initial module copied from viam-modular-resources

.env

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+MODULE_DIR=$(dirname $0)
+VIRTUAL_ENV=$MODULE_DIR/.venv
+PYTHON=$VIRTUAL_ENV/bin/python

.github/workflows/build-action.yaml

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+# see https://github.com/viamrobotics/build-action for help
+on:
+  push:
+    tags:
+      - "*" # the build-action will trigger on all tags including RC versions
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: viamrobotics/build-action@v1
+        with:
+          # note: you can replace this line with 'version: ""' if
+          # you want to test the build process without deploying
+          version: ${{ github.ref_name }}
+          ref: ${{ github.sha }}
+          key-id: ${{ secrets.viam_key_id }}
+          key-value: ${{ secrets.viam_key_value }}

LICENSE

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+MIT License
+
+Copyright (c) 2024 Michael Lee
+
+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.

build.sh

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+#!/bin/bash
+apt-get install -y python3.11-venv
+python3 -m venv .venv
+. .venv/bin/activate
+pip3 install -r requirements.txt
+python3 -m PyInstaller --onefile --hidden-import="googleapiclient" --hidden-import="viam-wrap" models.py
+tar -czvf dist/archive.tar.gz dist/models

exec.sh

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+#!/usr/bin/env bash
+
+# bash safe mode. look at `set --help` to see what these are doing
+set -euxo pipefail 
+
+cd $(dirname $0)
+source .env
+./setup.sh
+
+# Be sure to use `exec` so that termination signals reach the python process,
+# or handle forwarding termination signals manually
+exec $PYTHON models.py $@

meta.json

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+{
+  "module_id": "michaellee1019:ht16k33",
+  "visibility": "public",
+  "url": "https://github.com/michaellee1019/ht16k33",
+  "description": "",
+  "models": [
+    {
+      "api": "rdk:component:generic",
+      "model": "michaellee1019:ht16k33:seg_14_x_4"
+    }
+  ],
+  "build": {
+    "build": "sh build.sh",
+    "path": "dist/archive.tar.gz",
+    "arch" : ["linux/arm64", "linux/amd64"]
+  },
+  "entrypoint": "dist/models"
+}

models.py

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+import viam_wrap
+from viam.components.generic import Generic
+from viam.proto.app.robot import ComponentConfig
+from typing import Mapping, Optional, Self
+from viam.utils import ValueTypes
+from viam.proto.common import ResourceName
+from viam.resource.base import ResourceBase
+import sys
+
+# Import all board pins and bus interface.
+import board
+import busio
+
+# Import the HT16K33 LED matrix module.
+from adafruit_ht16k33 import segments, ht16k33
+
+class Ht16k33_Seg14x4(Generic):
+    MODEL = "michaellee1019:ht16k33:seg_14_x_4"
+    i2c = None
+    segs = None
+
+    async def do_command(
+        self,
+        command: Mapping[str, ValueTypes],
+        *,
+        timeout: Optional[float] = None,
+        **kwargs
+    ) -> Mapping[str, ValueTypes]:
+        result = {key: False for key in command.keys()}
+        for (name, args) in command.items():
+            if name == 'marquee':
+                if 'text' in args:
+                    #TODO: NoneType is not converted to None
+                    self.marquee(args['text'], args.get('delay'))
+                    result[name] = True
+                else:
+                    result[name] = 'missing text parameter'
+            if name == 'print':
+                if 'value' in args:
+                    # TODO: decimal results in Error: TypeError - slice indices must be integers or None or have an __index__ method
+                    self.print(args['value'], args.get('decimal'))
+                    result[name] = True
+                else:
+                    result[name] = 'missing value parameter'
+            if name == 'print_hex':
+                if 'value' in args:
+                    self.print_hex(args['value'])
+                    result[name] = True
+                else:
+                    result[name] = 'missing value parameter'
+            if name == 'scroll':
+                if 'count' in args:
+                    self.scroll(args['count'])
+                    result[name] = True
+                else:
+                    result[name] = 'missing count parameter'
+            if name == 'set_digit_raw':
+                if all(k in args for k in ('index','bitmask')):
+                    self.set_digit_raw(args['index'], args['bitmask'])
+                    result[name] = True
+                else:
+                    result[name] = 'missing index and/or bitmask parameters'
+        return result
+
+
+    def marquee(self, text: str, delay: float) -> None:
+        # TODO try to support loop
+        self.segs.marquee(text, loop = False, delay= 0 if delay is None else delay)
+
+    def print(self, value, decimal: int) -> None:
+        self.segs.print(value, decimal= 0 if decimal is None else decimal)
+
+    def print_hex(self, value: int) -> None:
+        self.segs.print_hex(value)
+
+    def scroll(self, count: int) -> None:
+        # TODO Error: IndexError - bytearray index out of range
+        self.segs.scroll(2)
+
+    def set_digit_raw(self, index: int, bitmask: int) -> None:
+        # TODO Error: TypeError - unsupported operand type(s) for &=: 'float' and 'int'
+        self.segs.set_digit_raw(1, bitmask)
+
+    @classmethod
+    def new(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self:
+        self.i2c = busio.I2C(board.SCL, board.SDA)
+
+        brightness = None
+        auto_write = None
+        if 'brightness' in config.attributes.fields:
+            brightness = config.attributes.fields["brightness"].number_value
+        if 'auto_write' in config.attributes.fields:
+            auto_write = config.attributes.fields["auto_write"].bool_value
+
+        addresses = config.attributes.fields["addresses"].list_value
+        hex_addresses=[]
+        for address in addresses:
+            hex_addresses.append(int(address,16))
+            # set brightness through base class
+
+        self.segs = segments.Seg14x4(
+            i2c=self.i2c,
+            address=hex_addresses,
+            auto_write= True if auto_write is None else auto_write,
+            chars_per_display=4)
+
+        if brightness is not None:
+            ht16k33.HT16K33(self.i2c, hex_addresses, brightness=brightness)
+
+        output = self(config.name)
+        return output
+
+    @classmethod
+    def validate_config(self, config: ComponentConfig) -> None:
+        addresses = config.attributes.fields["addresses"].list_value
+        if addresses is None:
+            raise Exception('A address attribute is required for seg_14_x_4 component. Must be a string array of 1 or more addresses in hexidecimal format such as "0x00".')
+
+        # TODO: assert len()>1, parse addresses here
+
+        return None
+
+if __name__ == '__main__':
+    # necessary for pyinstaller to see it
+    # build this with: 
+    # pyinstaller --onefile --hidden-import viam-wrap --paths $VIRTUAL_ENV/lib/python3.10/site-packages installable.py 
+    # `--paths` arg may no longer be necessary once viam-wrap is published somewhere
+    # todo: utility to append this stanza automatically at build time
+    viam_wrap.main(sys.modules.get(__name__))

requirements.txt

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+viam-sdk
+pyinstaller
+git+https://github.com/viam-labs/1liner
+adafruit-circuitpython-ht16k33

setup.sh

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+#!/usr/bin/env bash
+# setup.sh -- environment bootstrapper for python virtualenv
+
+set -euo pipefail
+
+SUDO=sudo
+if ! command -v $SUDO; then
+	echo no sudo on this system, proceeding as current user
+	SUDO=""
+fi
+
+if command -v apt-get; then
+	if dpkg --status python3-venv > /dev/null; then
+		echo "python3-venv is installed, skipping setup"
+	else
+		if ! apt info python3-venv; then
+			echo package info not found, trying apt update
+			$SUDO apt-get -qq update
+		fi
+		$SUDO apt-get install -qqy python3-venv
+	fi
+else
+	echo Skipping tool installation because your platform is missing apt-get.
+	echo If you see failures below, install the equivalent of python3-venv for your system.
+fi
+
+source .env
+if [ -f $VIRTUAL_ENV/.install_complete ]; then
+	echo "completion marker is present, skipping virtualenv setup"
+else
+	sudo apt install -y git
+	echo creating virtualenv at $VIRTUAL_ENV
+	python3 -m venv $VIRTUAL_ENV
+	echo installing dependencies from requirements.txt
+	$VIRTUAL_ENV/bin/pip install -r requirements.txt
+	touch $VIRTUAL_ENV/.install_complete
+fi