fourier-core

Introduction

Fourier Core is a framework for controlling robots. It is designed to be modular and extensible. The framework provides a set of common modules that are used in robot control systems. The framework is designed to be easy to use and flexible, allowing developers to quickly build and deploy robot control systems.

Conda

1. Install Miniconda:

   • https://docs.anaconda.com/free/miniconda/index.html
   • Download Miniconda installer, install Miniconda development environment.

2. Create development environment:

   • Develop a virtual environment and install python 3.11.

   conda create -n fourier-grx python=3.11
   

Notice: For better performance, we upgraded the python runtime environment from 3.8 to 3.11, and not compatible with the 3.8 version after the upgrade.

3. Activate the venv:

   conda activate fourier-grx
   

PDM

Installation

Outside Mainland China

sudo apt install curl
curl -sSL https://pdm-project.org/install-pdm.py | python3 -

Inside Mainland China

pip install pdm

# open .bashrc and add $PATH environment variable
export PATH=$PATH:~/.local/bin

# source .bashrc
source ~/.bashrc

Test Installation

pdm --version

Configuration

It is recommended to use pdm to create a venv in the local .venv folder.

# Create virtualenv with conda
pdm venv create --with conda 3.11

# OR with python virtualenv
pdm venv create 3.11 

Activate the venv

# list all venvs
pdm list

# If prompt error: [ProjectError]: The pyproject.toml has not been initialized yet. You can do this by running `pdm 
init`. You can run:
pdm use  # to list all venvs

# Activate the venv, suggest using conda create venv
pdm use (venv_name)

Development

Manage dependencies

Add runtime dependencies

pdm add package_name 

Add dev dependencies

pdm add -dG dev package_name  

Install and Compile

Local editable installment

pdm install -G:all  # install all dev and optional dependencies
pdm list # check what packages are installed

Install dev dependencies

pdm install -d

Lock the dependencies:

pdm lock -G:all

Build using nuitka:

pdm build -vv

After build，whl file will be generated in the dist folder:

Check the content of the whl file, including .so files and .pyi files:

whl file can be installed directly using pip:

python -m pip install -U /path/to/fourier_core-0.3.0rc10-cp311-cp311-macosx_11_0_arm64.whl

Linting and formatting

Lint and format using ruff

pdm run lint
pdm run fmt

Documentation

mkdocs serve

Then open http://127.0.0.1:8000

Support generating API reference from docstring:

Document layout and hierarchy can be configured in mkdocs.yml:

nav:
  - Home: README.md
  - 架构设计: 架构设计.md
  - Legacy:
      - 查看温度: 查看温度.md
      - 配置打包与开发环境: 配置打包与开发环境.md
  - Code Reference: reference/
  - Changelog: CHANGELOG.md

---

Package and Release

python setup.py sdist bdist_wheel

Package to .so

python -m nuitka --module fourier_core --include-package=fourier_core --output-dir=./build/

---

TODO

• Rename the current tests folder as it is the standard folder for pytest.
• Setup pytest to do unittest on modules. This would help during refactoring
• Add type hints to most of user facing functions.
• Group config files in a single directory.
• If pyinstaller is no longer used, we should get rid of the scripts.
• Flatten the file structure. For example, most of the files in predefined only contain 1 class. It would make the file structure less complicated if we merge some of them into one file. But this could potentially change the interface.