Basic porting of the Java code into Python

.flake8

@@ -0,0 +1,4 @@
+[flake8]
+max-line-length = 110
+extend-ignore = E203
+exclude = .venv, .git, __pycache__, build, dist

.github/workflows/ci.yml

@@ -1,6 +1,10 @@
 name: CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+    branches:
+      - dev
+      - main
 
 jobs:
   build:
@@ -13,10 +17,9 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+          pip install -r requirements.txt
       - name: Lint with flake8
         run: |
-          pip install flake8
           flake8 src tests
       - name: Run tests
         run: |

.prettierrc.json

@@ -3,7 +3,7 @@
   "useTabs": false,
   "singleQuote": true,
   "trailingComma": "all",
-  "printWidth": 120,
+  "printWidth": 110,
   "semi": true,
   "endOfLine": "lf",
   "overrides": [

.vscode/settings.json

@@ -28,5 +28,6 @@
   "python.analysis.typeCheckingMode": "basic",
   "python.analysis.autoImportCompletions": true,
   "python.defaultInterpreterPath": ".venv/bin/python",
-  "python.terminal.activateEnvInCurrentTerminal": true
+  "python.terminal.activateEnvInCurrentTerminal": true,
+  "cSpell.words": ["MQTT"]
 }

docs/Makefile

@@ -25,5 +25,5 @@ apidoc:
 html:
 	$(SPHINXBUILD) -b html "$(SOURCEDIR)" "$(BUILDDIR)/html"
 
-livehtml:
+livehtml:clean
 	sphinx-autobuild  --host 0.0.0.0 --port ${PORT} -c . "$(SOURCEDIR)" "$(BUILDDIR)/html"

docs/api/robot.communication.rst

@@ -4,6 +4,14 @@ robot.communication package
 Submodules
 ----------
 
+robot.communication.communication module
+----------------------------------------
+
+.. automodule:: robot.communication.communication
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.communication.directed\_comm module
 -----------------------------------------
 

docs/api/robot.exception.rst

@@ -0,0 +1,10 @@
+robot.exception package
+=======================
+
+Module contents
+---------------
+
+.. automodule:: robot.exception
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/api/robot.helpers.rst

@@ -12,6 +12,14 @@ robot.helpers.coordinate module
    :show-inheritance:
    :undoc-members:
 
+robot.helpers.motion\_controller module
+---------------------------------------
+
+.. automodule:: robot.helpers.motion_controller
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.helpers.robot\_mqtt module
 --------------------------------
 

docs/api/robot.indicators.rst

@@ -4,6 +4,14 @@ robot.indicators package
 Submodules
 ----------
 
+robot.indicators.abstract\_indicator module
+-------------------------------------------
+
+.. automodule:: robot.indicators.abstract_indicator
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.indicators.neopixel module
 --------------------------------
 

docs/api/robot.interfaces.rst

@@ -0,0 +1,10 @@
+robot.interfaces package
+========================
+
+Module contents
+---------------
+
+.. automodule:: robot.interfaces
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/api/robot.mqtt.rst

@@ -0,0 +1,29 @@
+robot.mqtt package
+==================
+
+Submodules
+----------
+
+robot.mqtt.mqtt\_msg module
+---------------------------
+
+.. automodule:: robot.mqtt.mqtt_msg
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+robot.mqtt.robot\_mqtt\_client module
+-------------------------------------
+
+.. automodule:: robot.mqtt.robot_mqtt_client
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+Module contents
+---------------
+
+.. automodule:: robot.mqtt
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/api/robot.rst

@@ -8,9 +8,13 @@ Subpackages
    :maxdepth: 4
 
    robot.communication
+   robot.exception
    robot.helpers
    robot.indicators
+   robot.interfaces
+   robot.mqtt
    robot.sensors
+   robot.types
 
 Submodules
 ----------
@@ -39,6 +43,14 @@ robot.robot\_base module
    :show-inheritance:
    :undoc-members:
 
+robot.virtual\_robot module
+---------------------------
+
+.. automodule:: robot.virtual_robot
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 Module contents
 ---------------
 

docs/api/robot.sensors.rst

@@ -4,6 +4,14 @@ robot.sensors package
 Submodules
 ----------
 
+robot.sensors.abstract\_sensor module
+-------------------------------------
+
+.. automodule:: robot.sensors.abstract_sensor
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
 robot.sensors.color module
 --------------------------
 

docs/api/robot.types.rst

@@ -0,0 +1,29 @@
+robot.types package
+===================
+
+Submodules
+----------
+
+robot.types.proximity\_reading\_type module
+-------------------------------------------
+
+.. automodule:: robot.types.proximity_reading_type
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+robot.types.rgb\_color\_type module
+-----------------------------------
+
+.. automodule:: robot.types.rgb_color_type
+   :members:
+   :show-inheritance:
+   :undoc-members:
+
+Module contents
+---------------
+
+.. automodule:: robot.types
+   :members:
+   :show-inheritance:
+   :undoc-members:

docs/index.md

@@ -14,5 +14,5 @@ Welcome to the documentation for the Python robot library. This site includes in
 README
 installation
 usage
-api/index
+api/modules
 ```

examples/my_test_robot.py

@@ -0,0 +1,43 @@
+from __future__ import annotations
+
+import threading
+import time
+
+from robot import MQTTSettings, VirtualRobot
+from robot.interfaces import RobotState
+
+
+class MyTestRobot(VirtualRobot):
+    def setup(self) -> None:  # type: ignore[override]
+        print("My Test Robot Started")
+        super().setup()
+
+    def loop(self) -> None:  # type: ignore[override]
+        super().loop()
+        if self.state == RobotState.RUN:
+            print("Test")
+            self.delay(1000)
+
+    def communication_interrupt(self, msg: str) -> None:
+        print(
+            f"communicationInterrupt on {self.id} "
+            f"with msg:{msg}"
+        )
+
+
+if __name__ == "__main__":
+    # Configure MQTT (fill with your broker details)
+    MQTTSettings.server = "localhost"
+    MQTTSettings.port = 1883
+    MQTTSettings.user_name = ""
+    MQTTSettings.password = ""
+    MQTTSettings.channel = "v1"
+
+    robot = MyTestRobot(10, 0, 0, 90)
+    t = threading.Thread(target=robot.run, daemon=True)
+    t.start()
+
+    # Example to send start after a short delay
+    time.sleep(1)
+    robot.start()
+    t.join()

pyproject.toml

@@ -8,7 +8,6 @@ version = "0.1.0"
 description = "A modular robot control library"
 authors = [
   { name = "Nuwan Jaliyagoda", email = "[email protected]" },
-  { name = "Nuwan Jaliyagoda", email = "[email protected]" },
   { name = "Kavindu Prabhath Methpura", email = "[email protected]" },
 ]
 readme = "README.md"

requirements.txt

@@ -1 +1,4 @@
-paho-mqtt==2.1.0
+flake8==7.3.0
+packaging==25.0
+paho-mqtt==2.1.0
+pytest==8.4.2

src/robot/__init__.py

@@ -1,11 +1,17 @@
-"""Top-level package for robot library."""
+"""Top-level package for robot library (Python port of robot-library-java)."""
 
 from .robot_base import Robot
-from .mqtt_client import RobotMqttClient
 from .motion import MotionController
+from .virtual_robot import VirtualRobot
+
+# Expose common subpackages
+from .configs.mqtt_settings import MQTTSettings
+from .configs.robot_settings import RobotSettings
 
 __all__ = [
     "Robot",
-    "RobotMqttClient",
     "MotionController",
+    "VirtualRobot",
+    "MQTTSettings",
+    "RobotSettings",
 ]

src/robot/communication/communication.py

@@ -0,0 +1,16 @@
+from __future__ import annotations
+
+from robot.interfaces import IMqttHandler
+from robot.mqtt.robot_mqtt_client import RobotMqttClient
+
+
+class Communication(IMqttHandler):
+    def __init__(self, robot_id: int, mqtt_client: RobotMqttClient):
+        self.robot_mqtt_client = mqtt_client
+        self.robot_id = robot_id
+
+    def send_message(self, msg: str) -> None:  # abstract
+        raise NotImplementedError
+
+    def send_message_with_distance(self, msg: str, distance: int) -> None:  # abstract
+        raise NotImplementedError

src/robot/communication/directed_comm.py

@@ -1,7 +1,35 @@
-"""Directed communication module."""
+"""Directed communication module mirroring Java logic."""
 
+from __future__ import annotations
 
-class DirectedCommunication:
-    """Placeholder directed communication class."""
+import json
 
-    pass
+from robot.communication.communication import Communication
+from robot.mqtt.mqtt_msg import MqttMsg
+from robot.mqtt.robot_mqtt_client import RobotMqttClient
+
+
+class DirectedCommunication(Communication):
+    def __init__(self, robot_id: int, mqtt_client: RobotMqttClient):
+        super().__init__(robot_id, mqtt_client)
+        self._topics_sub: dict[str, str] = {}
+        self._subscribe("COMMUNICATION_IN_DIR", f"comm/in/direct/{robot_id}")
+
+    def _subscribe(self, key: str, topic: str) -> None:
+        self._topics_sub[key] = topic
+        self.robot_mqtt_client.subscribe(topic)
+
+    def send_message(self, msg: str) -> None:
+        obj = {"id": self.robot_id, "msg": msg}
+        self.robot_mqtt_client.publish("comm/out/direct", json.dumps(obj))
+
+    def send_message_with_distance(self, msg: str, distance: int) -> None:
+        obj = {"id": self.robot_id, "msg": msg, "dist": distance}
+        self.robot_mqtt_client.publish("comm/out/direct", json.dumps(obj))
+
+    def handle_subscription(self, robot, m: MqttMsg) -> None:
+        topic, msg = m.topic, m.message
+        if topic == self._topics_sub.get("COMMUNICATION_IN_DIR"):
+            robot.communication_interrupt(msg)
+        else:
+            print(f"Received (unknown dir): {topic}> {msg}")