[Bdt] Switch to dcargs

Signed-off-by: Greg Balke <[email protected]>

Topic: bdt_uses_dcargs
Reviewers: brent

bd_tools/src/bd_tools/__main__.py

@@ -1,70 +1,23 @@
 """The betz drive tools package."""
-import argparse
-import sys
-from pathlib import Path
-
-import bd_tools
-
-BIN_PATH = Path(__file__).parent / "bin"
+import dataclasses
+from typing import Union
 
+import dcargs
 
-def get_tools():
-    """Returns all scripts in the bin directory"""
-    return [tool.stem for tool in BIN_PATH.glob("[!__]*.py")]
-
-
-def parser_args(tools):
-    parser = argparse.ArgumentParser(description="BetzDrive Tools Package")
-    parser.add_argument(
-        "tool",
-        type=str,
-        choices=tools,
-        help="Tool from the following: %(choices)s",
-        metavar="tool",
-    )
-    return parser
+import bd_tools
 
 
-def action(args):
-    file_name = BIN_PATH / (args.tool + ".py")
-    # NOTE(greg): Shifts argv down one (and deletes the 0th arg) so the
-    # sub-tool does not see its own name as the 1st arg.
-    sys.argv = sys.argv[1:]
-    # Correctly make arg0 the path to the file we're executing.
-    sys.argv[0] = str(file_name)
-    tool = getattr(bd_tools.bin, args.tool)
-    tool.action(tool.parser_args())
+def cli_main(
+    cmd: Union[
+        bd_tools.bin.calibrate_encoder.Calibrate,
+        bd_tools.bin.control_motor.Control,
+    ]
+):
+    cmd.main()
 
 
 def main():
-    # NOTE(greg): We have to hack the help to make sure it only operates on
-    # this argparser if its the first arg.
-    tool_help = False
-    if "-h" in sys.argv or "--help" in sys.argv:
-        if not (sys.argv[1] == "-h" or sys.argv[1] == "--help"):
-            tool_help = True
-            if "-h" in sys.argv:
-                sys.argv.remove("-h")
-            if "--help" in sys.argv:
-                sys.argv.remove("--help")
-
-    # Need to cache args to sub-command so the parser doesn't see them as
-    # "unrecognized arguments"
-    cache_args = []
-    if len(sys.argv) > 2:
-        cache_args = sys.argv[2:]
-        sys.argv = sys.argv[:2]
-
-    args = parser_args(get_tools()).parse_args()
-
-    sys.argv.extend(cache_args)
-
-    # If we requested a tool help, inject it back into the sys args for the
-    # sub-tool to process.
-    if tool_help:
-        sys.argv.append("--help")
-
-    action(args)
+    dcargs.cli(cli_main)
 
 
 if __name__ == "__main__":

bd_tools/src/bd_tools/bin/calibrate_encoder.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 
-import argparse
+import dataclasses
 import json
 import struct
 import time
 
+import dcargs
 import matplotlib.pyplot as plt
 import numpy as np
 import serial
@@ -23,6 +24,24 @@
 ]
 
 
+@dataclasses.dataclass
+class Calibrate:
+    """Calibrate the encoder on a motor controller board.
+
+    Args:
+        duty_cycle: fixed duty cycle through the motor for feed forward control
+            during calibration.
+        max_steps: maximum number of steps before giving up (should be greater
+            than or equal to erevs/mrev * 6).
+        delay: time between stepping phases.
+    """
+
+    serial: boards.Serial
+    duty_cycle: dcargs.conf.Positional[float]
+    max_steps: int = 126
+    delay: float = 0.05
+
+
 def parser_args():
     parser = argparse.ArgumentParser(
         description="Calibrate the encoder on a motor controller board."

bd_tools/src/bd_tools/bin/control_motor.py

@@ -3,12 +3,29 @@
 
 import argparse
 import ast
+import dataclasses
 
 import serial
 
 from bd_tools import boards, comms, utils
 
 
+@dataclasses.dataclass
+class Control:
+    """Drive motor module(s) with a given control mode.
+
+    Args:
+        num_iters: Number of iterations to loop (default to infinity).
+    """
+
+    serial: boards.Serial
+    motor: boards.Motor
+    num_iters: int = 0
+
+    def main(self):
+        action(self)
+
+
 def parser_args():
     parser = argparse.ArgumentParser(
         description="Drive motor module(s) with a given control mode."
@@ -35,7 +52,9 @@ def make_list(x):
     def make_type(x, to_type):
         return [to_type(y) for y in x]
 
-    board_ids = make_type(make_list(ast.literal_eval(args.board_ids)), int)
+    board_ids = make_type(
+        make_list(ast.literal_eval(args.motor.board_ids)), int
+    )
     actuations = make_list(ast.literal_eval(args.actuations))
 
     mode = args.mode

bd_tools/src/bd_tools/boards.py

@@ -1,7 +1,11 @@
 from __future__ import print_function
 
+import dataclasses
 import struct
 import time
+from typing import List, Literal, Tuple, Union
+
+import dcargs
 
 from bd_tools import comms
 
@@ -18,6 +22,45 @@
 COMM_ROR_ROTOR_POS_RAW = 0x3010
 
 
+@dataclasses.dataclass
+class Serial:
+    """Serial args.
+
+    Args:
+        serial: Serial port that the motor controller is connected to.
+        board_ids: List of motor controllers to talk with.
+        baud_rate: communication frequency over serial connection.
+    """
+
+    serial: dcargs.conf.Positional[str]
+    board_ids: dcargs.conf.Positional[List[int]]
+    baud_rate: int = comms.COMM_DEFAULT_BAUD_RATE
+
+
+@dataclasses.dataclass
+class Motor:
+    """Motor args.
+
+    Args:
+        actuation: Methods to actuate the motor.
+            current (Id[A], Iq[A])
+            phase (dc,dc,dc)
+            torque (N*m)
+            velocity (rad/s)
+            position (rad)
+            pos_vel (rad,rad/s)
+            pos_ff (rad,ff[A])
+            pwm (dc)
+        values: list of values for per-motor actuation. Should match the number 
+            of args listed under the method of actuation.
+    """
+
+    actuation: dcargs.conf.Positional[Literal["current", "phase",
+                                              "torque", "velocity", "position", 
+                                              "pos_vel", "pos_ff", "pwm"]]
+    values: dcargs.conf.Positional[List[Tuple[float, float, float]]]
+
+
 def addBoardArgs(parser):
     parser.add_argument("serial", type=str, help="Serial port")
     parser.add_argument("--baud_rate", type=int, help="Serial baud rate")
@@ -96,7 +139,7 @@ def loadCalibrationFromJSON(client, board_id, calibration_obj):
             eac_table_len = len(calibration_obj["eac_table"])
             slice_len = 64
             for i in range(0, eac_table_len, slice_len):
-                table_slice = calibration_obj["eac_table"][i : i + slice_len]
+                table_slice = calibration_obj["eac_table"][i: i + slice_len]
                 client.writeRegisters(
                     [board_id],
                     [0x1200 + i],