Refactoring code to be more modular

.github/workflows/graph_nav_util_test.yml

@@ -0,0 +1,53 @@
+name: graph_nav_util unit tests
+
+# Run on every push
+on: push
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: Make directory
+        run: mkdir -p ~/spot_wrapper
+
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          path: spot_wrapper
+
+      - name: Check files
+        run: ls spot_wrapper
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.8"
+
+      - name: Install dependencies
+        run: |
+          pip install -r spot_wrapper/requirements.txt
+          pip install -e spot_wrapper
+
+      - name: Run tests
+        run: pytest --junit-xml=test-results.xml
+
+      - name: Surface failing tests
+        if: always()
+        uses: pmeier/pytest-summary-gha@main
+        with:
+          # A list of JUnit XML files, directories containing the former, and wildcard patterns to process.
+          path: test-results.xml
+
+          # Add a summary of the results at the top of the report
+          summary: true
+
+          # Select which results should be included in the report.
+          # Follows the same syntax as `pytest -r`
+          display-options: fEX
+
+          # Fail the workflow if no JUnit XML was found.
+          fail-on-empty: true

requirements.txt

@@ -1,3 +1,4 @@
 bosdyn_core==3.2.3
 protobuf==4.22.1
 setuptools==45.2.0
+pytest==7.3.1

spot_wrapper/cam_wrapper.py

@@ -10,19 +10,19 @@
 import cv2
 import numpy as np
 from aiortc import RTCConfiguration
+from bosdyn.api.spot_cam import audio_pb2
+from bosdyn.api.spot_cam.ptz_pb2 import PtzDescription, PtzVelocity, PtzPosition
 from bosdyn.client import Robot
 from bosdyn.client import spot_cam
+from bosdyn.client.payload import PayloadClient
+from bosdyn.client.spot_cam.audio import AudioClient
 from bosdyn.client.spot_cam.compositor import CompositorClient
+from bosdyn.client.spot_cam.health import HealthClient
 from bosdyn.client.spot_cam.lighting import LightingClient
+from bosdyn.client.spot_cam.media_log import MediaLogClient
 from bosdyn.client.spot_cam.power import PowerClient
-from bosdyn.client.spot_cam.health import HealthClient
-from bosdyn.client.spot_cam.audio import AudioClient
-from bosdyn.client.spot_cam.streamquality import StreamQualityClient
 from bosdyn.client.spot_cam.ptz import PtzClient
-from bosdyn.client.spot_cam.media_log import MediaLogClient
-from bosdyn.client.payload import PayloadClient
-from bosdyn.api.spot_cam.ptz_pb2 import PtzDescription, PtzVelocity, PtzPosition
-from bosdyn.api.spot_cam import audio_pb2
+from bosdyn.client.spot_cam.streamquality import StreamQualityClient
 
 from spot_wrapper.cam_webrtc_client import WebRTCClient
 from spot_wrapper.wrapper import SpotWrapper