dummy --ros-args -p port:=8000
+start_dummy port:=8000
+```
+You can inspect and uninstall it with normal pip functionality
+```bash
+pip show schunk_gripper_dummy
+pip uninstall schunk_gripper_dummy
 ```
 
-## Run tests locally
-Inside the dummy's package
+## Installation with ROS2
+Install them inside your favorite Python environment with
 
 ```bash
-pip install --user pytest httpx coverage
+pip install --user fastapi uvicorn requests python-multipart
 ```
 
+When working in a sourced ROS2 environment, you can start the dummy with
 ```bash
-coverage run -m pytest tests/
-coverage report
+ros2 run schunk_gripper_dummy start_dummy --ros-args -p port:=8000
 ```

schunk_gripper_dummy/README.md

@@ -1,7 +1,6 @@
 from threading import Thread
 import time
-import os
-from pathlib import Path
+import pkg_resources  # type: ignore [import-untyped]
 import json
 import struct
 from typing import Tuple
@@ -57,15 +56,12 @@ def __init__(self):
         self.reserved_status_bits = [10, 15] + list(range(18, 31))
         self.reserved_control_bits = [10, 15] + list(range(17, 30))
 
-        enum_config = os.path.join(
-            Path(__file__).resolve().parents[1], "config/enum.json"
-        )
-        metadata_config = os.path.join(
-            Path(__file__).resolve().parents[1], "config/metadata.json"
-        )
-        data_config = os.path.join(
-            Path(__file__).resolve().parents[1], "config/data.json"
+        enum_config = pkg_resources.resource_filename(__name__, "config/enum.json")
+        metadata_config = pkg_resources.resource_filename(
+            __name__, "config/metadata.json"
         )
+        data_config = pkg_resources.resource_filename(__name__, "config/data.json")
+
         with open(enum_config, "r") as f:
             self.enum = json.load(f)
         with open(metadata_config, "r") as f:

schunk_gripper_dummy/config/README.md schunk_gripper_dummy/schunk_gripper_dummy/config/README.md

@@ -1,4 +1,4 @@
-from src.dummy import Dummy
+from schunk_gripper_dummy.dummy import Dummy
 
 from fastapi import FastAPI, Request, Form, BackgroundTasks
 from fastapi.middleware.cors import CORSMiddleware

schunk_gripper_dummy/config/__init__.py schunk_gripper_dummy/schunk_gripper_dummy/config/__init__.py

@@ -1,18 +1,30 @@
 from setuptools import find_packages, setup
 import os
+from glob import glob
 
 package_name = "schunk_gripper_dummy"
 
 setup(
     name=package_name,
-    version="0.0.0",
+    version="0.0.1",
     packages=find_packages(exclude=["tests"]),
+    include_package_data=True,
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
         (os.path.join("lib", package_name), ["start_dummy"]),
+        (
+            os.path.join("share", package_name, "config"),
+            glob(package_name + "/config/*.json"),
+        ),
+    ],
+    install_requires=[
+        "setuptools",
+        "fastapi",
+        "uvicorn",
+        "requests",
+        "python-multipart",
     ],
-    install_requires=["setuptools"],
     zip_safe=True,
     maintainer="Stefan Scherzinger",
     maintainer_email="[email protected]",
@@ -22,4 +34,5 @@
     entry_points={
         "console_scripts": [],
     },
+    scripts=["start_dummy"],
 )

schunk_gripper_dummy/config/data.json schunk_gripper_dummy/schunk_gripper_dummy/config/data.json

@@ -0,0 +1,11 @@
+## Run tests locally
+Inside the dummy's package
+
+```bash
+pip install --user pytest httpx coverage
+```
+
+```bash
+coverage run -m pytest tests/
+coverage report
+```

schunk_gripper_dummy/config/enum.json schunk_gripper_dummy/schunk_gripper_dummy/config/enum.json

@@ -1,4 +1,4 @@
-from src.dummy import Dummy
+from schunk_gripper_dummy.dummy import Dummy
 import pytest
 import struct
 import time

schunk_gripper_dummy/config/metadata.json schunk_gripper_dummy/schunk_gripper_dummy/config/metadata.json

@@ -1,4 +1,4 @@
-from src.dummy import LinearMotion
+from schunk_gripper_dummy.dummy import LinearMotion
 import pytest
 import time
 

schunk_gripper_dummy/config/read_system_parameters.py schunk_gripper_dummy/schunk_gripper_dummy/config/read_system_parameters.py

@@ -1,4 +1,4 @@
-from src.dummy import Dummy
+from schunk_gripper_dummy.dummy import Dummy
 import struct
 import pytest
 

schunk_gripper_dummy/config/system_parameter_codes schunk_gripper_dummy/schunk_gripper_dummy/config/system_parameter_codes

@@ -1,4 +1,4 @@
-from src.dummy import Dummy
+from schunk_gripper_dummy.dummy import Dummy
 from schunk_gripper_dummy.main import server, dummy as client_dummy
 from fastapi.testclient import TestClient