hackerbot 0.2.0__py3-none-any.whl

hackerbot/utils/serial_helper.py

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+################################################################################
+# Copyright (c) 2025 Hackerbot Industries LLC
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+#
+# Created By: Allen Chien
+# Created:    April 2025
+# Updated:    2025.04.07
+#
+# This module contains the SerialHelper class, which is a base class does the 
+# serial handling. Including sending serial commands, finding serial ports
+# reading serial outputs.
+#
+# Special thanks to the following for their code contributions to this codebase:
+# Allen Chien - https://github.com/AllenChienXXX
+################################################################################
+
+
+import serial
+import serial.tools.list_ports
+import threading
+import os
+import json
+from collections import deque
+
+class SerialHelper:
+    HOME_DIR = os.environ['HOME']
+
+    LOG_FILE_PATH = os.path.join(HOME_DIR, "hackerbot/logs/serial_log.txt")
+    MAP_DATA_PATH = os.path.join(HOME_DIR, "hackerbot/logs/map_{map_id}.txt")
+
+    # port = '/dev/ttyACM1'
+    def __init__(self, port=None, board="adafruit:samd:adafruit_qt_py_m0", baudrate=230400):
+        self.port = port
+        self.board = board
+        self.baudrate = baudrate
+        self.ser = None
+        self.state = None
+        self.ser_error = None
+
+        self.json_entries = deque(maxlen=10)  # Store up to 10 most recent JSON entries
+
+        try:
+            if self.port is None:
+                self.port = self.find_port()
+            self.ser = serial.Serial(port=self.port, baudrate=baudrate, timeout=1)
+        except ConnectionError as e:
+            raise ConnectionError(f"Error initializing main controller: {e}")
+        except serial.SerialException as e:
+            raise ConnectionError(f"Serial connection error: {port}. {e}")
+        except Exception as e:
+            raise RuntimeError(f"Error initializing main controller: {e}")
+        
+        self.read_thread_stop_event = threading.Event()
+        self.read_thread = threading.Thread(target=self.read_serial)
+        self.read_thread.daemon = False
+        self.read_thread.start()
+
+    def find_port(self):
+        ports = list(serial.tools.list_ports.comports())
+        for port in ports:
+            if "QT Py" in port.description:
+                return port.device 
+            
+        raise ConnectionError(f"No Port found for {self.board}, are you using a different board?")
+
+    def get_board_and_port(self):
+        return self.board, self.port
+
+    def send_raw_command(self, command):
+        if self.ser and self.ser.is_open:
+            try:
+                self.ser.write(command.encode('utf-8') + b'\r\n')
+                self.state = command
+            except serial.SerialException as e:
+                raise IOError(f"Error writing to serial port: {e}")
+        else:
+            raise ConnectionError("Serial port is closed or unavailable!")
+
+    def get_state(self):    
+        return self.state
+    
+    def get_ser_error(self):
+        return self.ser_error
+    
+    def read_serial(self):
+        if not self.ser:
+            self.ser_error = "Serial connection not initialized."
+            # raise ConnectionError("Serial connection not initialized.")
+
+        try:
+            while not self.read_thread_stop_event.is_set():  # Check the stop event to exit the loop
+                try:
+                    if not self.ser.is_open:
+                        self.ser_error = "Serial port is closed or unavailable!"
+                        # raise ConnectionError("Serial port is closed or unavailable!")
+                    
+                    if self.ser.in_waiting > 0:
+                        response = self.ser.readline().decode('utf-8').strip()
+                        if response:
+                            # Try to parse the response as JSON
+                            try:
+                                json_entry = json.loads(response)
+                                if json_entry.get("command"): # Only store JSON entries with a "command" key
+                                    self.json_entries.append(json_entry)  # Store the latest JSON entry
+                            except json.JSONDecodeError:
+                                # If it's not a valid JSON entry, just continue
+                                continue
+                except serial.SerialException as e:
+                    self.ser_error = f"Serial read error: {e}"
+                    # raise IOError(f"Serial read error: {e}")
+                except Exception as e:
+                    self.ser_error = f"Unexpected read error: {e}"
+                    # raise RuntimeError(f"Unexpected read error: {e}")
+        except PermissionError as e:
+            self.ser_error = f"Permission error: {e}"
+            # raise IOError(f"File write error: {e}")
+        except Exception as e:
+            self.ser_error = f"Unexpected error: {e}"
+            # raise IOError(f"File write error: {e}")
+
+    def get_json_from_command(self, command_filter=None):
+        if command_filter is None:
+            raise ValueError("command_filter cannot be None")
+        if self.json_entries is None or len(self.json_entries) == 0:
+            raise ValueError("No JSON entries found")
+        
+        for entry in reversed(self.json_entries):
+            if entry.get("command") == command_filter:
+                if entry.get("success") == "true":
+                    return entry
+                raise Exception("Fail to fetch...")
+        raise Exception(f"Command {command_filter} not found in JSON entries")
+            
+    def stop_read_thread(self):
+        """Call this method to stop the serial reading thread."""
+        self.read_thread_stop_event.set()
+        self.read_thread.join()  # Wait for the thread to fully terminate
+
+    def disconnect_serial(self):
+        """Disconnect the serial port and stop the read thread cleanly."""
+        # Stop the reading thread first
+        self.stop_read_thread()
+
+        # Close the serial connection safely
+        if self.ser:
+            try:
+                if self.ser.is_open:
+                    self.ser.close()
+            except serial.SerialException as e:
+                raise ConnectionError(f"Error closing serial connection: {e}")
+            except Exception as e:
+                raise RuntimeError(f"Unexpected error while disconnecting serial: {e}")
+            finally:
+                self.ser = None

hackerbot-0.2.0.dist-info/METADATA

@@ -0,0 +1,67 @@
+Metadata-Version: 2.4
+Name: hackerbot
+Version: 0.2.0
+Summary: This module contains the setup for the hackerbot python package.
+Author-email: Allen Chien <allen71090@gmail.com>
+License-Expression: MIT
+Project-URL: Homepage, https://github.com/hackerbotindustries/hackerbot-python-package
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyserial
+Requires-Dist: pytest
+Dynamic: license-file
+
+
+# Hackerbot Python Package
+
+Hackerbot python package (`hackerbot-python-package`) is a project that includes modules for controlling and managing the Hackerbot system.
+
+## Installation
+
+Follow these steps to clone the repository and set up the required dependencies.
+
+### 1. Clone the Repository
+Use SSH to clone the repository:
+```bash
+https://github.com/hackerbotindustries/hackerbot-python-package.git
+```
+This will create a directory named `hackerbot-python-package` and download all necessary files.
+
+### 2. Navigate to the Modules Directory
+Move into the `hackerbot_modules` directory:
+```bash
+cd hackerbot-python-package/
+```
+
+### 3. Install Dependencies
+Install the `hackerbot` package using `pip`:
+```bash
+pip install .
+```
+This will install the package locally for your Python environment.
+
+## Usage
+Once installed, you can import `hackerbot` in your Python scripts:
+```python
+import hackerbot
+```
+
+### 4. Testing
+To run the unit tests run:
+```bash
+cd tests/unit_tests
+pytest
+```
+
+## Troubleshooting
+If you run into issues with the installation, try the following:
+- Ensure you're using a virtual environment:  
+  ```bash
+  python3 -m venv venv
+  source venv/bin/activate
+  ```
+- Upgrade `pip` before installation:  
+  ```bash
+  pip install --upgrade pip
+  ```

hackerbot-0.2.0.dist-info/RECORD

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+hackerbot/__init__.py,sha256=fjzBB_VsqCuKJ3yeLdqLSvAQIz9bAMI-KXrUC6ZrscY,1248
+hackerbot/core.py,sha256=oZKQEUaMn19MnaWNTDFqTZ7lziBEZeSk5CdLXLSLvr0,5521
+hackerbot/arm/__init__.py,sha256=JdCmTDQ2qk3W8-Alc4mjaQYxHnmH26r0nSy0JFg6J4A,3400
+hackerbot/arm/gripper.py,sha256=xZux0PZL4vvrJTTKHL7dDsRBfJr4zbmgMaA0uBR1u4s,1986
+hackerbot/base/__init__.py,sha256=PG2Ykn2MLfobAWClGFnp-AZfh1xVsnbc1nQ8E6Yy6eA,8698
+hackerbot/base/maps.py,sha256=I_4NdvOMnkHX6-mW43QpDPJ-eVc6npgcBXq99tU7D1g,5916
+hackerbot/examples/keyboard_teleop_examples/AI_ELITE_teleop.py,sha256=cy9Cp4QSYafvm-5xBoq-ks8tdLJHzMvO_6pRweWLVaU,7832
+hackerbot/examples/keyboard_teleop_examples/AI_PRO_teleop.py,sha256=Q99v488MncM8uZ0okPzrWihQmLKCufEgbLIIT3Od0ig,5959
+hackerbot/examples/keyboard_teleop_examples/arm_teleop.py,sha256=GoyhRuqqpqwMdBKMq_pgTsbcuVNfO8sGcJKGNiD6P8k,7730
+hackerbot/examples/keyboard_teleop_examples/base_teleop.py,sha256=3XpXUWtPeCcsYhffcUMWMI_upkA9VFXB0qoinWpaqvA,6545
+hackerbot/examples/keyboard_teleop_examples/head_teleop.py,sha256=PfE-VzuaF4-bF0wtziyaTX2SnyKqZmDaNDbM8b-W9gQ,5328
+hackerbot/head/__init__.py,sha256=fNW1u1Kb5jE7q-UGQgZ511gnHPOjeR_monSm8p9CfNI,2466
+hackerbot/head/eyes.py,sha256=xqeKMxL12iaa8KQzDlbgbNy3LzcmWm8aXkebztYJ4P8,1370
+hackerbot/utils/hackerbot_helper.py,sha256=egQPVBBUo52ywsO6jGAGVqhyGLpMPz-b2fgLBb39WSM,4998
+hackerbot/utils/serial_helper.py,sha256=l7pj32mnoVZN-7foU_FPUxdmZaE43jcMmZRBAGEX8Zc,6457
+hackerbot-0.2.0.dist-info/licenses/LICENSE,sha256=SCcXH0bf35ISRu_Ks8xEKySHXiqclANLWhBUbVU8VvA,1081
+hackerbot-0.2.0.dist-info/METADATA,sha256=PvGs4X-ax2hoGDWe12HjmBS55bXcK3MMAgb6mgt8Irg,1714
+hackerbot-0.2.0.dist-info/WHEEL,sha256=CmyFI0kx5cdEMTLiONQRbGQwjIoR1aIYB7eCAQ4KPJ0,91
+hackerbot-0.2.0.dist-info/top_level.txt,sha256=2n_FStAr1SiI3BV67x7KJHYIOmEwxjUD59zedw2hLkU,10
+hackerbot-0.2.0.dist-info/RECORD,,

hackerbot-0.2.0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (78.1.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

hackerbot-0.2.0.dist-info/licenses/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Hackerbot Industries LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

hackerbot-0.2.0.dist-info/top_level.txt

@@ -0,0 +1 @@
+hackerbot