reorganize project

.github/workflows/publish.yml

@@ -14,13 +14,9 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  publish:
+  publish-python:
     timeout-minutes: 10
     name: Build and publish
-
-    # We don't need to run on all platforms since this package is
-    # platform-agnostic. The output wheel is something like
-    # "monotonic_attention-<version>-py3-none-any.whl".
     runs-on: ubuntu-latest
 
     steps:
@@ -47,6 +43,40 @@ jobs:
 
       - name: Publish package
         uses: pypa/gh-action-pypi-publish@release/v1
-        # with:
-        #   user: __token__
-        #   password: ${{ secrets.PYPI_API_TOKEN }}
+
+  publish-rust:
+    timeout-minutes: 10
+    name: Build and publish
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+
+      - name: Cache Cargo registry
+        uses: actions/cache@v2
+        with:
+          path: ~/.cargo/registry
+          key: ${{ runner.os }}-cargo-registry
+          restore-keys: |
+            ${{ runner.os }}-cargo-registry
+
+      - name: Cache Cargo index
+        uses: actions/cache@v2
+        with:
+          path: ~/.cargo/git
+          key: ${{ runner.os }}-cargo-index
+          restore-keys: |
+            ${{ runner.os }}-cargo-index
+
+      - name: Publish Robstride package to crates.io
+        env:
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+        run: |
+          cd actuator/robstride
+          cargo publish

Cargo.toml

@@ -1,16 +1,18 @@
 [workspace]
+
 members = [
-    "actuator/rust/bindings",
-    "actuator/rust/robstride",
+    "actuator/bindings",
+    "actuator/robstride",
 ]
 resolver = "2"
 
 [workspace.package]
+
 version = "0.1.0"
+authors = ["Wesley Maa <[email protected]>", "Pawel Budzianowski <[email protected]>", "Benjamin Bolte <[email protected]>"]
 edition = "2021"
-
 description = "Actuator package"
-authors = ["K-Scale Labs <[email protected]>"]
-repository = "https://github.com/kscalelabs/actuator"
 license = "MIT"
+repository = "https://github.com/kscalelabs/actuator"
+documentation = "https://docs.kscale.dev/software/actuators/overview"
 readme = "README.md"

actuator/__init__.py

@@ -1,8 +1,8 @@
 """Defines the top-level API for the actuator package."""
 
-__version__ = "0.0.23"
+__version__ = "0.0.24"
 
-from .rust.bindings import (
+from .bindings import (
     PyRobstrideMotorConfig as RobstrideMotorConfig,
     PyRobstrideMotorControlParams as RobstrideMotorControlParams,
     PyRobstrideMotorFeedback as RobstrideMotorFeedback,

actuator/rust/bindings/Cargo.toml → actuator/bindings/Cargo.toml

@@ -1,4 +1,5 @@
 [package]
+
 name = "bindings"
 version.workspace = true
 edition.workspace = true
@@ -9,10 +10,12 @@ license.workspace = true
 readme.workspace = true
 
 [lib]
+
 name = "bindings"
 crate-type = ["cdylib", "rlib"]
 
 [dependencies]
+
 pyo3 = { version = ">= 0.21.0", features = ["extension-module"] }
 pyo3-stub-gen = ">= 0.6.0"
 tokio = { version = "1.28.0", features = ["full"] }

actuator/rust/bindings/pyproject.toml → actuator/bindings/pyproject.toml

@@ -6,6 +6,5 @@ build-backend = "maturin"
 name = "bindings"
 requires-python = ">=3.9"
 
-
 [project.optional-dependencies]
 test = ["pytest", "pyright", "ruff"]

actuator/robstride/Cargo.toml

@@ -0,0 +1,35 @@
+[package]
+
+name = "robstride"
+readme = "README.md"
+version = "0.1.1"
+description = "Robstride crate"
+
+authors.workspace = true
+edition.workspace = true
+repository.workspace = true
+license.workspace = true
+
+[lib]
+
+name = "robstride"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+
+serialport = "^4.5.1"
+ctrlc = "^3.4.5"
+lazy_static = "^1.4.0"
+spin_sleep = "^1.2.1"
+nix = "^0.26.2"
+log = "^0.4.22"
+
+[[bin]]
+
+name = "motors"
+path = "src/bin/motors.rs"
+
+[dependencies.clap]
+
+version = "4.3"
+features = ["derive"]

actuator/robstride/README.md

@@ -0,0 +1,5 @@
+# robstride
+
+This crate contains the code for controlling the Robstride actuators.
+
+For more information, see the documentation [here](https://docs.kscale.dev/software/actuators/robstride).

actuator/sim/robstride.py

@@ -33,7 +33,6 @@ def get_feedback(self) -> RobstrideMotorFeedback:
 class RobstrideMotorsSim:
     def __init__(self, port_name: str, motor_infos: dict[int, str], verbose: bool = False) -> None:
         self.port_name = port_name
-        # breakpoint()
         self.motor_configs = {
             id: ROBSTRIDE_CONFIGS[RobstrideMotorType.from_str(motor_type)] for id, motor_type in motor_infos.items()
         }
@@ -53,7 +52,9 @@ def send_starts(self) -> None:
             print("Motors started")
 
     def send_motor_controls(
-        self, motor_controls: dict[int, RobstrideMotorControlParams], serial: bool
+        self,
+        motor_controls: dict[int, RobstrideMotorControlParams],
+        serial: bool,
     ) -> dict[int, RobstrideMotorFeedback]:
         feedback: dict[int, RobstrideMotorFeedback] = {}
         for motor_id, params in motor_controls.items():

pyproject.toml

@@ -40,7 +40,7 @@ ignore_missing_imports = true
 
 [[tool.mypy.overrides]]
 
-module = ["actuator.rust.bindings"]
+module = ["actuator.bindings"]
 
 disable_error_code = ["no-untyped-def"]
 

setup.py

@@ -49,8 +49,8 @@ def run(self) -> None:
     url="https://github.com/kscalelabs/actuator",
     rust_extensions=[
         RustExtension(
-            target="actuator.rust.bindings",
-            path="actuator/rust/bindings/Cargo.toml",
+            target="actuator.bindings",
+            path="actuator/bindings/Cargo.toml",
             binding=Binding.PyO3,
         ),
     ],