Refactor PythonExamples/AHControl to add configuration and unit tests

.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+name: CI
+
+on:
+  push: {}
+  pull_request: {}
+  workflow_dispatch:
+
+jobs:
+  lint-and-test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: prefix-dev/setup-pixi@v0.9.4
+        with:
+          cache: ${{ !env.ACT }}
+
+      - name: Install system deps for AHControl (Rust)
+        run: sudo apt-get update && sudo apt-get install -y libudev-dev pkg-config
+
+      - name: Run pre-commit
+        run: pixi run pre-commit run --all-files
+
+      - name: PythonExample unit tests
+        run: pixi run test-python-example
+
+      - name: Demo unit tests
+        run: pixi run test-demo
+
+      - name: Demo AHSimulation (mj_mink) unit tests
+        run: pixi run test-demo-mj-mink
+
+      - name: AHControl (Rust) unit tests
+        run: pixi run test-ahcontrol

.gitignore

@@ -0,0 +1,13 @@
+*.pyc
+push.json
+.pytest_cache/
+
+# Python package metadata (pip install -e)
+*.egg-info/
+
+# Rust build output
+target/
+
+# Dora / local output and logs
+Demo/out/
+out/

.pre-commit-config.yaml

@@ -0,0 +1,33 @@
+# See https://pre-commit.com for usage. All hooks limited to PythonExample/.
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+        files: ^PythonExample/
+      - id: end-of-file-fixer
+        files: ^PythonExample/
+        exclude: \.pytest_cache
+      - id: check-yaml
+        files: ^PythonExample/
+      - id: check-added-large-files
+        args: ["--maxkb=1000"]
+        files: ^PythonExample/
+      - id: check-merge-conflict
+        files: ^PythonExample/
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.8.4
+    hooks:
+      - id: ruff
+        args: [--fix]
+        files: ^PythonExample/
+
+  - repo: local
+    hooks:
+      - id: pytest
+        name: pytest
+        entry: bash -c 'cd PythonExample && PYTHONPATH= pixi run python -m pytest tests/ -v'
+        language: system
+        pass_filenames: false
+        files: ^PythonExample/

ArduinoExample/README.md

@@ -35,5 +35,3 @@ Rx arduino pin connected to Tx pin on TTLinker / Tx arduino pin connected to Rx
 ![Arduino_Mega_PortCom](../assets/Arduino_Mega.jpg)
 
 Rx and Tx pin used on arduino Mega are RX1 & TX1 (19 & 18)
-
-

Demo/AHControl/README.md

@@ -1,10 +1,39 @@
 # Motor control node
 
-The motor configuration is set in a TOML file (cf. [r_hand.toml](config/r_hand.toml)).
-In this file you can set the motors ID, and angle offsets for each finger.
+Use canonical calibration from the repo `config/calibration/` (recommended): e.g. `--config ../../config/calibration/r_hand_team_julia.toml` when running from Demo/AHControl. See [canonical_hand_config_design.md](../../docs/canonical_hand_config_design.md). Finger order is read from `config/hand_geometry.toml` when using a calibration file under `config/calibration/`. Alternatively, a legacy TOML under AHControl `config/` (e.g. [r_hand.toml](config/r_hand.toml)) is still supported for motor IDs and angle offsets.
 
 # Tools
 - *change_id*: to help you change the id of a motor. `cargo run --bin=change_id -- -h` for a list of parameters
 - *goto*: to move a single motor to a given position. `cargo run --bin=goto -- -h` for a list of parameters
 - *get_zeros*: to help you set the motor zeros, it sets the motors in the compliant mode and write the TOML file to the console. `cargo run --bin=get_zeros -- -h` for a list of parameters
 - *set_zeros*: to move the hand in the "zero" position according to the config file. `cargo run --bin=set_zeros -- -h` for a list of parameters
+
+# Calibration
+
+Full procedure (verify IDs, create calibration file, get_zeros, set_zeros, run with profile) is in [docs/canonical_hand_config_design.md](../../docs/canonical_hand_config_design.md) under "Calibration procedures".
+
+# Commands
+
+Run from the project root. If you use pixi for Rust, run `pixi shell` first. Set `PORT` to your serial device (e.g. `/dev/ttyACM0` on Linux, `COM3` on Windows). For canonical calibration use a file under `config/calibration/` (e.g. `config/calibration/r_hand_team_julia.toml`).
+
+Linux:
+
+```bash
+export PORT=/dev/ttyACM0
+export CFG="config/calibration/r_hand_team_julia.toml"
+cargo run --manifest-path Demo/Cargo.toml --bin=set_zeros -- --serialport $PORT --config $CFG
+cargo run --manifest-path Demo/Cargo.toml --bin=goto -- --serialport $PORT --id 1 --pos 0.0
+cargo run --manifest-path Demo/Cargo.toml --bin=change_id -- --serialport $PORT --old-id 1 --new-id 2
+cargo run --manifest-path Demo/Cargo.toml --bin=get_zeros -- --serialport $PORT --config $CFG
+```
+
+Windows (PowerShell):
+
+```powershell
+$PORT = "COM3"
+$CFG = "config/calibration/r_hand_team_krishan.toml"
+cargo run --manifest-path Demo/Cargo.toml --bin=set_zeros -- --serialport $PORT --config $CFG
+cargo run --manifest-path Demo/Cargo.toml --bin=goto -- --serialport $PORT --id 1 --pos 0.0
+cargo run --manifest-path Demo/Cargo.toml --bin=change_id -- --serialport $PORT --old-id 1 --new-id 2
+cargo run --manifest-path Demo/Cargo.toml --bin=get_zeros -- --serialport $PORT --config $CFG
+```

Demo/AHControl/src/bin/get_zeros.rs

@@ -1,42 +1,10 @@
 use clap::Parser;
-
 use eyre::{eyre, Result};
-use facet::Facet;
 use facet_pretty::FacetPretty;
 use rustypot::servo;
 use std::io;
-use std::{error::Error, time::Duration};
-
-use std::{fs, thread};
-
-// use std::io::Read;
-#[derive(Debug, Facet)]
-struct Fingers {
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motors: Vec<Motors>,
-}
-
-#[derive(Debug, Facet)]
-struct Motors {
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    finger_name: String,
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motor1: Motor,
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motor2: Motor,
-}
-
-#[derive(Debug, Facet)]
-struct Motor {
-    #[allow(dead_code)]
-    id: u8,
-    #[allow(dead_code)]
-    offset: f64,
-    #[allow(dead_code)]
-    invert: bool,
-    #[allow(dead_code)]
-    model: String,
-}
+use std::path::Path;
+use std::{error::Error, time::Duration, thread};
 
 #[derive(Parser, Debug)]
 #[command(author, version, about, long_about = None)]
@@ -58,10 +26,9 @@ fn main() -> Result<(), Box<dyn Error>> {
     let baudrate: u32 = args.baudrate;
     let configfile: String = args.config;
     println!("Opening {:?}", configfile);
-    let toml_str = fs::read_to_string(configfile).expect("Failed to read config file");
-
-    let mut motors_conf: Fingers =
-        facet_toml::from_str(&toml_str).expect("Failed to deserialize config file");
+    let mut motors_conf: AHControl::Fingers =
+        AHControl::load_fingers_from_path(Path::new(&configfile))
+            .map_err(|e| eyre!("config load failed: {}", e))?;
 
     // println!("{}", motors_conf.pretty());
     let serial_port = serialport::new(serialport, baudrate)

Demo/AHControl/src/bin/set_zeros.rs

@@ -1,42 +1,9 @@
 use clap::Parser;
-
 use eyre::{eyre, Result};
-use rustypot::servo;
-use std::{error::Error, time::Duration};
-
-use facet::Facet;
 use facet_pretty::FacetPretty;
-
-use std::{fs, thread};
-
-// use std::io::Read;
-#[derive(Debug, Facet)]
-struct Fingers {
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motors: Vec<Motors>,
-}
-
-#[derive(Debug, Facet)]
-struct Motors {
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    finger_name: String,
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motor1: Motor,
-    #[allow(dead_code)] // Disable dead code warning for the entire struct
-    motor2: Motor,
-}
-
-#[derive(Debug, Facet)]
-struct Motor {
-    #[allow(dead_code)]
-    id: u8,
-    #[allow(dead_code)]
-    offset: f64,
-    #[allow(dead_code)]
-    invert: bool,
-    #[allow(dead_code)]
-    model: String,
-}
+use rustypot::servo;
+use std::path::Path;
+use std::{error::Error, time::Duration, thread};
 
 #[derive(Parser, Debug)]
 #[command(author, version, about, long_about = None)]
@@ -58,10 +25,9 @@ fn main() -> Result<(), Box<dyn Error>> {
     let baudrate: u32 = args.baudrate;
     let configfile: String = args.config;
     println!("Opening {:?}", configfile);
-    let toml_str = fs::read_to_string(configfile).expect("Failed to read config file");
-
-    let motors_conf: Fingers =
-        facet_toml::from_str(&toml_str).expect("Failed to deserialize config file");
+    let motors_conf: AHControl::Fingers =
+        AHControl::load_fingers_from_path(Path::new(&configfile))
+            .map_err(|e| eyre!("config load failed: {}", e))?;
 
     println!("{}", motors_conf.pretty());
     let serial_port = serialport::new(serialport, baudrate)