machine-logic-sdk 1.13.0__tar.gz

machine_logic_sdk-1.13.0/MANIFEST.in

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+recursive-exclude tests *
+recursive-exclude qa *

machine_logic_sdk-1.13.0/PKG-INFO

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+Metadata-Version: 2.1
+Name: machine-logic-sdk
+Version: 1.13.0
+Summary: SDK for controlling Vention hardware
+Home-page: https://vention.io/resources/guides/machinelogic-python-programming-514
+Author: VentionCo
+Author-email: vention-sw-ci@vention.cc
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3.5
+Requires-Python: >=3.6
+Description-Content-Type: text/markdown
+Requires-Dist: miros==4.2.1
+Requires-Dist: paho-mqtt==1.5.1
+Requires-Dist: types-requests==2.28.11
+Requires-Dist: requests==2.31.0
+Requires-Dist: typing_extensions==4.6.3
+Requires-Dist: parameterized
+Requires-Dist: numpy==1.24.2
+Requires-Dist: roslibpy==1.4.2
+Requires-Dist: scipy==1.11.1
+Requires-Dist: zope.interface==5.5.2
+
+Provides a programmatic interface in Python to talk to Vention hardware, as well as a generic state machine for coordinating your programs.
+
+## Table of Contents
+
+1. [Requirements](#Requirements)
+1. [Development](#Development)
+1. [Documentation](#Documentation)
+1. [Resources](#Resources)
+
+## Requirements
+
+Python 3.9.2  
+Higher versions of python work, but 3.9.2 is shipped on the MachineMotion.
+
+### Installing Python
+
+You can install python 3.9 on Ubuntu via `sudo apt install python3.9`  
+Check your python version via `python3 --version`  
+If you already had a python version installed, you'll need to map `python3` to the 3.9 version that you installed.
+
+```sh
+cd /usr/bin
+sudo link python3
+sudo ln -s /usr/bin/python3.9 python3
+```
+
+Then you'll need these in order to set up a venv
+
+```sh
+sudo apt-get install python3-apt python3-virtualenv python3.9-venv
+```
+
+## Development
+
+Always work inside a python `venv` so that your dependencies do not get interfered with:
+
+```sh
+python3 -m venv venv
+source venv/bin/activate
+```
+
+You will need to upgrade pip before continuing
+
+```sh
+pip install --upgrade pip
+```
+
+Then install package:
+
+```sh
+pip install machine-logic-sdk
+```
+
+## Documentation
+- [Documentation](https://vention.io/resources/guides/machinelogic-python-programming-514)
+
+## Resources
+- [Miros](https://aleph2c.github.io/miros/html/#) is the framework upon which our architecture is based

machine_logic_sdk-1.13.0/README.md

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+Provides a programmatic interface in Python to talk to Vention hardware, as well as a generic state machine for coordinating your programs.
+
+## Table of Contents
+
+1. [Requirements](#Requirements)
+1. [Development](#Development)
+1. [Documentation](#Documentation)
+1. [Resources](#Resources)
+
+## Requirements
+
+Python 3.9.2  
+Higher versions of python work, but 3.9.2 is shipped on the MachineMotion.
+
+### Installing Python
+
+You can install python 3.9 on Ubuntu via `sudo apt install python3.9`  
+Check your python version via `python3 --version`  
+If you already had a python version installed, you'll need to map `python3` to the 3.9 version that you installed.
+
+```sh
+cd /usr/bin
+sudo link python3
+sudo ln -s /usr/bin/python3.9 python3
+```
+
+Then you'll need these in order to set up a venv
+
+```sh
+sudo apt-get install python3-apt python3-virtualenv python3.9-venv
+```
+
+## Development
+
+Always work inside a python `venv` so that your dependencies do not get interfered with:
+
+```sh
+python3 -m venv venv
+source venv/bin/activate
+```
+
+You will need to upgrade pip before continuing
+
+```sh
+pip install --upgrade pip
+```
+
+Then install package:
+
+```sh
+pip install machine-logic-sdk
+```
+
+## Documentation
+- [Documentation](https://vention.io/resources/guides/machinelogic-python-programming-514)
+
+## Resources
+- [Miros](https://aleph2c.github.io/miros/html/#) is the framework upon which our architecture is based

machine_logic_sdk-1.13.0/machine_logic_sdk.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: machine-logic-sdk
+Version: 1.13.0
+Summary: SDK for controlling Vention hardware
+Home-page: https://vention.io/resources/guides/machinelogic-python-programming-514
+Author: VentionCo
+Author-email: vention-sw-ci@vention.cc
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3.5
+Requires-Python: >=3.6
+Description-Content-Type: text/markdown
+Requires-Dist: miros==4.2.1
+Requires-Dist: paho-mqtt==1.5.1
+Requires-Dist: types-requests==2.28.11
+Requires-Dist: requests==2.31.0
+Requires-Dist: typing_extensions==4.6.3
+Requires-Dist: parameterized
+Requires-Dist: numpy==1.24.2
+Requires-Dist: roslibpy==1.4.2
+Requires-Dist: scipy==1.11.1
+Requires-Dist: zope.interface==5.5.2
+
+Provides a programmatic interface in Python to talk to Vention hardware, as well as a generic state machine for coordinating your programs.
+
+## Table of Contents
+
+1. [Requirements](#Requirements)
+1. [Development](#Development)
+1. [Documentation](#Documentation)
+1. [Resources](#Resources)
+
+## Requirements
+
+Python 3.9.2  
+Higher versions of python work, but 3.9.2 is shipped on the MachineMotion.
+
+### Installing Python
+
+You can install python 3.9 on Ubuntu via `sudo apt install python3.9`  
+Check your python version via `python3 --version`  
+If you already had a python version installed, you'll need to map `python3` to the 3.9 version that you installed.
+
+```sh
+cd /usr/bin
+sudo link python3
+sudo ln -s /usr/bin/python3.9 python3
+```
+
+Then you'll need these in order to set up a venv
+
+```sh
+sudo apt-get install python3-apt python3-virtualenv python3.9-venv
+```
+
+## Development
+
+Always work inside a python `venv` so that your dependencies do not get interfered with:
+
+```sh
+python3 -m venv venv
+source venv/bin/activate
+```
+
+You will need to upgrade pip before continuing
+
+```sh
+pip install --upgrade pip
+```
+
+Then install package:
+
+```sh
+pip install machine-logic-sdk
+```
+
+## Documentation
+- [Documentation](https://vention.io/resources/guides/machinelogic-python-programming-514)
+
+## Resources
+- [Miros](https://aleph2c.github.io/miros/html/#) is the framework upon which our architecture is based

machine_logic_sdk-1.13.0/machine_logic_sdk.egg-info/SOURCES.txt

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+MANIFEST.in
+README.md
+pyproject.toml
+setup.py
+machine_logic_sdk.egg-info/PKG-INFO
+machine_logic_sdk.egg-info/SOURCES.txt
+machine_logic_sdk.egg-info/dependency_links.txt
+machine_logic_sdk.egg-info/requires.txt
+machine_logic_sdk.egg-info/top_level.txt
+machinelogic/__init__.py
+machinelogic/decorators/__init__.py
+machinelogic/decorators/future_api.py
+machinelogic/decorators/undocumented.py
+machinelogic/decorators/tests/__init__.py
+machinelogic/decorators/tests/test_future_api.py
+machinelogic/decorators/tests/test_undocumented.py
+machinelogic/ivention/__init__.py
+machinelogic/ivention/event_listener.py
+machinelogic/ivention/exception.py
+machinelogic/ivention/handle.py
+machinelogic/ivention/iac_motor.py
+machinelogic/ivention/iactuator.py
+machinelogic/ivention/iactuator_group.py
+machinelogic/ivention/ibag_gripper.py
+machinelogic/ivention/icamera.py
+machinelogic/ivention/idigital_input.py
+machinelogic/ivention/idigital_io_shared.py
+machinelogic/ivention/idigital_output.py
+machinelogic/ivention/iestop.py
+machinelogic/ivention/imachine.py
+machinelogic/ivention/imachine_motion.py
+machinelogic/ivention/ipath_follower.py
+machinelogic/ivention/ipneumatic.py
+machinelogic/ivention/irobot.py
+machinelogic/ivention/machine_configuration.py
+machinelogic/ivention/mqtt_client.py
+machinelogic/ivention/tests/__init__.py
+machinelogic/ivention/tests/test_event_listener.py
+machinelogic/ivention/tests/test_idigital_input.py
+machinelogic/ivention/tests/test_idigital_output.py
+machinelogic/ivention/tests/test_imachine.py
+machinelogic/ivention/tests/test_ipath_follower.py
+machinelogic/ivention/tests/test_mqtt_client.py
+machinelogic/ivention/types/__init__.py
+machinelogic/ivention/types/ac_motor_details.py
+machinelogic/ivention/types/actuator_details.py
+machinelogic/ivention/types/bag_gripper_details.py
+machinelogic/ivention/types/input_details.py
+machinelogic/ivention/types/output_details.py
+machinelogic/ivention/types/path_follower_status.py
+machinelogic/ivention/types/path_follower_tool.py
+machinelogic/ivention/types/pneumatic_details.py
+machinelogic/ivention/util/__init__.py
+machinelogic/ivention/util/inheritance.py
+machinelogic/machinelogic/__init__.py
+machinelogic/machinelogic/ac_motor.py
+machinelogic/machinelogic/actuator.py
+machinelogic/machinelogic/actuator_group.py
+machinelogic/machinelogic/api.py
+machinelogic/machinelogic/bag_gripper.py
+machinelogic/machinelogic/camera.py
+machinelogic/machinelogic/digital_input.py
+machinelogic/machinelogic/digital_output.py
+machinelogic/machinelogic/estop.py
+machinelogic/machinelogic/machine.py
+machinelogic/machinelogic/machine_motion.py
+machinelogic/machinelogic/path_follower.py
+machinelogic/machinelogic/pneumatic.py
+machinelogic/machinelogic/robot/__init__.py
+machinelogic/machinelogic/robot/robot.py
+machinelogic/machinelogic/robot/vention_ros_client_library.py
+machinelogic/machinelogic/tests/__init__.py
+machinelogic/machinelogic/tests/test_ac_motor.py
+machinelogic/machinelogic/tests/test_actuator.py
+machinelogic/machinelogic/tests/test_bag_gripper.py
+machinelogic/machinelogic/tests/test_machine.py
+machinelogic/machinelogic/tests/test_path_follower.py
+machinelogic/machinelogic/tests/test_pneumatic.py
+machinelogic/state_machine/__init__.py
+machinelogic/state_machine/state_machine.py
+machinelogic/state_machine/state_node.py
+machinelogic/state_machine/state_transition.py

machine_logic_sdk-1.13.0/machine_logic_sdk.egg-info/dependency_links.txt

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+

machine_logic_sdk-1.13.0/machine_logic_sdk.egg-info/requires.txt

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+miros==4.2.1
+paho-mqtt==1.5.1
+types-requests==2.28.11
+requests==2.31.0
+typing_extensions==4.6.3
+parameterized
+numpy==1.24.2
+roslibpy==1.4.2
+scipy==1.11.1
+zope.interface==5.5.2

machine_logic_sdk-1.13.0/machine_logic_sdk.egg-info/top_level.txt

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+machinelogic

machine_logic_sdk-1.13.0/machinelogic/__init__.py

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+"""MachineCode API
+"""
+from .ivention.exception import *
+from .machinelogic.actuator_group import ActuatorGroup
+from .machinelogic.machine import Machine
+from .machinelogic.path_follower import PathFollower

machine_logic_sdk-1.13.0/machinelogic/decorators/future_api.py

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+import functools
+from typing import Callable, TypeVar
+
+from typing_extensions import ParamSpec
+
+Params = ParamSpec("Params")
+ReturnType = TypeVar("ReturnType")  # pylint: disable=invalid-name
+
+
+def future_api(func: Callable[Params, ReturnType]) -> Callable[Params, ReturnType]:
+    """
+    A decorator to mark methods that will be part of a future api.
+    These method will be skipped by the documentation generation script.
+
+    Args:
+        func: The function to decorate
+
+    Returns:
+        The decorator
+    """
+
+    @functools.wraps(func)
+    def decorator(*args: Params.args, **kwargs: Params.kwargs) -> ReturnType:
+        return func(*args, **kwargs)
+
+    decorator.__future_api__ = True  # type: ignore
+
+    return decorator

machine_logic_sdk-1.13.0/machinelogic/decorators/tests/test_future_api.py

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+# pylint: disable=missing-function-docstring
+import unittest
+
+from machinelogic.decorators.future_api import future_api
+
+
+class DecoratedClass:
+    def __init__(self, value: int):
+        self.__value = value
+
+    # You cannot wrap @property :(
+    @property
+    @future_api
+    def value(self) -> int:
+        return self.__value
+
+    @future_api
+    def get_value(self) -> int:
+        return self.__value
+
+
+class TestFutureApi(unittest.TestCase):
+    def test_given_value_when_getting_future_api_value_property_then_returns_value(
+        self,
+    ) -> None:
+        # Arrange
+        expected_value = 1
+        instance = DecoratedClass(expected_value)
+
+        # Act
+        actual_value = instance.value
+
+        # Assert
+        self.assertEqual(expected_value, actual_value)
+
+    def test_given_value_when_setting_future_api_value_property_then_raises_attribute_error(
+        self,
+    ) -> None:
+        # Arrange
+        instance = DecoratedClass(1)
+
+        # Act & Assert
+        with self.assertRaises(AttributeError):
+            instance.value = 2  # type: ignore
+
+    def test_future_api_on_top_of_property_does_not_work(
+        self,
+    ) -> None:
+        # Assert
+        self.assertFalse(
+            getattr(getattr(DecoratedClass, "value"), "__future_api__", False)
+        )

machine_logic_sdk-1.13.0/machinelogic/decorators/tests/test_undocumented.py

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+# pylint: disable=missing-function-docstring
+import unittest
+
+from machinelogic.decorators.undocumented import undocumented, undocumented_property
+
+
+class DecoratedClass:
+    def __init__(self, value: int):
+        self.__value = value
+
+    @undocumented_property
+    def undocumented_value(self) -> int:
+        """This is an undocumented property"""
+        return self.__value
+
+    @property
+    def value(self) -> int:
+        """This is a documented property"""
+        return self.__value
+
+    @undocumented
+    def get_value(self) -> int:
+        """This is an undocumented method"""
+        return self.__value
+
+
+class TestUndocumentedDecorator(unittest.TestCase):
+    def setUp(self) -> None:
+        self.expected_value = 1
+        self.instance = DecoratedClass(self.expected_value)
+
+    def test_get_property_value_when_using_undocumented_property_then_returns_value(
+        self,
+    ) -> None:
+        # @property should return the expected value. This test is added for reference
+        self.assertEqual(self.expected_value, self.instance.value)
+
+        # @undocumented_property should return the value
+        self.assertEqual(self.expected_value, self.instance.undocumented_value)
+
+    def test_get_value_when_using_undocumented_method_then_returns_value(
+        self,
+    ) -> None:
+        # @undocumented method should still return the value
+        self.assertEqual(self.expected_value, self.instance.get_value())
+
+    def test_undocumnented_attributed_should_be_set_to_true(self) -> None:
+        # @undocumented should have '__undocumented__' attribute
+        self.assertTrue(
+            hasattr(getattr(DecoratedClass, "undocumented_value"), "__undocumented__")
+        )
+
+        # @undocumented should have '__undocumented__' attribute set to True
+        self.assertTrue(
+            getattr(getattr(DecoratedClass, "undocumented_value"), "__undocumented__")
+        )
+
+    def test_undocumnented_property_attributed_should_be_set_to_true(self) -> None:
+        # @undocumented_property should have '__undocumented__' attribute
+        self.assertTrue(
+            hasattr(getattr(DecoratedClass, "undocumented_value"), "__undocumented__")
+        )
+
+        # @undocumented_property should have '__undocumented__' attribute set to True
+        self.assertTrue(
+            getattr(getattr(DecoratedClass, "undocumented_value"), "__undocumented__")
+        )
+
+    def test_documentation_should_be_set_when_using_undocumented_property(self) -> None:
+        # @undocumented_property should have '__doc__' attribute set to the expected value
+        self.assertEqual(
+            "This is an undocumented property",
+            getattr(getattr(DecoratedClass, "undocumented_value"), "__doc__"),
+        )
+
+    def test_documentation_should_be_set_when_using_undocumented(self) -> None:
+        # @undocumented should have '__doc__' attribute set to the expected value
+        self.assertEqual(
+            "This is an undocumented method",
+            getattr(getattr(DecoratedClass, "get_value"), "__doc__"),
+        )

machine_logic_sdk-1.13.0/machinelogic/decorators/undocumented.py

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+import functools
+from typing import Any, Callable, Optional, TypeVar
+
+from typing_extensions import ParamSpec
+
+Params = ParamSpec("Params")
+ReturnType = TypeVar("ReturnType")  # pylint: disable=invalid-name
+
+
+class undocumented_property(property):  # pylint: disable=invalid-name
+    """
+    A decorator to mark property methods that will not be documented.
+    These getters will be skipped by the documentation generation script.
+
+    This decorator is meant to be used in place of '@property', if
+    it's meant to be undocumented.
+
+    Note that the `undocumented` decorator works only on functions and
+    doesn't work on top of the `@property` decorator.
+    """
+
+    __undocumented__ = True
+
+    def __init__(self, fget: Callable[Params, ReturnType]) -> None:
+        super().__init__(fget)
+
+    def __get__(self, instance: Any, owner: Optional[type] = None) -> Any:
+        return super().__get__(instance, owner)
+
+
+def undocumented(func: Callable[Params, ReturnType]) -> Callable[Params, ReturnType]:
+    """
+    A decorator to mark methods that will never be documented.
+    These method will be skipped by the documentation generation script.
+
+    Args:
+        func: The function to decorate.
+
+    Returns:
+        The decorator.
+    """
+
+    @functools.wraps(func)
+    def decorator(*args: Params.args, **kwargs: Params.kwargs) -> ReturnType:
+        return func(*args, **kwargs)
+
+    decorator.__undocumented__ = True  # type: ignore
+
+    return decorator

machine_logic_sdk-1.13.0/machinelogic/ivention/__init__.py

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+"""_summary_
+"""

machine_logic_sdk-1.13.0/machinelogic/ivention/event_listener.py

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+"""Module for managing generic events
+"""
+from typing import Callable, Optional
+
+import paho.mqtt.client as mqtt
+
+from .handle import Handle
+
+EventCallback = Callable[[str, Optional[str]], None]
+
+
+class EventListener:
+    """A listener on a topic"""
+
+    def __init__(self, handle: Handle, topic: str, callback: EventCallback):
+        """_summary_
+
+        Args:
+            handle (Handle): Handle for the vent
+            topic (str): Topic to wait for
+            callback (EventCallback): Callback to trigger
+        """
+        self.handle = handle
+        self.topic = topic
+        self.callback = callback
+
+
+class EventListenerManager:
+    """
+    Generic mechanism for adding, removing, and notifying event listeners.
+    """
+
+    _listeners: list[EventListener]
+    _handle_count: int
+
+    def __init__(self) -> None:
+        self._listeners = []
+        self._handle_count = 0
+
+    def add_event_listener(self, topic: str, callback: EventCallback) -> Handle:
+        """Add a listener for a topic.
+
+        Args:
+            topic (str): The topic to listen on
+            callback (EventCallback): A callback where the first argument is the topic and the second is the message
+
+        Returns:
+            Handle: Provide to 'remove_event_listener' to remove this event
+        """
+        handle = Handle(self._handle_count)
+        self._handle_count = self._handle_count + 1
+        self._listeners.append(EventListener(handle, topic, callback))
+        return handle
+
+    def remove_event_listener(self, handle: Handle) -> bool:
+        """Remove an active event listener
+
+        Args:
+            handle (Handle): The handle of the listener that you want to remove
+
+        Returns:
+            bool: True if the handle was removed, otherwise False
+        """
+        for listener in self._listeners:
+            if listener.handle is handle:
+                self._listeners.remove(listener)
+                return True
+
+        return False
+
+    def notify_listeners(self, topic: str, message: Optional[str] = None) -> None:
+        """Calls the callback on all event listeners interested in the provided topic
+
+        Args:
+            topic (str): Topic
+            message (str): Message
+        """
+        for listener in self._listeners:
+            if mqtt.topic_matches_sub(listener.topic, topic):
+                listener.callback(topic, message)