Paper Freeze (#2)

* Refactor: cleanup; add install/run instructions

* Fix: correct repo name at top of README.md

.gitignore

@@ -158,3 +158,5 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+.vscode

Makefile

@@ -0,0 +1,24 @@
+.DEFAULT_GOAL := all
+isort = python -m isort .
+black = python -m black --target-version py39 .
+
+.PHONY: format
+format:
+	$(isort)
+	$(black)
+
+.PHONY: lint
+lint:
+	$(black) --check --diff
+	python -m flake8 .
+	python -m pydocstyle . --count
+
+
+
+.PHONY: mypy
+mypy:
+	mypy --config-file setup.cfg --package .
+	mypy --config-file setup.cfg .
+
+.PHONY: all
+all: format lint

README.md

@@ -1,2 +1,22 @@
-# pf400_driver
-Driver for communicating with the PF400 
+# pf400_module
+
+Driver for communicating with the PF400.
+
+## Installation
+
+```
+git clone https://github.com/AD-SDL/pf400_module.git
+cd pf400_module
+pip install -r requirements.txt
+pip install -e .
+```
+
+## Running the PF400 Module
+
+In `/scripts`, run the following
+
+```
+python3 pf400_rest_client.py --host=<hostname> --port 3000 --alias pf400
+```
+
+You can use `0.0.0.0` as the hostname to connect from any device on the local network.

pf400_driver/errors.py

@@ -1,54 +1,57 @@
-
 class ConnectionException(Exception):
-    def __init__(self, err_message = "error"):
+    def __init__(self, err_message="error"):
         # Call the base class constructor with the parameters it needs
-        super(ConnectionException, self).__init__("Could not establish connection! Error type: " + err_message)
+        super(ConnectionException, self).__init__(
+            "Could not establish connection! Error type: " + err_message
+        )
+
 
 class CommandException(Exception):
-    def __init__(self, err_message = "error"):
+    def __init__(self, err_message="error"):
         super(CommandException, self).__init__(
-            "Invalid command! Check if communication is open. Error type: " + err_message
+            "Invalid command! Check if communication is open. Error type: "
+            + err_message
         )
 
+
 class ErrorResponse(Exception):
     """Error during command execution.."""
 
     @staticmethod
     def from_error_code(error: str):
         error_codes = {
-                "-1009":"*No robot attached*",
-                "-1012":"*Joint out-of-range* Set robot joints within their range",
-                "-1039":"*Position too close* Robot 1",
-                "-1040":"*Position too far* Robot 1",
-                "-1042":"*Can't change robot config* Robot 1",
-                "-1046":"*Power not enabled*",
-                "-1600":"*Power off requested*",
-                "-2800":"*Warning Parameter Mismatch*",
-                "-2801":"*Warning No Parameters",
-                "-2802":"*Warning Illegal move command*",
-                "-2803":"*Warning Invalid joint angles*",
-                "-2804":"*Warning: Invalid Cartesian coordinate values*",
-                "-2805":"*Unknown command*  ",
-                "-2806":"*Command Exception*",
-                "-2807":"*Warning cannot set Input states*",
-                "-2808":"*Not allowed by this thread*",
-                "-2809":"*Invalid robot type*",
-                "-2810":"*Invalid serial command*",
-                "-2811":"*Invalid robot number*",
-                "-2812":"*Robot already selected*",
-                "-2813":"*Module not initialized*",
-                "-2814":"*Invalid location index*",
-                "-2816":"*Undefined location*",
-                "-2817":"*Undefined profile*",
-                "-2818":"*Undefined pallet*",
-                "-2819":"*Pallet not supported*",
-                "-2820":"*Invalid station index*",
-                "-2821":"*Undefined station*",
-                "-2822":"*Not a pallet*",
-                "-2823":"*Not at pallet origin*",    
-                "-3122":"*Soft envelope error* Robot 1: 1"   
+            "-1009": "*No robot attached*",
+            "-1012": "*Joint out-of-range* Set robot joints within their range",
+            "-1039": "*Position too close* Robot 1",
+            "-1040": "*Position too far* Robot 1",
+            "-1042": "*Can't change robot config* Robot 1",
+            "-1046": "*Power not enabled*",
+            "-1600": "*Power off requested*",
+            "-2800": "*Warning Parameter Mismatch*",
+            "-2801": "*Warning No Parameters",
+            "-2802": "*Warning Illegal move command*",
+            "-2803": "*Warning Invalid joint angles*",
+            "-2804": "*Warning: Invalid Cartesian coordinate values*",
+            "-2805": "*Unknown command*  ",
+            "-2806": "*Command Exception*",
+            "-2807": "*Warning cannot set Input states*",
+            "-2808": "*Not allowed by this thread*",
+            "-2809": "*Invalid robot type*",
+            "-2810": "*Invalid serial command*",
+            "-2811": "*Invalid robot number*",
+            "-2812": "*Robot already selected*",
+            "-2813": "*Module not initialized*",
+            "-2814": "*Invalid location index*",
+            "-2816": "*Undefined location*",
+            "-2817": "*Undefined profile*",
+            "-2818": "*Undefined pallet*",
+            "-2819": "*Pallet not supported*",
+            "-2820": "*Invalid station index*",
+            "-2821": "*Undefined station*",
+            "-2822": "*Not a pallet*",
+            "-2823": "*Not at pallet origin*",
+            "-3122": "*Soft envelope error* Robot 1: 1",
         }
         if error not in error_codes:
             return ErrorResponse(f"Unknown error code: {error}")
         return ErrorResponse(error_codes[error])
-