Feature/cm5

.github/pull_request_template.md

@@ -0,0 +1,38 @@
+<!-- Thanks for submitting a new change request, please fill out the following template to help us review your PR. [Read the documentation on how to contribute to this project](https://github.com/makerforgetech/modular-biped/wiki/Contributing) BEFORE creating a PR! -->
+
+## What type of change is this?
+- [ ] New module
+- [ ] Change to an existing module
+- [ ] Core improvement
+- [ ] Other (please describe)
+
+## 📝 What does this change do?
+<!-- Clearly and concisely describe the purpose of this PR. What feature, fix, or improvement does it add? -->
+
+## ❓ Why is this change needed?
+<!-- Explain the problem this solves or the motivation behind this change. -->
+
+## 🛠️ How was this implemented?
+<!-- Summarize the approach, design decisions, and key changes made. -->
+
+## 🧪 How was this tested?
+<!-- Describe how you verified the behavior of your changes (e.g., unit tests, integration tests, manual testing). Has it been tested using the latest release of the project? If not, it will need to be tested before it is reviewed. -->
+
+## 💥 Breaking changes
+<!-- Does this change affect existing functionality or APIs? If so, explain what changes and how to mitigate them. -->
+- [ ] Yes (please describe)
+- [ ] No
+
+## 🗂 Related issues
+<!-- Link any related issues (e.g., "Closes #123", "Fixes #456"). -->
+
+## ✅ PR Checklist
+- [ ] **Title & Description:** PR title and description are clear and complete.
+- [ ] **Documentation:** PR links to idea in github discussion group containing complete documentation.
+- [ ] **Scope & Size:** PR is focused on a single issue/feature and is a reasonable size.
+- [ ] **Code Quality:** Code is clean, consistent, and follows the project style guide.
+- [ ] **Tests:** Tests have been added/updated if needed.
+- [ ] **Manual Testing:** Changes have been tested on the latest release of the project.
+- [ ] **Self-Review:** I’ve reviewed my own code and ensured there are no obvious issues.
+
+🚀 Thank you for your contribution to the project!

.github/workflows/test.yml

@@ -0,0 +1,31 @@
+name: Python Unittest on PR
+
+on:
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  run-tests:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+
+      - name: Run unittests
+        run: |
+          python -m unittest discover -s tests -p 'test_*.py'
+
+    permissions:
+      pull-requests: write
+      contents: read

.gitignore

@@ -14,145 +14,16 @@ battery*.csv
 timelapse/*
 .coverage
 
-.venv/
-Adafruit_Blinka-8.28.0.dist-info/
-Adafruit_PlatformDetect-3.57.0.dist-info/
-Adafruit_PureIO-1.1.11.dist-info/
-Adafruit_PureIO/
-PIL/
-Pillow-10.1.0.dist-info/
-Pillow.libs/
-PyYAML-6.0.1.dist-info/
-Pypubsub-4.0.3.dist-info/
-RPi.GPIO-0.7.1.dist-info/
-RPi/
-_distutils_hack/
-_rpi_ws281x.cpython-311-aarch64-linux-gnu.so
-_yaml/
-adafruit_blinka/
-adafruit_bus_device/
-adafruit_circuitpython_busdevice-5.2.6.dist-info/
-adafruit_circuitpython_pixelbuf-2.0.4.dist-info/
-adafruit_circuitpython_requests-2.0.3.dist-info/
-adafruit_circuitpython_seesaw-1.16.1.dist-info/
-adafruit_circuitpython_typing-1.9.6.dist-info/
-adafruit_pixelbuf.py
-adafruit_platformdetect/
-adafruit_requests.py
-adafruit_seesaw/
-analogio.py
-bin/
-bitbangio.py
-board.py
-busio.py
-certifi-2023.11.17.dist-info/
-certifi/
-chardet-3.0.4.dist-info/
-chardet/
-circuitpython_typing/
-click-8.1.7.dist-info/
-click/
-colorzero-2.0.dist-info/
-colorzero/
-colour-0.1.5.dist-info/
-colour.py
+# storing old dependencies that aren't used anymore
+dependencies.bu 
+
 data/
-digitalio.py
-distutils-precedence.pth
-google/
-googleapis_common_protos-1.62.0.dist-info/
-googleapis_common_protos-1.63.0.dist-info/
-googletrans-3.1.0a0.dist-info/
-googletrans/
-gpiozero-2.0.dist-info/
-gpiozero/
-gpiozerocli/
-grpclib-0.4.6.dist-info/
-grpclib/
-h11-0.9.0.dist-info/
-h11/
-h2-3.2.0.dist-info/
-h2-4.1.0.dist-info/
-h2/
-hpack-3.0.0.dist-info/
-hpack-4.0.0.dist-info/
-hpack/
-hstspreload-2023.1.1.dist-info/
-hstspreload/
-httpcore-0.9.1.dist-info/
-httpcore/
-httpx-0.13.3.dist-info/
-httpx/
-hyperframe-5.2.0.dist-info/
-hyperframe-6.0.1.dist-info/
-hyperframe/
-idna-2.10.dist-info/
-idna/
-include/
-joblib-1.3.2.dist-info/
-joblib/
-keypad.py
-microcontroller/
-micropython-stubs/
-micropython.py
-modular-biped-venv/
-multidict-6.0.4.dist-info/
-multidict-6.0.5.dist-info/
-multidict/
-neopixel_write.py
-nltk-3.8.1.dist-info/
-nltk/
-numpy-1.26.2.dist-info/
-numpy.libs/
-numpy/
-onewireio.py
-pillow-10.2.0.dist-info/
-pillow.libs/
-pkg_resources/
-protobuf-4.25.1.dist-info/
-protobuf-4.25.3.dist-info/
-pubsub/
-pulseio.py
-pwmio.py
-pyftdi-0.55.0.dist-info/
-pyftdi/
-pygame-2.5.2.dist-info/
-pygame.libs/
-pygame/
-pyserial-3.5.dist-info/
-pyusb-1.2.1.dist-info/
-rainbowio.py
-regex-2023.10.3.dist-info/
-regex/
-rfc3986-1.5.0.dist-info/
-rfc3986/
-rpi_ws281x-5.0.0.dist-info/
-rpi_ws281x/
-run_viam.sh
-schedule-1.2.1.dist-info/
-schedule/
-serial/
-setenv.py
-setuptools-69.0.2.dist-info/
-setuptools/
-sniffio-1.3.0.dist-info/
-sniffio/
-sysv_ipc-1.1.0.dist-info/
-sysv_ipc.cpython-311-aarch64-linux-gnu.so
-tqdm-4.66.1.dist-info/
-tqdm/
-typing_extensions-4.10.0.dist-info/
-typing_extensions-4.9.0.dist-info/
-typing_extensions.py
-usb/
-usb_hid.py
-venv/
-viam-config-example.json
-/viam/
-viam_sdk-0.12.0.dist-info/
-viam_sdk-0.15.0.dist-info/
-yaml/
-myvenv/
 .circleci/
 .vscode
 myenv
+
+# installation flags and installed libraries
+installers/i2s_mic_installed.flag
+installers/i2s_speech_recognition_installed.flag
+
+speech.wav

README.md

@@ -25,6 +25,7 @@ The **Modular Bipedal Robot** project aims to educate and inspire individuals in
   - TTS: Converts text to speech using the onboard speaker.
   - Viam: Uses the VIAM API to integrate Viam modules for additional functionality.
   - Vision: Handles image processing and computer vision tasks using the onboard IMX500 Raspberry Pi AI camera.
+  - Voice Recognition: Uses the Google Speech API to convert speech to text.
   - [Read more](https://github.com/makerforgetech/modular-biped/wiki/Software#modules)!
 
 ## Project Background
@@ -41,3 +42,113 @@ The open source framework is designed for flexibility, allowing users to easily
 - **Code**: Check out the modular open source software on [GitHub](https://github.com/makerforgetech/modular-biped)
 - **YouTube Playlist**: Explore the development process through our build videos: [Watch on YouTube](https://www.youtube.com/watch?v=2DVJ5xxAuWY&list=PL_ua9QbuRTv6Kh8hiEXXVqywS8pklZraT)
 - **Community**: Have a question or want to show off your build? Join the communities on [GitHub](https://bit.ly/maker-forge-community) and [Discord](https://bit.ly/makerforge-community)!
+
+
+## A Note On Branches
+
+The `main` branch is the latest stable release of the Modular Biped Robot project. This is compatible with the 'buddy' release, the latest supported release.
+
+The `develop` branch is the development branch and may contain experimental features and changes that are not yet stable. Please use the `main` branch for the most stable experience. This will eventually become the next release, 'cody'. To facilitate testing modules are disabled by default in the `develop` branch. Enable each as needed in the config yaml files to test.
+
+## Modules
+
+The 'Cody' release includes a new BaseModule class that must be extended by all modules. This class provides a common interface for all modules to interact with the main robot controller. The BaseModule class includes a messaging_service object that references the main robot controller's messaging service. This object is used to send and receive messages between modules and the main robot controller.
+
+Both `pypubsub` and `paho-mqtt` can be used to facilitate message passing between modules (mqtt support is not implemented yet). Which service is used can be set in the messaging_service configuration YAML file.
+
+```yaml
+messaging_service:
+  enabled: true
+  config:
+    protocol: 'pubsub' # 'mqtt' or 'pubsub'
+    mqtt_host: 'localhost' 
+    mqtt_port: 1883
+```
+
+The introduction of mqtt allows distributed communication between modules, even across different devices.
+
+The methods publish() and subscribe() can be utilised from within any module to send and receive messages to topics.
+
+For example:
+
+  ```python
+  class MyModule(BaseModule):
+    def __init__(self):
+        # Don't subscribe here
+        pass
+
+    def setup_messaging(self):
+        """Subscribe to necessary topics."""
+        self.subscribe('my_topic', self.my_callback)
+
+    def my_callback(self, message):
+        print(f'Received message: {message}')
+        self.publish('my_response_topic', 'Hello from MyModule!')
+        self.log(level='info', message='MyModule received a message!')
+  ```
+Core and common topics include:
+- `log` - Used for logging messages, accepts a string. or kwargs `type` (info by default) and `message`.
+- `log/info` - Used for logging informational messages.
+- `log/warning` - Used for logging warning messages.
+- `log/error` - Used for logging error messages.
+- `log/debug` - Used for logging debug messages.
+- `log/critical` - Used for logging critical messages. 
+- `system/loop` - The main loop event. Subscribe to this for an action to trigger every loop.
+- `system/loop/1` - Triggers a loop every second.
+- `system/loop/10` - Triggers a loop every 10 seconds.
+- `system/loop/60` - Triggers a loop every 60 seconds.
+- `system/loop/exit` - Triggers a loop exit event.
+- `system/temperature` - The current temperature of the Pi.
+- `motion` - Output from the motion sensor, only triggered if motion is detected.
+- `speech` - Input from speech recognition module converted to text.
+- `tts` - Output to be spoken by the TTS module.
+- `animate` - Output to be animated by the Animation module.
+- `vision/detections` - Output from the Vision module, containing detected objects.
+- `led` - Output to the Neopixel LED module.
+
+## Logging
+
+An upgraded log manager has been included in this version. This allows logs to be published either via the above messaging service, or directly to a 'log' method within the BaseModule class. The log manager can be configured in the `logwrapper.yaml` file.
+
+```yaml
+logwrapper:
+  enabled: true # Highly recommended to enable this module
+  path: modules.logwrapper.LogWrapper
+  config:
+    filename: app.log
+    log_level: 'debug' # debug, info, warning, error, critical
+    cli_level: 'info' # debug, info, warning, error, critical
+  dependencies:
+    python:
+      - pypubsub
+```
+
+Both the log level of the app.log file and the output to the CLI during runtime can be determined and defined separately. For any log level set, logs of a level equal to or above that level will be output. For example, if the log level is set to 'info', all logs of level 'info', 'warning', 'error', and 'critical' will be output.
+
+Example usage:
+
+```python
+class MyModule(BaseModule):
+    def my_method(self):
+        self.log(level='info', message='MyModule has been initialised!')
+        self.log(f"Current value: {value}")
+        self.log(message=f"Current value is too high: {value}", level='critical')
+```
+
+In addition, for modules that extend BaseModule, the class, method and line number are prefixed to the message for output, making it easier to track down where the log was generated.
+
+```
+log/info: [Personality.random_neopixel_status:117] [Personality] Neopixel status triggered set to green
+log/info: [PiTemperature.monitor:30] Temperature: 45.5°C
+log/critical: [PiTemperature.monitor:28] Temperature is critical: 45.5°C
+```
+
+The app.log also includes timestamps and log levels for easy reference.
+
+```
+INFO: 01/30/2025 12:05:26 PM [Main] Loop started using pubsub protocol
+INFO: 01/30/2025 12:05:27 PM [Personality.random_neopixel_status:117] [Personality] Neopixel status triggered set to green
+INFO: 01/30/2025 12:05:27 PM [PiTemperature.monitor:30] Temperature: 42.2°C
+INFO: 01/30/2025 12:05:28 PM [PiTemperature.monitor:30] Temperature: 42.2°C
+INFO: 01/30/2025 12:05:28 PM [Main] Loop ended
+```

config/animate.yml

@@ -1,6 +1,3 @@
 animate:
-  enabled: true
-  path: modules.animate.Animate    
-  dependencies:
-    python:
-      - pypubsub
+  enabled: false
+  path: modules.animate.Animate    

config/braillespeak.yml

@@ -2,7 +2,4 @@ braillespeak:
   enabled: false
   path: modules.audio.braillespeak.BrailleSpeak
   config:
-    pin: 27
-  dependencies:
-    python:
-      - pypubsub
+    pin: 27

config/buzzer.yml

@@ -7,4 +7,3 @@ buzzer:
   dependencies:
     python:
       - gpiozero
-      - pypubsub

config/chatgpt.yml

@@ -3,9 +3,12 @@ chatgpt:
   path: 'modules.chatgpt.ChatGPT'
   config:
     model: gpt-4o-mini
+    persona: "You are a helpful assistant robot. You respond with short phrases where possible.
+    Alternatively, you can respond with the following commands instead of text if you feel they are appropriate:
+    - animate:head_nod
+    - animate:head_shake"
   dependencies:
     python:
       - openai
-      - pypubsub
     additional:
       - https://platform.openai.com/api-keys