WIP: Migrate grbl_ros to use pydantic

grbl_ros/__init__.py

@@ -1,68 +0,0 @@
-# Copyright 2020 Evan Flynn
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
-# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-
-"""
-Functions to initialize the GRBL device.
-
-This code was ported over to ROS2 from picatostas:
-https://github.com/picatostas/cnc_interface
-Special thanks to his work and the work before him
-
-The grbl device class initialized here imports the other control,
-command, configure and logging files within this directory and takes
-a ROS2 node as an argument in order to seperate out the ROS2 specific
-code from the grbl device code.
-
-"""
-
-from ._command import command
-from ._configure import configure
-from ._control import control
-from ._logging import logging
-
-
-class grbl(control, command, configure, logging):
-    """Initializes the base grbl device class."""
-
-    def __init__(self, node):
-        self.mode = self.MODE.NORMAL
-        self.state = self.STATE.ALARM  # initalize to alarm state for safety
-        self.node = node  # so we can pass info to ROS
-        self.s = None    # serial port object
-        self.abs_move = None     # GRBL has 2 movement modes: relative and absolute
-        self.machine_id = 'cnc_000'
-        self.baudrate = 0
-        self.port = ''
-        self.acceleration = 0
-        self.x_max = 0
-        self.y_max = 0
-        self.z_max = 0
-        self.defaultSpeed = 0
-        self.x_max_speed = 0
-        self.y_max_speed = 0
-        self.z_max_speed = 0
-        self.x_steps_mm = 0                  # number of steps per centimeter
-        self.y_steps_mm = 0                  # number of steps per centimeter
-        self.z_steps_mm = 0                  # number of steps per centimeter
-        self.idle = True                     # machine is idle
-        self.pos = [0.0, 0.0, 0.0]           # current position     [X, Y, Z]
-        self.angular = [0.0, 0.0, 0.0, 0.0]  # quaterion  [X, Y, Z, W]
-        self.origin = [0.0, 0.0, 0.0]        # minimum coordinates  [X, Y, Z]
-        self.limits = [0.0, 0.0, 0.0]        # maximum coordinates  [X, Y, Z]