Adds additional testing and formatting

commands/basic_commands.py

@@ -6,7 +6,6 @@
 import logging
 import numpy as np
 import PAROL6_ROBOT
-from .ik_helpers import CommandValue
 
 logger = logging.getLogger(__name__)
 
@@ -121,7 +120,7 @@ def __init__(self, joint, speed_percentage=None, duration=None, distance_deg=Non
 
     def prepare_for_execution(self, current_position_in):
         """Pre-computes speeds and target positions using live data."""
-        logger.debug(f"  -> Preparing for Jog command...")
+        logger.debug("  -> Preparing for Jog command...")
 
         # Joint direction and index mapping
         self.direction = 1 if 0 <= self.joint <= 5 else -1
@@ -261,7 +260,7 @@ def __init__(self, joints, speed_percentages, duration):
 
     def prepare_for_execution(self, current_position_in):
         """Pre-computes the speeds for each joint."""
-        logger.debug(f"  -> Preparing for MultiJog command...")
+        logger.debug("  -> Preparing for MultiJog command...")
 
         for i, joint in enumerate(self.joints):
             # Index mapping: 0-5 positive, 6-11 negative direction

commands/gripper_commands.py

@@ -127,7 +127,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out,
                 # Check for completion
                 current_position = Gripper_data_in[1]
                 if abs(current_position - self.target_position) <= 5:
-                    logger.info(f"  -> Gripper move complete.")
+                    logger.info("  -> Gripper move complete.")
                     self.is_finished = True
                     # Set command back to idle
                     bitfield = [1, 0, not InOut_in[4], 1, 0, 0, 0, 0]
@@ -136,12 +136,12 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out,
                     return True
 
                 if (object_detection == 1) and (self.target_position > current_position):
-                    logger.info(f"  -> Gripper move holding position due to object detection when closing.")
+                    logger.info("  -> Gripper move holding position due to object detection when closing.")
                     self.is_finished = True
                     return True
 
                 if (object_detection == 2) and (self.target_position < current_position):
-                    logger.info(f"  -> Gripper move holding position due to object detection when opening.")
+                    logger.info("  -> Gripper move holding position due to object detection when opening.")
                     self.is_finished = True
                     return True
 

commands/ik_helpers.py

@@ -6,7 +6,6 @@
 import numpy as np
 import logging
 from collections import namedtuple
-from typing import Optional
 from roboticstoolbox import DHRobot
 from spatialmath import SE3
 from spatialmath.base import trinterp

commands/joint_commands.py

@@ -114,7 +114,7 @@ def prepare_for_execution(self, current_position_in):
 
             except Exception as e:
                 logger.error(f"  -> VALIDATION FAILED: Could not calculate velocity-based trajectory. Error: {e}")
-                logger.info(f"  -> Please check Joint_min/max_speed and Joint_min/max_acc values in PAROL6_ROBOT.py.")
+                logger.info("  -> Please check Joint_min/max_speed and Joint_min/max_acc values in PAROL6_ROBOT.py.")
                 self.is_valid = False
                 return
 

commands/smooth_commands.py

@@ -8,16 +8,13 @@
 import PAROL6_ROBOT
 from spatialmath import SE3
 from smooth_motion import (
-    CircularMotion, SplineMotion, MotionBlender,
-    HelixMotion, AdvancedMotionBlender, WaypointTrajectoryPlanner
+    CircularMotion, SplineMotion, HelixMotion, WaypointTrajectoryPlanner
 )
 from .ik_helpers import solve_ik_with_adaptive_tol_subdivision
+from .cartesian_commands import MovePoseCommand
 
 logger = logging.getLogger(__name__)
 
-# Import MovePoseCommand for transition commands
-from .cartesian_commands import MovePoseCommand
-
 def transform_command_params_to_wrf(command_type: str, params: dict, frame: str, current_position_in) -> dict:
     """
     Transform command parameters from TRF to WRF.
@@ -313,7 +310,7 @@ def prepare_for_execution(self, current_position_in):
             if self.transition_command:
                 self.transition_command.prepare_for_execution(current_position_in)
                 if not self.transition_command.is_valid:
-                    logger.error(f"  -> ERROR: Cannot reach specified start position")
+                    logger.error("  -> ERROR: Cannot reach specified start position")
                     self.is_valid = False
                     self.error_state = True
                     self.error_message = "Cannot reach specified start position"
@@ -342,7 +339,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out, **kwargs):
             )
 
             if is_done:
-                logger.info(f"  -> Transition complete")
+                logger.info("  -> Transition complete")
                 self.transition_complete = True
             return False
 
@@ -370,7 +367,7 @@ def execute_step(self, Position_in, Homed_in, Speed_out, Command_out, **kwargs):
             )
 
             if not ik_result.success:
-                logger.error(f"  -> ERROR: Cannot reach first trajectory point")
+                logger.error("  -> ERROR: Cannot reach first trajectory point")
                 self.is_finished = True
                 self.error_state = True
                 self.error_message = "Cannot reach trajectory start"
@@ -884,7 +881,7 @@ def prepare_for_execution(self, current_position_in):
     def generate_main_trajectory(self, effective_start_pose):
         """Generate helix with entry trajectory if needed and proper trajectory profile."""
         # Import here to avoid circular dependencies
-        from smooth_motion import HelixMotion, CircularMotion
+        from smooth_motion import CircularMotion
         helix_gen = HelixMotion()
 
         # Get helix axis (default Z for WRF, transformed for TRF)
@@ -1024,7 +1021,7 @@ def generate_main_trajectory(self, effective_start_pose):
         else:
             # Replace first waypoint with actual start to ensure continuity
             modified_waypoints = [effective_start_pose] + self.waypoints[1:]
-            logger.info(f"    Replaced first waypoint with actual start position")
+            logger.info("    Replaced first waypoint with actual start position")
 
         timestamps = np.linspace(0, self.duration, len(modified_waypoints))
 
@@ -1291,7 +1288,6 @@ def prepare_for_execution(self, current_position_in):
 
     def generate_main_trajectory(self, effective_start_pose):
         """Generate waypoint trajectory with corner cutting."""
-        from smooth_motion import WaypointTrajectoryPlanner
 
         # Ensure first waypoint matches effective start pose
         first_wp_error = np.linalg.norm(

gcode/commands.py

@@ -6,7 +6,7 @@
 """
 
 import numpy as np
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, Optional
 import sys
 import os
 

gcode/coordinates.py

@@ -7,8 +7,7 @@
 
 import json
 import os
-import numpy as np
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, List, Optional
 
 
 class WorkCoordinateSystem:

gcode/interpreter.py

@@ -7,11 +7,11 @@
 
 import os
 import numpy as np
-from typing import List, Dict, Optional, Union, Tuple
-from .parser import GcodeParser, GcodeToken
+from typing import List, Dict, Optional, Union
+from .parser import GcodeParser
 from .state import GcodeState
 from .coordinates import WorkCoordinateSystem
-from .commands import create_command_from_token, GcodeCommand
+from .commands import create_command_from_token
 
 
 class GcodeInterpreter:

gcode/state.py

@@ -11,8 +11,8 @@
 
 import json
 import os
-from typing import Dict, Optional, Tuple
-from dataclasses import dataclass, field, asdict
+from typing import Dict, Optional
+from dataclasses import dataclass, field
 
 
 @dataclass

gcode/utils.py

@@ -6,7 +6,7 @@
 
 import math
 import numpy as np
-from typing import Dict, List, Tuple, Optional
+from typing import Dict, List
 
 
 def feed_rate_to_duration(distance: float, feed_rate: float) -> float:

headless_commander.py

@@ -1155,7 +1155,7 @@ def calculate_duration_from_speed(trajectory_length: float, speed_percentage: fl
     return None
 
 # Acknowledgment system configuration
-CLIENT_ACK_PORT = 5002  # Port where clients listen for acknowledgments
+CLIENT_ACK_PORT = int(os.getenv("PAROL6_ACK_PORT", "5002"))  # Port where clients listen for acknowledgments
 ack_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 
 # Command tracking
@@ -1223,11 +1223,16 @@ def parse_command_with_id(message: str) -> Tuple[Optional[str], str]:
 # --- Test 1: Homing and Initial Setup
 # --------------------------------------------------------------------------
 
-# 1. Optionally start with the Home command (can be bypassed via PAROL6_NOAUTOHOME)
-if not str(os.getenv("PAROL6_NOAUTOHOME", "0")).lower() in ("1", "true", "yes", "on"):
+# 1. Optionally start with the Home command (can be bypassed via PAROL6_NOAUTOHOME or --no-auto-home)
+skip_auto_home = (
+    str(os.getenv("PAROL6_NOAUTOHOME", "0")).lower() in ("1", "true", "yes", "on") or
+    args.no_auto_home
+)
+if not skip_auto_home:
     command_queue.append(HomeCommand())
 else:
-    logging.info("PAROL6_NOAUTOHOME is set; skipping auto-home on startup.")
+    reason = "command line flag" if args.no_auto_home else "environment variable"
+    logging.info(f"Auto-home disabled via {reason}; skipping auto-home on startup.")
 
 # --- State variable for the currently running command ---
 active_command = None
@@ -2054,4 +2059,4 @@ def parse_command_with_id(message: str) -> Tuple[Optional[str], str]:
         active_command = None
         active_command_id = None
 
-    timer.checkpt()
+    timer.checkpt()

pyproject.toml

@@ -1,8 +1,55 @@
-// filepath: pyproject.toml
 [build-system]
 requires = ["setuptools>=61.0"]
 build-backend = "setuptools.build_meta"
 
 [project]
 name = "parol6-python-api"
-version = "0.1.0"
+version = "0.1.0"
+
+dev = ["ruff", "mypy", "pytest", "pytest-asyncio", "pre-commit"]
+
+[tool.pytest.ini_options]
+# Limit discovery to the tests/ directory only
+testpaths = ["tests"]
+
+# Test discovery patterns
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+
+# Output configuration
+addopts = [
+    "-v",
+    "--tb=short",
+    "--strict-markers",
+    "--disable-warnings",
+    "-p", "no:cacheprovider"
+]
+
+# Timeout configuration (requires pytest-timeout)
+timeout = 300
+timeout_method = "thread"
+
+# Logging configuration for tests
+log_cli = true
+log_cli_level = "INFO"
+log_cli_format = "%(asctime)s [%(levelname)8s] %(name)s: %(message)s"
+log_cli_date_format = "%Y-%m-%d %H:%M:%S"
+
+# Pytest markers for different test types
+markers = [
+    "unit: Unit tests that test individual components in isolation",
+    "integration: Integration tests that test component interactions with FAKE_SERIAL",
+    "hardware: Hardware tests that require actual robot hardware and human confirmation",
+    "slow: Slow-running tests (typically hardware or complex integration tests)",
+    "e2e: End-to-end tests that exercise complete workflows",
+    "gcode: Tests specifically for GCODE parsing and interpretation functionality"
+]
+
+# Filter warnings
+filterwarnings = [
+    "ignore::DeprecationWarning",
+    "ignore::PendingDeprecationWarning",
+    "ignore::UserWarning:roboticstoolbox.*",
+    "ignore::UserWarning:spatialmath.*"
+]

requirements-test.txt

@@ -0,0 +1,26 @@
+# Core testing framework
+pytest>=7.0.0
+pytest-timeout>=2.1.0
+pytest-xdist>=3.0.0
+pytest-rerunfailures>=11.0.0
+
+# Type checking support
+typing-extensions>=4.0.0
+
+# Core dependencies needed for integration tests
+# (Pinned versions for CI reproducibility)
+roboticstoolbox-python==1.0.3
+numpy==1.23.4
+scipy==1.11.4
+spatialmath>=1.0.0
+
+# Hardware communication
+pyserial>=3.5
+
+# Timing and system utilities
+oclock>=1.0.0
+keyboard>=0.13.5
+
+# Additional test utilities
+mock>=4.0.0
+pytest-mock>=3.10.0