initial workflow

.github/workflows/black.yml

@@ -0,0 +1,35 @@
+name: Automated Code Formatting with Black
+
+on:
+  pull_request:
+    types: [opened]
+  push:
+    branches:
+      - main
+
+jobs:
+  format:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.BLACK_FORMATTER_TOKEN }}
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.11'
+
+      - name: Install Black
+        run: pip install black
+
+      - name: Format code with Black
+        run: black .
+
+      - name: Commit and push changes
+        run: |
+          git config --local user.email "[email protected]"
+          git config --local user.name "GitHub Action"
+          git commit -am "Format code with Black" || exit 0  # The exit 0 is used to prevent the workflow from failing if no changes are made
+          git push origin HEAD:${GITHUB_REF#refs/heads/}

src/algorithm/navigation_algorithm.py

@@ -1,6 +1,7 @@
 import numpy as np
 import heapq
 import random
+
 # import matplotlib.pyplot as plt
 
 
@@ -16,7 +17,9 @@ class AStarGrid:
     :param end_y: (int) Y-coordinate of the goal position.
     """
 
-    def __init__(self, rows: int, cols: int, start_x: int, start_y: int, end_x: int, end_y: int):
+    def __init__(
+        self, rows: int, cols: int, start_x: int, start_y: int, end_x: int, end_y: int
+    ):
         self.rows = rows
         self.cols = cols
         self.spacing = 1.0
@@ -111,7 +114,16 @@ def get_neighbors(self, node: tuple) -> list:
         """
         neighbors = []
         row, col = node
-        directions = [(-1, 0), (1, 0), (0, -1), (0, 1), (-1, -1), (-1, 1), (1, -1), (1, 1)]
+        directions = [
+            (-1, 0),
+            (1, 0),
+            (0, -1),
+            (0, 1),
+            (-1, -1),
+            (-1, 1),
+            (1, -1),
+            (1, 1),
+        ]
 
         for dr, dc in directions:
             new_row, new_col = row + dr, col + dc
@@ -160,7 +172,10 @@ def create_grid_visualization(grid, spacing=1.0):
             elif grid.grid[i, j] == 1:
                 colors.append([1, 1, 0])
 
-    edge_colors = [[0.5, 0.5, 0.5] for _ in range((grid.rows - 1) * grid.cols + (grid.cols - 1) * grid.rows)]
+    edge_colors = [
+        [0.5, 0.5, 0.5]
+        for _ in range((grid.rows - 1) * grid.cols + (grid.cols - 1) * grid.rows)
+    ]
     edge_points = []
 
     for i in range(grid.rows):
@@ -191,7 +206,7 @@ def move(path):
         (-1, -1): (0.4, 0.5),  # Up-Right
         (-1, 1): (0.2, 0.4),  # Up-Left
         (1, -1): (-0.2, -0.4),  # Down-Left
-        (1, 1): (-0.4, -0.2)  # Down-Right
+        (1, 1): (-0.4, -0.2),  # Down-Right
     }
     current_node = path[0]
     next_node = path[1]
@@ -201,6 +216,7 @@ def move(path):
 
     return move_power
 
+
 # grid_size = 1000
 # grid = AStarGrid(grid_size, grid_size, start_x=0, start_y=0, end_x=grid_size - 2, end_y=grid_size - 2)
 # grid.generate_random_grid(grid_size, grid_size)
@@ -242,4 +258,3 @@ def move(path):
 #
 # visualizer.run()
 # visualizer.destroy_window()
-

src/communication/stm_com.py

@@ -39,14 +39,16 @@ def send_command(self):
             self.left_speed = 79
             self.right_speed = 79
         self.byte_light_maini = (
-                (1 if self.led_r else 0) |
-                (1 if self.led_g else 0) << 1 |
-                (1 if self.led_y else 0) << 2 |
-                (1 if self.gripper_open else 0) << 3
+            (1 if self.led_r else 0)
+            | (1 if self.led_g else 0) << 1
+            | (1 if self.led_y else 0) << 2
+            | (1 if self.gripper_open else 0) << 3
+        )
+        command = struct.pack(
+            "BBBB", 38, self.right_speed, self.left_speed, self.byte_light_maini
         )
-        command = struct.pack('BBBB', 38, self.right_speed, self.left_speed, self.byte_light_maini)
         checksum = sum(command) & 0xFF
-        command += struct.pack('B', checksum)
+        command += struct.pack("B", checksum)
         # command = f"&{chr(self.right_speed)}{chr(self.left_speed)}{chr(self.byte_light_maini)}"
         # checksum = sum(command.encode()) & 0xFF
         # command += chr(checksum)
@@ -71,26 +73,36 @@ def read_response(self):
         if self.ser.in_waiting > 0:
             start = self.ser.read(1)
             print(f"l1 start {start}")
-            if start == b'&':
+            if start == b"&":
 
                 read = self.ser.read(2)
-                calculated_checksum = (ord('&') + read[0]) & 0xFF
+                calculated_checksum = (ord("&") + read[0]) & 0xFF
                 print(f"l2 start {read}")
-                if read[0] == ord('Y') and read[1] == calculated_checksum:
+                if read[0] == ord("Y") and read[1] == calculated_checksum:
                     print(f"l3 start {read}")
                     return False
         return True
 
     def scale_value(self, x, src_range, dst_range):
-        scaled = dst_range[0] + ((x - src_range[0]) * (dst_range[1] - dst_range[0]) / (src_range[1] - src_range[0]))
+        scaled = dst_range[0] + (
+            (x - src_range[0])
+            * (dst_range[1] - dst_range[0])
+            / (src_range[1] - src_range[0])
+        )
         return int(scaled)
 
     def close(self):
         self.ser.close()
 
 
 def scale_value(x, src_range, dst_range):
-    scaled = dst_range[0] + ((x - src_range[0]) * (dst_range[1] - dst_range[0]) / (src_range[1] - src_range[0]))
+    scaled = dst_range[0] + (
+        (x - src_range[0])
+        * (dst_range[1] - dst_range[0])
+        / (src_range[1] - src_range[0])
+    )
     return int(scaled)
-x = scale_value(0.5, (-1,1), (64, 93))
-print(x)
+
+
+x = scale_value(0.5, (-1, 1), (64, 93))
+print(x)

src/go_autonomy.py

@@ -10,6 +10,7 @@
 
 class GoAutonomy:
     """class for autonomous navigation of the rover. use it in the logic of mission control."""
+
     def __init__(self, stm_com, stelite_com):
         self.config = load_config("utils/config_oak.json")
         self.camera_oak = CameraOAK(self.config, visualize=False)
@@ -19,8 +20,18 @@ def __init__(self, stm_com, stelite_com):
         self.stm_com = stm_com
         self.stelite_com = stelite_com
         self.track_maker = TrackMaker()
-        self.end_goal = (self.point_cloud_mapper.res - 3, self.point_cloud_mapper.res - 2)
-        self.a_star_grid = AStarGrid(self.point_cloud_mapper.res, self.point_cloud_mapper.res, start_x=0, start_y=0, end_x=self.end_goal[0], end_y=self.end_goal[1])
+        self.end_goal = (
+            self.point_cloud_mapper.res - 3,
+            self.point_cloud_mapper.res - 2,
+        )
+        self.a_star_grid = AStarGrid(
+            self.point_cloud_mapper.res,
+            self.point_cloud_mapper.res,
+            start_x=0,
+            start_y=0,
+            end_x=self.end_goal[0],
+            end_y=self.end_goal[1],
+        )
         self.start_loop = True
         self.rover_in_target = False
 
@@ -50,4 +61,3 @@ def run(self):
         start_autonomy = self.stm_com.update(moves[0], moves[1])
         if self.a_star_grid.goal == rover_sector:
             self.rover_in_target = True
-

src/gps/gps2sector.py

@@ -27,7 +27,9 @@ def update_sector(self) -> tuple[int, int]:
         self.latitude, self.longitude = self.read_json_position()
 
         dist_x, dist_y = self.convert_cords_to_distance_diff()
-        sector_diff_x, sector_diff_y = self.convert_distance_to_sector_diff(dist_x, dist_y)
+        sector_diff_x, sector_diff_y = self.convert_distance_to_sector_diff(
+            dist_x, dist_y
+        )
         x_sector = self.INITIAL_X_SECTOR + sector_diff_x
         y_sector = self.INITIAL_Y_SECTOR + sector_diff_y
 
@@ -44,7 +46,7 @@ def update_pose_from_gps(self, pose: np.ndarray(4) = np.eye(4)) -> np.ndarray(4)
     def read_json_position(self) -> tuple[int, int]:
         with open(self.cords_position_json_path, "r") as cords_json:
             data = json.load(cords_json)
-            return data['latitude'], data['longitude']
+            return data["latitude"], data["longitude"]
 
     def convert_cords_to_distance_diff(self) -> tuple[int, int]:
         """

src/gps/reading_gps.py

@@ -11,9 +11,11 @@
         parsedLine = pynmea2.parse(newline)
         if newline.find("$GPRMC") > -1:
             print(f"outputDict: {outputDict}")
-            outputDict['latitude'] = parsedLine.latitude
-            outputDict['longitude'] = parsedLine.longitude
-            with open("/home/jetson/repos/TrailblazerML/src/utils/position.json", 'w') as OutputFile:
+            outputDict["latitude"] = parsedLine.latitude
+            outputDict["longitude"] = parsedLine.longitude
+            with open(
+                "/home/jetson/repos/TrailblazerML/src/utils/position.json", "w"
+            ) as OutputFile:
                 json.dump(outputDict, OutputFile)
     except UnicodeDecodeError:
         print("Invalid byte encountered. Skipping.")

src/logic_mission.py

@@ -12,7 +12,9 @@ class LogicMission:
     def __init__(self):
 
         self.stm_com = STMCom(port="/dev/ttyACM0")
-        self.satellite_communicator = SatelliteCommunicator(port="/dev/ttyTHS1", baudrate=115200)
+        self.satellite_communicator = SatelliteCommunicator(
+            port="/dev/ttyTHS1", baudrate=115200
+        )
         self.mision_is_on = True
         self.autonomy_is_on = False
 
@@ -73,7 +75,10 @@ def handle_stage_1(self):
             self.stm_com.girpper_open = False
             self.stm_com.send_command()
 
-            if self.satellite_communicator.latitude != None and self.satellite_communicator.longitude != None:
+            if (
+                self.satellite_communicator.latitude != None
+                and self.satellite_communicator.longitude != None
+            ):
                 time.sleep(0.5)
                 self.stm_com.led_r = False
                 self.stm_com.led_g = False

src/logic_mission/satelite_test.py

@@ -1,5 +1,5 @@
 import struct
-from satellite_communicator  import SatelliteCommunicator
+from satellite_communicator import SatelliteCommunicator
 
 # Assuming SatelliteCommunicator class code is already defined and imported as you provided earlier.
 
@@ -8,25 +8,25 @@
     communicator = SatelliteCommunicator(port="/dev/ttyUSB1", baudrate=115200)
 
     # Send Arm/Disarm command (Assuming 0x01 means Arm)
-    communicator.send_message(communicator.MSG_ID_ARM_DISARM, b'\x01')
+    communicator.send_message(communicator.MSG_ID_ARM_DISARM, b"\x01")
 
     # Send Navigate GPS command with example coordinates (Latitude, Longitude)
     latitude = 34.052235  # Example latitude
     longitude = -118.243683  # Example longitude
-    gps_data = struct.pack('>ff', latitude, longitude)
+    gps_data = struct.pack(">ff", latitude, longitude)
     communicator.send_message(communicator.MSG_ID_NAVIGATE_GPS, gps_data)
 
     # Notify task completion
     communicator.task_completed()
 
     # Set a new stage (Example stage 1)
-    communicator.send_message(communicator.MSG_ID_SET_STAGE, b'\x01')
+    communicator.send_message(communicator.MSG_ID_SET_STAGE, b"\x01")
 
     # Locate Aruco Tags command
-    communicator.send_message(communicator.MSG_ID_LOCATE_ARUCO_TAGS, b'')
+    communicator.send_message(communicator.MSG_ID_LOCATE_ARUCO_TAGS, b"")
 
     # Send a detection command (assuming no additional body data is needed)
-    communicator.send_message(communicator.MSG_ID_DETECTION, b'')
+    communicator.send_message(communicator.MSG_ID_DETECTION, b"")
 
     # Set parameters command (assuming no additional body data is needed)
-    communicator.send_message(communicator.MSG_ID_SET_PARAMETERS, b'')
+    communicator.send_message(communicator.MSG_ID_SET_PARAMETERS, b"")