Merge pull request #1 from Intermode/dev_omnidirectional

Omnidirectional base development
Intermode · Sep 4, 2023 · 0264a6c · 0264a6c
2 parents b85f637 + f6ad72b
commit 0264a6c
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diff --git a/modalBase/sampleConfig.txt b/modalBase/sampleConfig.txt
@@ -1,7 +1,7 @@
 {
   "modules": [
     {
-      "executable_path": "[PATH TO REPOSITORY]/viam/modal_base_process/modal",
+      "executable_path": "[PATH TO REPOSITORY]/viam/modalBase/modal",
       "name": "intermode-base"
     }
   ],

diff --git a/modalBase_omniDirectional/.gitignore b/modalBase_omniDirectional/.gitignore
@@ -0,0 +1 @@
+server
diff --git a/modalBase_omniDirectional/Makefile b/modalBase_omniDirectional/Makefile
@@ -0,0 +1,13 @@
+DOCKER_CMD = docker run $(DOCKER_SSH_AGENT) $(DOCKER_NETRC_RUN) -v$(HOME)/.ssh:/home/testbot/.ssh:ro -v$(shell pwd):/host --workdir /host --rm -ti $(DOCKER_PLATFORM) ghcr.io/viamrobotics/canon:$(DOCKER_TAG) --testbot-uid $(shell id -u) --testbot-gid $(shell id -g)
+
+ifeq ("Darwin", "$(shell uname -s)")
+	# Docker has magic paths for OSX
+	DOCKER_SSH_AGENT = -v /run/host-services/ssh-auth.sock:/run/host-services/ssh-auth.sock -e SSH_AUTH_SOCK="/run/host-services/ssh-auth.sock"
+else ifneq ("$(SSH_AUTH_SOCK)x", "x")
+	DOCKER_SSH_AGENT = -v "$(SSH_AUTH_SOCK):$(SSH_AUTH_SOCK)" -e SSH_AUTH_SOCK="$(SSH_AUTH_SOCK)"
+endif
+
+linux-shell: DOCKER_PLATFORM = --platform linux/arm64
+linux-shell: DOCKER_TAG = arm64-cache
+linux-shell:
+	$(DOCKER_CMD) bash
diff --git a/modalBase_omniDirectional/go.mod b/modalBase_omniDirectional/go.mod
@@ -0,0 +1,162 @@
+module modal
+
+go 1.18
+
+require (
+	github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0
+	github.com/go-daq/canbus v0.2.0
+	github.com/golang/geo v0.0.0-20230421003525-6adc56603217
+	github.com/pkg/errors v0.9.1
+	go.viam.com/rdk v0.2.35
+	go.viam.com/utils v0.1.19
+)
+
+require (
+	cloud.google.com/go v0.110.0 // indirect
+	cloud.google.com/go/compute v1.19.1 // indirect
+	cloud.google.com/go/compute/metadata v0.2.3 // indirect
+	cloud.google.com/go/iam v1.0.0 // indirect
+	cloud.google.com/go/storage v1.30.1 // indirect
+	git.sr.ht/~sbinet/gg v0.3.1 // indirect
+	github.com/Masterminds/goutils v1.1.1 // indirect
+	github.com/Masterminds/semver v1.5.0 // indirect
+	github.com/Masterminds/sprig v2.22.0+incompatible // indirect
+	github.com/NYTimes/gziphandler v1.1.1 // indirect
+	github.com/a8m/envsubst v1.4.2 // indirect
+	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
+	github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect
+	github.com/benbjohnson/clock v1.3.1 // indirect
+	github.com/bep/debounce v1.2.1 // indirect
+	github.com/blackjack/webcam v0.0.0-20230411204030-32744c21431f // indirect
+	github.com/bufbuild/protocompile v0.5.1 // indirect
+	github.com/campoy/embedmd v1.0.0 // indirect
+	github.com/cenkalti/backoff v2.2.1+incompatible // indirect
+	github.com/cenkalti/backoff/v4 v4.2.1 // indirect
+	github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect
+	github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect
+	github.com/disintegration/imaging v1.6.2 // indirect
+	github.com/docker/go-units v0.5.0 // indirect
+	github.com/edaniels/gostream v0.0.0-20230321201259-9c06d1aeaae5 // indirect
+	github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect
+	github.com/edaniels/zeroconf v1.0.5 // indirect
+	github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect
+	github.com/fogleman/gg v1.3.0 // indirect
+	github.com/fsnotify/fsnotify v1.6.0 // indirect
+	github.com/fullstorydev/grpcurl v1.8.7 // indirect
+	github.com/gen2brain/malgo v0.11.10 // indirect
+	github.com/go-audio/audio v1.0.0 // indirect
+	github.com/go-audio/riff v1.0.0 // indirect
+	github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect
+	github.com/go-audio/wav v1.1.0 // indirect
+	github.com/go-fonts/liberation v0.3.0 // indirect
+	github.com/go-gl/mathgl v1.0.0 // indirect
+	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
+	github.com/go-pdf/fpdf v0.8.0 // indirect
+	github.com/goccy/go-json v0.10.2 // indirect
+	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
+	github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
+	github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect
+	github.com/golang/protobuf v1.5.3 // indirect
+	github.com/golang/snappy v0.0.4 // indirect
+	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/go-cmp v0.5.9 // indirect
+	github.com/google/s2a-go v0.1.2 // indirect
+	github.com/google/uuid v1.3.0 // indirect
+	github.com/googleapis/enterprise-certificate-proxy v0.2.3 // indirect
+	github.com/googleapis/gax-go/v2 v2.8.0 // indirect
+	github.com/googleapis/go-type-adapters v1.0.0 // indirect
+	github.com/gorilla/securecookie v1.1.1 // indirect
+	github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
+	github.com/grpc-ecosystem/grpc-gateway/v2 v2.15.2 // indirect
+	github.com/huandu/xstrings v1.3.2 // indirect
+	github.com/imdario/mergo v0.3.12 // indirect
+	github.com/improbable-eng/grpc-web v0.15.0 // indirect
+	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
+	github.com/jhump/protoreflect v1.15.1 // indirect
+	github.com/kellydunn/golang-geo v0.7.0 // indirect
+	github.com/klauspost/compress v1.16.5 // indirect
+	github.com/kylelemons/go-gypsy v1.0.0 // indirect
+	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
+	github.com/lestrrat-go/blackmagic v1.0.1 // indirect
+	github.com/lestrrat-go/httpcc v1.0.1 // indirect
+	github.com/lestrrat-go/iter v1.0.2 // indirect
+	github.com/lestrrat-go/jwx v1.2.25 // indirect
+	github.com/lestrrat-go/option v1.0.1 // indirect
+	github.com/lib/pq v1.10.8 // indirect
+	github.com/lmittmann/ppm v1.0.2 // indirect
+	github.com/lucasb-eyer/go-colorful v1.2.0 // indirect
+	github.com/mattn/go-runewidth v0.0.14 // indirect
+	github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
+	github.com/miekg/dns v1.1.53 // indirect
+	github.com/mitchellh/copystructure v1.2.0 // indirect
+	github.com/mitchellh/mapstructure v1.5.0 // indirect
+	github.com/mitchellh/reflectwalk v1.0.2 // indirect
+	github.com/montanaflynn/stats v0.7.0 // indirect
+	github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect
+	github.com/muesli/kmeans v0.3.1 // indirect
+	github.com/pion/datachannel v1.5.5 // indirect
+	github.com/pion/dtls/v2 v2.2.6 // indirect
+	github.com/pion/ice/v2 v2.3.2 // indirect
+	github.com/pion/interceptor v0.1.12 // indirect
+	github.com/pion/logging v0.2.2 // indirect
+	github.com/pion/mdns v0.0.7 // indirect
+	github.com/pion/mediadevices v0.4.1-0.20230412180714-14bfaa5dbdd3 // indirect
+	github.com/pion/randutil v0.1.0 // indirect
+	github.com/pion/rtcp v1.2.10 // indirect
+	github.com/pion/rtp v1.7.13 // indirect
+	github.com/pion/sctp v1.8.6 // indirect
+	github.com/pion/sdp/v3 v3.0.6 // indirect
+	github.com/pion/srtp/v2 v2.0.12 // indirect
+	github.com/pion/stun v0.4.0 // indirect
+	github.com/pion/transport v0.14.1 // indirect
+	github.com/pion/transport/v2 v2.2.0 // indirect
+	github.com/pion/turn/v2 v2.1.0 // indirect
+	github.com/pion/udp v0.1.4 // indirect
+	github.com/pion/udp/v2 v2.0.1 // indirect
+	github.com/pion/webrtc/v3 v3.1.60 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/rivo/uniseg v0.4.4 // indirect
+	github.com/rs/cors v1.9.0 // indirect
+	github.com/sergi/go-diff v1.3.1 // indirect
+	github.com/smartystreets/assertions v1.13.1 // indirect
+	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
+	github.com/xdg-go/pbkdf2 v1.0.0 // indirect
+	github.com/xdg-go/scram v1.1.2 // indirect
+	github.com/xdg-go/stringprep v1.0.4 // indirect
+	github.com/xfmoulet/qoi v0.2.0 // indirect
+	github.com/youmark/pkcs8 v0.0.0-20201027041543-1326539a0a0a // indirect
+	github.com/zitadel/oidc v1.13.4 // indirect
+	github.com/ziutek/mymysql v1.5.4 // indirect
+	go-hep.org/x/hep v0.32.1 // indirect
+	go.mongodb.org/mongo-driver v1.12.0-prerelease.0.20221109213319-d3466eeae7a7 // indirect
+	go.opencensus.io v0.24.0 // indirect
+	go.uber.org/atomic v1.10.0 // indirect
+	go.uber.org/goleak v1.2.1 // indirect
+	go.uber.org/multierr v1.11.0 // indirect
+	go.uber.org/zap v1.24.0 // indirect
+	go.viam.com/api v0.1.113 // indirect
+	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
+	goji.io v2.0.2+incompatible // indirect
+	golang.org/x/crypto v0.8.0 // indirect
+	golang.org/x/exp v0.0.0-20230420155640-133eef4313cb // indirect
+	golang.org/x/image v0.7.0 // indirect
+	golang.org/x/mod v0.10.0 // indirect
+	golang.org/x/net v0.9.0 // indirect
+	golang.org/x/oauth2 v0.7.0 // indirect
+	golang.org/x/sync v0.1.0 // indirect
+	golang.org/x/sys v0.7.0 // indirect
+	golang.org/x/text v0.9.0 // indirect
+	golang.org/x/tools v0.8.0 // indirect
+	golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
+	gonum.org/v1/gonum v0.12.0 // indirect
+	gonum.org/v1/plot v0.12.0 // indirect
+	google.golang.org/api v0.119.0 // indirect
+	google.golang.org/appengine v1.6.7 // indirect
+	google.golang.org/genproto v0.0.0-20230410155749-daa745c078e1 // indirect
+	google.golang.org/grpc v1.54.0 // indirect
+	google.golang.org/protobuf v1.30.0 // indirect
+	gopkg.in/square/go-jose.v2 v2.6.0 // indirect
+	gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
+	nhooyr.io/websocket v1.8.7 // indirect
+)