Okon Abstract Base Class (#9)

* Creating Okon Abstract Base Class

* Converting okon_client into okon_sim_client with Okon ABC usage

go_to_starting_line.py

@@ -9,9 +9,9 @@
 """
 import time
 
-from okon_client import OkonClient
+from okon_sim_client import OkonSimClient
 
-oc = OkonClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
+oc = OkonSimClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
 okon = oc.okon
 
 sim = oc.simulation

okon.py

@@ -0,0 +1,44 @@
+""" Implementation of an Abstract Base Class (ABC) Okon 
+
+Okon ABC implementation provides unified communication between
+the autonomy module and simulation/TCM.
+"""
+from abc import ABC, abstractmethod
+
+
+class Okon(ABC):
+    @abstractmethod
+    def set_depth(self, depth: float, add: bool = False) -> None:
+        pass
+
+    @abstractmethod
+    def set_stable_vel(self, x: float = None, y: float = None, z: float = None) -> None:
+        pass
+
+    @abstractmethod
+    def arm_motors(self) -> None:
+        pass
+
+    @abstractmethod
+    def disarm_motors(self) -> None:
+        pass
+
+    @abstractmethod
+    def setMode(self, mode: str) -> None:
+        pass
+
+    @abstractmethod
+    def reachedTargetRotation(self, delta):
+        pass
+
+    @abstractmethod
+    def reachedTargetDepth(self, delta):
+        pass
+
+    @abstractmethod
+    def get_detection(self, className: str):
+        pass
+
+    @abstractmethod
+    def set_stable_rot(self, x: float = None, y: float = None, z: float = None, add=False) -> None:
+        pass

okon_actions.py

@@ -5,7 +5,7 @@
 
 import py_trees
 
-from okon_client import Okon
+from okon_sim_client import Okon
 
 
 class Status:

okon_actions_example.py

@@ -10,9 +10,9 @@
 import py_trees
 
 from okon_actions import Rotate, SetDepth
-from okon_client import OkonClient
+from okon_sim_client import OkonSimClient
 
-oc = OkonClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
+oc = OkonSimClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
 oc.connect()
 time.sleep(1.0)
 

okon_client.py → okon_sim_client.py

@@ -4,7 +4,7 @@
 from queue import Queue
 from threading import Thread
 
-from numpy import number
+from okon import Okon
 
 
 class PacketType:  # PacketType.PING
@@ -61,7 +61,7 @@ def get(val: int) -> str:  # PacketFlag.get(1|2)
         return flags
 
 
-class Okon:
+class OkonSim(Okon):
     def __init__(self, okon_client) -> None:
         self._okon_client = okon_client
         self.sens = {
@@ -218,9 +218,9 @@ def angle_norm(a: dict) -> dict:
     return {"x": x, "y": y, "z": z}
 
 
-class OkonClient:
+class OkonSimClient:
     def __init__(self, ip, port, options=None, sync_interval=0.05, debug=True) -> None:
-        self.okon = Okon(self)
+        self.okon = OkonSim(self)
         self.simulation = Simulation(self)
 
         self.ip = ip

okon_client_example.py → okon_sim_client_example.py

@@ -1,6 +1,6 @@
 import time
 
-from okon_client import OkonClient, PacketFlag, PacketType
+from okon_sim_client import OkonSimClient, PacketFlag, PacketType
 
 
 def handle_simulation_reset(args=None) -> None:
@@ -14,7 +14,7 @@ def handle_ping(args=None) -> None:
     n += 1
 
 
-oc = OkonClient(
+oc = OkonSimClient(
     ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False
 )  # ping simRST hitNGZ hitFZ packet error disconnect # run on separate thread
 oc.on_event("simRST", handle_simulation_reset)

qualification_task_behavior_tree.py

@@ -13,9 +13,9 @@
     TryDetectNTimes,
     Wait,
 )
-from okon_client import OkonClient
+from okon_sim_client import OkonSimClient
 
-oc = OkonClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
+oc = OkonSimClient(ip="127.0.0.1", port=44210, sync_interval=0.05, debug=False)
 oc.connect()
 time.sleep(1.0)