Merge pull request #60 from BetzDrive/remove_make

[Buildsystem] Remove makefiles

.github/workflows/compile.yaml

@@ -1,23 +1,6 @@
 name: compile
 on: [pull_request]
 jobs:
-  makefile:
-    runs-on: ubuntu-latest
-    steps:
-    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Install Arm GCC
-      uses: fiam/arm-none-eabi-gcc@v1
-      with:
-        release: '9-2019-q4' # The arm-none-eabi-gcc release to use.
-    - name: Install Protoc
-      run: sudo apt-get install protobuf-compiler
-    - name: Install Protoc Tools
-      run: python3 -m pip install protobuf grpcio-tools
-    - run: make -C bootloader/
-    - run: make -C firmware/
   bazel-bootloader:
     runs-on: ubuntu-latest
     steps:

.github/workflows/tests.yaml

@@ -1,4 +1,4 @@
-name: Python package
+name: bd tools (install and tests)
 
 on: [pull_request]
 

.gitmodules

@@ -2,6 +2,3 @@
 	path = third_party/chibios
 	url = https://github.com/berkeleyopenarms/ChibiOS.git
 	branch = stable_2.6.x
-[submodule "proto/nanopb"]
-	path = third_party/nanopb
-	url = https://github.com/nanopb/nanopb.git

Makefile

@@ -1,13 +1,14 @@
 test: pytest lint
 
-pytest: install_bd_tools
+pytest: install_python_packages
 	python3 -m pytest tests/
 
 lint: lint_python lint_cpp
 
 lint_python:
 	isort --check tests bd_tools
-	black --check tests bd_tools
+	black --check bd_tools
+	black --check tests
 	pflake8 bd_tools tests
 
 lint_cpp:
@@ -17,18 +18,16 @@ format: format_python format_bazel
 
 format_python:
 	isort tests bd_tools
-	black tests bd_tools
+	black bd_tools
+	black tests
 
 format_bazel:
 	bazel run //:buildifier
 
-setup: init_submodules install_python_packages install_bd_tools
+setup: init_submodules install_python_packages
 
 init_submodules:
 	git submodule update --recursive --init
 
 install_python_packages:
-	python3 -m pip install -r requirements.txt
-
-install_bd_tools:
-	python3 -m pip install bd_tools/ --user
+	python3 -m pip install -r requirements.txt --user

README.md

@@ -3,8 +3,7 @@
 cd ~
 git clone https://github.com/BetzDrive/bldc-controller.git
 cd bldc-controller
-sudo apt-get install gcc-arm-none-eabi gdb-multiarch python3-pip
-python3 -m pip install -r requirements.txt
+sudo apt-get install gdb-multiarch python3-pip
 make setup
 ```
 
@@ -13,39 +12,35 @@ A quick way of running the full test suite is to use `make test`. This will lint
 
 ### Compiling
 ```bash
-cd ~/bldc_controller/<firmware or bootloader>
-make
+bazel build //<bootloader or firmware>
 ```
 
-### Debugging via ST-LINK
-To debug during execution, you can attach the debugger at any time using the following code. Keep in mind this is done with a direct connection to the hardware via an ST-Link.
+### Uploading via ST-LINK
 ```bash
-cd ~/bldc_controller/<firmware or bootloader>
-openocd
-----
-cd ~/bldc_controller/<firmware or bootloader>/build
-arm-none-eabi-gdb or gdb-multiarch <compiled file>.elf
-(gdb) target extended-remote :3333
+bazel run //<bootloader or firmware>:flash
 ```
 
-This functionality is also built into the make files as `make debug`.
-
-### Uploading via ST-LINK
+### Debugging via ST-LINK
+To debug during execution, you can attach the debugger at any time using the following code. Keep in mind this is done with a direct connection to the hardware via an ST-Link.
 ```bash
-cd ~/bldc_controller/<firmware or bootloader>
-make upload
+# First terminal (flash latest and start gdb multiarch)
+bazel run //<bootloader or firmware>:flash
+bazel run //<bootloader or firmware>:gdb
+# Second terminal (start openocd server)
+bazel run //<bootloader or firmware>:debug
 ```
 
 ### Upload firmware via RS485
 ```bash
-cd ~/bldc_controller/tools
-python upload_firmware.py <serial_port> <board_ids> ~/bldc_controller/firmware/build/firmware.bin
+bazel run //firmware:upload
 ```
 
 ### Upload bootloader via RS485
 Use this with caution. If this fails and a power cycle or reboot occurs, the board will have to be programmed directly. In the case of a failed upload, disable the enumeration procedure and try again with the same board ID. To be safe, first upload and test on an easy-to-remove link such as the gripper or base which are not as difficult to access in case of a failure.
 
-`upload_bootloader.py <serial_port> <board_id> <path_to_file>`
+```bash
+bazel run //bootloader:upload
+```
 
 ### Serial Transmission Speed Limits
 USB Serial device drivers only permit at most one transmission per millisecond. By default, this is set to 16 milliseconds on our usb to RS485 converters. To change this execute the following terminal commands:
@@ -59,40 +54,40 @@ cat /sys/bus/usb-serial/devices/ttyUSB<id_num>/latency_timer
 (when running the arm, this is done automatically by the ROS control stack)
 
 # Python Scripts
-These scripts are made to remotely interface with the boards. They can debug, program, and run the boards. They interface using our custom communications protocol. Most scripts have been fitted with argparse which will give a description of the arguments when given the '-h' option. (i.e. `read_sensor.py -h`)
+These scripts are made to remotely interface with the boards. They can debug, program, and run the boards. They interface using our custom communications protocol. The scripts are grouped under the base command `bdt`. Read more with `bdt -h`.
 
 ### Motor Calibration
 To calibrate the motor board, a motor must first be attached without a load for optimal calibration. The results of calibration are based on the properties of the given motor.
 
-* `calibrate_encoder.py <serial_port> <board_id> <duty_cycle>`
-* `upload_calibration.py <serial_port> <board_id>`
+* `bdt calibrate_encoder <serial_port> <board_id> <duty_cycle>`
+* `bdt upload_calibration <serial_port> <board_id>`
 
-1. Run _calibrate_encoder.py_: for 24V Power Supplies the duty cycle used in testing is 0.3 and for 48V or 50V supplies use half (0.15). This will generate a file called calibrations.json
-2. Run _upload_calibration.py_ with the updated calibrations.json and the generated file will be loaded onto the board.
+1. Run _calibrate_encoder_: for 24V Power Supplies the duty cycle used in testing is 0.3 and for 48V or 50V supplies use half (0.15). This will generate a file called calibrations.json
+2. Run _upload_calibration_ with the updated calibrations.json and the generated file will be loaded onto the board.
 
 After completing these steps, the motor should be controllable.
 
 ### Update Motor Calibration Constants (PID and Limits)
 Run this script after there's a calibration on the board. Modify the contents of the script to adjust tunings!
 
-`update_calibration.py <serial_port> <board_id>`
+`bdt update_calibration <serial_port> <board_id>`
 
 ### Motor Control
 Use this script to spin a motor with a given current command. A substantial starting point is 0.5 and increase above this with proper supervision! A negative command will reverse the direction. Description of what arguments each mode takes can be found with the '-h' option.
 
-`control_motor.py <serial_port> <board_id> <mode> <command>`
+`bdt control_motor <serial_port> <board_id> <mode> <command>`
 
 To control multiple motors,
 
 ```
-control_motor.py <serial_port> 1,2,3 torque 0.5,0.25,0
-control_motor.py <serial_port> 1,2,3 current [0,0.5],[0,0.25],[0,0]
+bdt control_motor <serial_port> 1,2,3 torque 0.5,0.25,0
+bdt control_motor <serial_port> 1,2,3 current [0,0.5],[0,0.25],[0,0]
 ```
 
 ### Read Sensor
 This script lets a user read from any of the sensors on-board the device.
 
-`read_sensor.py <serial_port> <board_ids> <sensor>`
+`bdt read_sensor <serial_port> <board_ids> <sensor>`
 
 ### View Control Loop
 Plots the control target and the resulting quadrature/direct current commands. This is low frequency so use the recorder to get a better sense of the internal state of the motor driver.

bd_tools/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 Berkeley Open Arms
+
+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.

bd_tools/pyproject.toml

@@ -0,0 +1,48 @@
+[build-system]
+requires = [
+    "hatchling>=1.8.0",
+]
+build-backend = "hatchling.build"
+
+[project]
+name = "bd-tools"
+description = "Python API for BetzDrive"
+readme = "README.md"
+license = "MIT"
+requires-python = ">=3.7"
+authors = [
+    { name = "Greg Balke", email = "gbalke@berkeley.edu" },
+]
+classifiers = [
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+]
+dependencies = [
+    "crcmod",
+    "matplotlib",
+    "numpy",
+    "pyserial",
+    "scipy",
+]
+dynamic = [
+    "version",
+]
+
+[tool.black]
+line-length = 79
+
+[project.scripts]
+bdt = "bd_tools.__main__:main"
+
+[project.urls]
+Homepage = "http://github.com/betzdrive/bldc-controller"
+
+[tool.hatch.version]
+path = "src/bd_tools/__about__.py"
+
+[tool.hatch.build.targets.sdist]
+include = [
+    "/src/bd_tools",
+]

bd_tools/setup.py

@@ -1,25 +1,3 @@
-from setuptools import find_packages, setup
+from setuptools import setup
 
-with open("README.md", "r") as fh:
-    long_description = fh.read()
-
-setup(
-    name="bd_tools",
-    version="0.1",
-    description="Python API for BetzDrive",
-    long_description=long_description,
-    long_description_content_type="text/markdown",
-    url="http://github.com/betzdrive/bldc-controller",
-    author="Greg Balke",
-    author_email="gbalke@berkeley.edu",
-    license="BSD",
-    packages=find_packages(),
-    install_requires=["crcmod", "matplotlib", "numpy", "scipy", "pyserial"],
-    zip_safe=False,
-    classifiers=[
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
-        "License :: OSI Approved :: BSD License",
-        "Operating System :: OS Independent",
-    ],
-)
+setup()

bd_tools/src/bd_tools/__about__.py

@@ -0,0 +1 @@
+__version__ = "0.1"

bd_tools/__init__.py → bd_tools/src/bd_tools/__init__.py

@@ -1,4 +1,5 @@
 """The betz drive tools package."""
 
+import bd_tools.bin
 import bd_tools.boards
 import bd_tools.comms  # noqa: F401

bd_tools/__main__.py → bd_tools/src/bd_tools/__main__.py

@@ -3,6 +3,8 @@
 import sys
 from pathlib import Path
 
+import bd_tools
+
 BIN_PATH = Path(__file__).parent / "bin"
 
 
@@ -21,17 +23,16 @@ def parser_args(tools):
 
 def action(args):
     file_name = BIN_PATH / (args.tool + ".py")
-    with open(file_name) as f:
-        # NOTE(greg): Shifts argv down one (and deletes the 0th arg) so the
-        # sub-tool does not see its own name as the 1st arg.
-        sys.argv = sys.argv[1:]
-        # Correctly make arg0 the path to the file we're executing.
-        sys.argv[0] = str(file_name)
-        code = compile(f.read(), file_name.name, "exec")
-        exec(code, globals())
+    # NOTE(greg): Shifts argv down one (and deletes the 0th arg) so the
+    # sub-tool does not see its own name as the 1st arg.
+    sys.argv = sys.argv[1:]
+    # Correctly make arg0 the path to the file we're executing.
+    sys.argv[0] = str(file_name)
+    tool = getattr(bd_tools.bin, args.tool)
+    tool.action(tool.parser_args())
 
 
-if __name__ == "__main__":
+def main():
     # NOTE(greg): We have to hack the help to make sure it only operates on
     # this argparser if its the first arg.
     tool_help = False
@@ -60,3 +61,7 @@ def action(args):
         sys.argv.append("--help")
 
     action(args)
+
+
+if __name__ == "__main__":
+    main()

bd_tools/src/bd_tools/bin/__init__.py

@@ -0,0 +1,10 @@
+"""Executable tools for BetzDrive"""
+
+import bd_tools.bin.calibrate_encoder
+import bd_tools.bin.control_motor
+import bd_tools.bin.read_sensor
+import bd_tools.bin.update_calibration
+import bd_tools.bin.upload_bootloader
+import bd_tools.bin.upload_calibration
+import bd_tools.bin.upload_firmware
+import bd_tools.bin.view_control_loop  # noqa: F401

bootloader/BUILD.bazel

@@ -1,9 +1,10 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
 load("//third_party:variables.bzl", "project_inc_paths")
+load("//toolchains:debug.bzl", "debug_gdb")
 load("//toolchains:platforms.bzl", "bootloader_binary", "gen_binary")
 load("//toolchains:os_config.bzl", "os_config")
 load("//toolchains:flash.bzl", "flash_remote")
-load("@bazel_embedded//tools/openocd:defs.bzl", "openocd_flash")
+load("@bazel_embedded//tools/openocd:defs.bzl", "openocd_debug_server", "openocd_flash")
 
 bootloader_binary(
     name = "bootloader_raw",
@@ -80,3 +81,19 @@ openocd_flash(
         "interface/stlink.cfg",
     ],
 )
+
+openocd_debug_server(
+    name = "debug",
+    device_configs = [
+        "target/stm32f4x.cfg",
+    ],
+    interface_configs = [
+        "interface/stlink.cfg",
+    ],
+    transport = "hla_swd",
+)
+
+debug_gdb(
+    name = "gdb",
+    elf = ":bootloader.elf",
+)