try pushing image to ghcr.io

.github/workflows/test.yaml

@@ -1,16 +1,25 @@
 name: test
 
-on: [pull_request, push, workflow_dispatch]
+on: [pull_request, workflow_dispatch]
 
 concurrency:
   group: test-${{github.ref}}
   cancel-in-progress: true
 
 jobs:
+  # image:
+  #   runs-on: ubuntu-latest
+  #   steps:
+  #     - name: Checkout source
+  #       uses: actions/checkout@v2
+  #
+  #     - name: push image
+  #       run: GITHUB_TOKEN=${{secrets.GITHUB_TOKEN}} make push-image
+  #
   test:
     runs-on: ubuntu-latest
     # To create and push new image: make push-image
-    container: docker://merlinran/acorn_docker:latest
+    container: ghcr.io/twisted-fields/acorn_docker:latest
     strategy:
       fail-fast: true
 
@@ -19,7 +28,7 @@ jobs:
         uses: actions/checkout@v2
 
       - name: Run tests
-        run: coverage run -m pytest
+        run: make test
 
       - name: Upload Coverage to Codecov
         uses: codecov/codecov-action@v1

Dockerfile

@@ -44,6 +44,7 @@ RUN apt update && apt install -y libffi-dev \
                   libxslt1-dev \
                   gfortran-arm-linux-gnueabi \
                   libjpeg8-dev \
+                  libusb-1.0-0-dev \
                   python3-pip \
                   python3-scipy \
                   python3-numpy-dev \
@@ -54,7 +55,7 @@ RUN apt update && apt install -y libffi-dev \
                   bash \
                   iputils-ping
 RUN python3 -m pip install --upgrade pip
-RUN python3 -m pip install wheel certifi==2020.06.20 pytest coverage[toml]
+RUN python3 -m pip install wheel certifi==2020.06.20 pytest~=7.0.1 coverage[toml]~=6.3.2
 COPY server/requirements.txt /install/server/
 RUN python3 -m pip install -r /install/server/requirements.txt
 COPY vehicle/requirements.txt /install/vehicle/

Makefile

@@ -1,5 +1,5 @@
 LOCAL_IMAGE = acorn_docker:1.0
-REMOTE_IMAGE = merlinran/acorn_docker
+REMOTE_IMAGE = ghcr.io/twisted-fields/acorn_docker:latest
 ACORN_NAMES ?= simulation-1
 
 .PHONY: list
@@ -40,8 +40,12 @@ docker-test: docker-image
 	@docker-compose -f docker-compose-test.yml up --remove-orphans -d && \
 	docker exec -it acorn_vehicle make test
 
-.PHONY: push-image # Build and push image to Docker Hub to be used by CI.
-push-image: docker-image
+.PHONY: push-image # Build and push image to GitHub Container Registry to be used by CI.
+push-image:
+	echo $(GITHUB_TOKEN) | docker login ghcr.io -u twisted-fields --password-stdin && make do-push-image
+
+.PHONY: do-push-image
+do-push-image: docker-image
 ifeq ($(shell uname -m),arm64)
 	docker buildx build -t $(REMOTE_IMAGE) --platform linux/amd64,linux/arm64 --push .
 else
@@ -50,7 +54,7 @@ endif
 
 .PHONY: test  # Run tests on Linux (if the Python dependencies are installed) or inside Docker. Otherwise, you probably want to try `make docker-test` instead.
 test:
-	coverage run -m pytest --log-cli-level DEBUG && coverage report --skip-covered --skip-empty
+	python3 -m coverage run -m pytest --log-cli-level DEBUG && python3 -m coverage report --skip-covered --skip-empty
 
 .PHONY: docker-vehicle
 docker-vehicle: docker-image

vehicle/hal/GPIO.py

@@ -0,0 +1,39 @@
+"""
+*********************************************************************
+                     This file is part of:
+                       The Acorn Project
+             https://wwww.twistedfields.com/research
+*********************************************************************
+Copyright (c) 2019-2021 Taylor Alexander, Twisted Fields LLC
+Copyright (c) 2021 The Acorn Project contributors (cf. AUTHORS.md).
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*********************************************************************
+"""
+
+try:
+    import RPi.GPIO as GPIO
+except RuntimeError as e:
+    if str(e) != 'This module can only be run on a Raspberry Pi!':
+        raise
+
+    class simulated_GPIO():
+        def __init__(self):
+            self.estop_state = True
+
+        def setmode(self, *args):
+            pass
+
+        def output(self, *args):
+            pass
+    GPIO = simulated_GPIO()

vehicle/hal/__init__.py

@@ -0,0 +1 @@
+from .gpio import GPIO

vehicle/motors.py

@@ -34,18 +34,13 @@
 import corner_actuator
 from corner_actuator import OdriveConnection
 import model
-
-
-# This file gets imported by server but we should only import GPIO on raspi.
-if os.uname().machine in ['armv7l','aarch64']:
-    import RPi.GPIO as GPIO
-
+from hal import GPIO
 
 BOARD_VERSION = 2
 
-if BOARD_VERSION==1:
+if BOARD_VERSION == 1:
     VOLT_OUT_PIN = 5
-elif BOARD_VERSION==2:
+elif BOARD_VERSION == 2:
     VOLT_OUT_PIN = 23
 
 
@@ -59,14 +54,6 @@
 _ACCELERATION_COUNTS_SEC = 0.5
 
 
-class simulated_GPIO():
-    def __init__(self):
-        self.estop_state = True
-
-    def output(self, *args):
-        pass
-
-
 class AcornMotorInterface():
 
     def __init__(self, manual_control=False, simulated_hardware=False):
@@ -88,12 +75,8 @@ def __init__(self, manual_control=False, simulated_hardware=False):
         self.steering_adjusted = False
         self.manual_control = manual_control
         self.simulated_hardware = simulated_hardware
-
-        if self.simulated_hardware:
-            self.GPIO = simulated_GPIO()
-        else:
-            self.GPIO = GPIO
-            self.setup_GPIO(self.GPIO)
+        self.GPIO = GPIO
+        self.setup_GPIO(self.GPIO)
 
     def create_socket(self, port=5590):
         context = zmq.Context()
@@ -288,7 +271,6 @@ def run_main(self):
                         abs(vehicle_corner.ibus_0) + abs(vehicle_corner.ibus_1))
                     temperatures.append(vehicle_corner.temperature_c)
 
-
                 if self.check_odrive_errors():
                     if not motor_error:
                         # Intentionally break the e-stop loop to stop all motors.

vehicle/nvidia_power_process.py

@@ -24,14 +24,7 @@
 import time
 import sys
 import os
-
-# This file gets imported by server but we should only import GPIO on raspi.
-if os.uname().machine in ['armv7l','aarch64']:
-    import RPi.GPIO as GPIO
-    import board
-    import busio
-    import digitalio
-    from adafruit_mcp230xx.mcp23017 import MCP23017
+from hal import GPIO
 
 BOARD_VERSION = 2
 

vehicle/remote_control_process.py

@@ -44,13 +44,6 @@
 
 BOARD_VERSION = 2
 
-# This file gets imported by server but we should only import GPIO on raspi.
-if os.uname().machine in ['armv7l','aarch64']:
-    import board
-    import busio
-    from adafruit_mcp230xx.mcp23017 import MCP23017
-    from adafruit_mcp230xx.mcp23016 import MCP23016
-
 COUNTS_PER_REVOLUTION = corner_actuator.COUNTS_PER_REVOLUTION
 
 ACCELERATION_COUNTS_SEC = 0.5
@@ -62,10 +55,10 @@
 
 _DEFAULT_TRAVEL_SPEED = 0.2
 _DEFAULT_PATH_END_DISTANCE_METERS = 1
-_DEFAULT_ANGULAR_P=0.9
-_DEFAULT_LATERAL_P=-0.25
-_DEFAULT_ANGULAR_D=0.3
-_DEFAULT_LATERAL_D=-0.05
+_DEFAULT_ANGULAR_P = 0.9
+_DEFAULT_LATERAL_P = -0.25
+_DEFAULT_ANGULAR_D = 0.3
+_DEFAULT_LATERAL_D = -0.05
 _DEFAULT_MAXIMUM_VELOCITY = 0.4
 
 _MAXIMUM_ALLOWED_DISTANCE_METERS = 3.5
@@ -225,7 +218,6 @@ def __init__(self,
                                                            angular_d=_DEFAULT_ANGULAR_D,
                                                            lateral_d=_DEFAULT_LATERAL_D)
 
-
         self.nav_path = PathSection(points=[],
                                     control_values=self.default_path_control_vals,
                                     navigation_parameters=self.default_navigation_parameters,
@@ -278,13 +270,17 @@ def __init__(self):
             self.alarm2 = FakeAlarm()
             self.alarm3 = FakeAlarm()
         else:
+            import busio
+            import board
+            from adafruit_mcp230xx.mcp23017 import MCP23017
+            from adafruit_mcp230xx.mcp23016 import MCP23016
             i2c = busio.I2C(board.SCL, board.SDA)
-            if BOARD_VERSION==1:
+            if BOARD_VERSION == 1:
                 mcp = MCP23017(i2c)  # , address=0x20)  # MCP23017
                 self.alarm1 = mcp.get_pin(0)
                 self.alarm2 = mcp.get_pin(1)
                 self.alarm3 = mcp.get_pin(2)
-            elif BOARD_VERSION==2:
+            elif BOARD_VERSION == 2:
                 mcp = MCP23016(i2c, address=0x20)
                 self.alarm1 = mcp.get_pin(8)
                 self.alarm2 = mcp.get_pin(9)
@@ -493,7 +489,6 @@ def run_once(self):
          autonomy_vel_cmd, autonomy_steer_cmd, autonomy_strafe_cmd
          ) = self.calc_commands_for_autonomy(calculated_rotation, calculated_strafe, drive_reverse)
 
-
         time7 = time.time() - debug_time
 
         error_messages, fatal_error, zero_output = self.safety_checks(absolute_path_distance, gps_path_angle_error)
@@ -617,7 +612,6 @@ def run_once(self):
         # rather than replacing the object.
         self.steering_debug[:] = steering_to_numpy(calc)[:]
 
-
         # If the robot is simulated, estimate movement odometry.
         if self.simulated_hardware:
             if abs(steer_cmd) > 0.001 or abs(self.vel_cmd) > 0.001 or abs(strafe_cmd) > 0.001:

vehicle/requirements.txt

@@ -6,3 +6,8 @@ click
 coloredlogs
 csaps
 rpi_ws281x
+geopy
+psutil
+odrive
+evdev
+fibre