feat: deg suppport for backedn

backend/src/main.py

@@ -1,6 +1,7 @@
+from contextlib import asynccontextmanager
+
 from fastapi import FastAPI
 from fastapi.middleware.cors import CORSMiddleware
-from contextlib import asynccontextmanager
 
 from routers.move import router as move_router
 from routers.settings import router as settings_router
@@ -15,6 +16,7 @@ async def controller_lifespan(_: FastAPI):
 
     stop_controller()
 
+
 app = FastAPI(lifespan=controller_lifespan)
 
 app.add_middleware(

backend/src/routers/settings.py

@@ -42,8 +42,10 @@ def get_items(
 
 
 @router.get("/status/")
-def status(controller: ArmController = controller_dependency,
-           degrees: bool = Query(True, description="Return angles in degrees")) -> Dict[Any, Any]:
+def status(
+    controller: ArmController = controller_dependency,
+    degrees: bool = Query(True, description="Return angles in degrees"),
+) -> Dict[Any, Any]:
     pose = controller.current_pose
     status_dict: Dict[str, Any] = deepcopy(pose.get_dict(degrees=degrees))
 

controller/src/robot_arm_controller/controller.py

@@ -159,19 +159,19 @@ def stop(self) -> None:
     def current_pose(self) -> ArmPose:
         return self.kinematics.angles_to_pose(self.current_angles)
 
-    @ property
+    @property
     def current_angles(self) -> List[float]:
         with self.current_angles_lock:
             return self._current_angles
 
-    @ current_angles.setter
+    @current_angles.setter
     def current_angles(self, angles: List[float]) -> None:
         if len(angles) != self.num_joints:
             raise ValueError(f"Angles must be a list of length {self.num_joints}")
         with self.current_angles_lock:
             self._current_angles = angles
 
-    @ property
+    @property
     def is_ready(self) -> bool:
         if self.websocket_server is None:
             websocket_server_up = True
@@ -550,7 +550,7 @@ class SingletonArmController:
     print_status: bool = False
     config_file: Optional[Path] = None
 
-    @ classmethod
+    @classmethod
     def create_instance(
         cls,
         arm_parameters: ArmParameters,
@@ -565,13 +565,12 @@ def create_instance(
         cls.print_status = print_status
         cls.config_file = config_file
 
-        cls._instance = ArmController(arm_parameters=arm_parameters,
-                                      websocket_port=websocket_port, server_port=server_port)
+        cls._instance = ArmController(arm_parameters=arm_parameters, websocket_port=websocket_port, server_port=server_port)
         cls._instance.print_status = print_status
         if config_file is not None:
             cls._instance.set_config_file(config_file)
 
-    @ classmethod
+    @classmethod
     def get_instance(cls) -> ArmController:
         if cls._instance is not None:
             if cls._instance.status == ControllerStatus.STOPPED:
@@ -594,6 +593,6 @@ def get_instance(cls) -> ArmController:
                 return cls._instance
         raise ValueError("Arm Controller not initialized")
 
-    @ classmethod
+    @classmethod
     def was_initialized(cls) -> bool:
         return cls._instance is not None

utils/serial_com.py

@@ -0,0 +1,15 @@
+import serial
+from serial.rfc2217 import Serial
+
+
+class SerialCom:
+    '''
+
+        TODO:
+        - Scan available ports and search for a esp32
+        - Use argparse to specify a port
+        - use the default espidf baudrate of 115200
+        - Start a rfc2217 server on the port
+
+
+    '''