diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0dd8629 --- /dev/null +++ b/.gitignore @@ -0,0 +1,6 @@ +__pycache__ +_build +*.pyc +.env +build* +bundles diff --git a/.pylintrc b/.pylintrc new file mode 100644 index 0000000..039eaec --- /dev/null +++ b/.pylintrc @@ -0,0 +1,433 @@ +[MASTER] + +# A comma-separated list of package or module names from where C extensions may +# be loaded. Extensions are loading into the active Python interpreter and may +# run arbitrary code +extension-pkg-whitelist= + +# Add files or directories to the blacklist. They should be base names, not +# paths. +ignore=CVS + +# Add files or directories matching the regex patterns to the blacklist. The +# regex matches against base names, not paths. +ignore-patterns= + +# Python code to execute, usually for sys.path manipulation such as +# pygtk.require(). +#init-hook= + +# Use multiple processes to speed up Pylint. +# jobs=1 +jobs=2 + +# List of plugins (as comma separated values of python modules names) to load, +# usually to register additional checkers. +load-plugins= + +# Pickle collected data for later comparisons. +persistent=yes + +# Specify a configuration file. +#rcfile= + +# Allow loading of arbitrary C extensions. Extensions are imported into the +# active Python interpreter and may run arbitrary code. +unsafe-load-any-extension=no + + +[MESSAGES CONTROL] + +# Only show warnings with the listed confidence levels. Leave empty to show +# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED +confidence= + +# Disable the message, report, category or checker with the given id(s). You +# can either give multiple identifiers separated by comma (,) or put this +# option multiple times (only on the command line, not in the configuration +# file where it should appear only once).You can also use "--disable=all" to +# disable everything first and then reenable specific checks. For example, if +# you want to run only the similarities checker, you can use "--disable=all +# --enable=similarities". If you want to run only the classes checker, but have +# no Warning level messages displayed, use"--disable=all --enable=classes +# --disable=W" +# disable=import-error,print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call +disable=print-statement,parameter-unpacking,unpacking-in-except,old-raise-syntax,backtick,long-suffix,old-ne-operator,old-octal-literal,import-star-module-level,raw-checker-failed,bad-inline-option,locally-disabled,locally-enabled,file-ignored,suppressed-message,useless-suppression,deprecated-pragma,apply-builtin,basestring-builtin,buffer-builtin,cmp-builtin,coerce-builtin,execfile-builtin,file-builtin,long-builtin,raw_input-builtin,reduce-builtin,standarderror-builtin,unicode-builtin,xrange-builtin,coerce-method,delslice-method,getslice-method,setslice-method,no-absolute-import,old-division,dict-iter-method,dict-view-method,next-method-called,metaclass-assignment,indexing-exception,raising-string,reload-builtin,oct-method,hex-method,nonzero-method,cmp-method,input-builtin,round-builtin,intern-builtin,unichr-builtin,map-builtin-not-iterating,zip-builtin-not-iterating,range-builtin-not-iterating,filter-builtin-not-iterating,using-cmp-argument,eq-without-hash,div-method,idiv-method,rdiv-method,exception-message-attribute,invalid-str-codec,sys-max-int,bad-python3-import,deprecated-string-function,deprecated-str-translate-call,import-error + +# Enable the message, report, category or checker with the given id(s). You can +# either give multiple identifier separated by comma (,) or put this option +# multiple time (only on the command line, not in the configuration file where +# it should appear only once). See also the "--disable" option for examples. +enable= + + +[REPORTS] + +# Python expression which should return a note less than 10 (10 is the highest +# note). You have access to the variables errors warning, statement which +# respectively contain the number of errors / warnings messages and the total +# number of statements analyzed. This is used by the global evaluation report +# (RP0004). +evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) + +# Template used to display messages. This is a python new-style format string +# used to format the message information. See doc for all details +#msg-template= + +# Set the output format. Available formats are text, parseable, colorized, json +# and msvs (visual studio).You can also give a reporter class, eg +# mypackage.mymodule.MyReporterClass. +output-format=text + +# Tells whether to display a full report or only the messages +reports=no + +# Activate the evaluation score. +score=yes + + +[REFACTORING] + +# Maximum number of nested blocks for function / method body +max-nested-blocks=5 + + +[LOGGING] + +# Logging modules to check that the string format arguments are in logging +# function parameter format +logging-modules=logging + + +[SPELLING] + +# Spelling dictionary name. Available dictionaries: none. To make it working +# install python-enchant package. +spelling-dict= + +# List of comma separated words that should not be checked. +spelling-ignore-words= + +# A path to a file that contains private dictionary; one word per line. +spelling-private-dict-file= + +# Tells whether to store unknown words to indicated private dictionary in +# --spelling-private-dict-file option instead of raising a message. +spelling-store-unknown-words=no + + +[MISCELLANEOUS] + +# List of note tags to take in consideration, separated by a comma. +# notes=FIXME,XXX,TODO +notes=FIXME,XXX + + +[TYPECHECK] + +# List of decorators that produce context managers, such as +# contextlib.contextmanager. Add to this list to register other decorators that +# produce valid context managers. +contextmanager-decorators=contextlib.contextmanager + +# List of members which are set dynamically and missed by pylint inference +# system, and so shouldn't trigger E1101 when accessed. Python regular +# expressions are accepted. +generated-members= + +# Tells whether missing members accessed in mixin class should be ignored. A +# mixin class is detected if its name ends with "mixin" (case insensitive). +ignore-mixin-members=yes + +# This flag controls whether pylint should warn about no-member and similar +# checks whenever an opaque object is returned when inferring. The inference +# can return multiple potential results while evaluating a Python object, but +# some branches might not be evaluated, which results in partial inference. In +# that case, it might be useful to still emit no-member and other checks for +# the rest of the inferred objects. +ignore-on-opaque-inference=yes + +# List of class names for which member attributes should not be checked (useful +# for classes with dynamically set attributes). This supports the use of +# qualified names. +ignored-classes=optparse.Values,thread._local,_thread._local + +# List of module names for which member attributes should not be checked +# (useful for modules/projects where namespaces are manipulated during runtime +# and thus existing member attributes cannot be deduced by static analysis. It +# supports qualified module names, as well as Unix pattern matching. +ignored-modules=board + +# Show a hint with possible names when a member name was not found. The aspect +# of finding the hint is based on edit distance. +missing-member-hint=yes + +# The minimum edit distance a name should have in order to be considered a +# similar match for a missing member name. +missing-member-hint-distance=1 + +# The total number of similar names that should be taken in consideration when +# showing a hint for a missing member. +missing-member-max-choices=1 + + +[VARIABLES] + +# List of additional names supposed to be defined in builtins. Remember that +# you should avoid to define new builtins when possible. +additional-builtins= + +# Tells whether unused global variables should be treated as a violation. +allow-global-unused-variables=yes + +# List of strings which can identify a callback function by name. A callback +# name must start or end with one of those strings. +callbacks=cb_,_cb + +# A regular expression matching the name of dummy variables (i.e. expectedly +# not used). +dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ + +# Argument names that match this expression will be ignored. Default to name +# with leading underscore +ignored-argument-names=_.*|^ignored_|^unused_ + +# Tells whether we should check for unused import in __init__ files. +init-import=no + +# List of qualified module names which can have objects that can redefine +# builtins. +redefining-builtins-modules=six.moves,future.builtins + + +[FORMAT] + +# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. +# expected-line-ending-format= +expected-line-ending-format=LF + +# Regexp for a line that is allowed to be longer than the limit. +ignore-long-lines=^\s*(# )??$ + +# Number of spaces of indent required inside a hanging or continued line. +indent-after-paren=4 + +# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 +# tab). +indent-string=' ' + +# Maximum number of characters on a single line. +max-line-length=100 + +# Maximum number of lines in a module +max-module-lines=1000 + +# List of optional constructs for which whitespace checking is disabled. `dict- +# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. +# `trailing-comma` allows a space between comma and closing bracket: (a, ). +# `empty-line` allows space-only lines. +no-space-check=trailing-comma,dict-separator + +# Allow the body of a class to be on the same line as the declaration if body +# contains single statement. +single-line-class-stmt=no + +# Allow the body of an if to be on the same line as the test if there is no +# else. +single-line-if-stmt=no + + +[SIMILARITIES] + +# Ignore comments when computing similarities. +ignore-comments=yes + +# Ignore docstrings when computing similarities. +ignore-docstrings=yes + +# Ignore imports when computing similarities. +ignore-imports=no + +# Minimum lines number of a similarity. +min-similarity-lines=4 + + +[BASIC] + +# Naming hint for argument names +argument-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct argument names +argument-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Naming hint for attribute names +attr-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct attribute names +attr-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Bad variable names which should always be refused, separated by a comma +bad-names=foo,bar,baz,toto,tutu,tata + +# Naming hint for class attribute names +class-attribute-name-hint=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ + +# Regular expression matching correct class attribute names +class-attribute-rgx=([A-Za-z_][A-Za-z0-9_]{2,30}|(__.*__))$ + +# Naming hint for class names +# class-name-hint=[A-Z_][a-zA-Z0-9]+$ +class-name-hint=[A-Z_][a-zA-Z0-9_]+$ + +# Regular expression matching correct class names +# class-rgx=[A-Z_][a-zA-Z0-9]+$ +class-rgx=[A-Z_][a-zA-Z0-9_]+$ + +# Naming hint for constant names +const-name-hint=(([A-Z_][A-Z0-9_]*)|(__.*__))$ + +# Regular expression matching correct constant names +const-rgx=(([A-Z_][A-Z0-9_]*)|(__.*__))$ + +# Minimum line length for functions/classes that require docstrings, shorter +# ones are exempt. +docstring-min-length=-1 + +# Naming hint for function names +function-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct function names +function-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Good variable names which should always be accepted, separated by a comma +# good-names=i,j,k,ex,Run,_ +good-names=r,g,b,w,i,j,k,n,x,y,z,ex,ok,Run,_ + +# Include a hint for the correct naming format with invalid-name +include-naming-hint=no + +# Naming hint for inline iteration names +inlinevar-name-hint=[A-Za-z_][A-Za-z0-9_]*$ + +# Regular expression matching correct inline iteration names +inlinevar-rgx=[A-Za-z_][A-Za-z0-9_]*$ + +# Naming hint for method names +method-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct method names +method-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Naming hint for module names +module-name-hint=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ + +# Regular expression matching correct module names +module-rgx=(([a-z_][a-z0-9_]*)|([A-Z][a-zA-Z0-9]+))$ + +# Colon-delimited sets of names that determine each other's naming style when +# the name regexes allow several styles. +name-group= + +# Regular expression which should only match function or class names that do +# not require a docstring. +no-docstring-rgx=^_ + +# List of decorators that produce properties, such as abc.abstractproperty. Add +# to this list to register other decorators that produce valid properties. +property-classes=abc.abstractproperty + +# Naming hint for variable names +variable-name-hint=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + +# Regular expression matching correct variable names +variable-rgx=(([a-z][a-z0-9_]{2,30})|(_[a-z0-9_]*))$ + + +[IMPORTS] + +# Allow wildcard imports from modules that define __all__. +allow-wildcard-with-all=no + +# Analyse import fallback blocks. This can be used to support both Python 2 and +# 3 compatible code, which means that the block might have code that exists +# only in one or another interpreter, leading to false positives when analysed. +analyse-fallback-blocks=no + +# Deprecated modules which should not be used, separated by a comma +deprecated-modules=optparse,tkinter.tix + +# Create a graph of external dependencies in the given file (report RP0402 must +# not be disabled) +ext-import-graph= + +# Create a graph of every (i.e. internal and external) dependencies in the +# given file (report RP0402 must not be disabled) +import-graph= + +# Create a graph of internal dependencies in the given file (report RP0402 must +# not be disabled) +int-import-graph= + +# Force import order to recognize a module as part of the standard +# compatibility libraries. +known-standard-library= + +# Force import order to recognize a module as part of a third party library. +known-third-party=enchant + + +[CLASSES] + +# List of method names used to declare (i.e. assign) instance attributes. +defining-attr-methods=__init__,__new__,setUp + +# List of member names, which should be excluded from the protected access +# warning. +exclude-protected=_asdict,_fields,_replace,_source,_make + +# List of valid names for the first argument in a class method. +valid-classmethod-first-arg=cls + +# List of valid names for the first argument in a metaclass class method. +valid-metaclass-classmethod-first-arg=mcs + + +[DESIGN] + +# Maximum number of arguments for function / method +max-args=5 + +# Maximum number of attributes for a class (see R0902). +# max-attributes=7 +max-attributes=11 + +# Maximum number of boolean expressions in a if statement +max-bool-expr=5 + +# Maximum number of branch for function / method body +max-branches=12 + +# Maximum number of locals for function / method body +max-locals=15 + +# Maximum number of parents for a class (see R0901). +max-parents=7 + +# Maximum number of public methods for a class (see R0904). +max-public-methods=20 + +# Maximum number of return / yield for function / method body +max-returns=6 + +# Maximum number of statements in function / method body +max-statements=50 + +# Minimum number of public methods for a class (see R0903). +min-public-methods=1 + + +[EXCEPTIONS] + +# Exceptions that will emit a warning when being caught. Defaults to +# "Exception" +overgeneral-exceptions=Exception diff --git a/.readthedocs.yml b/.readthedocs.yml new file mode 100644 index 0000000..f4243ad --- /dev/null +++ b/.readthedocs.yml @@ -0,0 +1,3 @@ +python: + version: 3 +requirements_file: requirements.txt diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..ba6d1c6 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,45 @@ +# This is a common .travis.yml for generating library release zip files for +# CircuitPython library releases using circuitpython-build-tools. +# See https://github.com/adafruit/circuitpython-build-tools for detailed setup +# instructions. + +dist: xenial +language: python +python: + - "3.6" + +cache: + pip: true + +env: + - DEPLOY_PYPI="true" + +deploy: + - provider: releases + api_key: "$GITHUB_TOKEN" + file_glob: true + file: "$TRAVIS_BUILD_DIR/bundles/*" + skip_cleanup: true + overwrite: true + on: + tags: true + # TODO: Use 'travis encrypt --com -r adafruit/' to generate + # the encrypted password for adafruit-travis. Paste result below. + - provider: pypi + user: adafruit-travis + password: + secure: #-- PASTE ENCRYPTED PASSWORD HERE --# + on: + tags: true + condition: $DEPLOY_PYPI = "true" + +install: + - pip install -r requirements.txt + - pip install circuitpython-build-tools Sphinx sphinx-rtd-theme + - pip install --force-reinstall pylint==1.9.2 + +script: + - pylint adafruit_rplidar.py + - ([[ ! -d "examples" ]] || pylint --disable=missing-docstring,invalid-name,bad-whitespace examples/*.py) + - circuitpython-build-bundles --filename_prefix adafruit-circuitpython-rplidar --library_location . + - cd docs && sphinx-build -E -W -b html . _build/html && cd .. diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 0000000..8ee6e44 --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,127 @@ +# Adafruit Community Code of Conduct + +## Our Pledge + +In the interest of fostering an open and welcoming environment, we as +contributors and leaders pledge to making participation in our project and +our community a harassment-free experience for everyone, regardless of age, body +size, disability, ethnicity, gender identity and expression, level or type of +experience, education, socio-economic status, nationality, personal appearance, +race, religion, or sexual identity and orientation. + +## Our Standards + +We are committed to providing a friendly, safe and welcoming environment for +all. + +Examples of behavior that contributes to creating a positive environment +include: + +* Be kind and courteous to others +* Using welcoming and inclusive language +* Being respectful of differing viewpoints and experiences +* Collaborating with other community members +* Gracefully accepting constructive criticism +* Focusing on what is best for the community +* Showing empathy towards other community members + +Examples of unacceptable behavior by participants include: + +* The use of sexualized language or imagery and sexual attention or advances +* The use of inappropriate images, including in a community member's avatar +* The use of inappropriate language, including in a community member's nickname +* Any spamming, flaming, baiting or other attention-stealing behavior +* Excessive or unwelcome helping; answering outside the scope of the question + asked +* Trolling, insulting/derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or electronic + address, without explicit permission +* Other conduct which could reasonably be considered inappropriate + +The goal of the standards and moderation guidelines outlined here is to build +and maintain a respectful community. We ask that you don’t just aim to be +"technically unimpeachable", but rather try to be your best self. + +We value many things beyond technical expertise, including collaboration and +supporting others within our community. 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Examples of Adafruit Community spaces include +but are not limited to meet-ups, audio chats on the Adafruit Discord, or +interaction at a conference. + +This Code of Conduct applies both within project spaces and in public spaces +when an individual is representing the project or its community. As a community +member, you are representing our community, and are expected to behave +accordingly. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], +version 1.4, available at +, +and the [Rust Code of Conduct](https://www.rust-lang.org/en-US/conduct.html). + +For other projects adopting the Adafruit Community Code of +Conduct, please contact the maintainers of those projects for enforcement. +If you wish to use this code of conduct for your own project, consider +explicitly mentioning your moderation policy or making a copy with your +own moderation policy so as to avoid confusion. diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d69195f --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +The MIT License (MIT) + +Copyright (c) 2019 Dave Astels for Adafruit Industries + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md deleted file mode 100644 index 7b22278..0000000 --- a/README.md +++ /dev/null @@ -1 +0,0 @@ -# Adafruit_CircuitPython_RPLIDAR \ No newline at end of file diff --git a/README.rst b/README.rst new file mode 100644 index 0000000..fcc6b29 --- /dev/null +++ b/README.rst @@ -0,0 +1,129 @@ +Introduction +============ + +.. image:: https://readthedocs.org/projects/adafruit-circuitpython-circuitpython-rplidar/badge/?version=latest + :target: https://circuitpython.readthedocs.io/projects/rplidar/en/latest/ + :alt: Documentation Status + +.. image:: https://img.shields.io/discord/327254708534116352.svg + :target: https://discord.gg/nBQh6qu + :alt: Discord + +.. image:: https://travis-ci.com/adafruit/Adafruit_circuitpython_CircuitPython_RPLIDAR.svg?branch=master + :target: https://travis-ci.com/adafruit/Adafruit_circuitpython_CircuitPython_RPLIDAR + :alt: Build Status + +.. Provide a convienent interface to the Slamtec RPLidar. + +Dependencies +============= +This driver depends on: + +* `Adafruit CircuitPython `_ +* `Bus Device `_ +* `Register `_ + +Please ensure all dependencies are available on the CircuitPython filesystem. +This is easily achieved by downloading +`the Adafruit library and driver bundle `_. + +Usage Example +============= + +.. code-block:: python + + import os + from math import cos, sin, pi, floor + import pygame + from adafruit_circuitpython_rplidar import RPLidar + + # Set up pygame and the display + os.putenv('SDL_FBDEV', '/dev/fb1') + pygame.init() + lcd = pygame.display.set_mode((320,240)) + pygame.mouse.set_visible(False) + lcd.fill((0,0,0)) + pygame.display.update() + + # Setup the RPLidar + PORT_NAME = '/dev/ttyUSB0' + lidar = RPLidar(None, PORT_NAME) + + # used to scale data to fit on the screen + max_distance = 0 + + def process_data(data): + # Do something useful with the data + pass + + scan_data = [0]*360 + + try: + print(lidar.get_info()) + for scan in lidar.iter_scans(): + for (_, angle, distance) in scan: + scan_data[min([359, floor(angle)])] = distance + process_data(scan_data) + + except KeyboardInterrupt: + print('Stoping.') + lidar.stop() + lidar.disconnect() + + +Contributing +============ + +Contributions are welcome! Please read our `Code of Conduct +`_ +before contributing to help this project stay welcoming. + +Building locally +================ + +Zip release files +----------------- + +To build this library locally you'll need to install the +`circuitpython-build-tools `_ package. + +.. code-block:: shell + + python3 -m venv .env + source .env/bin/activate + pip install circuitpython-build-tools + +Once installed, make sure you are in the virtual environment: + +.. code-block:: shell + + source .env/bin/activate + +Then run the build: + +.. code-block:: shell + + circuitpython-build-bundles --filename_prefix adafruit_circuitpython-circuitpython-rplidar --library_location . + +Sphinx documentation +----------------------- + +Sphinx is used to build the documentation based on rST files and comments in the code. First, +install dependencies (feel free to reuse the virtual environment from above): + +.. code-block:: shell + + python3 -m venv .env + source .env/bin/activate + pip install Sphinx sphinx-rtd-theme + +Now, once you have the virtual environment activated: + +.. code-block:: shell + + cd docs + sphinx-build -E -W -b html . _build/html + +This will output the documentation to ``docs/_build/html``. Open the index.html in your browser to +view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to +locally verify it will pass. diff --git a/adafruit_rplidar.py b/adafruit_rplidar.py new file mode 100644 index 0000000..8b2d61b --- /dev/null +++ b/adafruit_rplidar.py @@ -0,0 +1,413 @@ +# The MIT License (MIT) +# +# Copyright (c) 2019 Dave Astels for Adafruit Industries +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +# THE SOFTWARE. + +""" +`adafruit_rplidar` +==================================================== + +Provide an interface to the Slamtech RPLidar that works in plain Python3 +as well as CircuitPython/Blinka. + +* Author(s): Dave Astels +* Based on https://github.com/SkoltechRobotics/rplidar by Artyom Pavlov + +Implementation Notes +-------------------- + +**Hardware:** + + +**Software and Dependencies:** + +* Adafruit CircuitPython firmware for the supported boards: + https://github.com/adafruit/circuitpython/releases + +Version 0.0.1 does NOT support CircutPython. Future versions will. +""" + +import sys +import time +import struct + +#pylint:disable=invalid-name,undefined-variable,global-variable-not-assigned +#pylint:disable=too-many-arguments + +__version__ = "0.0.1-auto.0" +__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_RPLIDAR.git" + +SYNC_BYTE = b'\xA5' +SYNC_BYTE2 = b'\x5A' + +GET_INFO_BYTE = b'\x50' +GET_HEALTH_BYTE = b'\x52' + +STOP_BYTE = b'\x25' +RESET_BYTE = b'\x40' + +SCAN_BYTE = b'\x20' +FORCE_SCAN_BYTE = b'\x21' + +DESCRIPTOR_LEN = 7 +INFO_LEN = 20 +HEALTH_LEN = 3 + +INFO_TYPE = 4 +HEALTH_TYPE = 6 +SCAN_TYPE = 129 + +#Constants & Command to start A2 motor +MAX_MOTOR_PWM = 1023 +DEFAULT_MOTOR_PWM = 660 +SET_PWM_BYTE = b'\xF0' + +_HEALTH_STATUSES = { + 0: 'Good', + 1: 'Warning', + 2: 'Error', +} + + +class RPLidarException(Exception): + '''Basic exception class for RPLidar''' + + +def _process_scan(raw): + '''Processes input raw data and returns measurment data''' + new_scan = bool(raw[0] & 0b1) + inversed_new_scan = bool((raw[0] >> 1) & 0b1) + quality = raw[0] >> 2 + if new_scan == inversed_new_scan: + raise RPLidarException('New scan flags mismatch') + check_bit = raw[1] & 0b1 + if check_bit != 1: + raise RPLidarException('Check bit not equal to 1') + angle = ((raw[1] >> 1) + (raw[2] << 7)) / 64. + distance = (raw[3] + (raw[4] << 8)) / 4. + return new_scan, quality, angle, distance + + +class RPLidar(object): + '''Class for communicating with RPLidar rangefinder scanners''' + + motor_pin = None #: DigitalInOut instance controlling the motor + _serial_port = None #: Serial port (or UART) instance + port = None #: Serial port name, e.g. /dev/ttyUSB0 + timeout = 1 #: Serial port timeout + motor = False #: Is motor running? + baudrate = 115200 #: Baudrate for serial port + + def __init__(self, motor_pin, port, baudrate=115200, timeout=1, logging=False): + '''Initilize RPLidar object for communicating with the sensor. + + Parameters + + port : busio.UART or str + Serial port instance or name of the port to which the sensor is connected + baudrate : int, optional + Baudrate for serial connection (the default is 115200) + timeout : float, optional + Serial port connection timeout in seconds (the default is 1) + logging : whether to output logging information + ''' + self.motor_pin = motor_pin + self.port = port + self.baudrate = baudrate + self.timeout = timeout + self.motor_running = False + self.logging = logging + + self.is_CP = not isinstance(port, str) + + if self.is_CP: + _serial_port = port + else: + global serial + import serial + + self.connect() + self.start_motor() + + def log(self, level, msg): + '''Output the level and a message if logging is enabled.''' + if self.logging: + sys.stdout.write('{0}: {1}\n'.format(level, msg)) + + def log_bytes(self, level, msg, ba): + '''Log and output a byte array in a readable way.''' + bs = ['%02x' % b for b in ba] + self.log(level, msg + ' '.join(bs)) + + def connect(self): + '''Connects to the serial port named by the port instance var. If it was + connected to another serial port disconnects from it first.''' + if not self.is_CP: + if self._serial_port is not None: + self.disconnect() + try: + self._serial_port = serial.Serial( + self.port, self.baudrate, + parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, + timeout=self.timeout, dsrdtr=True) + except serial.SerialException as err: + raise RPLidarException('Failed to connect to the sensor ' + 'due to: %s' % err) + + def disconnect(self): + '''Disconnects from the serial port''' + if self._serial_port is None: + return + self._serial_port.close() + + def set_pwm(self, pwm): + '''Set the motor PWM''' + assert 0 <= pwm <= MAX_MOTOR_PWM + payload = struct.pack(" max_buf_meas*dsize: + self.log('warning', + 'Too many measurments in the input buffer: %d/%d. ' + 'Clearing buffer...' % + (data_in_buf//dsize, max_buf_meas)) + self._serial_port.read(data_in_buf//dsize*dsize) + yield _process_scan(raw) + + def iter_scans(self, max_buf_meas=500, min_len=5): + '''Iterate over scans. Note that consumer must be fast enough, + otherwise data will be accumulated inside buffer and consumer will get + data with increasing lag. + + Parameters + + max_buf_meas : int + Maximum number of measurments to be stored inside the buffer. Once + numbe exceeds this limit buffer will be emptied out. + min_len : int + Minimum number of measurments in the scan for it to be yelded. + + Yields + + scan : list + List of the measurments. Each measurment is tuple with following + format: (quality, angle, distance). For values description please + refer to `iter_measurments` method's documentation. + ''' + scan = [] + iterator = self.iter_measurments(max_buf_meas) + for new_scan, quality, angle, distance in iterator: + if new_scan: + if len(scan) > min_len: + yield scan + scan = [] + if quality > 0 and distance > 0: + scan.append((quality, angle, distance)) diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico new file mode 100644 index 0000000..5aca983 Binary files /dev/null and b/docs/_static/favicon.ico differ diff --git a/docs/api.rst b/docs/api.rst new file mode 100644 index 0000000..4bb0d50 --- /dev/null +++ b/docs/api.rst @@ -0,0 +1,8 @@ + +.. If you created a package, create one automodule per module in the package. + +.. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) +.. use this format as the module name: "adafruit_foo.foo" + +.. automodule:: adafruit_rplidar + :members: diff --git a/docs/conf.py b/docs/conf.py new file mode 100644 index 0000000..598a51c --- /dev/null +++ b/docs/conf.py @@ -0,0 +1,160 @@ +# -*- coding: utf-8 -*- + +import os +import sys +sys.path.insert(0, os.path.abspath('..')) + +# -- General configuration ------------------------------------------------ + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.intersphinx', + 'sphinx.ext.napoleon', + 'sphinx.ext.todo', +] + +# TODO: Please Read! +# Uncomment the below if you use native CircuitPython modules such as +# digitalio, micropython and busio. List the modules you use. Without it, the +# autodoc module docs will fail to generate with a warning. +# autodoc_mock_imports = ["digitalio", "busio"] + + +intersphinx_mapping = {'python': ('https://docs.python.org/3.4', None),'BusDevice': ('https://circuitpython.readthedocs.io/projects/busdevice/en/latest/', None),'Register': ('https://circuitpython.readthedocs.io/projects/register/en/latest/', None),'CircuitPython': ('https://circuitpython.readthedocs.io/en/latest/', None)} + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +source_suffix = '.rst' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'Adafruit_circuitpython RPLIDAR Library' +copyright = u'2019 Dave Astels' +author = u'Dave Astels' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = u'1.0' +# The full version, including alpha/beta/rc tags. +release = u'1.0' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This patterns also effect to html_static_path and html_extra_path +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store', '.env', 'CODE_OF_CONDUCT.md'] + +# The reST default role (used for this markup: `text`) to use for all +# documents. +# +default_role = "any" + +# If true, '()' will be appended to :func: etc. cross-reference text. +# +add_function_parentheses = True + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# If true, `todo` and `todoList` produce output, else they produce nothing. +todo_include_todos = False + +# If this is True, todo emits a warning for each TODO entries. The default is False. +todo_emit_warnings = True + +napoleon_numpy_docstring = False + +# -- Options for HTML output ---------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +on_rtd = os.environ.get('READTHEDOCS', None) == 'True' + +if not on_rtd: # only import and set the theme if we're building docs locally + try: + import sphinx_rtd_theme + html_theme = 'sphinx_rtd_theme' + html_theme_path = [sphinx_rtd_theme.get_html_theme_path(), '.'] + except: + html_theme = 'default' + html_theme_path = ['.'] +else: + html_theme_path = ['.'] + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# The name of an image file (relative to this directory) to use as a favicon of +# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +# +html_favicon = '_static/favicon.ico' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'AdafruitRplidarLibrarydoc' + +# -- Options for LaTeX output --------------------------------------------- + +latex_elements = { + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'AdafruitRPLIDARLibrary.tex', u'AdafruitRPLIDAR Library Documentation', + author, 'manual'), +] + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'AdafruitRPLIDARlibrary', u'Adafruit RPLIDAR Library Documentation', + [author], 1) +] + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'AdafruitRPLIDARLibrary', u'Adafruit RPLIDAR Library Documentation', + author, 'AdafruitRPLIDARLibrary', 'One line description of project.', + 'Miscellaneous'), +] diff --git a/docs/examples.rst b/docs/examples.rst new file mode 100644 index 0000000..89e9acd --- /dev/null +++ b/docs/examples.rst @@ -0,0 +1,8 @@ +Simple test +------------ + +Ensure your device works with this simple test. + +.. literalinclude:: ../examples/rplidar_simpletest.py + :caption: examples/rplidar_simpletest.py + :linenos: diff --git a/docs/index.rst b/docs/index.rst new file mode 100644 index 0000000..a5aaf03 --- /dev/null +++ b/docs/index.rst @@ -0,0 +1,48 @@ +.. include:: ../README.rst + +Table of Contents +================= + +.. toctree:: + :maxdepth: 4 + :hidden: + + self + +.. toctree:: + :caption: Examples + + examples + +.. toctree:: + :caption: API Reference + :maxdepth: 3 + + api + +.. toctree:: + :caption: Tutorials + +.. toctree:: + :caption: Related Products + + Raspberry Pi 3 B+ + Slamtec RPLidar + +.. toctree:: + :caption: Other Links + + Download + CircuitPython Reference Documentation + CircuitPython Support Forum + Discord Chat + Adafruit Learning System + Adafruit Blog + Adafruit Store + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/examples/rplidar_simpletest.py b/examples/rplidar_simpletest.py new file mode 100644 index 0000000..e69de29 diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..d5d88a1 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,3 @@ +Adafruit-Blinka +adafruit-circuitpython-busdevice +adafruit-circuitpython-register diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..2fb437d --- /dev/null +++ b/setup.py @@ -0,0 +1,63 @@ +"""A setuptools based setup module. + +See: +https://packaging.python.org/en/latest/distributing.html +https://github.com/pypa/sampleproject +""" + +from setuptools import setup, find_packages +# To use a consistent encoding +from codecs import open +from os import path + +here = path.abspath(path.dirname(__file__)) + +# Get the long description from the README file +with open(path.join(here, 'README.rst'), encoding='utf-8') as f: + long_description = f.read() + +setup( + name='adafruit-circuitpython-rplidar', + + use_scm_version=True, + setup_requires=['setuptools_scm'], + + description='RPLidar support', + long_description=long_description, + long_description_content_type='text/x-rst', + + # The project's main homepage. + url='https://github.com/adafruit/Adafruit_CircuitPython_rplidar', + + # Author details + author='Adafruit Industries', + author_email='circuitpython@adafruit.com', + + install_requires=[ + 'Adafruit-Blinka' + ], + + # Choose your license + license='MIT', + + # See https://pypi.python.org/pypi?%3Aaction=list_classifiers + classifiers=[ + 'Development Status :: 3 - Alpha', + 'Intended Audience :: Developers', + 'Topic :: Software Development :: Libraries', + 'Topic :: System :: Hardware', + 'License :: OSI Approved :: MIT License', + 'Programming Language :: Python :: 3', + 'Programming Language :: Python :: 3.4', + 'Programming Language :: Python :: 3.5', + ], + + # What does your project relate to? + keywords='adafruit blinka circuitpython micropython rplidar lidar sensors', + + # You can just specify the packages manually here if your project is + # simple. Or you can use find_packages(). + # TODO: IF LIBRARY FILES ARE A PACKAGE FOLDER, + # CHANGE `py_modules=['...']` TO `packages=['...']` + py_modules=['adafruit_rplidar'], +)