Refinements for package

.github/workflows/publish.yml

@@ -1,4 +1,4 @@
-name: Publish Python Packages
+name: Publish Python and Rust Packages
 
 on:
   release:
@@ -14,10 +14,13 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  publish-python:
+  build-wheels:
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+    name: Build and publish Python package (${{ matrix.os }})
     timeout-minutes: 10
-    name: Build and publish Python package
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
 
     steps:
       - name: Checkout code
@@ -28,18 +31,138 @@ jobs:
         with:
           python-version: "3.10"
 
-      - name: Install system dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y libudev-dev pkg-config
+      - name: Set up Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
 
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install build wheel
+          pip install cibuildwheel
+        shell: bash
 
       - name: Build package
-        run: python -m build --sdist --outdir dist/ .
+        env:
+          CIBW_SKIP: "pp* *-musllinux*"  # Skip PyPy and musllinux builds
+          CIBW_BEFORE_ALL_LINUX: |
+            yum install -y libudev-devel pkgconfig
+          CIBW_BEFORE_ALL_MACOS: |
+            brew install openssl pkg-config
+          CIBW_BEFORE_BUILD: |
+            curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+            source $HOME/.cargo/env
+            pip install setuptools-rust
+          CIBW_ENVIRONMENT: |
+            PATH="/usr/local/bin:$HOME/.cargo/bin:$PATH"
+            CARGO_NET_GIT_FETCH_WITH_CLI=true
+        run: |
+          cibuildwheel --output-dir dist
+
+      - name: Upload wheel artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: wheels-${{ matrix.os }}
+          path: |
+            dist/*.whl
+
+  build-source-dist:
+    name: Build and publish Python package (source distribution)
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.11"
+
+      - name: Set up Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install build
+        shell: bash
+
+      - name: Build source distribution
+        run: |
+          python -m build --sdist --outdir dist
+
+      - name: Upload source distribution
+        uses: actions/upload-artifact@v3
+        with:
+          name: source-dist
+          path: |
+            dist/*.tar.gz
+
+  publish-wheels:
+    needs: [build-wheels, build-source-dist]
+    name: Publish Python wheels
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download all wheels
+        uses: actions/download-artifact@v3
+        with:
+          path: dist
+
+      - name: Move wheels to dist directory
+        run: |
+          mkdir -p final_dist
+          find dist -name "*.whl" -exec mv {} final_dist/ \;
+          find dist -name "*.tar.gz" -exec mv {} final_dist/ \;
 
       - name: Publish package
         uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: final_dist/
+
+  publish-rust:
+    name: Build and publish Rust package
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libudev-dev pkg-config
+
+      - name: Cache Cargo registry
+        uses: actions/cache@v2
+        with:
+          path: ~/.cargo/registry
+          key: ${{ runner.os }}-cargo-registry
+          restore-keys: |
+            ${{ runner.os }}-cargo-registry
+
+      - name: Cache Cargo index
+        uses: actions/cache@v2
+        with:
+          path: ~/.cargo/git
+          key: ${{ runner.os }}-cargo-index
+          restore-keys: |
+            ${{ runner.os }}-cargo-index
+
+      - name: Publish imu and hexmove packages to crates.io
+        env:
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+        run: |
+          cargo publish -p imu
+          cargo publish -p hexmove

.gitignore

@@ -10,6 +10,7 @@ __pycache__/
 .pytest_cache/
 .ruff_cache/
 .dmypy.json
+*.pyi
 
 # Databases
 *.db

Cargo.toml

@@ -8,7 +8,7 @@ resolver = "2"
 
 [workspace.package]
 
-version = "0.1.2"
+version = "0.1.3"
 authors = ["Wesley Maa <wesley@kscale.dev>"]
 edition = "2021"
 description = "IMU package"

examples/hexmove.py

@@ -13,13 +13,21 @@ def main() -> None:
         print(f"Failed to initialize IMU reader: {e}")
         return
 
+    imu_reader.zero_imu(duration_ms=1000)
+
     try:
         while True:
-            # Get the current IMU data
-            data = imu_reader.get_data()
+            # # Get the current IMU data
+            # data = imu_reader.get_data()
+
+            # angles = [data.x_angle, data.y_angle, data.z_angle]
+            # velocities = [data.x_velocity, data.y_velocity, data.z_velocity]
+
+            angles = imu_reader.get_angles()
+            velocities = imu_reader.get_velocities()
             print(
-                f"Angular Position: X={data.x_angle}°, Y={data.y_angle}°, Z={data.z_angle}° | "
-                f"Angular Velocity: X={data.x_velocity}°/s, Y={data.y_velocity}°/s, Z={data.z_velocity}°/s"
+                f"Angular Position: X={angles[0]}°, Y={angles[1]}°, Z={angles[2]}° | "
+                f"Angular Velocity: X={velocities[0]}°/s, Y={velocities[1]}°/s, Z={velocities[2]}°/s"
             )
 
             # Sleep for a short duration to avoid spamming the console

imu/__init__.py

@@ -1,7 +1,5 @@
 """Defines the top-level API for the IMU package."""
 
-__version__ = "0.0.2"
-
 from .bindings import (
     PyHexmoveImuData as HexmoveImuData,
     PyHexmoveImuReader as HexmoveImuReader,

imu/bindings/src/lib.rs

@@ -28,6 +28,31 @@ impl PyHexmoveImuReader {
         Ok(PyHexmoveImuData::from(data))
     }
 
+    fn get_angles(&self) -> PyResult<(f32, f32, f32)> {
+        let imu_reader = self.inner.lock().unwrap();
+        let (x, y, z) = imu_reader.get_angles();
+        Ok((x, y, z))
+    }
+
+    fn get_velocities(&self) -> PyResult<(f32, f32, f32)> {
+        let imu_reader = self.inner.lock().unwrap();
+        let (x, y, z) = imu_reader.get_velocities();
+        Ok((x, y, z))
+    }
+
+    #[pyo3(signature = (duration_ms=None, max_retries=None, max_variance=None))]
+    fn zero_imu(
+        &self,
+        duration_ms: Option<u64>,
+        max_retries: Option<u32>,
+        max_variance: Option<f32>,
+    ) -> PyResult<()> {
+        let imu_reader = self.inner.lock().unwrap();
+        imu_reader
+            .zero_imu(duration_ms, max_retries, max_variance)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e))
+    }
+
     fn stop(&self) -> PyResult<()> {
         let imu_reader = self.inner.lock().unwrap();
         imu_reader.stop();
@@ -51,6 +76,12 @@ struct PyHexmoveImuData {
     y_velocity: f32,
     #[pyo3(get)]
     z_velocity: f32,
+    #[pyo3(get)]
+    x_angle_offset: f32,
+    #[pyo3(get)]
+    y_angle_offset: f32,
+    #[pyo3(get)]
+    z_angle_offset: f32,
 }
 
 impl From<HexmoveImuData> for PyHexmoveImuData {
@@ -62,6 +93,9 @@ impl From<HexmoveImuData> for PyHexmoveImuData {
             x_velocity: data.x_velocity,
             y_velocity: data.y_velocity,
             z_velocity: data.z_velocity,
+            x_angle_offset: data.x_angle_offset,
+            y_angle_offset: data.y_angle_offset,
+            z_angle_offset: data.z_angle_offset,
         }
     }
 }

imu/hexmove/README.md

@@ -1,3 +1,9 @@
 # Hexmove
 
 This crate contains the code for interacting with Hexmove IMUs.
+
+Hexmove IMUs operate over a CAN bus. To set up the CAN interface for Hexmove IMUs, run the following command (where can0 is the name of the CAN interface):
+
+```bash
+sudo ip link set can0 up type can bitrate 500000
+```