Merge branch 'development'

.gitignore

@@ -218,3 +218,5 @@ fabric.properties
 *.gz
 
 build.sh
+AppDir
+appimage-builder-cache/

AppImageBuilder.yml

@@ -0,0 +1,82 @@
+version: 1
+script:
+  # Remove any previous build
+  - rm -rf AppDir  | true
+  # Make usr and icons dirs
+  - mkdir -p AppDir/usr/{share/{applications/icons},src}
+  # Copy the python application code into the AppDir
+  - cp app.py  AppDir/usr/src -r
+  - cp pArm/ AppDir/usr/src/ -r
+  - cp robot-arm.svg AppDir/usr/share/icons
+  - cp es.upm.etsisi.parm.desktop AppDir/usr/share/applications
+  # Install application dependencies
+  - python3 -m pip install --ignore-installed --prefix=/usr --root=AppDir -r ./requirements.txt
+
+
+AppDir:
+  path: ./AppDir
+
+  app_info:
+    id: es.upm.etsisi.parm
+    name: pArm
+    icon: utilities-terminal
+    version: 1.0.0
+    # Set the python executable as entry point
+    exec: usr/bin/python3
+    # Set the application main script path as argument. Use '$@' to forward CLI parameters
+    exec_args: "$APPDIR/usr/src/app.py $@"
+
+  apt:
+    arch: amd64
+    sources:
+      - sourceline: 'deb [arch=amd64] http://archive.ubuntu.com/ubuntu/ focal main restricted universe multiverse'
+        key_url: 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0x3b4fe6acc0b21f32'
+
+    include:
+      - python3
+      - python3-pyqt5
+      - python3-pkg-resources
+      - qt5-default
+      - libfreetype6
+      - libfontconfig1
+    exclude: []
+
+  runtime:
+    version: "continuous"
+    env:
+      PATH: '${APPDIR}/usr/bin:${PATH}'
+      # Set python home
+      # See https://docs.python.org/3/using/cmdline.html#envvar-PYTHONHOME
+      PYTHONHOME: '${APPDIR}/usr'
+      # Path to the site-packages dir or other modules dirs
+      # See https://docs.python.org/3/using/cmdline.html#envvar-PYTHONPATH
+      PYTHONPATH: '${APPDIR}/usr/lib/python3.8/site-packages'
+      # Qt5 LD library path
+      LD_LIBRARY_PATH: "${APPIMAGE_LIBRARY_PATH}:${APPDIR}/usr/lib:${APPDIR}/lib:${LD_LIBRARY_PATH}"
+
+  test:
+    fedora:
+      image: appimagecrafters/tests-env:fedora-30
+      command: ./AppRun
+      use_host_x: true
+    debian:
+      image: appimagecrafters/tests-env:debian-stable
+      command: ./AppRun
+      use_host_x: true
+    arch:
+      image: appimagecrafters/tests-env:archlinux-latest
+      command: ./AppRun
+      use_host_x: true
+    centos:
+      image: appimagecrafters/tests-env:centos-7
+      command: ./AppRun
+      use_host_x: true
+    ubuntu:
+      image: appimagecrafters/tests-env:ubuntu-xenial
+      command: ./AppRun
+      use_host_x: true
+
+AppImage:
+  update-information: 'gh-releases-zsync|AppImageCrafters|python-appimage-example|latest|python-appimage-*x86_64.AppImage.zsync'
+  sign-key: None
+  arch: x86_64

es.upm.etsisi.parm.desktop

@@ -0,0 +1,11 @@
+[Desktop Entry]
+Type=Application
+Name=pArm
+Comment=Centro de control del pArm
+Icon=robot-arm.svg
+Exec=pArm %F
+Terminal=false
+Categories=Application;Development;
+Keywords=Python;Editor;microbit;micro:bit;
+StartupWMClass=mu
+MimeType=text/x-python3;text/x-python3;

pArm/GUI/GUI.py

@@ -19,10 +19,10 @@
 def inverse_kinematics(x_coord, y_coord, z_coord):
     """
     This function performs the calculations related to inverse
-    kinematic model, which are used to graphically draw the 
+    kinematic model, which are used to graphically draw the
     position of the arm on the GUI.
 
-    :params x, y, z coord: Cartesian coordinates of the point to which                                                                            
+    :params x, y, z coord: Cartesian coordinates of the point to which
                            inverse kinematics is applied.
     """
     try:
@@ -121,8 +121,8 @@ def __init__(self, control: ControlInterface):
         qt_logger = QTextEditLogger(edit_text=self.logger_box)
         add_handler(qt_logger,
                     logger_name="Roger",
-                    level=logging.INFO,
-                    log_format="%(asctime)s | [%(""levelname)s]: %(message)s")
+                    level=logging.INFO)
+        #             log_format="%(asctime)s | [%(""levelname)s]: %(message)s")
         self.log = logging.getLogger("Roger")
 
         self.top_view = self.findChild(PlotWidget, 'TopView')
@@ -272,7 +272,7 @@ def top_view_mouse_control(self, event):
         update the graphical representation of  the arm, as well as the sliders's and
         spinboxes's value.
 
-        :param event: Event generated when the user moves the mouse within 
+        :param event: Event generated when the user moves the mouse within
         the top view widget.
         """
         if self.mouse_enabler:
@@ -303,7 +303,7 @@ def side_view_mouse_control(self, event):
         update the graphical representation of  the arm, as well as the sliders's and
         spinboxes's value.
 
-        :param event: Event generated when the user moves the mouse within 
+        :param event: Event generated when the user moves the mouse within
         the side view widget.
         """
         if self.mouse_enabler:
@@ -342,7 +342,7 @@ def disable_mouse_control(self, _):
     def adjust_widget_value(self,type, sliders: QtWidgets.QSlider, spin_boxes: QtWidgets.QDoubleSpinBox,
                         graphics: QtWidgets.QGraphicsView, index: int, id):
         """
-        This method adjust the value of the spinboxes when the sliders are moved and viceversa. 
+        This method adjust the value of the spinboxes when the sliders are moved and viceversa.
         When this happens, the graphical representation of the arm is uptaded. This function is
         called when a signal is emitted.
 
@@ -637,7 +637,7 @@ def draw_view_from_angle(self,
                              *args):
         """
         This method perform the calculations need to draw the arm preview. This
-        calculations are made from the angles selected by the user and by using 
+        calculations are made from the angles selected by the user and by using
         the shortened direct kinematics model.
 
         :param graphics: List of graphic views widgets.
@@ -731,7 +731,7 @@ def draw_view_from_cartesian(self,
                                  *args):
         """
         This method perform the calculations need to draw the arm preview. This
-        calculations are made from the cartesian coordinates selected by the user and by using 
+        calculations are made from the cartesian coordinates selected by the user and by using
         the inverse kinematics model
 
         :param graphics: List of graphic views widgets.
@@ -842,7 +842,7 @@ def set_serial_port(self, port_id:QAction):
         This method is used to set the serial port that is going to
         be used to communicate the GUI app with the PCB. When the user
         select a port in the GUI, this function is executed and
-        the port selected is passed to the logic communication code 
+        the port selected is passed to the logic communication code
         using  the handler object.
 
 
@@ -858,7 +858,7 @@ def set_serial_port(self, port_id:QAction):
 
     def future_callback(self, ft: Future, button: QtWidgets.QPushButton):
         """
-        This method is executed when the future object created in the 
+        This method is executed when the future object created in the
         execute movement process is finally returned, which means that
         this method is a call back.
 

pArm/GUI/progress_widget.py

@@ -131,14 +131,10 @@ def create_worker(self, time_object: AtomicFloat):
         """
         thread = QtCore.QThread()
         worker = Worker(time_object)
-        worker.update_progress.connect(
-            lambda progress: self.handle_progress(progress)
-        )
+        worker.update_progress.connect(self.handle_progress)
         worker.moveToThread(thread)
         thread.started.connect(worker.work)
-        worker.limit_values.connect(
-            lambda limits: self.handle_limits(limits)
-        )
+        worker.limit_values.connect(self.handle_limits)
         worker.finished.connect(thread.quit)
         QtCore.QMetaObject.connectSlotsByName(self)
 

pArm/__main__.py

@@ -20,14 +20,16 @@
 import sys
 from concurrent.futures import ThreadPoolExecutor
 
-logging.basicConfig(level=logging.NOTSET)
+# logging.basicConfig(level=logging.NOTSET)
 
 
 def main():
     try:
-        init_logging("Roger", log_file="p-Arm.log")
+        init_logging("Roger", log_file="p-Arm.log",
+                     file_level=logging.WARN,
+                     enable_console_logging=True)
         app = QtWidgets.QApplication(sys.argv)
-        app.setWindowIcon(QtGui.QIcon("yo.jpg"))
+        app.setWindowIcon(QtGui.QIcon("robot-arm.svg"))
 
         executor = ThreadPoolExecutor()
 

pArm/control/control.py

@@ -61,34 +61,24 @@ def err_fn(self, fn: Callable[[int, str], None]):
     @x.setter
     def x(self, x):
         # if LOWEST_X_VALUE <= x <= HIGHEST_X_VALUE:
-        if True:
-            self._x = x
-        else:
-            print("X value out of bounds")
+        self._x = x
 
     @y.setter
     def y(self, y):
         # if LOWEST_Y_VALUE <= y <= HIGHEST_Y_VALUE:
-        if True:
-            self._y = y
-        else:
-            print("Y value out of bounds")
+        self._y = y
 
     @z.setter
     def z(self, z):
         # if LOWEST_Z_VALUE <= z <= HIGHEST_Z_VALUE:
-        if True:
-            self._z = z
-        else:
-            print("Z value out of bounds")
+        self._z = z
 
     @port.setter
     def port(self, port):
         self.connection.port = port
 
     def move_to_xyz(self, x, y, z,
-                    time_object: Optional[AtomicFloat] = None) -> \
-            Future:
+                    time_object: Optional[AtomicFloat] = None) -> Future:
         """
         Triggers the needed procedures to move the arm to the cartesian position
         that is indicated in its parameters.
@@ -135,10 +125,6 @@ def move_to_thetas(self,
         theta2_in_radians = theta2 * (pi/180)
         theta3_in_radians = theta3 * (pi/180)
 
-        log.debug(theta1_in_radians)
-        log.debug(theta2_in_radians)
-        log.debug(theta3_in_radians)
-
         byte_stream = generator.generate_theta_movement(theta1_in_radians,
                                                         theta2_in_radians,
                                                         theta3_in_radians)

pArm/logger/__init__.py

@@ -12,5 +12,6 @@
 #
 #     You should have received a copy of the GNU General Public License
 #    along with this program. If not, see <http://www.gnu.org/licenses/>.
-from ..logger.logger import init_logging, add_handler
+# from ..logger.logger import init_logging, add_handler
+from .logger import init_logging, add_handler
 from ..logger.PyQtHandler import QTextEditLogger