Code needed to run our opmode (#149)

* Code needed to run our opmode

* Change Opmode to OpMode

Author: alan412

server_python_scripts/opmode.py

@@ -0,0 +1,9 @@
+class OpMode:
+    def __init__(self, robot):
+        self.robot = robot
+    def start():
+        pass
+    def loop():
+        pass
+    def stop():
+        pass

server_python_scripts/run_opmode.py

@@ -0,0 +1,211 @@
+#!/usr/bin/env python3
+"""
+Script to run an opmode class derived from the OpMode base class.
+
+Usage:
+    python run_opmode.py <opmode_file.py>
+
+The opmode file should contain a class that inherits from OpMode.
+"""
+
+import sys
+import time
+import importlib.util
+import inspect
+import argparse
+from pathlib import Path
+
+# Add the current directory to Python path to import local modules
+sys.path.insert(0, str(Path(__file__).parent))
+
+from opmode import OpMode
+from robot import Robot
+
+
+def find_opmode_class(module):
+    """
+    Find the first class in the module that inherits from OpMode.
+    
+    Args:
+        module: The imported Python module
+        
+    Returns:
+        The OpMode-derived class, or None if not found
+    """
+    for name, obj in inspect.getmembers(module, inspect.isclass):
+        if obj != OpMode and issubclass(obj, OpMode):
+            return obj
+    return None
+
+
+def load_opmode_from_file(file_path):
+    """
+    Dynamically load an opmode class from a Python file.
+    
+    Args:
+        file_path: Path to the Python file containing the opmode class
+        
+    Returns:
+        The OpMode-derived class
+        
+    Raises:
+        FileNotFoundError: If the file doesn't exist
+        ImportError: If the file can't be imported
+        ValueError: If no OpMode-derived class is found
+    """
+    file_path = Path(file_path)
+    
+    if not file_path.exists():
+        raise FileNotFoundError(f"OpMode file not found: {file_path}")
+    
+    if not file_path.suffix == '.py':
+        raise ValueError(f"File must be a Python file (.py): {file_path}")
+    
+    # Create module spec and load the module
+    spec = importlib.util.spec_from_file_location("opmode_module", file_path)
+    if spec is None or spec.loader is None:
+        raise ImportError(f"Could not load module from {file_path}")
+    
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    
+    # Find the OpMode-derived class
+    opmode_class = find_opmode_class(module)
+    if opmode_class is None:
+        raise ValueError(f"No class derived from OpMode found in {file_path}")
+    
+    return opmode_class
+
+
+def run_opmode(opmode_file, duration=None, loop_frequency=50):
+    """
+    Run the opmode with the specified parameters.
+    
+    Args:
+        opmode_file: Path to the opmode Python file
+        duration: How long to run in seconds (None for infinite)
+        loop_frequency: Loops per second (default: 50 Hz)
+    """
+    print(f"Loading opmode from: {opmode_file}")
+    
+    try:
+        # Load the opmode class
+        OpModeClass = load_opmode_from_file(opmode_file)
+        print(f"Found opmode class: {OpModeClass.__name__}")
+        
+        # Create robot instance
+        print("Creating robot instance...")
+        robot = Robot()
+        
+        # Create opmode instance
+        print("Initializing opmode...")
+        opmode = OpModeClass(robot)
+        
+        # Call start method
+        print("Starting opmode...")
+        opmode.start()
+        
+        # Calculate loop timing
+        loop_period = 1.0 / loop_frequency
+        print(f"Running main loop at {loop_frequency} Hz...")
+        
+        # Main loop
+        loop_count = 0
+        start_time = time.time()
+        
+        try:
+            while True:
+                loop_start = time.time()
+                
+                # Call the loop method
+                opmode.loop()
+                loop_count += 1
+                
+                # Check if we should stop based on duration
+                if duration is not None and (time.time() - start_time) >= duration:
+                    break
+                
+                # Sleep to maintain loop frequency
+                elapsed = time.time() - loop_start
+                sleep_time = max(0, loop_period - elapsed)
+                
+                if sleep_time > 0:
+                    time.sleep(sleep_time)
+                elif elapsed > loop_period * 1.1:  # Warn if loop is running slow
+                    print(f"Warning: Loop {loop_count} took {elapsed:.3f}s "
+                          f"(target: {loop_period:.3f}s)")
+                
+        except KeyboardInterrupt:
+            print("\nReceived interrupt signal...")
+        
+        # Call stop method
+        print("Stopping opmode...")
+        opmode.stop()
+        
+        # Print statistics
+        total_time = time.time() - start_time
+        actual_frequency = loop_count / total_time if total_time > 0 else 0
+        
+        print(f"\nOpMode completed:")
+        print(f"  Total runtime: {total_time:.2f} seconds")
+        print(f"  Total loops: {loop_count}")
+        print(f"  Average frequency: {actual_frequency:.1f} Hz")
+        
+    except Exception as e:
+        print(f"Error running opmode: {e}")
+        sys.exit(1)
+
+
+def main():
+    """Main entry point."""
+    parser = argparse.ArgumentParser(
+        description="Run an opmode class derived from OpMode",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+    python run_opmode.py my_opmode.py
+    python run_opmode.py my_opmode.py --duration 30
+    python run_opmode.py my_opmode.py --frequency 60
+        """
+    )
+    
+    parser.add_argument(
+        'opmode_file',
+        help='Python file containing the opmode class'
+    )
+    
+    parser.add_argument(
+        '--duration', '-d',
+        type=float,
+        help='Duration to run in seconds (default: run until interrupted)'
+    )
+    
+    parser.add_argument(
+        '--frequency', '-f',
+        type=int,
+        default=50,
+        help='Loop frequency in Hz (default: 50)'
+    )
+    
+    parser.add_argument(
+        '--verbose', '-v',
+        action='store_true',
+        help='Enable verbose output'
+    )
+    
+    args = parser.parse_args()
+    
+    if args.frequency <= 0:
+        print("Error: Frequency must be positive")
+        sys.exit(1)
+    
+    # Run the opmode
+    run_opmode(
+        args.opmode_file,
+        duration=args.duration,
+        loop_frequency=args.frequency
+    )
+
+
+if __name__ == '__main__':
+    main()