diff --git a/.flake8 b/.flake8 deleted file mode 100644 index c563651..0000000 --- a/.flake8 +++ /dev/null @@ -1,5 +0,0 @@ -[flake8] -ignore = C901, E226, W504, W503 -max-line-length = 100 -exclude = tests/* setup.py generators/generate_udp_protocol.py udp_protocol_dict.py tcp_protocol_class.py protos.py blueye/protocol/types/* build -max-complexity = 10 diff --git a/.github/workflows/publish-release.yml b/.github/workflows/publish-release.yml index f9a1716..29afe76 100644 --- a/.github/workflows/publish-release.yml +++ b/.github/workflows/publish-release.yml @@ -14,15 +14,14 @@ jobs: - name: Set up Python uses: actions/setup-python@v5 with: - python-version: "3.13" + python-version-file: "pyproject.toml" - - name: Install Poetry - uses: abatilo/actions-poetry@v3.0.2 + - name: Install uv + uses: astral-sh/setup-uv@v5 with: - poetry-version: "2.0.1" - + version: "0.7.11" - name: Build package with poetry - run: poetry build + run: uv build protocol - name: Publish to PyPi - run: poetry publish --username __token__ --password ${{ secrets.PYPI_TOKEN }} + run: uv publish --username __token__ --password ${{ secrets.PYPI_TOKEN }} dist/blueye_protocol-* diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index 54f072a..29e69ab 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -18,13 +18,13 @@ jobs: uses: actions/setup-python@v5 with: python-version: ${{ matrix.python }} - - name: Install Poetry - uses: abatilo/actions-poetry@v3.0.2 + - name: Install uv + uses: astral-sh/setup-uv@v5 with: - poetry-version: "2.0.1" + version: "0.7.11" - name: Install dependencies - run: poetry install + run: uv sync --all-packages - name: Run tests - run: poetry run invoke test + run: uv run invoke test - name: Run style checker - run: poetry run flake8 + run: uv run ruff check diff --git a/.github/workflows/update-protocol.yml b/.github/workflows/update-protocol.yml index 3616eb3..17beb34 100644 --- a/.github/workflows/update-protocol.yml +++ b/.github/workflows/update-protocol.yml @@ -10,30 +10,28 @@ jobs: with: submodules: true token: ${{ secrets.GIT_TOKEN }} - - name: Set up Python 3.13 + - name: Set up Python uses: actions/setup-python@v5 with: - python-version: "3.13" - - name: Install Poetry - uses: abatilo/actions-poetry@v3.0.2 + python-version-file: "pyproject.toml" + - name: Install uv + uses: astral-sh/setup-uv@v5 with: - poetry-version: "2.0.1" + version: "0.7.11" - name: Install dependencies - run: poetry install + run: uv sync --all-packages - name: Update ProtocolDefinitions working-directory: ProtocolDefinitions run: git fetch && git checkout ${{ github.event.client_payload.sha }} - name: Generate UDP protocol - run: poetry run invoke generate-udp + run: uv run invoke generate-udp - name: Generate TCP protocol - run: poetry run invoke generate-tcp + run: uv run invoke generate-tcp - name: Generate Protobuf protocol - run: poetry run invoke generate-proto - - name: Generate setup.py - run: poetry run invoke generate-setup-py + run: uv run invoke generate-proto - name: Add & Commit uses: EndBug/add-and-commit@v9 with: - add: "blueye ProtocolDefinitions setup.py" + add: "protocol legacyprotocol ProtocolDefinitions" message: "Update ProtocolDefinitions" default_author: github_actions diff --git a/README.md b/README.md index aa439ed..0178b18 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,6 @@ # blueye.protocol [![Tests](https://github.com/BluEye-Robotics/blueye.protocol/workflows/Tests/badge.svg)](https://github.com/BluEye-Robotics/blueye.protocol/actions) -**Deprecation notice** - -Blunux 3.0 introduces a new protocol based on [Protobuf](https://developers.google.com/protocol-buffers/) messages passed over a [ZeroMQ](https://zeromq.org/) layer. Starting with Blunux 3.1 the old TCP/UDP based protocol will no longer be supported/compatible. - ## About This repository contains a python library that defines how to communicate with the underwater drones made by [Blueye Robotics](https://blueyerobotics.com). @@ -23,7 +19,7 @@ pip install blueye.protocol ## Development ### Dependency/Package management -We use Poetry for dependency/package management, see the [Poetry docs](https://python-poetry.org/docs/) for installation instructions. +We use `uv` for dependency/package management, see the [uv docs](https://docs.astral.sh/uv/getting-started/installation/) for installation instructions. ### Code generators @@ -49,24 +45,3 @@ or directly using pytest (if you don't want to generate the definitions) ``` shell pytest ``` - -### `setup.py` -Since bitbake doesn't have support for pyproject.toml files yet, we need to include a -`setup.py` file to specify the dependencies needed. There's an invoke task for -generating the file that can be run with -``` shell -invoke generate-setup-py -``` - -If you are running MacOS, you need to install gnu-tar -``` shell -brew install gnu-tar -``` - -and then run the follwing line before the invoke command: -``` shell -PATH="/opt/homebrew/opt/gnu-tar/libexec/gnubin:$PATH" -``` - -**Be sure to run this script and commit the `setup.py` file when the dependencies have -changed.** diff --git a/blueye/__init__.py b/blueye/__init__.py deleted file mode 100644 index e7ddfc1..0000000 --- a/blueye/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -# http://peak.telecommunity.com/DevCenter/setuptools#namespace-packages -__import__('pkg_resources').declare_namespace(__name__) diff --git a/blueye/protocol/__init__.py b/blueye/protocol/__init__.py deleted file mode 100644 index a457b74..0000000 --- a/blueye/protocol/__init__.py +++ /dev/null @@ -1,9 +0,0 @@ -from .protos import * # noqa F401 -from .v2.tcp_protocol_class import TcpClient # noqa F401 -from .v2.udp_client import UdpClient # noqa F401 -from .v2.udp_protocol_dict import ( # noqa F401 - _generator_hash, - _json_hash, - protocol_data, -) -from .v2.udp_protocol_parser import AppProtocol # noqa F401 diff --git a/generators/generate_tcp_protocol.py b/generators/generate_tcp_protocol.py index 1860dd2..cf6969a 100755 --- a/generators/generate_tcp_protocol.py +++ b/generators/generate_tcp_protocol.py @@ -15,21 +15,33 @@ def get_protocol(protocol_path): class Context: def __init__(self, path=os.path.dirname(os.path.abspath(__file__))): self.path = path - self.module_path = os.path.join(path, "../blueye/protocol/v2") + self.module_path = os.path.join(path, "../legacyprotocol/blueye/legacyprotocol") template_path = os.path.join(path, "templates") - self.template_environment = Environment(autoescape=False, - trim_blocks=True, - lstrip_blocks=True, - loader=FileSystemLoader(template_path)) + self.template_environment = Environment( + autoescape=False, + trim_blocks=True, + lstrip_blocks=True, + loader=FileSystemLoader(template_path), + ) self.output_file_path = os.path.join(self.module_path, "tcp_protocol_class.py") json_path = os.path.join(path, "..", "ProtocolDefinitions", "tcp_protocol.json") self.tcp_protocol = get_protocol(json_path) def dtype_to_format_char(dtype): - STRUCT_CONVERSION = {" + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. Additional Definitions. + + As used herein, "this License" refers to version 3 of the GNU Lesser +General Public License, and the "GNU GPL" refers to version 3 of the GNU +General Public License. + + "The Library" refers to a covered work governed by this License, +other than an Application or a Combined Work as defined below. + + An "Application" is any work that makes use of an interface provided +by the Library, but which is not otherwise based on the Library. +Defining a subclass of a class defined by the Library is deemed a mode +of using an interface provided by the Library. + + A "Combined Work" is a work produced by combining or linking an +Application with the Library. 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Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/legacyprotocol/README.md b/legacyprotocol/README.md new file mode 100644 index 0000000..f5466b8 --- /dev/null +++ b/legacyprotocol/README.md @@ -0,0 +1,3 @@ +# blueye.legacyprotocol + +This package contains the legacy protocol definitions for Blueye drones. It was deprecated with Blunux 3.0 and is no longer supported. The new protocol is based on Protobuf messages passed over a ZeroMQ layer. diff --git a/legacyprotocol/blueye/legacyprotocol/__init__.py b/legacyprotocol/blueye/legacyprotocol/__init__.py new file mode 100644 index 0000000..2d30aca --- /dev/null +++ b/legacyprotocol/blueye/legacyprotocol/__init__.py @@ -0,0 +1,17 @@ +from .tcp_protocol_class import TcpClient # noqa F401 +from .udp_client import UdpClient # noqa F401 +from .udp_protocol_dict import ( # noqa F401 + _generator_hash, + _json_hash, + protocol_data, +) +from .udp_protocol_parser import AppProtocol # noqa F401 + +__all__ = [ + "TcpClient", + "UdpClient", + "_generator_hash", + "_json_hash", + "protocol_data", + "AppProtocol", +] diff --git a/blueye/protocol/exceptions.py b/legacyprotocol/blueye/legacyprotocol/exceptions.py similarity index 100% rename from blueye/protocol/exceptions.py rename to legacyprotocol/blueye/legacyprotocol/exceptions.py diff --git a/blueye/protocol/v2/tcp_client.py b/legacyprotocol/blueye/legacyprotocol/tcp_client.py similarity index 98% rename from blueye/protocol/v2/tcp_client.py rename to legacyprotocol/blueye/legacyprotocol/tcp_client.py index 23b85ec..4fa315b 100755 --- a/blueye/protocol/v2/tcp_client.py +++ b/legacyprotocol/blueye/legacyprotocol/tcp_client.py @@ -3,7 +3,7 @@ import socket import threading -from blueye.protocol.exceptions import (MismatchedReply, NoConnectionToDrone, +from .exceptions import (MismatchedReply, NoConnectionToDrone, ResponseTimeout, SocketNotConnected) diff --git a/blueye/protocol/v2/tcp_protocol_class.py b/legacyprotocol/blueye/legacyprotocol/tcp_protocol_class.py similarity index 100% rename from blueye/protocol/v2/tcp_protocol_class.py rename to legacyprotocol/blueye/legacyprotocol/tcp_protocol_class.py diff --git a/blueye/protocol/v2/udp_client.py b/legacyprotocol/blueye/legacyprotocol/udp_client.py similarity index 93% rename from blueye/protocol/v2/udp_client.py rename to legacyprotocol/blueye/legacyprotocol/udp_client.py index 1c1d146..1045441 100755 --- a/blueye/protocol/v2/udp_client.py +++ b/legacyprotocol/blueye/legacyprotocol/udp_client.py @@ -5,8 +5,7 @@ import socket import time -from blueye.protocol.exceptions import UnknownUDPPacketTypeError - +from .exceptions import UnknownUDPPacketTypeError from .udp_protocol_parser import AppProtocol @@ -24,8 +23,7 @@ def __init__(self, port=2010, protocol_description=None, logger=None, drone_ip=" self._sock = None - self._sock = socket.socket(socket.AF_INET, - socket.SOCK_DGRAM) + self._sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # To able to run multiple UdpClients on MacOS one needs to set # SO_REUSEPORT, however on Windows that option does not exist, # so we use SO_REUSEADDR for Windows and Linux. diff --git a/blueye/protocol/v2/udp_protocol_dict.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py similarity index 99% rename from blueye/protocol/v2/udp_protocol_dict.py rename to legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py index 19bd8d4..d81d957 100644 --- a/blueye/protocol/v2/udp_protocol_dict.py +++ b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py @@ -2,6 +2,6 @@ # This file is autogenerated. Please do not edit from collections import OrderedDict _json_hash = "90413634076faf22ba2be2ff7a309c42" -_generator_hash = "ddae73db6077927655e12907e1a638e0" +_generator_hash = "e5d269a1e0acd3bf21eac7dec7e712eb" protocol_data = [OrderedDict({'version': '1', 'messages': [OrderedDict({'name': 'telemetry', 'message_type': '1', 'fields': [OrderedDict({'description': 'Protocol version', 'dtype': ' 0: + if len([f["dtype"] for f in packet_type if f["dtype"][0] != "<"]) > 0: raise ValueError("Endianess not supported") return packet_type def get_field_names(self, packet_type, version=None): - return [f['field_name'] for f in self.get_json_data(packet_type, version=version)] + return [f["field_name"] for f in self.get_json_data(packet_type, version=version)] def get_numpy_field_dtypes(self, packet_type, version=None): - return [f['dtype'] for f in self.get_json_data(packet_type, version=version)] + return [f["dtype"] for f in self.get_json_data(packet_type, version=version)] def get_struct_format(self, packet_type, version): - conversion_list = [self.STRUCT_CONVERSION[f] - for f in self.get_numpy_field_dtypes(packet_type, version=version)] + conversion_list = [ + self.STRUCT_CONVERSION[f] + for f in self.get_numpy_field_dtypes(packet_type, version=version) + ] return "<" + "".join(conversion_list) def unpack_data(self, data): @@ -65,13 +78,17 @@ def unpack_data_dict(self, data): def np_array_from_file(self, abspath): open_ = gzip.open if abspath.endswith(".gz") else open - with open_(abspath, 'rb') as bin_file: + with open_(abspath, "rb") as bin_file: try: version, packet_type = bin_file.peek(2)[:2] except ValueError: return None - dtype = list(zip(self.get_field_names(packet_type, version=version), - self.get_numpy_field_dtypes(packet_type, version=version))) + dtype = list( + zip( + self.get_field_names(packet_type, version=version), + self.get_numpy_field_dtypes(packet_type, version=version), + ) + ) try: data = bin_file.read() except EOFError: @@ -80,7 +97,7 @@ def np_array_from_file(self, abspath): # Calculate how many full rows are in the file n_rows = int(len(data) / row_len) # Truncate after last full row if there is corrupt data - data = data[:(n_rows * row_len)] + data = data[: (n_rows * row_len)] return np.frombuffer(data, dtype=dtype) def pack_data(self, data): diff --git a/legacyprotocol/pyproject.toml b/legacyprotocol/pyproject.toml new file mode 100644 index 0000000..7a4627d --- /dev/null +++ b/legacyprotocol/pyproject.toml @@ -0,0 +1,25 @@ +[project] +name = "blueye.legacyprotocol" +version = "1.0.0" +description = "Legacy UDP/TCP protocol for Blueye drones" +license = { file = "LICENSE" } +authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }] +readme = "README.md" +requires-python = ">=3.10, <4" +dependencies = ["numpy~=2.2"] + +[build-system] +requires = ["setuptools", "wheel"] +build-backend = "setuptools.build_meta" + +[tool.setuptools.packages.find] +namespaces = true + +[dependency-groups] +dev = [ + "pytest~=8.3", + "pytest-mock~=3.14", + "pytest-timeout~=2.3", + "pytest-cov~=6.0", + "flake8~=7.1", +] diff --git a/blueye/protocol/v2/__init__.py b/legacyprotocol/tests/__init__.py similarity index 100% rename from blueye/protocol/v2/__init__.py rename to legacyprotocol/tests/__init__.py diff --git a/tests/test_protocol.py b/legacyprotocol/tests/test_protocol.py similarity index 70% rename from tests/test_protocol.py rename to legacyprotocol/tests/test_protocol.py index b67d455..4e0c487 100755 --- a/tests/test_protocol.py +++ b/legacyprotocol/tests/test_protocol.py @@ -4,13 +4,15 @@ import struct import tempfile import unittest -from unittest.mock import * -from blueye.protocol import AppProtocol -from blueye.protocol.exceptions import UnknownUDPVersionError, UnknownUDPPacketTypeError +from blueye.legacyprotocol import AppProtocol +from blueye.legacyprotocol.exceptions import ( + UnknownUDPPacketTypeError, + UnknownUDPVersionError, +) - -fake_data = json.loads(""" +fake_data = json.loads( + """ [ { "version": "1", @@ -67,9 +69,11 @@ ] } ] -""") +""" +) -fake_data_endianess = json.loads(""" +fake_data_endianess = json.loads( + """ [ { "version": "1", @@ -85,7 +89,8 @@ } ] } -]""") +]""" +) class TestAppProtocol(unittest.TestCase): @@ -97,13 +102,13 @@ def test_struct(self): self.assertEqual(ap.get_struct_format(1, 1), "=6)"] - -[[package]] -name = "flake8" -version = "7.1.1" -description = "the modular source code checker: pep8 pyflakes and co" -optional = false -python-versions = ">=3.8.1" -groups = ["dev"] -files = [ - {file = "flake8-7.1.1-py2.py3-none-any.whl", hash = "sha256:597477df7860daa5aa0fdd84bf5208a043ab96b8e96ab708770ae0364dd03213"}, - {file = "flake8-7.1.1.tar.gz", hash = "sha256:049d058491e228e03e67b390f311bbf88fce2dbaa8fa673e7aea87b7198b8d38"}, -] - -[package.dependencies] -mccabe = ">=0.7.0,<0.8.0" -pycodestyle = ">=2.12.0,<2.13.0" -pyflakes = ">=3.2.0,<3.3.0" - -[[package]] -name = "iniconfig" -version = "2.0.0" -description = "brain-dead simple config-ini parsing" -optional = false -python-versions = ">=3.7" -groups = ["dev"] -files = [ - 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Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/protocol/README.md b/protocol/README.md new file mode 100644 index 0000000..778304d --- /dev/null +++ b/protocol/README.md @@ -0,0 +1,3 @@ +# blueye.protocol + +This package contains the generated python interface for the protobuf messages used in the Blueye drones. diff --git a/protocol/blueye/protocol/__init__.py b/protocol/blueye/protocol/__init__.py new file mode 100644 index 0000000..512aca0 --- /dev/null +++ b/protocol/blueye/protocol/__init__.py @@ -0,0 +1,2 @@ +from .exceptions import ResponseTimeout # noqa F401 +from .protos import * # noqa F401 diff --git a/protocol/blueye/protocol/exceptions.py b/protocol/blueye/protocol/exceptions.py new file mode 100644 index 0000000..bc5e800 --- /dev/null +++ b/protocol/blueye/protocol/exceptions.py @@ -0,0 +1,2 @@ +class ResponseTimeout(Exception): + """Raised when the socket timed out waiting for response to a message""" diff --git a/blueye/protocol/protos.py b/protocol/blueye/protocol/protos.py similarity index 100% rename from blueye/protocol/protos.py rename to protocol/blueye/protocol/protos.py diff --git a/blueye/protocol/types/__init__.py b/protocol/blueye/protocol/types/__init__.py similarity index 100% rename from blueye/protocol/types/__init__.py rename to protocol/blueye/protocol/types/__init__.py diff --git a/blueye/protocol/types/aquatroll.py b/protocol/blueye/protocol/types/aquatroll.py similarity index 100% rename from blueye/protocol/types/aquatroll.py rename to protocol/blueye/protocol/types/aquatroll.py diff --git a/blueye/protocol/types/control.py b/protocol/blueye/protocol/types/control.py similarity index 100% rename from blueye/protocol/types/control.py rename to protocol/blueye/protocol/types/control.py diff --git a/blueye/protocol/types/message_formats.py b/protocol/blueye/protocol/types/message_formats.py similarity index 100% rename from blueye/protocol/types/message_formats.py rename to protocol/blueye/protocol/types/message_formats.py diff --git a/blueye/protocol/types/mission_planning.py b/protocol/blueye/protocol/types/mission_planning.py similarity index 100% rename from blueye/protocol/types/mission_planning.py rename to protocol/blueye/protocol/types/mission_planning.py diff --git a/blueye/protocol/types/req_rep.py b/protocol/blueye/protocol/types/req_rep.py similarity index 100% rename from blueye/protocol/types/req_rep.py rename to protocol/blueye/protocol/types/req_rep.py diff --git a/blueye/protocol/types/telemetry.py b/protocol/blueye/protocol/types/telemetry.py similarity index 100% rename from blueye/protocol/types/telemetry.py rename to protocol/blueye/protocol/types/telemetry.py diff --git a/protocol/pyproject.toml b/protocol/pyproject.toml new file mode 100644 index 0000000..f00955b --- /dev/null +++ b/protocol/pyproject.toml @@ -0,0 +1,24 @@ +[project] +name = "blueye.protocol" +version = "3.1.0" +description = "Python protocol definition for the Blueye drones" +authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }] +requires-python = ">=3.10, <4" +readme = "README.md" +license = { file = "LICENSE" } +keywords = ["Blueye", "Robotics", "Protocol"] +dependencies = ["proto-plus~=1.25"] + +[project.optional-dependencies] +legacy = ["blueye.legacyprotocol >= 0.1"] + +[project.urls] +Homepage = "https://www.blueyerobotics.com" +Repository = "https://github.com/blueye-robotics/blueye.protocol" + +[build-system] +requires = ["setuptools", "wheel"] +build-backend = "setuptools.build_meta" + +[tool.setuptools.packages.find] +namespaces = true diff --git a/pyproject.toml b/pyproject.toml index 812dc72..4638064 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,41 +1,25 @@ -[tool.poetry] -name = "blueye.protocol" -description = "Python protocol definition for the Blueye drones" -version = "2.7.1" -authors = ["Sindre Hansen ", - "Johannes Schrimpf ", - "Aksel Lenes ", - "Alexander Vedeler ", - ] -license = "LGPL-3.0" -packages = [ - { include = "blueye" }, -] -readme = "README.md" -repository="https://github.com/blueye-robotics/blueye.protocol" -homepage ="https://www.blueyerobotics.com" -keywords = ["Blueye", "Robotics", "Protocol"] +[project] +name = "workspace" +version = "0.1.0" +description = "Local workspace project" +requires-python = ">=3.10" +dependencies = ["blueye.protocol", "blueye.legacyprotocol"] + -[tool.poetry.dependencies] -python = "^3.10" -numpy = { version = "^2.2" } -setuptools = ">=75.8" -proto-plus = "^1.25" +[tool.uv.sources] +"blueye.protocol" = { workspace = true } +"blueye.legacyprotocol" = { workspace = true } -[tool.poetry.group.dev.dependencies] -Jinja2 = "^3.0" -pytest = "^8.3" -pytest-mock = "^3.14" -pytest-timeout = "^2.3" -invoke = "^2.1.1" -pytest-cov = "^6.0" -toml = "^0.10.0" -flake8 = "^7.1" -packaging = ">=24.0" +[tool.uv.workspace] +members = ["protocol", "legacyprotocol"] -[tool.poetry.build] -generate-setup-file = true +[dependency-groups] +dev = ["invoke>=2.2.0", "jinja2>=3.1.6", "ruff>=0.11.13"] -[build-system] -requires = ["poetry>=2.0"] -build-backend = "poetry.masonry.api" +[tool.ruff] +line-length = 100 +exclude = [ + "legacyprotocol/blueye/legacyprotocol/tcp_protocol_class.py", + "protocol/blueye/protocol/protos.py", + "protocol/blueye/protocol/types/*", +] diff --git a/setup.cfg b/setup.cfg deleted file mode 100644 index 44a301d..0000000 --- a/setup.cfg +++ /dev/null @@ -1,5 +0,0 @@ -[pycodestyle] -max-line-length = 100 - -[pep8] -max-line-length = 100 diff --git a/setup.py b/setup.py deleted file mode 100644 index e0d4953..0000000 --- a/setup.py +++ /dev/null @@ -1,30 +0,0 @@ -# -*- coding: utf-8 -*- -from setuptools import setup - -packages = \ -['blueye', 'blueye.protocol', 'blueye.protocol.types', 'blueye.protocol.v2'] - -package_data = \ -{'': ['*']} - -install_requires = \ -['numpy>=2.2,<3.0', 'proto-plus>=1.25,<2.0', 'setuptools>=75.8'] - -setup_kwargs = { - 'name': 'blueye.protocol', - 'version': '2.7.1', - 'description': 'Python protocol definition for the Blueye drones', - 'long_description': '# blueye.protocol\n[![Tests](https://github.com/BluEye-Robotics/blueye.protocol/workflows/Tests/badge.svg)](https://github.com/BluEye-Robotics/blueye.protocol/actions)\n\n**Deprecation notice**\n\nBlunux 3.0 introduces a new protocol based on [Protobuf](https://developers.google.com/protocol-buffers/) messages passed over a [ZeroMQ](https://zeromq.org/) layer. Starting with Blunux 3.1 the old TCP/UDP based protocol will no longer be supported/compatible.\n\n\n## About\nThis repository contains a python library that defines how to communicate with the underwater drones made by [Blueye Robotics](https://blueyerobotics.com).\n\nThe protocol itself is defined in another repository, [ProtocolDefinitions](https://github.com/BluEye-Robotics/ProtocolDefinitions), as is stored as a submodule in this repository. The python code in this repository is (mostly) generated from those definitions.\n\nThe `blueye.protocol` package\'s primary use case is in the [`blueye.sdk`](https://github.com/BluEye-Robotics/blueye.sdk). The SDK implements the necessary "plumbing" to utilize the protocol defined here in `blueye.protocol`, and will make interacting with the Blueye drones much easier. If you wish to interact with the drones in your own project we recommend using the `blueye.sdk` package, not `blueye.protocol` directly.\n\nThis package requires Python 3.10 or newer.\n\n## Installation\n```shell\npip install blueye.protocol\n```\n\n## Development\n\n### Dependency/Package management\nWe use Poetry for dependency/package management, see the [Poetry docs](https://python-poetry.org/docs/) for installation instructions.\n\n\n### Code generators\n**Important**: This repository includes generated code. If the protocol definitions are changed the generated files need to be updated and committed. The generators are run with:\n\n`invoke generate-udp`\n\n`invoke generate-tcp`\n\n`invoke generate-proto`\n\n\n### Tests\nThe tests are located in the `tests` folder, and written using the `pytest` library.\n\nThe tests can be run using invoke (to ensure that the protocol files are updated)\n\n``` shell\ninvoke test\n```\nor directly using pytest (if you don\'t want to generate the definitions)\n\n``` shell\npytest\n```\n\n### `setup.py`\nSince bitbake doesn\'t have support for pyproject.toml files yet, we need to include a\n`setup.py` file to specify the dependencies needed. There\'s an invoke task for\ngenerating the file that can be run with\n``` shell\ninvoke generate-setup-py\n```\n\nIf you are running MacOS, you need to install gnu-tar\n``` shell\nbrew install gnu-tar\n```\n\nand then run the follwing line before the invoke command:\n``` shell\nPATH="/opt/homebrew/opt/gnu-tar/libexec/gnubin:$PATH"\n```\n\n**Be sure to run this script and commit the `setup.py` file when the dependencies have\nchanged.**\n', - 'author': 'Sindre Hansen', - 'author_email': 'sindre.hansen@blueye.no', - 'maintainer': 'None', - 'maintainer_email': 'None', - 'url': 'https://www.blueyerobotics.com', - 'packages': packages, - 'package_data': package_data, - 'install_requires': install_requires, - 'python_requires': '>=3.10,<4.0', -} - - -setup(**setup_kwargs) diff --git a/tasks.py b/tasks.py index dafb44a..1206dd5 100644 --- a/tasks.py +++ b/tasks.py @@ -1,9 +1,7 @@ import re from pathlib import Path -import toml from invoke import task -from packaging.utils import canonicalize_name def strip_protolint_comments(file_path: Path): @@ -79,12 +77,8 @@ def generate_proto(context): installed. """ with context.cd(get_project_root_path()): - context.run( - "rm -rf build && mkdir -p build && mkdir -p build/protobuf_definitions" - ) - context.run( - "cp -r ProtocolDefinitions/protobuf_definitions/* build/protobuf_definitions/" - ) + context.run("rm -rf build && mkdir -p build && mkdir -p build/protobuf_definitions") + context.run("cp -r ProtocolDefinitions/protobuf_definitions/* build/protobuf_definitions/") proto_dir = get_project_root_path() / "build" / "protobuf_definitions" proto_files = gather_proto_files(proto_dir) for file in proto_files: @@ -100,24 +94,11 @@ def generate_proto(context): --python-gapic-templates /templates/ \ --python-gapic-templates DEFAULT" # noqa F501 ) - context.run("cp -r build/blueye/protocol/types blueye/protocol/") - context.run("cp -r build/blueye/protocol/__init__.py blueye/protocol/protos.py") + context.run("cp -r build/blueye/protocol/types protocol/blueye/protocol/") + context.run("cp -r build/blueye/protocol/__init__.py protocol/blueye/protocol/protos.py") @task(pre=[generate_tcp, generate_udp]) def test(context): - context.run("pytest tests") - - -@task -def generate_setup_py(context): - context.run("poetry build") - pyproject = toml.load("pyproject.toml") - package_name = pyproject["tool"]["poetry"]["name"] - package_version = pyproject["tool"]["poetry"]["version"] - canonicalized_name = canonicalize_name(package_name) - distribution_name = canonicalized_name.replace("-", "_") - context.run( - f"tar --extract --file=dist/{distribution_name}-{package_version}.tar.gz " - + '--no-anchored "setup.py" --strip-components 1' - ) + with context.cd(get_project_root_path()): + context.run("pytest legacyprotocol/tests") diff --git a/tests/__init__.py b/tests/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/tests/test_protocol_data.py b/tests/test_protocol_data.py deleted file mode 100755 index 13f4590..0000000 --- a/tests/test_protocol_data.py +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env python3 -import hashlib -import os -import pytest - - -def md5(fname): - hash_md5 = hashlib.md5() - with open(fname, "rb") as f: - for chunk in iter(lambda: f.read(4096), b""): - hash_md5.update(chunk) - return hash_md5.hexdigest() - - -class TestAppProtocol(): - def test_protocol_data_import(self): - from blueye.protocol import protocol_data - - def test_protocol_data_hash(self, request): - from blueye.protocol import _json_hash, _generator_hash - root_dir_path = request.fspath.dirname + "/../" - assert(_json_hash == md5(os.path.join(root_dir_path, - "ProtocolDefinitions", - "udp_protocol.json"))) - assert(_generator_hash == md5(os.path.join( - root_dir_path, "generators", "generate_udp_protocol.py"))) diff --git a/uv.lock b/uv.lock new file mode 100644 index 0000000..78034d4 --- /dev/null +++ b/uv.lock @@ -0,0 +1,550 @@ +version = 1 +revision = 2 +requires-python = ">=3.10, <4" + +[manifest] +members = [ + "blueye-legacyprotocol", + "blueye-protocol", + "workspace", 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