Bump to 0.0.2

.github/workflows/release.yml

@@ -0,0 +1,89 @@
+name: Run Tests
+
+on:
+   push:
+     tags:
+       - 'v*'
+
+jobs:
+  formatting:
+    name: Check Formatting
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.8
+    - name: Install
+      run: pip install ruff
+    - name: Run Ruff
+      run: ruff check .
+
+  tests:
+    name: Run Unit Tests
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [self-hosted]
+        python-version: [3.8]
+    steps:
+    - name: Check if PR is from owner's repository
+      id: check-owner
+      run: |
+        if [[ "${{ github.actor }}" == "owner_username" ]]; then
+          echo "::set-output name=is_owner::true"
+        else
+          echo "::set-output name=is_owner::false"
+        fi
+    - uses: actions/checkout@v3
+    - name: Set up Python for Self-Hosted Linux arm64
+      uses: iory/[email protected]
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Check Python Version
+      run: python --version
+    - name: Install Pytest
+      run: |
+        python -m pip install --upgrade pip setuptools wheel
+        pip install pytest hacking pytest-cov
+    - name: Install python package
+      run: pip install .
+    - name: Run Pytest
+      run: |
+        set -o pipefail
+        coverage erase
+        coverage run -m pytest --junitxml=pytest.xml --cov-report=term-missing:skip-covered tests
+        coverage xml
+    - name: Step for Owner's PR Only
+      if: steps.check-owner.outputs.is_owner == 'true'
+      run: |
+        echo "This step runs only for PRs from the owner's PR"
+    - name: Pytest coverage comment
+      if: steps.check-owner.outputs.is_owner == 'true'
+      uses: MishaKav/pytest-coverage-comment@main
+      with:
+        pytest-xml-coverage-path: ./coverage.xml
+        junitxml-path: ./pytest.xml
+
+  pypi:
+    name: Release To PyPi
+    needs: [formatting, tests]
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
+    - name: Install publishing dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools wheel build
+    - name: Build
+      run: |
+        python  -m build
+    - name: Upload to PyPI
+      uses: pypa/gh-action-pypi-publish@master
+      with:
+        password: ${{ secrets.PYPI_TOKEN }}

rcb4/apps/write_firmware.py

@@ -34,14 +34,33 @@ def flash_bin_to_device(st_flash_path, bin_path):
 
 
 def main():
+    print("Checking dependencies...")
     check_dependencies()
+    print("Dependencies are satisfied.")
 
+    print("Locating ST-Link path...")
     st_flash_path = stlink()
-    elf_path = kondoh7_elf()
+    if not st_flash_path:
+        print("Error: ST-Link path not found. Please check your installation of stlink.")
+        sys.exit(4)
+    print(f"ST-Link path found: {st_flash_path}")
+
+    print("Retrieving latest ELF file...")
+    elf_path = kondoh7_elf('latest')
+    if not elf_path or not Path(elf_path).is_file():
+        print("Error: ELF file not found. Please check the path or filename.")
+        sys.exit(5)
+    print(f"ELF file found: {elf_path}")
+
     bin_path = Path(elf_path).with_suffix(".bin")
+    print(f"Converting ELF to BIN: {bin_path}")
 
     convert_elf_to_bin(elf_path, bin_path)
+    print("ELF successfully converted to BIN.")
+
+    print("Flashing BIN to device...")
     flash_bin_to_device(st_flash_path, bin_path)
+    print("BIN successfully flashed to device.")
 
 
 if __name__ == "__main__":

rcb4/data/__init__.py

@@ -36,11 +36,18 @@
 }
 
 
+def get_latest_version(elf_infos):
+    latest_version = sorted(elf_infos.keys())[-1]
+    return latest_version, elf_infos[latest_version]
+
+
 def get_cache_dir():
     return os.environ.get("RCB4_CACHE_DIR", _default_cache_dir)
 
 
-def kondoh7_elf(version="v0.6.2"):
+def kondoh7_elf(version="latest"):
+    if version == 'latest':
+        version, _ = get_latest_version(elf_infos)
     if version not in elf_infos:
         raise RuntimeError(
             f"Invalid armh7 version. Valid versions are {list(elf_infos.keys())}"

ros/kxr_controller/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>kxr_controller</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>The kxr_controller package</description>
 
   <maintainer email="[email protected]">Iori Yanokura</maintainer>

ros/kxr_models/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>kxr_models</name>
-  <version>1.0.0</version>
+  <version>0.0.2</version>
   <description>
     <p>URDF Description package for kxr_models</p>
     <p>This package contains configuration data, 3D models and launch files for kxr robot</p>

ros/kxreus/package.xml

@@ -1,7 +1,7 @@
 <package format="3">
 
   <name>kxreus</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>
     roseus interface for kxr robots.
   </description>

setup.py

@@ -6,7 +6,7 @@
 from setuptools import find_packages
 from setuptools import setup
 
-version = "0.0.1"
+version = "0.0.2"
 
 
 if sys.argv[-1] == "release":