Format with black and add tests

.gitignore

@@ -1,2 +1,4 @@
 __pipcache__
-docs/_build
+**/__pycache__
+docs/_build
+bin

.travis.yml

@@ -0,0 +1,38 @@
+language: python
+sudo: required
+
+python:
+  - "3.7"
+  - "3.6"
+  - "3.5"
+
+matrix:
+  fast_finish: true
+
+jobs:
+  include:
+    - stage: format-check
+      python:
+        - "3.6"
+      install:
+        - pip install black
+      script:
+        - black --check --diff .
+
+    - stage: deploy
+      if: tag IS present
+      python: "3.6"
+      install: skip
+      script: skip
+      deploy:
+        - provider: pypi
+          user: $PYPI_USERNAME
+          password: $PYPI_PASSWORD
+          distributions: sdist bdist_wheel
+          on:
+            tags: true
+
+install:
+  - "pip install -r requirements.txt"
+script:
+  - pytest

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) [year] [fullname]
+
+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.

docs/conf.py

@@ -12,7 +12,8 @@
 #
 import os
 import sys
-sys.path.insert(0, os.path.abspath('../src'))
+
+sys.path.insert(0, os.path.abspath("../src"))
 
 on_rtd = os.environ.get("READTHEDOCS", None) == "True"
 
@@ -23,9 +24,9 @@
 
 # -- Project information -----------------------------------------------------
 
-project = 'RobotPy Limelight'
-copyright = '2019, Josh Bacon'
-author = 'Josh Bacon'
+project = "RobotPy Limelight"
+copyright = "2019, Josh Bacon"
+author = "Josh Bacon"
 version = "2020"
 release = version
 
@@ -34,21 +35,17 @@
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [
-    "sphinx.ext.autodoc",
-    "sphinx.ext.autosummary",
-    "sphinx.ext.napoleon"
-]
+extensions = ["sphinx.ext.autodoc", "sphinx.ext.autosummary", "sphinx.ext.napoleon"]
 
 master_doc = "index"
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 
 # -- Options for HTML output -------------------------------------------------
@@ -65,4 +62,4 @@
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]

src/limelight.py → limelight/limelight.py

@@ -5,25 +5,30 @@
 import typing
 from typing import Tuple
 
+
 class LEDState(Enum):
     MATCH_PIPELINE = 0
     OFF = 1
     BLINK = 2
     ON = 3
 
+
 class CamMode(Enum):
     PROCESSED = 0
     DRIVER = 1
 
+
 class StreamMode(Enum):
     STANDARD = 0
     PIP_MAIN = 1
     PIP_SECONDARY = 2
 
+
 class SnapshotMode(Enum):
     NONE = 0
     TAKE_2_PS = 1
 
+
 class Limelight:
     _enabled = 1
     _light = 1
@@ -32,8 +37,11 @@ class Limelight:
     __nt = None
     _active_pipeline = 0
 
-    def __init__(self, camera=False, light=False):
-        __nt = NetworkTables.getTable("limelight")
+    def __init__(self, nt=None, camera=False, light=False):
+        if nt:
+            __nt = nt
+        else:
+            __nt = NetworkTables.getTable("limelight")
         self._enabled = camera
         self._light = light
 
@@ -81,7 +89,7 @@ def target_area(self) -> float:
             0% - 100% of image
         """
         return self.__nt.getNumber("ta")
-    
+
     @property
     def skew(self) -> float:
         """
@@ -91,7 +99,7 @@ def skew(self) -> float:
             -90° - 0°
         """
         return self.__nt.getNumber("ts")
-    
+
     @property
     def latency(self) -> float:
         """
@@ -101,7 +109,7 @@ def latency(self) -> float:
             Latency contribution
         """
         return self.__nt.getNumber("tl")
-    
+
     @property
     def bb_short(self) -> float:
         """
@@ -111,7 +119,7 @@ def bb_short(self) -> float:
             Shortest sidelength
         """
         return self.__nt.getNumber("tshort")
-    
+
     @property
     def bb_long(self) -> float:
         """
@@ -121,7 +129,7 @@ def bb_long(self) -> float:
             Longest sidelength
         """
         return self.__nt.getNumber("tlong")
-    
+
     @property
     def bb_horizontal(self) -> float:
         """
@@ -131,7 +139,7 @@ def bb_horizontal(self) -> float:
             The horizontal sidelength
         """
         return self.__nt.getNumber("thor")
-    
+
     @property
     def bb_vertical(self) -> float:
         """
@@ -141,11 +149,11 @@ def bb_vertical(self) -> float:
             The vertical sidelength
         """
         return self.__nt.getNumber("tvert")
-    
+
     @property
     def bounding_box(self) -> Tuple[float, float]:
         return (self.bb_horizontal, self.bb_vertical)
-    
+
     def camtran(self) -> Tuple[Tuple[float, float, float], Tuple[float, float, float]]:
         """
         Results of a 3D solution position, 6 numbers: Translation(x,y,z) Rotation(pitch, yaw, roll)
@@ -158,25 +166,28 @@ def crosshair_ax(self):
         """
         Get crosshair A's X position
         """
-        return self.__nt.getNumber('cx0')
+        return self.__nt.getNumber("cx0")
+
     @property
     def crosshair_ay(self):
         """
         Get crosshair A's Y position
         """
-        return self.__nt.getNumber('cy0')
+        return self.__nt.getNumber("cy0")
+
     @property
     def crosshair_bx(self):
         """
         Get crosshair B's X position
         """
-        return self.__nt.getNumber('cx1')
+        return self.__nt.getNumber("cx1")
+
     @property
     def crosshair_by(self):
         """
         Get crosshair B's Y position
         """
-        return self.__nt.getNumber('cy1')
+        return self.__nt.getNumber("cy1")
 
     def camera(self, camMode: CamMode) -> None:
         """
@@ -187,7 +198,7 @@ def camera(self, camMode: CamMode) -> None:
         """
         self._enabled = camMode
         self.__nt.putNumber("camMode", camMode)
-        
+
     def light(self, status: LEDState) -> None:
         """
         Set the status of the limelight lights
@@ -197,7 +208,7 @@ def light(self, status: LEDState) -> None:
         """
         self._light = status
         self.__nt.putNumber("ledMode", status)
-    
+
     def pipeline(self, pipeline):
         """
         Sets the currently active pipeline
@@ -207,7 +218,7 @@ def pipeline(self, pipeline):
         """
         self._active_pipeline = 0
         self.__nt.putNumber("pipeline", pipeline)
-    
+
     def snapshot(self, snapshotMode: SnapshotMode):
         """
         Allow users to take snapshots during a match
@@ -217,4 +228,3 @@ def snapshot(self, snapshotMode: SnapshotMode):
         """
         self._snapshots = snapshotMode
         self.__nt.putNumber("snapshot", snapshotMode)
-

src/limelight_calcs.py → limelight/limelight_calcs.py

@@ -1,7 +1,10 @@
-from limelight import Limelight
+from .limelight import Limelight
 import math
 
-def calc_distance(camera_angle: float, mount_height: float, target_height: float, limelight: Limelight):
+
+def calc_distance(
+    camera_angle: float, mount_height: float, target_height: float, limelight: Limelight
+):
     """
     Calculate the distance from the camera to the wall the target is mounted on
 
@@ -14,10 +17,15 @@ def calc_distance(camera_angle: float, mount_height: float, target_height: float
     Returns:
         Gives the distance (in the same units that were used for the input) away from the wall that has the target
     """
-    d = (known_height - target_height) / math.tan(math.radians(camera_angle + limelight.vertical_offset))
+    d = (target_height - mount_height) / math.tan(
+        math.radians(camera_angle + limelight.vertical_offset)
+    )
     return d
 
-def calc_camera_angle(x_distance: float, mount_height: float, target_height: float, limelight):
+
+def calc_camera_angle(
+    x_distance: float, mount_height: float, target_height: float, limelight
+):
     """
     Calculate the camera's mounted angle from known properties. Set the robot to a fixed
     distance away from the target and pass in the other properties and it will calculate
@@ -32,4 +40,7 @@ def calc_camera_angle(x_distance: float, mount_height: float, target_height: flo
     Returns:
         Gives the angle (in degrees) that the camera is mounted at
     """
-    a1 = math.degrees(-limelight.vertical_offset + math.atan(math.radians((target_height - mount_height)) / x_distance))
+    a1 = -limelight.vertical_offset + math.degrees(
+        math.atan((target_height - mount_height) / x_distance)
+    )
+    return a1

setup.py

@@ -0,0 +1,16 @@
+from distutils.core import setup
+import os
+
+
+setup(
+    name="RobotPy Limelight",
+    version="2020.0.0",
+    author="Josh Bacon",
+    author_email="bacon.josh09@gmail.com",
+    packages=["limelight"],
+    url="https://pypi.org/project/robotpy-limelight",
+    license="LICENSE",
+    description="RobotPy Limelight utilities",
+    long_description=open("README.rst").read(),
+    install_requires=["pynetworktables >= " + os.environ["TRAVIS_TAG"]],
+)

test-requirements.txt

@@ -0,0 +1,2 @@
+pynetworktables
+pytest

test/test_calcs.py

@@ -0,0 +1,22 @@
+from unittest.mock import patch
+from limelight.limelight import Limelight
+from limelight.limelight_calcs import calc_distance, calc_camera_angle
+import pytest
+
+
+class MockLimelight(Limelight):
+    @property
+    def vertical_offset(self):
+        return 10.0
+
+
+def test_calc_distance():
+    limelight = MockLimelight()
+    d = calc_distance(3, 2, 8, limelight)
+    assert abs(d - 25.988855) < 1e-4
+
+
+def test_calc_camera_angle():
+    limelight = MockLimelight()
+    a1 = calc_camera_angle(10, 2, 8, limelight)
+    assert abs(a1 - 20.963780) < 1e-4