set up GH actions for pytest

.flake8

@@ -0,0 +1,4 @@
+[flake8]
+ignore = E226,E302,E401,E501 # https://pycodestyle.pycqa.org/en/latest/intro.html#error-codes
+max-line-length = 120
+max-complexity = 10

.github/workflows/test.yaml

@@ -0,0 +1,22 @@
+name: test
+
+on: [pull_request, push, workflow_dispatch]
+
+concurrency:
+  group: test-${{github.ref}}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    runs-on: "ubuntu-latest"
+    # To push new image: docker build . -t merlinran/acorn_docker --platform linux/amd64 && docker push merlinran/acorn_docker
+    container: docker://merlinran/acorn_docker:latest
+    strategy:
+      fail-fast: true
+
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v2
+
+      - name: Run tests
+        run: pytest

Dockerfile

@@ -14,3 +14,4 @@ RUN apk add tmux vim mercurial
 RUN python3 -m pip install adafruit-circuitpython-mcp230xx coloredlogs
 RUN apk add iw
 RUN apk add raspberrypi; exit 0 # Only succeeds on raspberry pi but not needed otherwise.
+RUN python3 -m pip install pytest

docker-compose-simulation.yml

@@ -2,37 +2,15 @@ version: "3.7"
 
 services:
   acorn_vehicle:
-    build: .
-    container_name: acorn_vehicle
-    image: acorn_docker:1.0
-    working_dir: /home/pi
+    extends:
+      file: docker-compose-vehicle.yml
+      service: acorn_vehicle
     volumes:
-      - /dev:/dev
       - .:/home/pi/
       - ./.bashrc:/home/pi/.bashrc
-      - /etc/localtime:/etc/localtime:ro
-      - /etc/timezone:/etc/timezone:ro
-      - /usr/local/bin:/usr/local/bin
-    privileged: true
     command: sh -c /home/pi/vehicle/autolaunch_vehicle_sim.sh
-    restart: unless-stopped
-    network_mode: "host"
     ipc: host
   acorn_server:
-    build: .
-    container_name: acorn_server
-    image: acorn_docker:1.0
-    ports:
-       - 80:80
-       - 5570:5570
-       - 6379:6379
-       - 6799:6799
-    working_dir: /acorn/server
-    environment:
-      - PYTHONPATH=/acorn/vehicle
-    volumes:
-      - .:/acorn
-      - /etc/localtime:/etc/localtime:ro
-      - /etc/timezone:/etc/timezone:ro
-    privileged: true
-    command: sh -c /acorn/server/autolaunch_server.sh
+    extends:
+      file: docker-compose-server.yml
+      service: acorn_server

docker-compose-test.yml

@@ -0,0 +1,13 @@
+version: "3.7"
+
+services:
+  acorn_vehicle_test:
+    extends:
+      file: docker-compose-simulation.yml
+      service: acorn_vehicle
+    command: sleep infinity
+  # acorn_server:
+  #   extends:
+  #     file: docker-compose-simulation.yml
+  #     service: acorn_server
+  #   command: sleep infinity

pyproject.toml

@@ -0,0 +1,20 @@
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = "-ra -q"
+log_cli_level = "DEBUG"
+testpaths = [
+  "vehicle/tests",
+  "server/tests",
+]
+filterwarnings = [
+  "ignore::DeprecationWarning:evdev.*:",
+]
+
+[tool.black]
+line-length = 120
+target-version = ['py36', 'py37', 'py38']
+include = '\.pyi?$'
+
+[tool.autopep8]
+max-line-length = 120
+ignore = "E501"

run_docker_simulation.sh

@@ -1,2 +1,2 @@
-docker-compose -f docker-compose-simulation.yml down
-docker-compose -f docker-compose-simulation.yml up --remove-orphans -d
+docker-compose -f docker-compose-simulation.yml down --remove-orphans
+docker-compose -f docker-compose-simulation.yml up -d

run_docker_test.sh

@@ -0,0 +1,2 @@
+docker-compose -f docker-compose-test.yml up --remove-orphans -d
+docker exec -it acorn_vehicle pytest --log-cli-level DEBUG

server/autolaunch_server.sh

@@ -3,5 +3,6 @@ tmux new-session -d -s "redis" sh redis-command.sh&
 tmux new-session -d -s "zmq" python3 zmq_server_pirate.py&
 tmux new-session -d -s "zmq_ppq" python3 zmq_ppqueue.py&
 tmux new-session -d -s "web" python3 server.py&
+sleep 5 # wait for Redis to up
 tmux new-session -d -s "system_manager" python3 system_manager.py&
 trap : TERM INT; (while true; do sleep 1000; done) & wait

server/redis_utils.py

@@ -22,7 +22,7 @@
 """
 
 import pickle
-from master_process import RobotCommand
+from model import RobotCommand
 
 
 def get_energy_segment_key(robot_key):
@@ -99,7 +99,7 @@ def get_dense_path(redis_client=None, robot_key=None):
     key = get_energy_segment_key(robot_key)
     list_length = redis_client.llen(key)
     path = []
-    for idx in range(list_length-1, 0, -1):
+    for idx in range(list_length - 1, 0, -1):
         segment = pickle.loads(redis_client.lindex(key, idx))
         # print(segment.subsampled_points)
         try:

server/server.py

@@ -32,7 +32,7 @@
         import pickle
         import datetime
         import redis_utils
-        from master_process import RobotCommand
+        from model import RobotCommand
         break
     except Exception as e:
         print(e)

server/system_manager.py

@@ -25,7 +25,7 @@
 import pickle
 import redis
 import redis_utils
-from remote_control_process import CONTROL_ONLINE
+from model import CONTROL_ONLINE
 from zmq_server_pirate import REDIS_PORT
 from server import active_site
 

server/zmq_daemon.py

@@ -59,10 +59,10 @@ def launch_zmq_server():
         pid = os.fork()
         if pid > 0:
             # Exit first parent
-            #os.waitid(os.P_PID, pid, os.WEXITED)
+            # os.waitid(os.P_PID, pid, os.WEXITED)
             return
             # sys.exit(0)
-    except OSError as e:
+    except OSError:
         sys.exit(1)
 
     # Decouple from parent environment
@@ -75,12 +75,12 @@ def launch_zmq_server():
         pid = os.fork()
         if pid > 0:
             sys.exit(0)
-    except OSError as e:
+    except OSError:
         sys.exit(1)
 
     print(cwd)
-    proc = subprocess.Popen(ZMQ_CMD, cwd=cwd, stdin=None,
-                            stdout=None, stderr=None, close_fds=True, shell=False)
+    _ = subprocess.Popen(ZMQ_CMD, cwd=cwd, stdin=None,
+                         stdout=None, stderr=None, close_fds=True, shell=False)
 
     while True:
         time.sleep(0.001)

server/zmq_server.py

@@ -29,7 +29,7 @@
 import redis
 import psutil
 import redis_utils
-from master_process import RobotCommand
+from model import RobotCommand
 from master_process import _CMD_WRITE_KEY, _CMD_READ_KEY, _CMD_UPDATE_ROBOT, _CMD_ROBOT_COMMAND
 from master_process import _CMD_ACK, _CMD_READ_KEY_REPLY, _CMD_READ_PATH_KEY
 
@@ -112,9 +112,7 @@ def run(self):
         connection_active = False
         worker = self.context.socket(zmq.DEALER)
         worker.connect('inproc://backend')
-        r = redis.Redis(
-            host='localhost',
-            port=6379)
+        r = redis.Redis(host='localhost', port=6379)
         tprint('Worker started')
         while True:
             if (connection_active and time.time() - self.last_active_time > _ALLOWED_ACTIVITY_LAPSE_SEC):

server/zmq_server_pirate.py

@@ -30,8 +30,7 @@
 import zmq_server
 
 # keep the two imported to keep pickle working
-# TODO: avoid this by moving the class defs to a separate module.
-from master_process import Robot, RobotCommand
+from model import Robot, RobotCommand
 
 REDIS_PORT = 6379
 

stop_docker_simulation.sh

@@ -1 +1 @@
-docker-compose -f docker-compose-simulation.yml down
+docker-compose -f docker-compose-simulation.yml down --remove-orphans

vehicle/autolaunch_vehicle_sim.sh

@@ -2,7 +2,7 @@ echo $PWD
 echo Sleep 5...
 sleep 5
 echo Start Sessions...
-tmux new-session -d -s "main" sh /home/pi/vehicle/start_main_sim.sh&
-tmux new-session -d -s "motors" sh /home/pi/vehicle/start_motors_sim.sh&
+tmux new-session -d -s "main" sh /home/pi/vehicle/start_main.sh --sim &
+tmux new-session -d -s "motors" sh /home/pi/vehicle/start_motors.sh --simulated_hardware &
 echo Started. Begin infinite loop.
 trap : TERM INT; (while true; do sleep 1000; done) & wait

vehicle/gps_tools.py

@@ -102,10 +102,10 @@ def find_closest_pt_on_line(pt1, pt2, pt3):
     x1, y1 = pt1
     x2, y2 = pt2
     x3, y3 = pt3
-    dx, dy = x2-x1, y2-y1
-    det = dx*dx + dy*dy
-    a = (dy*(y3-y1)+dx*(x3-x1))/det
-    return GpsPoint(x1+a*dx, y1+a*dy)
+    dx, dy = x2 - x1, y2 - y1
+    det = dx * dx + dy * dy
+    a = (dy * (y3 - y1) + dx * (x3 - x1)) / det
+    return GpsPoint(x1 + a * dx, y1 + a * dy)
 
 
 def get_heading(start_pt, second_pt):
@@ -120,7 +120,7 @@ def project_point(point, bearing, distance_meters):
     # Convert to geopy point for calculation.
     point = geopy.Point(point.lat, point.lon)
 
-    d = geopy.distance.VincentyDistance(kilometers=distance_meters/1000.0)
+    d = geopy.distance.geodesic(kilometers=distance_meters / 1000.0)
 
     # Use the `destination` method with a bearing of bearing degrees
     geo_point = d.destination(point=point, bearing=bearing)
@@ -139,7 +139,7 @@ def get_closest_points_at_distance(point_index, distance_meters, path):
     while True:
         if index_down > 0:
             index_down -= 1
-        if index_up < len(path)-1:
+        if index_up < len(path) - 1:
             index_up += 1
         dist_up = get_distance(path[point_index], path[index_up])
         this_err_up = math.fabs(distance_meters - dist_up)
@@ -151,7 +151,7 @@ def get_closest_points_at_distance(point_index, distance_meters, path):
         if math.fabs(distance_meters - dist_down) < min_err_down:
             best_index_down = index_down
             min_err_down = this_err_down
-        if index_down == 0 and index_up == len(path)-1:
+        if index_down == 0 and index_up == len(path) - 1:
             return path[best_index_up], path[best_index_down]
 
 
@@ -162,7 +162,7 @@ def get_approx_distance_point_from_line(point, line_pt1, line_pt2):
     p3 = np.asarray((point.lat, point.lon))
 
     # https://stackoverflow.com/questions/39840030/distance-between-point-and-a-line-from-two-points#
-    d1 = np.cross(p2-p1, p1-p3) / np.linalg.norm(p2-p1) * -1
+    d1 = np.cross(p2 - p1, p1 - p3) / np.linalg.norm(p2 - p1) * -1
     return d1 * _GPS_DISTANCE_SCALAR
 
 
@@ -192,7 +192,7 @@ def offset_row(row, distance, direction, copy_data=False, make_dict=True):
 
 def interpolate_points(points, num_points):
     total_distance = get_distance(points[0], points[1])
-    increment_distance = total_distance/num_points
+    increment_distance = total_distance / num_points
     heading = get_heading(points[0], points[1])
     last_point = points[0]
     interpolated_points = [points[0]]
@@ -235,7 +235,7 @@ def chain_rows(row_list, starting_point, starting_direction, connection_type, fo
 
         if idx + 1 >= len(row_list):
             return row_chain
-        next_row = row_list[idx+1]
+        next_row = row_list[idx + 1]
         angle_reverse = starting_direction
         if get_distance(row[-1], next_row[0]) > get_distance(row[-1], next_row[-1]):
             next_row.reverse()