Merge branch 'master' of https://github.com/UBC-Thunderbots/Software into william/thunderloop_refactor

Author: williamckha

docs/working_with_hardware/useful-robot-commands.md

@@ -77,10 +77,9 @@ This will stop the current Systemd services, replace and restart them. Binaries
 <b>This will trigger motor calibration meaning the wheels may spin. Please elevate the robot so the wheels are not touching the ground for proper calibration.</b>
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=<motor_board> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>
 ```
 
-* <motor_board> is the type of motor driver board on the robot (either `STSPIN` or `TRINAMIC`)
 * <robot_ip> is the IP address of the robot
 * <robot_password> is the password of the `robot` user account
 
@@ -155,7 +154,7 @@ Deploys the STSPIN Motor Controller Test binary onto a robot through Ansible.
 From Software/src:
 
 ```bash
-bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot --//software/embedded:motor_board=STSPIN -- --playbook deploy_stspin_motor_controller_test.yml --hosts <robot_name> --ssh_pass <robot_password>
+bazel run //software/embedded/ansible:run_ansible --platforms=//toolchains/cc:robot -- --playbook deploy_stspin_motor_controller_test.yml --hosts <robot_name> --ssh_pass <robot_password>
 ```
 
 * replace the \<robot_ip\> with the actual ip address of the Raspberry Pi for the ssh connection.

pyproject.toml

@@ -0,0 +1,5 @@
+[tool.ruff]
+target-version = "py312"
+
+[tool.ruff.lint]
+extend-select = ["I", "F403", "F405"]

scripts/lint_and_format.sh

@@ -63,22 +63,13 @@ function run_bazel_formatting () {
 function run_ruff() {
     printf "Running ruff to lint and format Python files...\n\n"
 
-    /opt/tbotspython/bin/python3 -m ruff check $BAZEL_ROOT_DIR --fix-only --extend-select D
+    /opt/tbotspython/bin/python3 -m ruff check $BAZEL_ROOT_DIR --fix && \
     /opt/tbotspython/bin/python3 -m ruff format $BAZEL_ROOT_DIR
 
     if [[ "$?" != 0 ]]; then
         printf "\n***Failed to lint/format Python files!***\n\n"
         exit 1
     fi
-
-    # F403: https://docs.astral.sh/ruff/rules/undefined-local-with-import-star/
-    # F405: https://docs.astral.sh/ruff/rules/undefined-local-with-import-star-usage/
-    /opt/tbotspython/bin/python3 -m ruff check $BAZEL_ROOT_DIR --select F403,F405
-
-    if [[ "$?" != 0 ]]; then
-        printf "\n***Wildcard imports should not be used (F403/F405)!***\n\n"
-        exit 1
-    fi
 }
 
 function run_code_spell(){

src/MODULE.bazel

@@ -223,14 +223,6 @@ git_repository(
     remote = "https://github.com/UBC-Thunderbots/MDv6_Firmware.git",
 )
 
-http_archive(
-    name = "trinamic",
-    build_file = "@//extlibs:trinamic.BUILD",
-    sha256 = "4c1640a87347afdc4d5954752f0e773f6d9fbb0ea0fb1481dbdb3012ec00ef8b",
-    strip_prefix = "TMC-API-0cd695fab6d43ceb121af4b8608e5d92b14e1ce9",
-    url = "https://github.com/analogdevicesinc/TMC-API/archive/0cd695fab6d43ceb121af4b8608e5d92b14e1ce9.tar.gz",
-)
-
 http_archive(
     name = "cppcrc",
     build_file = "@//extlibs:cppcrc.BUILD",

src/cli/cli_params.py

@@ -1,13 +1,12 @@
-from enum import Enum
-from typing import Annotated
-from dataclasses import dataclass
-import questionary
 import os
 import sys
+from dataclasses import dataclass
+from enum import Enum
+from typing import Annotated
 
-from typer import Argument, Option
-
+import questionary
 from cli.multi_option import MultiOption
+from typer import Argument, Option
 
 
 class ActionArgument(str, Enum):
@@ -333,7 +332,7 @@ def load_history() -> list[str]:
             return []
         with open(InteractiveCli.HISTORY_FILE) as f:
             lines = [line.strip() for line in f.readlines()]
-        return [l.replace("\\n", "\n") for l in lines if l]
+        return [line.replace("\\n", "\n") for line in lines if line]
 
     @staticmethod
     def save_to_history(cmd_title: str, cmd_str: str):

src/cli/multi_option.py

@@ -1,11 +1,11 @@
 from typing import Any
+
 import click
 import typer
 import typer.core
 import typer.main
 from typer.models import OptionInfo
 
-
 # ======= Patch to support nargs functionality in typer =======
 # nargs usage is considered bad practice in typer and many CLIs,
 # but since we likely want to be able to parse many optional args at once, this patch allows us to do so.

src/extlibs/trinamic.BUILD

@@ -1,5 +1,6 @@
 import importlib
 import pkgutil
+
 import proto
 
 

src/proto/import_all_protos.py

@@ -1,9 +1,10 @@
 from __future__ import annotations
 
+import math
+
+import numpy
 import proto.import_all_protos as protos
 import software.python_bindings as tbots_cpp
-import numpy
-import math
 
 
 def create_world_state(

src/proto/message_translation/tbots_protobuf.py

@@ -80,40 +80,19 @@ enum ErrorCode
 
 enum MotorFault
 {
-    /*********** TMC Faults ************/
-    // Refer to Trinamic 6100 datasheet for precise definitions of motor faults.
-    // https://trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC6100_datasheet_Rev1.00.pdf
-    // (Section 5.1, p22-23)
-    RESET                             = 0;
-    DRIVER_OVERTEMPERATURE_PREWARNING = 1;
-    DRIVER_OVERTEMPERATURE            = 2;
-    UNDERVOLTAGE_CHARGEPUMP           = 3;
-    PHASE_U_SHORT_COUNTER_DETECTED    = 4;
-    PHASE_U_SHORT_TO_GND_DETECTED     = 5;
-    PHASE_U_SHORT_TO_VS_DETECTED      = 6;
-    // for the sake of consistency with the TMC 6100, "7" is unused
-    PHASE_V_SHORT_COUNTER_DETECTED = 8;
-    PHASE_V_SHORT_TO_GND_DETECTED  = 9;
-    PHASE_V_SHORT_TO_VS_DETECTED   = 10;
-    // for the sake of consistency with the TMC 6100, "11" is unused
-    PHASE_W_SHORT_COUNTER_DETECTED = 12;
-    PHASE_W_SHORT_TO_GND_DETECTED  = 13;
-    PHASE_W_SHORT_TO_VS_DETECTED   = 14;
-
-    // TODO: #3749 Move this to its own proto.
-    /*********** STSPIN Faults ************/
-    NO_FAULT     = 15;
-    DURATION     = 16;
-    OVER_VOLT    = 17;
-    UNDER_VOLT   = 18;
-    OVER_TEMP    = 19;
-    START_UP     = 20;
-    SPEED_FDBK   = 21;
-    OVER_CURR    = 22;
-    SW_ERROR     = 23;
-    SAMPLE_FAULT = 24;
-    OVERCURR_SW  = 25;
-    DP_FAULT     = 26;
+    reserved 13 to 26;
+    NO_FAULT     = 0;
+    DURATION     = 1;
+    OVER_VOLT    = 2;
+    UNDER_VOLT   = 3;
+    OVER_TEMP    = 4;
+    START_UP     = 5;
+    SPEED_FDBK   = 6;
+    OVER_CURR    = 7;
+    SW_ERROR     = 8;
+    SAMPLE_FAULT = 9;
+    OVERCURR_SW  = 10;
+    DP_FAULT     = 11;
 }
 
 message DriveUnit