From d9c6c6d1f1b1457d27c7e887d4e0dd71d29cf796 Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Thu, 5 Jun 2025 20:02:27 +0200 Subject: [PATCH 01/16] Use uv instead of poetry --- README.md | 2 +- poetry.lock | 562 ------------------------------------------------- pyproject.toml | 61 +++--- uv.lock | 474 +++++++++++++++++++++++++++++++++++++++++ 4 files changed, 504 insertions(+), 595 deletions(-) delete mode 100644 poetry.lock create mode 100644 uv.lock diff --git a/README.md b/README.md index aa439ed..1b8bd57 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ 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 diff --git a/poetry.lock b/poetry.lock 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+0200 Subject: [PATCH 02/16] Create new legacyprotocol package --- README.md | 4 ---- blueye/protocol/v2/__init__.py | 0 legacyprotocol/README.md | 3 +++ .../blueye/legacyprotocol/__init__.py | 17 +++++++++++++++++ .../blueye/legacyprotocol}/exceptions.py | 0 .../blueye/legacyprotocol}/tcp_client.py | 2 +- .../legacyprotocol}/tcp_protocol_class.py | 0 .../blueye/legacyprotocol}/udp_client.py | 2 +- .../blueye/legacyprotocol}/udp_protocol_dict.py | 0 .../legacyprotocol}/udp_protocol_parser.py | 3 ++- legacyprotocol/pyproject.toml | 15 +++++++++++++++ 11 files changed, 39 insertions(+), 7 deletions(-) delete mode 100644 blueye/protocol/v2/__init__.py create mode 100644 legacyprotocol/README.md create mode 100644 legacyprotocol/blueye/legacyprotocol/__init__.py rename {blueye/protocol => legacyprotocol/blueye/legacyprotocol}/exceptions.py (100%) rename {blueye/protocol/v2 => legacyprotocol/blueye/legacyprotocol}/tcp_client.py (98%) rename {blueye/protocol/v2 => legacyprotocol/blueye/legacyprotocol}/tcp_protocol_class.py (100%) rename {blueye/protocol/v2 => legacyprotocol/blueye/legacyprotocol}/udp_client.py (97%) rename {blueye/protocol/v2 => legacyprotocol/blueye/legacyprotocol}/udp_protocol_dict.py (100%) rename {blueye/protocol/v2 => legacyprotocol/blueye/legacyprotocol}/udp_protocol_parser.py (97%) create mode 100644 legacyprotocol/pyproject.toml diff --git a/README.md b/README.md index 1b8bd57..920391b 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). diff --git a/blueye/protocol/v2/__init__.py b/blueye/protocol/v2/__init__.py deleted file mode 100644 index e69de29..0000000 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 97% rename from blueye/protocol/v2/udp_client.py rename to legacyprotocol/blueye/legacyprotocol/udp_client.py index 1c1d146..a3f6ffa 100755 --- a/blueye/protocol/v2/udp_client.py +++ b/legacyprotocol/blueye/legacyprotocol/udp_client.py @@ -5,7 +5,7 @@ import socket import time -from blueye.protocol.exceptions import UnknownUDPPacketTypeError +from .exceptions import UnknownUDPPacketTypeError from .udp_protocol_parser import AppProtocol diff --git a/blueye/protocol/v2/udp_protocol_dict.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py similarity index 100% rename from blueye/protocol/v2/udp_protocol_dict.py rename to legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py diff --git a/blueye/protocol/v2/udp_protocol_parser.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_parser.py similarity index 97% rename from blueye/protocol/v2/udp_protocol_parser.py rename to legacyprotocol/blueye/legacyprotocol/udp_protocol_parser.py index dd0ba06..b399d34 100755 --- a/blueye/protocol/v2/udp_protocol_parser.py +++ b/legacyprotocol/blueye/legacyprotocol/udp_protocol_parser.py @@ -1,10 +1,11 @@ #!/usr/bin/env python3 import gzip import struct + import numpy as np +from .exceptions import UnknownUDPPacketTypeError, UnknownUDPVersionError from .udp_protocol_dict import protocol_data -from blueye.protocol.exceptions import UnknownUDPVersionError, UnknownUDPPacketTypeError class AppProtocol: diff --git a/legacyprotocol/pyproject.toml b/legacyprotocol/pyproject.toml new file mode 100644 index 0000000..7af64ad --- /dev/null +++ b/legacyprotocol/pyproject.toml @@ -0,0 +1,15 @@ +[project] +name = "blueye.legacyprotocol" +version = "0.1.0" +description = "Legacy UDP/TCP protocol for Blueye drones" +authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }] +readme = "README.md" +requires-python = ">=3.10, <4" +dependencies = ["numpy~=2.2", "setuptools>=75.8"] + +[build-system] +requires = ["setuptools", "wheel"] +build-backend = "setuptools.build_meta" + +[tool.setuptools.packages.find] +namespaces = true From 20da5f3f0d23f7e641d98dd126dbe0d12187bcbe Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 09:20:32 +0200 Subject: [PATCH 03/16] Remove setup.py --- README.md | 21 --------------------- setup.py | 30 ------------------------------ 2 files changed, 51 deletions(-) delete mode 100644 setup.py diff --git a/README.md b/README.md index 920391b..0178b18 100644 --- a/README.md +++ b/README.md @@ -45,24 +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/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) From 324cff5a84a1a5bb4bd993eb217573244d7c3bdc Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 09:23:18 +0200 Subject: [PATCH 04/16] Use implicit namespacing for blueye.protocol --- blueye/__init__.py | 2 -- blueye/protocol/__init__.py | 9 ------- protocol/README.md | 3 +++ protocol/blueye/protocol/__init__.py | 1 + .../blueye}/protocol/protos.py | 0 .../blueye}/protocol/types/__init__.py | 0 .../blueye}/protocol/types/aquatroll.py | 0 .../blueye}/protocol/types/control.py | 0 .../blueye}/protocol/types/message_formats.py | 0 .../protocol/types/mission_planning.py | 0 .../blueye}/protocol/types/req_rep.py | 0 .../blueye}/protocol/types/telemetry.py | 0 pyproject.toml => protocol/pyproject.toml | 24 +++++++++---------- 13 files changed, 16 insertions(+), 23 deletions(-) delete mode 100644 blueye/__init__.py delete mode 100644 blueye/protocol/__init__.py create mode 100644 protocol/README.md create mode 100644 protocol/blueye/protocol/__init__.py rename {blueye => protocol/blueye}/protocol/protos.py (100%) rename {blueye => protocol/blueye}/protocol/types/__init__.py (100%) rename {blueye => protocol/blueye}/protocol/types/aquatroll.py (100%) rename {blueye => protocol/blueye}/protocol/types/control.py (100%) rename {blueye => protocol/blueye}/protocol/types/message_formats.py (100%) rename {blueye => protocol/blueye}/protocol/types/mission_planning.py (100%) rename {blueye => protocol/blueye}/protocol/types/req_rep.py (100%) rename {blueye => protocol/blueye}/protocol/types/telemetry.py (100%) rename pyproject.toml => protocol/pyproject.toml (53%) 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/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..0148568 --- /dev/null +++ b/protocol/blueye/protocol/__init__.py @@ -0,0 +1 @@ +from .protos import * # noqa F401 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/pyproject.toml b/protocol/pyproject.toml similarity index 53% rename from pyproject.toml rename to protocol/pyproject.toml index 645cda2..07a0737 100644 --- a/pyproject.toml +++ b/protocol/pyproject.toml @@ -2,17 +2,15 @@ name = "blueye.protocol" version = "3.0.0" description = "Python protocol definition for the Blueye drones" -authors = [ - { name = "Sindre Hansen", email = "sindre.hansen@blueye.no" }, - { name = "Johannes Schrimpf", email = "johannes.schrimpf@blueye.no" }, - { name = "Aksel Lenes", email = "aksel.lenes@blueye.no" }, - { name = "Alexander Vedeler", email = "alexander.vedeler@blueye.no" }, -] -requires-python = "~=3.10" +authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }] +requires-python = ">=3.10, <4" readme = "README.md" license = "LGPL-3.0" keywords = ["Blueye", "Robotics", "Protocol"] -dependencies = ["numpy~=2.2", "setuptools>=75.8", "proto-plus~=1.25"] +dependencies = ["proto-plus~=1.25"] + +[project.optional-dependencies] +legacy = ["blueye.legacyprotocol >= 0.1"] [project.urls] Homepage = "https://www.blueyerobotics.com" @@ -31,8 +29,10 @@ dev = [ "packaging>=24.0", ] -[tool.hatch.build.targets.sdist] -include = ["blueye"] +[build-system] +requires = ["setuptools", "wheel"] +build-backend = "setuptools.build_meta" -[tool.hatch.build.targets.wheel] -include = ["blueye"] +[tool.setuptools.packages.find] +namespaces = true +#where = ["blueye"] From 621b7254ab88629d23a3c1921301bc28f371577c Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 10:17:56 +0200 Subject: [PATCH 05/16] Add ResponeTimeout exception This exception is exposed to the user in blueye.sdk, so to avoid having to make a breaking change there we'll duplicate it here. --- protocol/blueye/protocol/__init__.py | 1 + protocol/blueye/protocol/exceptions.py | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 protocol/blueye/protocol/exceptions.py diff --git a/protocol/blueye/protocol/__init__.py b/protocol/blueye/protocol/__init__.py index 0148568..512aca0 100644 --- a/protocol/blueye/protocol/__init__.py +++ b/protocol/blueye/protocol/__init__.py @@ -1 +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""" From 34b8dff36be76481495032e6d28738302662ff49 Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 10:46:42 +0200 Subject: [PATCH 06/16] Move legacy tests --- {tests => legacyprotocol/tests}/__init__.py | 0 {tests => legacyprotocol/tests}/test_protocol.py | 4 ++-- {tests => legacyprotocol/tests}/test_protocol_data.py | 4 ++-- {tests => legacyprotocol/tests}/test_tcp_client.py | 8 ++++---- {tests => legacyprotocol/tests}/test_udp_client.py | 2 +- 5 files changed, 9 insertions(+), 9 deletions(-) rename {tests => legacyprotocol/tests}/__init__.py (100%) rename {tests => legacyprotocol/tests}/test_protocol.py (98%) rename {tests => legacyprotocol/tests}/test_protocol_data.py (85%) rename {tests => legacyprotocol/tests}/test_tcp_client.py (98%) rename {tests => legacyprotocol/tests}/test_udp_client.py (98%) diff --git a/tests/__init__.py b/legacyprotocol/tests/__init__.py similarity index 100% rename from tests/__init__.py rename to legacyprotocol/tests/__init__.py diff --git a/tests/test_protocol.py b/legacyprotocol/tests/test_protocol.py similarity index 98% rename from tests/test_protocol.py rename to legacyprotocol/tests/test_protocol.py index b67d455..18e5930 100755 --- a/tests/test_protocol.py +++ b/legacyprotocol/tests/test_protocol.py @@ -6,8 +6,8 @@ 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 UnknownUDPVersionError, UnknownUDPPacketTypeError fake_data = json.loads(""" diff --git a/tests/test_protocol_data.py b/legacyprotocol/tests/test_protocol_data.py similarity index 85% rename from tests/test_protocol_data.py rename to legacyprotocol/tests/test_protocol_data.py index 13f4590..e96f24d 100755 --- a/tests/test_protocol_data.py +++ b/legacyprotocol/tests/test_protocol_data.py @@ -14,10 +14,10 @@ def md5(fname): class TestAppProtocol(): def test_protocol_data_import(self): - from blueye.protocol import protocol_data + from blueye.legacyprotocol import protocol_data def test_protocol_data_hash(self, request): - from blueye.protocol import _json_hash, _generator_hash + from blueye.legacyprotocol import _json_hash, _generator_hash root_dir_path = request.fspath.dirname + "/../" assert(_json_hash == md5(os.path.join(root_dir_path, "ProtocolDefinitions", diff --git a/tests/test_tcp_client.py b/legacyprotocol/tests/test_tcp_client.py similarity index 98% rename from tests/test_tcp_client.py rename to legacyprotocol/tests/test_tcp_client.py index c1bac2a..9f85e68 100755 --- a/tests/test_tcp_client.py +++ b/legacyprotocol/tests/test_tcp_client.py @@ -2,7 +2,7 @@ import pytest import socket import struct -from blueye.protocol.exceptions import ( +from blueye.legacyprotocol.exceptions import ( ResponseTimeout, MismatchedReply, NoConnectionToDrone, @@ -26,7 +26,7 @@ def mocked_logger(mocker): @pytest.fixture def tcp_client_v1(mocked_socket, mocked_logger): - from blueye.protocol import TcpClient + from blueye.legacyprotocol import TcpClient tc = TcpClient(protocol_version=1, autoConnect=False) tc.connect() @@ -36,7 +36,7 @@ def tcp_client_v1(mocked_socket, mocked_logger): @pytest.fixture def tcp_client_v2(mocked_socket, mocked_logger): - from blueye.protocol import TcpClient + from blueye.legacyprotocol import TcpClient tc = TcpClient(protocol_version=2, autoConnect=False) tc.connect() @@ -359,7 +359,7 @@ def test_get_camera_parameters_produces_correct_message( def test_not_specifying_protocol_results_in_latest_protocol( mocked_socket, mocked_logger ): - from blueye.protocol import TcpClient + from blueye.legacyprotocol import TcpClient tc = TcpClient(autoConnect=False) assert tc.protocol_version == 2 diff --git a/tests/test_udp_client.py b/legacyprotocol/tests/test_udp_client.py similarity index 98% rename from tests/test_udp_client.py rename to legacyprotocol/tests/test_udp_client.py index 6fdd04b..2daa051 100755 --- a/tests/test_udp_client.py +++ b/legacyprotocol/tests/test_udp_client.py @@ -4,7 +4,7 @@ import pytest from unittest.mock import Mock -from blueye.protocol import UdpClient +from blueye.legacyprotocol import UdpClient UDP_PORT = 32011 From 6f0b326fed59e3c9d690237a1da94be7627c239e Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 10:47:09 +0200 Subject: [PATCH 07/16] Remove setup.py generator --- tasks.py | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/tasks.py b/tasks.py index dafb44a..692750a 100644 --- a/tasks.py +++ b/tasks.py @@ -107,17 +107,3 @@ def generate_proto(context): @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' - ) From f32041b99c8b86cb8be8ea659dbdf3e9b2034e52 Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 11:14:28 +0200 Subject: [PATCH 08/16] Fix generators --- generators/generate_tcp_protocol.py | 2 +- generators/generate_udp_protocol.py | 16 +++++++++++----- .../blueye/legacyprotocol/udp_protocol_dict.py | 2 +- tasks.py | 6 ++++-- 4 files changed, 17 insertions(+), 9 deletions(-) diff --git a/generators/generate_tcp_protocol.py b/generators/generate_tcp_protocol.py index 1860dd2..db8cb00 100755 --- a/generators/generate_tcp_protocol.py +++ b/generators/generate_tcp_protocol.py @@ -15,7 +15,7 @@ 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, diff --git a/generators/generate_udp_protocol.py b/generators/generate_udp_protocol.py index 184d099..9c80a97 100755 --- a/generators/generate_udp_protocol.py +++ b/generators/generate_udp_protocol.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 +import hashlib import json import os -import pickle -import hashlib from collections import OrderedDict @@ -15,8 +14,10 @@ def md5(fname): def generate(): - data = json.loads(open("ProtocolDefinitions/udp_protocol.json").read(), - object_pairs_hook=OrderedDict) + data = json.loads( + open("ProtocolDefinitions/udp_protocol.json").read(), + object_pairs_hook=OrderedDict, + ) protocol_md5 = md5("ProtocolDefinitions/udp_protocol.json") generator_script_md5 = md5("generators/generate_udp_protocol.py") data_file = f"""# -*- coding: utf-8 -*- @@ -27,5 +28,10 @@ def generate(): protocol_data = {str(data)} """ - with open(os.path.join("blueye", "protocol", "v2", "udp_protocol_dict.py"), "w") as f: + with open( + os.path.join( + "legacyprotocol", "blueye", "legacyprotocol", "udp_protocol_dict.py" + ), + "w", + ) as f: f.write(data_file) diff --git a/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py index 19bd8d4..49ec2b2 100644 --- a/legacyprotocol/blueye/legacyprotocol/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 = "c647f66d8c9bd49e8523f324e54355de" protocol_data = [OrderedDict({'version': '1', 'messages': [OrderedDict({'name': 'telemetry', 'message_type': '1', 'fields': [OrderedDict({'description': 'Protocol version', 'dtype': ' Date: Fri, 6 Jun 2025 11:16:58 +0200 Subject: [PATCH 09/16] Add workspace project --- legacyprotocol/pyproject.toml | 11 +- protocol/pyproject.toml | 14 -- pyproject.toml | 17 ++ uv.lock | 428 +++++++++++++++++++--------------- 4 files changed, 272 insertions(+), 198 deletions(-) create mode 100644 pyproject.toml diff --git a/legacyprotocol/pyproject.toml b/legacyprotocol/pyproject.toml index 7af64ad..2bc8ca0 100644 --- a/legacyprotocol/pyproject.toml +++ b/legacyprotocol/pyproject.toml @@ -5,7 +5,7 @@ description = "Legacy UDP/TCP protocol for Blueye drones" authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }] readme = "README.md" requires-python = ">=3.10, <4" -dependencies = ["numpy~=2.2", "setuptools>=75.8"] +dependencies = ["numpy~=2.2"] [build-system] requires = ["setuptools", "wheel"] @@ -13,3 +13,12 @@ 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/protocol/pyproject.toml b/protocol/pyproject.toml index 07a0737..04fa628 100644 --- a/protocol/pyproject.toml +++ b/protocol/pyproject.toml @@ -16,23 +16,9 @@ legacy = ["blueye.legacyprotocol >= 0.1"] Homepage = "https://www.blueyerobotics.com" Repository = "https://github.com/blueye-robotics/blueye.protocol" -[dependency-groups] -dev = [ - "Jinja2~=3.0", - "pytest~=8.3", - "pytest-mock~=3.14", - "pytest-timeout~=2.3", - "invoke>=2.1.1,<3", - "pytest-cov~=6.0", - "toml>=0.10.0,<0.11", - "flake8~=7.1", - "packaging>=24.0", -] - [build-system] requires = ["setuptools", "wheel"] build-backend = "setuptools.build_meta" [tool.setuptools.packages.find] namespaces = true -#where = ["blueye"] diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..a8c1456 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,17 @@ +[project] +name = "workspace" +version = "0.1.0" +description = "Local workspace project" +requires-python = ">=3.10" +dependencies = ["blueye.protocol", "blueye.legacyprotocol"] + + +[tool.uv.sources] +"blueye.protocol" = { workspace = true } +"blueye.legacyprotocol" = { workspace = true } + +[tool.uv.workspace] +members = ["protocol", "legacyprotocol"] + +[dependency-groups] +dev = ["invoke>=2.2.0", "jinja2>=3.1.6", "packaging>=25.0", "toml>=0.10.2"] diff --git a/uv.lock b/uv.lock index 837b4c5..5b8e1e0 100644 --- a/uv.lock +++ b/uv.lock @@ -2,49 +2,62 @@ version = 1 revision = 2 requires-python = ">=3.10, <4" +[manifest] +members = [ + "blueye-legacyprotocol", + "blueye-protocol", + "workspace", +] + [[package]] -name = "blueye-protocol" -version = "3.0.0" -source = { virtual = "." } +name = "blueye-legacyprotocol" +version = "0.1.0" +source = { editable = "legacyprotocol" } dependencies = [ { name = "numpy" }, - { name = "proto-plus" }, - { name = "setuptools" }, ] [package.dev-dependencies] dev = [ { name = "flake8" }, - { name = "invoke" }, - { name = "jinja2" }, - { name = "packaging" }, { name = "pytest" }, { name = "pytest-cov" }, { name = "pytest-mock" }, { name = "pytest-timeout" }, - { name = "toml" }, ] [package.metadata] -requires-dist = [ - { name = "numpy", specifier = "~=2.2" }, - { name = "proto-plus", specifier = "~=1.25" }, - { name = "setuptools", specifier = ">=75.8" }, -] +requires-dist = [{ name = "numpy", specifier = "~=2.2" }] [package.metadata.requires-dev] dev = [ { name = "flake8", specifier = "~=7.1" }, - { name = "invoke", specifier = ">=2.1.1,<3" }, - { name = "jinja2", specifier = "~=3.0" }, - { name = 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a/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py index 49ec2b2..43268b5 100644 --- a/legacyprotocol/blueye/legacyprotocol/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 = "c647f66d8c9bd49e8523f324e54355de" +_generator_hash = "950c0a838bc5709de6840789ba5060e4" protocol_data = [OrderedDict({'version': '1', 'messages': [OrderedDict({'name': 'telemetry', 'message_type': '1', 'fields': [OrderedDict({'description': 'Protocol version', 'dtype': '=2.2.0", "jinja2>=3.1.6", "packaging>=25.0", "toml>=0.10.2"] +dev = ["invoke>=2.2.0", "jinja2>=3.1.6"] diff --git a/tasks.py b/tasks.py index f1bdbda..00f4f1c 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): @@ -108,4 +106,4 @@ def generate_proto(context): @task(pre=[generate_tcp, generate_udp]) def test(context): - context.run("pytest tests") + context.run("pytest legacyprotocol/tests") diff --git a/uv.lock b/uv.lock index 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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..8099cc1 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 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 From 8cc56c171d3b49042ea1072d9f4662b4900bb19b Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 13:15:38 +0200 Subject: [PATCH 12/16] Lint with ruff --- .flake8 | 5 - .github/workflows/tests.yml | 2 +- generators/generate_tcp_protocol.py | 68 +++++--- generators/generate_udp_protocol.py | 4 +- .../blueye/legacyprotocol/udp_client.py | 4 +- .../legacyprotocol/udp_protocol_parser.py | 48 +++-- legacyprotocol/tests/test_protocol.py | 165 +++++++++++++++--- legacyprotocol/tests/test_protocol_data.py | 2 +- legacyprotocol/tests/test_tcp_client.py | 110 ++++++++---- pyproject.toml | 10 +- setup.cfg | 5 - uv.lock | 27 +++ 12 files changed, 322 insertions(+), 128 deletions(-) delete mode 100644 .flake8 delete mode 100644 setup.cfg 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/tests.yml b/.github/workflows/tests.yml index 8099cc1..29e69ab 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -27,4 +27,4 @@ jobs: - name: Run tests run: uv run invoke test - name: Run style checker - run: poetry run flake8 + run: uv run ruff check diff --git a/generators/generate_tcp_protocol.py b/generators/generate_tcp_protocol.py index db8cb00..cf6969a 100755 --- a/generators/generate_tcp_protocol.py +++ b/generators/generate_tcp_protocol.py @@ -17,19 +17,31 @@ def __init__(self, path=os.path.dirname(os.path.abspath(__file__))): self.path = path 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 = {" 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): @@ -66,13 +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: @@ -81,7 +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/tests/test_protocol.py b/legacyprotocol/tests/test_protocol.py index 18e5930..4e0c487 100755 --- a/legacyprotocol/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.legacyprotocol import AppProtocol -from blueye.legacyprotocol.exceptions import UnknownUDPVersionError, UnknownUDPPacketTypeError +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), "=2.2.0", "jinja2>=3.1.6"] +dev = ["invoke>=2.2.0", "jinja2>=3.1.6", "ruff>=0.11.13"] + +[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/uv.lock b/uv.lock index 2905f8b..78034d4 100644 --- a/uv.lock +++ b/uv.lock @@ -447,6 +447,31 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/fa/b6/3127540ecdf1464a00e5a01ee60a1b09175f6913f0644ac748494d9c4b21/pytest_timeout-2.4.0-py3-none-any.whl", hash = "sha256:c42667e5cdadb151aeb5b26d114aff6bdf5a907f176a007a30b940d3d865b5c2", 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import hashlib import json import os @@ -14,12 +13,21 @@ def md5(fname): def generate(): - data = json.loads( - open("ProtocolDefinitions/udp_protocol.json").read(), - object_pairs_hook=OrderedDict, - ) - protocol_md5 = md5("ProtocolDefinitions/udp_protocol.json") - generator_script_md5 = md5("generators/generate_udp_protocol.py") + # Get the directory of the current script + script_dir = os.path.dirname(os.path.abspath(__file__)) + + # Paths relative to the script directory + protocol_definitions_path = os.path.join(script_dir, "../ProtocolDefinitions/udp_protocol.json") + output_path = os.path.join(script_dir, "../legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py") + + # Read and process the protocol definitions + with open(protocol_definitions_path, "r") as f: + data = json.loads(f.read(), object_pairs_hook=OrderedDict) + + protocol_md5 = md5(protocol_definitions_path) + generator_script_md5 = md5(os.path.abspath(__file__)) + + # Generate the output file content data_file = f"""# -*- coding: utf-8 -*- # This file is autogenerated. Please do not edit from collections import OrderedDict @@ -28,8 +36,7 @@ def generate(): protocol_data = {str(data)} """ - with open( - os.path.join("legacyprotocol", "blueye", "legacyprotocol", "udp_protocol_dict.py"), - "w", - ) as f: + + # Write the output file + with open(output_path, "w") as f: f.write(data_file) diff --git a/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py b/legacyprotocol/blueye/legacyprotocol/udp_protocol_dict.py index 43268b5..d81d957 100644 --- a/legacyprotocol/blueye/legacyprotocol/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 = "950c0a838bc5709de6840789ba5060e4" +_generator_hash = "e5d269a1e0acd3bf21eac7dec7e712eb" protocol_data = [OrderedDict({'version': '1', 'messages': [OrderedDict({'name': 'telemetry', 'message_type': '1', 'fields': [OrderedDict({'description': 'Protocol version', 'dtype': ' Date: Fri, 6 Jun 2025 14:14:19 +0200 Subject: [PATCH 14/16] Bump version to 3.1.0 3.0.0 is an old yanked version. --- protocol/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protocol/pyproject.toml b/protocol/pyproject.toml index 04fa628..f81dd94 100644 --- a/protocol/pyproject.toml +++ b/protocol/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "blueye.protocol" -version = "3.0.0" +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" From 0eafe245c4e39d919fe3a3ee57710748d1f31a40 Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 16:31:35 +0200 Subject: [PATCH 15/16] Add license files to new packages --- legacyprotocol/LICENSE | 165 ++++++++++++++++++++++++++++++++++ legacyprotocol/pyproject.toml | 1 + protocol/LICENSE | 165 ++++++++++++++++++++++++++++++++++ protocol/pyproject.toml | 2 +- 4 files changed, 332 insertions(+), 1 deletion(-) create mode 100644 legacyprotocol/LICENSE create mode 100644 protocol/LICENSE diff --git a/legacyprotocol/LICENSE b/legacyprotocol/LICENSE new file mode 100644 index 0000000..0a04128 --- /dev/null +++ b/legacyprotocol/LICENSE @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + 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. The particular version of the Library +with which the Combined Work was made is also called the "Linked +Version". + + The "Minimal Corresponding Source" for a Combined Work means the +Corresponding Source for the Combined Work, excluding any source code +for portions of the Combined Work that, considered in isolation, are +based on the Application, and not on the Linked Version. + + The "Corresponding Application Code" for a Combined Work means the +object code and/or source code for the Application, including any data +and utility programs needed for reproducing the Combined Work from the +Application, but excluding the System Libraries of the Combined Work. + + 1. Exception to Section 3 of the GNU GPL. + + You may convey a covered work under sections 3 and 4 of this License +without being bound by section 3 of the GNU GPL. + + 2. Conveying Modified Versions. + + If you modify a copy of the Library, and, in your modifications, a +facility refers to a function or data to be supplied by an Application +that uses the facility (other than as an argument passed when the +facility is invoked), then you may convey a copy of the modified +version: + + a) under this License, provided that you make a good faith effort to + ensure that, in the event an Application does not supply the + function or data, the facility still operates, and performs + whatever part of its purpose remains meaningful, or + + b) under the GNU GPL, with none of the additional permissions of + this License applicable to that copy. + + 3. Object Code Incorporating Material from Library Header Files. + + The object code form of an Application may incorporate material from +a header file that is part of the Library. You may convey such object +code under terms of your choice, provided that, if the incorporated +material is not limited to numerical parameters, data structure +layouts and accessors, or small macros, inline functions and templates +(ten or fewer lines in length), you do both of the following: + + a) Give prominent notice with each copy of the object code that the + Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the object code with a copy of the GNU GPL and this license + document. + + 4. Combined Works. + + You may convey a Combined Work under terms of your choice that, +taken together, effectively do not restrict modification of the +portions of the Library contained in the Combined Work and reverse +engineering for debugging such modifications, if you also do each of +the following: + + a) Give prominent notice with each copy of the Combined Work that + the Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the Combined Work with a copy of the GNU GPL and this license + document. + + c) For a Combined Work that displays copyright notices during + execution, include the copyright notice for the Library among + these notices, as well as a reference directing the user to the + copies of the GNU GPL and this license document. + + d) Do one of the following: + + 0) Convey the Minimal Corresponding Source under the terms of this + License, and the Corresponding Application Code in a form + suitable for, and under terms that permit, the user to + recombine or relink the Application with a modified version of + the Linked Version to produce a modified Combined Work, in the + manner specified by section 6 of the GNU GPL for conveying + Corresponding Source. + + 1) Use a suitable shared library mechanism for linking with the + Library. A suitable mechanism is one that (a) uses at run time + a copy of the Library already present on the user's computer + system, and (b) will operate properly with a modified version + of the Library that is interface-compatible with the Linked + Version. + + e) Provide Installation Information, but only if you would otherwise + be required to provide such information under section 6 of the + GNU GPL, and only to the extent that such information is + necessary to install and execute a modified version of the + Combined Work produced by recombining or relinking the + Application with a modified version of the Linked Version. (If + you use option 4d0, the Installation Information must accompany + the Minimal Corresponding Source and Corresponding Application + Code. If you use option 4d1, you must provide the Installation + Information in the manner specified by section 6 of the GNU GPL + for conveying Corresponding Source.) + + 5. 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/pyproject.toml b/legacyprotocol/pyproject.toml index 2bc8ca0..1226dd3 100644 --- a/legacyprotocol/pyproject.toml +++ b/legacyprotocol/pyproject.toml @@ -2,6 +2,7 @@ name = "blueye.legacyprotocol" version = "0.1.0" 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" diff --git a/protocol/LICENSE b/protocol/LICENSE new file mode 100644 index 0000000..0a04128 --- /dev/null +++ b/protocol/LICENSE @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + 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. The particular version of the Library +with which the Combined Work was made is also called the "Linked +Version". + + The "Minimal Corresponding Source" for a Combined Work means the +Corresponding Source for the Combined Work, excluding any source code +for portions of the Combined Work that, considered in isolation, are +based on the Application, and not on the Linked Version. + + The "Corresponding Application Code" for a Combined Work means the +object code and/or source code for the Application, including any data +and utility programs needed for reproducing the Combined Work from the +Application, but excluding the System Libraries of the Combined Work. + + 1. Exception to Section 3 of the GNU GPL. + + You may convey a covered work under sections 3 and 4 of this License +without being bound by section 3 of the GNU GPL. + + 2. Conveying Modified Versions. + + If you modify a copy of the Library, and, in your modifications, a +facility refers to a function or data to be supplied by an Application +that uses the facility (other than as an argument passed when the +facility is invoked), then you may convey a copy of the modified +version: + + a) under this License, provided that you make a good faith effort to + ensure that, in the event an Application does not supply the + function or data, the facility still operates, and performs + whatever part of its purpose remains meaningful, or + + b) under the GNU GPL, with none of the additional permissions of + this License applicable to that copy. + + 3. Object Code Incorporating Material from Library Header Files. + + The object code form of an Application may incorporate material from +a header file that is part of the Library. You may convey such object +code under terms of your choice, provided that, if the incorporated +material is not limited to numerical parameters, data structure +layouts and accessors, or small macros, inline functions and templates +(ten or fewer lines in length), you do both of the following: + + a) Give prominent notice with each copy of the object code that the + Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the object code with a copy of the GNU GPL and this license + document. + + 4. Combined Works. + + You may convey a Combined Work under terms of your choice that, +taken together, effectively do not restrict modification of the +portions of the Library contained in the Combined Work and reverse +engineering for debugging such modifications, if you also do each of +the following: + + a) Give prominent notice with each copy of the Combined Work that + the Library is used in it and that the Library and its use are + covered by this License. + + b) Accompany the Combined Work with a copy of the GNU GPL and this license + document. + + c) For a Combined Work that displays copyright notices during + execution, include the copyright notice for the Library among + these notices, as well as a reference directing the user to the + copies of the GNU GPL and this license document. + + d) Do one of the following: + + 0) Convey the Minimal Corresponding Source under the terms of this + License, and the Corresponding Application Code in a form + suitable for, and under terms that permit, the user to + recombine or relink the Application with a modified version of + the Linked Version to produce a modified Combined Work, in the + manner specified by section 6 of the GNU GPL for conveying + Corresponding Source. + + 1) Use a suitable shared library mechanism for linking with the + Library. A suitable mechanism is one that (a) uses at run time + a copy of the Library already present on the user's computer + system, and (b) will operate properly with a modified version + of the Library that is interface-compatible with the Linked + Version. + + e) Provide Installation Information, but only if you would otherwise + be required to provide such information under section 6 of the + GNU GPL, and only to the extent that such information is + necessary to install and execute a modified version of the + Combined Work produced by recombining or relinking the + Application with a modified version of the Linked Version. (If + you use option 4d0, the Installation Information must accompany + the Minimal Corresponding Source and Corresponding Application + Code. If you use option 4d1, you must provide the Installation + Information in the manner specified by section 6 of the GNU GPL + for conveying Corresponding Source.) + + 5. 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/protocol/pyproject.toml b/protocol/pyproject.toml index f81dd94..f00955b 100644 --- a/protocol/pyproject.toml +++ b/protocol/pyproject.toml @@ -5,7 +5,7 @@ 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 = "LGPL-3.0" +license = { file = "LICENSE" } keywords = ["Blueye", "Robotics", "Protocol"] dependencies = ["proto-plus~=1.25"] From faa2516524950a0e440575697f5cfc2dc530ef11 Mon Sep 17 00:00:00 2001 From: Sindre Hansen Date: Fri, 6 Jun 2025 18:04:49 +0200 Subject: [PATCH 16/16] Bump legacyprotocol to v1.0.0 --- legacyprotocol/pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/legacyprotocol/pyproject.toml b/legacyprotocol/pyproject.toml index 1226dd3..7a4627d 100644 --- a/legacyprotocol/pyproject.toml +++ b/legacyprotocol/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "blueye.legacyprotocol" -version = "0.1.0" +version = "1.0.0" description = "Legacy UDP/TCP protocol for Blueye drones" license = { file = "LICENSE" } authors = [{ name = "Blueye Robotics", email = "contact@blueye.no" }]