Merge pull request #29 from project-march/release/v0.3.0

Release v0.3.0

.coveragerc

@@ -0,0 +1,7 @@
+[report]
+include =
+    *march_rqt_gait_selection*
+    *march_rqt_input_device*
+    *march_rqt_note_taker*
+omit =
+    *__init__.py

.flake8

@@ -2,7 +2,7 @@
 show-source = true
 max-line-length = 120
 format = ${cyan}%(path)s${reset}:${yellow_bold}%(row)d${reset}:${green_bold}%(col)d${reset}: ${red_bold}%(code)s${reset} %(text)s
-exclude = .git
+exclude = .git, __init__.py
 application-package-names =
     march_rqt_gait_selection,
     march_rqt_input_device,

.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    local-name: march
+    uri: https://github.com/project-march/march
+    version: develop

.travis.yml

@@ -20,8 +20,14 @@ git:
 env:
   global:
     - ROS_REPO=ros
+    - ADDITIONAL_DEBS=curl
     - BUILDER=colcon
     - CATKIN_LINT=pedantic
+    - CI_ENV=`bash <(curl -s https://codecov.io/env)`
+    - DOCKER_RUN_OPTS='$CI_ENV -e CATKIN_TEST_COVERAGE=1 -e NOSE_COVER_INCLUSIVE=True -e NOSE_COVER_BRANCHES=True'
+    - AFTER_INSTALL_TARGET_DEPENDENCIES='pip install coverage'
+    - AFTER_RUN_TARGET_TEST='cd "$target_ws" && ./src/monitor/coverage.sh && bash <(curl -s https://codecov.io/bash) -R src/monitor -F test && bash <(curl -s https://codecov.io/bash) -R src/monitor -F production'
+    - UPSTREAM_WORKSPACE='.rosinstall -march/march_data_collector -march/march_description -march/march_gain_scheduling -march/march_gait_scheduler -march/march_gait_selection -march/march_launch -march/march_safety -march/march_shared_classes -march/march_state_machine'
 
 jobs:
   include:
@@ -37,5 +43,6 @@ jobs:
 # clone and run industrial_ci
 install:
   - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
+
 script:
   - .industrial_ci/travis.sh

README.md

@@ -2,6 +2,7 @@
 Monitor RQt plugins for the March exoskeleton
 
 ![GitHub release (latest by date including pre-releases)](https://img.shields.io/github/v/release/project-march/monitor?include_prereleases)
+ [![codecov](https://codecov.io/gh/project-march/monitor/branch/master/graph/badge.svg?flag=production)](https://codecov.io/gh/project-march/monitor)
 
 | Branch | Build Status |
 | ------ |:------------:|

codecov.yml

@@ -0,0 +1,17 @@
+coverage:
+  status:
+    project:
+      default: off
+      production:
+        target: auto
+        flags:
+          - production
+fixes:
+  - "src/monitor/::"
+flags:
+  production:
+    paths:
+      - "*/src/**/*"
+  test:
+    paths:
+      - "*/test/*"

coverage.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env sh
+
+cd build/march_rqt_note_taker || return
+coverage xml --rcfile ../../src/monitor/.coveragerc
+cd ../.. || return

march_rqt_input_device/src/march_rqt_input_device/input_device_view.py

@@ -68,6 +68,10 @@ def __init__(self, context):
             self.create_button('gait_walk_small', image_path='/gait_walk_small.png',
                                callback=lambda: self.controller.publish_gait('gait_walk_small'))
 
+        gait_walk_large = \
+            self.create_button('gait_walk_large',
+                               callback=lambda: self.controller.publish_gait('gait_walk_large'))
+
         gait_single_step_small = \
             self.create_button('gait_single_step_small', image_path='/gait_single_step_small.png',
                                callback=lambda: self.controller.publish_gait('gait_single_step_small'))
@@ -112,6 +116,14 @@ def __init__(self, context):
             self.create_button('gait_stairs_down', image_path='/gait_stairs_down.png',
                                callback=lambda: self.controller.publish_gait('gait_stairs_down'))
 
+        gait_stairs_up_single_step = \
+            self.create_button('gait_stairs_up_single_step',
+                               callback=lambda: self.controller.publish_gait('gait_stairs_up_single_step'))
+
+        gait_stairs_down_single_step = \
+            self.create_button('gait_stairs_down_single_step',
+                               callback=lambda: self.controller.publish_gait('gait_stairs_down_single_step'))
+
         gait_rough_terrain_high_step = \
             self.create_button('gait_rough_terrain_high_step',
                                callback=lambda: self.controller.publish_gait('gait_rough_terrain_high_step'))
@@ -120,6 +132,18 @@ def __init__(self, context):
             self.create_button('gait_rough_terrain_middle_steps',
                                callback=lambda: self.controller.publish_gait('gait_rough_terrain_middle_steps'))
 
+        gait_rough_terrain_first_middle_step = \
+            self.create_button('gait_rough_terrain_first_middle_step',
+                               callback=lambda: self.controller.publish_gait('gait_rough_terrain_first_middle_step'))
+
+        gait_rough_terrain_second_middle_step = \
+            self.create_button('gait_rough_terrain_second_middle_step',
+                               callback=lambda: self.controller.publish_gait('gait_rough_terrain_second_middle_step'))
+
+        gait_rough_terrain_third_middle_step = \
+            self.create_button('gait_rough_terrain_third_middle_step',
+                               callback=lambda: self.controller.publish_gait('gait_rough_terrain_third_middle_step'))
+
         gait_ramp_door_slope_up = \
             self.create_button('gait_ramp_door_slope_up',
                                callback=lambda: self.controller.publish_gait('gait_ramp_door_slope_up'))
@@ -132,13 +156,37 @@ def __init__(self, context):
             self.create_button('gait_ramp_door_last_step',
                                callback=lambda: self.controller.publish_gait('gait_ramp_door_last_step'))
 
-        gait_tilted_path_straight_start_right = \
-            self.create_button('gait_tilted_path_straight_start_right',
-                               callback=lambda: self.controller.publish_gait('gait_tilted_path_straight_start_right'))
+        gait_tilted_path_left_straight_start = \
+            self.create_button('gait_tilted_path_left_straight_start',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_left_straight_start'))
+
+        gait_tilted_path_left_single_step = \
+            self.create_button('gait_tilted_path_left_single_step',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_left_single_step'))
+
+        gait_tilted_path_left_straight_end = \
+            self.create_button('gait_tilted_path_left_straight_end',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_left_straight_end'))
+
+        gait_tilted_path_left_flexed_knee_step = \
+            self.create_button('gait_tilted_path_left_flexed_knee_step',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_left_flexed_knee_step'))
 
-        gait_tilted_path_straight_start_left = \
-            self.create_button('gait_tilted_path_straight_start_left',
-                               callback=lambda: self.controller.publish_gait('gait_tilted_path_straight_start_left'))
+        gait_tilted_path_right_straight_start = \
+            self.create_button('gait_tilted_path_right_straight_start',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_right_straight_start'))
+
+        gait_tilted_path_right_single_step = \
+            self.create_button('gait_tilted_path_right_single_step',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_right_single_step'))
+
+        gait_tilted_path_right_straight_end = \
+            self.create_button('gait_tilted_path_right_straight_end',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_right_straight_end'))
+
+        gait_tilted_path_right_flexed_knee_step = \
+            self.create_button('gait_tilted_path_right_flexed_knee_step',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_right_flexed_knee_step'))
 
         gait_tilted_path_first_start = \
             self.create_button('gait_tilted_path_first_start',
@@ -148,6 +196,14 @@ def __init__(self, context):
             self.create_button('gait_tilted_path_second_start',
                                callback=lambda: self.controller.publish_gait('gait_tilted_path_second_start'))
 
+        gait_tilted_path_first_end = \
+            self.create_button('gait_tilted_path_first_end',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_first_end'))
+
+        gait_tilted_path_second_end = \
+            self.create_button('gait_tilted_path_second_end',
+                               callback=lambda: self.controller.publish_gait('gait_tilted_path_second_end'))
+
         stop_button = self.create_button('gait_stop', image_path='/stop.png',
                                          callback=lambda: self.controller.publish_stop())
 
@@ -164,20 +220,29 @@ def __init__(self, context):
         # Position in the array determines position on screen.
         march_button_layout = [
 
-            [home_sit, home_stand, gait_walk, gait_walk_small, stop_button, pause_button],
+            [home_sit, home_stand, gait_walk, gait_walk_small, gait_walk_large, stop_button, pause_button],
 
             [gait_sit, gait_stand, gait_single_step_normal, gait_single_step_small, continue_button, error_button],
 
-            [gait_sofa_sit, gait_sofa_stand, gait_stairs_up, gait_stairs_down, rocker_switch_increment,
-             rocker_switch_decrement],
+            [gait_sofa_sit, gait_sofa_stand, rocker_switch_increment, rocker_switch_decrement],
+
+            [gait_stairs_up, gait_stairs_down, gait_stairs_up_single_step, gait_stairs_down_single_step],
 
             [gait_side_step_left, gait_side_step_right, gait_side_step_left_small, gait_side_step_right_small],
 
-            [gait_rough_terrain_high_step, gait_rough_terrain_middle_steps, gait_ramp_door_slope_up,
-             gait_ramp_door_slope_down, gait_ramp_door_last_step],
+            [gait_rough_terrain_high_step, gait_rough_terrain_middle_steps, gait_rough_terrain_first_middle_step,
+             gait_rough_terrain_second_middle_step, gait_rough_terrain_third_middle_step],
+
+            [gait_ramp_door_slope_up, gait_ramp_door_slope_down, gait_ramp_door_last_step],
+
+            [gait_tilted_path_left_straight_start, gait_tilted_path_left_single_step,
+             gait_tilted_path_left_straight_end, gait_tilted_path_left_flexed_knee_step],
+
+            [gait_tilted_path_right_straight_start, gait_tilted_path_right_single_step,
+             gait_tilted_path_right_straight_end, gait_tilted_path_right_flexed_knee_step],
 
-            [gait_tilted_path_straight_start_right, gait_tilted_path_straight_start_left, gait_tilted_path_first_start,
-             gait_tilted_path_second_start],
+            [gait_tilted_path_first_start, gait_tilted_path_second_start, gait_tilted_path_first_end,
+             gait_tilted_path_second_end],
         ]
 
         # Create the qt_layout from the button layout.

march_rqt_note_taker/CMakeLists.txt

@@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(march_rqt_note_taker)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS march_shared_resources std_msgs)
 
 catkin_python_setup()
-catkin_package()
+catkin_package(CATKIN_DEPENDS march_shared_resources std_msgs)
 
 install(FILES plugin.xml
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

march_rqt_note_taker/package.xml

@@ -11,6 +11,9 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>std_msgs</depend>
+  <depend>march_shared_resources</depend>
+
   <exec_depend>rospy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
   <exec_depend>rqt_gui_py</exec_depend>

march_rqt_note_taker/src/march_rqt_note_taker/entry.py

@@ -4,11 +4,11 @@
 
 class Entry(QObject):
 
-    def __init__(self, content, date_time=QDateTime.currentDateTime(), is_error=False):
+    def __init__(self, content, date_time=None, is_error=False):
         super(Entry, self).__init__()
 
         self.content = content
-        self.date_time = date_time
+        self.date_time = QDateTime.currentDateTime() if date_time is None else date_time
         self.is_error = is_error
 
     @classmethod

march_rqt_note_taker/src/march_rqt_note_taker/notes_plugin.py

@@ -1,10 +1,15 @@
+import ast
 import os
 
 from qt_gui.plugin import Plugin
 from rosgraph_msgs.msg import Log
 import rospkg
 import rospy
+from std_msgs.msg import String
 
+from march_shared_resources.srv import Trigger
+
+from .entry import Entry
 from .entry_model import EntryModel
 from .filter_map import FilterMap
 from .notes_widget import NotesWidget
@@ -24,14 +29,43 @@ def __init__(self, context):
         self._filter_map = FilterMap()
         self._filter_map.add_filter(lambda l: l.level >= Log.ERROR)
         self._filter_map.add_filter_info_level(lambda l: l.msg == 'March is fully operational')
-        self._subscriber = rospy.Subscriber('/rosout_agg',
-                                            Log,
-                                            self._rosout_cb)
+
+        self._subscribers = []
+        self._subscribers.append(rospy.Subscriber('/rosout_agg',
+                                                  Log,
+                                                  self._rosout_cb))
+        self._subscribers.append(rospy.Subscriber('/march/gait/current',
+                                                  String,
+                                                  self._current_gait_cb))
+
+        self._get_gait_version_map = rospy.ServiceProxy('/march/gait_selection/get_version_map',
+                                                        Trigger)
 
     def shutdown_plugin(self):
-        self._subscriber.unregister()
+        for subscriber in self._subscribers:
+            subscriber.unregister()
 
     def _rosout_cb(self, log_msg):
         mapped_msg = self._filter_map(log_msg)
         if mapped_msg:
             self._model.insert_log_msg(mapped_msg)
+
+    def _current_gait_cb(self, current_gait):
+        """
+        Inserts an entry, which logs the current gait version used.
+
+        :type current_gait: String
+        :param current_gait: Current gait goal being executed
+        """
+        try:
+            gait_version_map = ast.literal_eval(self._get_gait_version_map().message)
+
+            message = 'Starting gait {0}: {1}'.format(current_gait.data,
+                                                      str(gait_version_map[current_gait.data]))
+            self._model.insert_row(Entry(message))
+        except rospy.ServiceException as e:
+            rospy.logwarn('Failed to contact gait selection node for gait versions: {0}'.format(e))
+        except KeyError:
+            pass
+        except ValueError as e:
+            rospy.logerr('Failed to parse gait version map: {0}'.format(e))

march_rqt_note_taker/test/__init__.py

@@ -0,0 +1,5 @@
+from march_rqt_note_taker.entry import Entry
+from march_rqt_note_taker.entry_model import EntryModel
+from march_rqt_note_taker.filter_map import FilterMap
+from march_rqt_note_taker.notes_plugin import NotesPlugin
+from march_rqt_note_taker.notes_widget import NotesWidget

march_rqt_note_taker/test/entry_model_test.py

@@ -1,5 +1,6 @@
 import unittest
 
+from python_qt_binding.QtCore import QDateTime, Qt
 from rosgraph_msgs.msg import Log
 
 from march_rqt_note_taker.entry import Entry
@@ -14,10 +15,24 @@ def test_empty_model(self):
         self.assertEqual(self.model.rowCount(), 0)
         self.assertEqual(self.model.columnCount(), 2)
 
-    def test_insert_single_row(self):
-        self.model.insert_row(Entry('test'))
+    def test_horizontal_model_header(self):
+        self.assertEqual(self.model.headerData(0, Qt.Horizontal, Qt.DisplayRole), 'Time')
+        self.assertEqual(self.model.headerData(1, Qt.Horizontal, Qt.DisplayRole), 'Entry')
+
+    def test_insert_single_row_count(self):
+        entry = Entry('test', QDateTime.fromSecsSinceEpoch(5))
+        self.model.insert_row(entry)
         self.assertEqual(self.model.rowCount(), 1)
 
+    def test_insert_single_row(self):
+        entry = Entry('test', QDateTime.fromSecsSinceEpoch(5))
+        self.model.insert_row(entry)
+
+        time_index = self.model.createIndex(0, 0)
+        content_index = self.model.createIndex(0, 1)
+        self.assertEqual(self.model.data(time_index), entry.time_string())
+        self.assertEqual(self.model.data(content_index), entry.content)
+
     def test_insert_multiple_row(self):
         self.model.insert_row(Entry('test1'))
         self.model.insert_row(Entry('test2'))
@@ -61,3 +76,14 @@ def test_get_row_out_of_bounds(self):
 
     def test_get_column_out_of_bounds(self):
         self.assertIsNone(self.model.data(self.model.createIndex(0, len(self.model.columns))))
+
+    def test_empty_model_to_string(self):
+        self.assertEqual(str(self.model), '')
+
+    def test_entry_model_to_string(self):
+        entry = Entry('test1', QDateTime.fromSecsSinceEpoch(5))
+        self.model.insert_row(entry)
+        self.model.insert_row(entry)
+        self.model.insert_row(entry)
+
+        self.assertEqual(str(self.model), '{0}\n{0}\n{0}'.format(entry))

march_rqt_note_taker/test/entry_test.py

@@ -1,6 +1,6 @@
 import unittest
 
-from python_qt_binding.QtCore import QDateTime
+from python_qt_binding.QtCore import QDateTime, QTimeZone
 from rosgraph_msgs.msg import Log
 import rospy
 
@@ -56,3 +56,8 @@ def test_to_string(self):
         entry = Entry(content, date_time)
         self.assertEqual(str(entry),
                          '[{0}] {1}'.format(date_time.toString(), content))
+
+    def test_to_time_string(self):
+        date_time = QDateTime.fromSecsSinceEpoch(5, QTimeZone.utc())
+        entry = Entry('', date_time)
+        self.assertEqual(entry.time_string(), '00:00:05')