Aileen dev

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,30 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: 'bug'
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Code with explanation
+2. How to run code
+3. The error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+ - OS: [e.g. Linux]
+ -  Package versions implicated in the error (torch, mdlearn versions, etc)
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: 'enhancement'
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/other.md

@@ -0,0 +1,10 @@
+---
+name: Other issue template
+about: Any issue that does not fit the other templates
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Description**

.github/ISSUE_TEMPLATE/question-issue-template.md

@@ -0,0 +1,10 @@
+---
+name: Question issue template
+about: Ask a question about how to use mdlearn
+title: ''
+labels: question
+assignees: ''
+
+---
+
+**Describe the question**

.github/workflows/docker-publish.yml

@@ -7,9 +7,11 @@ name: Docker Build and Publish
 
 on:
   push:
-    branches: [ "main" ]
+    branches: [ "*" ]
     # Publish semver tags as releases.
     tags: [ '*' ]
+  schedule: # Run on Tuesday's at noon
+    - cron: '0 12 * * 2'
 
 env:
   # Use docker.io for Docker Hub if empty
@@ -20,6 +22,7 @@ env:
 
 jobs:
   build_and_publish:
+
     runs-on: ubuntu-latest
     permissions:
       contents: read
@@ -35,10 +38,9 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
 
-      # Login against a Docker registry except on PR
+      # Login against a Docker registry
       # https://github.com/docker/login-action
       - name: Log into registry ${{ env.REGISTRY }}
-        if: github.event_name != 'pull_request'
         uses: docker/login-action@343f7c4344506bcbf9b4de18042ae17996df046d # v3.0.0
         with:
           registry: ${{ env.REGISTRY }}
@@ -59,7 +61,7 @@ jobs:
             type=ref,event=pr
             type=raw,value=latest,enable={{is_default_branch}}
 
-      # Build and push Docker image with Buildx (don't push on PR)
+      # Build and push Docker image with Buildx
       # https://github.com/docker/build-push-action
       - name: Build and push Docker image
         id: build-and-push

Makefile

@@ -1,14 +1,9 @@
-# Python Configuration
-PYPROJECT_TOML := pyproject.toml
-PROJECT_VERSION := $(shell grep -oP '(?<=version = ")[^"]+' $(PYPROJECT_TOML) | head -n 1)
-
 .DEFAULT_GOAL := init
 
-.PHONY += init paths checks test hardware_test clean
+.PHONY += init paths checks test clean
+
 init: # Do the initial configuration of the project
 	@test -e .env || cp example.env .env
-	@sed -i 's/^PROJECT_VERSION=.*/PROJECT_VERSION=$(PROJECT_VERSION)/' .env
-	@sed -i 's/^PROJECT_PATH=.*/PROJECT_PATH=$(shell pwd | sed 's/\//\\\//g')/' .env
 
 .env: init
 
@@ -22,13 +17,5 @@ checks: # Runs all the pre-commit checks
 
 test: init .env paths # Runs all the tests
 	@docker compose -f wei.compose.yaml --env-file .env up --build -d
-	@docker compose -f wei.compose.yaml --env-file .env exec mir_module pytest -p no:cacheprovider -m "not hardware" mir_module
+	@docker compose -f wei.compose.yaml --env-file .env exec mir_module pytest -p no:cacheprovider mir_module
 	@docker compose -f wei.compose.yaml --env-file .env down
-
-# hardware_test: init .env paths # Runs all the tests
-# 	@docker compose -f wei.compose.yaml --env-file .env up --build -d
-# 	@docker compose -f wei.compose.yaml --env-file .env exec mir_module pytest -p no:cacheprovider -m "hardware" mir_module
-# 	@docker compose -f wei.compose.yaml --env-file .env down
-
-clean:
-	@rm .env

README.md

@@ -1 +1,23 @@
-# mir_module
+# MiR Base 250 Module
+
+## Overview
+
+The 'mir_module' repository is a comprehensive package that includes a MiR driver and REST node compatible with Mobile Industrial Robots (MiR) MiR 250 Base robot. This module is designed to provide a comprehensive and intuitive approach to controlling and interacting with a MiR 250. The repository allows for both immediate, simplified control of the MiR along with higher-level development of complex missions and experiments.
+
+## Features
+
+### MiR 250 Driver Package
+
+The MiR 250 driver package in this repository supports various methods to enable complete and comprehensive control of your MiR base robot and development of both simple and complex missions and environments. Key focuses and functions of the driver include:
+
+1. **Debugging and Development**
+    - Methods such as *get_actions* and *get_action_type* provide detailed information on the types of actions available to the MiR and the necessary parameters for continued development.
+
+2. **Mission Queue Configuration and Monitoring**
+    - Upon initialization of your MiR_Base robot, a new mission "session" is started. Functions related to mission queues will refer only to missions started during the session. The session can be reset after initialization as desired.
+
+3. **High-Level, Multi-Action Mission Development**
+
+4. **Simplified and Immediate MiR Control**
+
+... WIP

compose.yaml

@@ -8,12 +8,11 @@ services:
       dockerfile: Dockerfile
       tags:
         - ${IMAGE}:latest
-        - ${IMAGE}:${PROJECT_VERSION}
         - ${IMAGE}:dev
-    command: python -m mir_rest_node --port 3000 --alias ${MIR_ALIAS} --mir_url ${MIR_URL} --mir_key ${MIR_KEY}
+    command: python -m mir_rest_node --port 3043  --mir_host ${MIR_HOST} --map_name ${MAP_NAME}
     env_file: .env
     volumes:
       - ./src:/home/app/mir_module/src
       - ./tests:/home/app/mir_module/tests
     ports:
-      - 3000:3000
+      - 3043:3043

example.env

@@ -1,11 +1,8 @@
 # Note: all paths are relative to the docker compose file
-MIR_ALIAS="mir250_base_1"
-MIR_URL="146.137.240.35"
-MIR_KEY=10100
-PROJECT_PATH=
-PROJECT_VERSION=
+MIR_HOST="mirbase2.cels.anl.gov"
+MAP_NAME="RPL"
 WEI_DATA_DIR=~/.wei
 WORKCELL_FILENAME=test_workcell.yaml
-WORKCELLS_DIR=${PROJECT_PATH}/tests/workcell_defs
+WORKCELLS_DIR=./tests/workcell_defs
 IMAGE=ghcr.io/ad-sdl/mir_module
 REDIS_DIR=~/.wei/redis

locations.json

@@ -0,0 +1,46 @@
+{
+    "RPL": {
+        "camera_marker": {
+            "pos_x": 8.209,
+            "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 16.306,
+            "type_id": 9
+        },
+        "charger1": {
+            "pos_x": 10.119,
+            "guid": "f0908191-7f46-11ee-8521-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 21.557,
+            "type_id": 20
+        },
+        "N9": {
+            "pos_x": 11.0,
+            "guid": "7224a20f-d65c-11ee-a833-0001297b4d50",
+            "orientation": 0.0,
+            "pos_y": 16.372,
+            "type_id": 11
+        },
+        "test_pos": {
+            "pos_x": 10.119,
+            "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 19.0,
+            "type_id": 0
+        },
+        "test_move": {
+            "pos_x": 7.0,
+            "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 20.2,
+            "type_id": 0
+        },
+        "another_move": {
+            "pos_x": 8.1,
+            "guid": "b34d6e54-5670-11ef-a572-0001297b4d50",
+            "orientation": 3.18,
+            "pos_y": 20.4,
+            "type_id": 0
+        }
+    }
+}

pyproject.toml

@@ -5,6 +5,11 @@ description = "Software for automatting a mir robot"
 authors = [
     {name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"},
     {name = "Rafael Vescovi", email="ravescovi@anl.gov"},
+    {name = "Doga Ozgulbas", email="dozgulbas@anl.gov"},
+    {name = "Abe Stroka", email="astroka@anl.gov"},
+    {name = "Kyle Hippe", email = "khippe@anl.gov"},
+    {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
+    {name = "Aileen Cleary", email = "acleary@anl.gov"},
 ]
 dependencies = [
     "ad_sdl.wei>=0.5.3",
@@ -60,7 +65,7 @@ exclude = [
 ]
 
 # Same as Black.
-line-length = 88
+line-length = 120
 indent-width = 4
 
 # Assume Python 3.8

src/mir_driver/locations.json

@@ -0,0 +1,46 @@
+{
+    "RPL": {
+        "camera_marker": {
+            "pos_x": 8.209,
+            "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 16.306,
+            "type_id": 9
+        },
+        "charger1": {
+            "pos_x": 10.119,
+            "guid": "f0908191-7f46-11ee-8521-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 21.557,
+            "type_id": 20
+        },
+        "N9": {
+            "pos_x": 11.0,
+            "guid": "7224a20f-d65c-11ee-a833-0001297b4d50",
+            "orientation": 0.0,
+            "pos_y": 16.372,
+            "type_id": 11
+        },
+        "test_pos": {
+            "pos_x": 10.119,
+            "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 19.0,
+            "type_id": 0
+        },
+        "test_move": {
+            "pos_x": 7.0,
+            "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 20.2,
+            "type_id": 0
+        },
+        "another_move": {
+            "pos_x": 8.1,
+            "guid": "b34d6e54-5670-11ef-a572-0001297b4d50",
+            "orientation": 3.18,
+            "pos_y": 20.4,
+            "type_id": 0
+        }
+    }
+}