Add skeleton code for exosuit

Makefile

@@ -10,11 +10,11 @@ test:
 	rm .coverage
 
 lint:
-	uv run ruff format
-	uv run ruff check --fix
+	uv run ruff format src/ tests/
+	uv run ruff check --fix src/ tests/
 
 typecheck:
-	uv run pyright src
+	uv run pyright src/ tests/
 
 format:
 	make lint
@@ -27,7 +27,8 @@ clean:
 	rm -rf build/
 	rm -rf dist/
 	rm -rf junit-pytest.xml
-	rm -rf logs/*
+	rm -rf data/logs/*
+	rm coverage.xml
 	find . -name ".coverage*" -delete
 	find . -name "__pycache__" -exec rm -r {} +
 

README.md

@@ -36,11 +36,13 @@ The package can then be found at: **https://pypi.org/project/exosuit-python**
 ## Module Usage
 ```python
 """Basic docstring for the exosuit module."""
+from exosuit_python.exosuit import Exosuit, ExosuitConfig
 
 def main() -> None:
     """Run a simple demonstration."""
-    logger.info("Hello World!")
-
+    config = ExosuitConfig(frequency=100)
+    exosuit = Exosuit(config=config)
+    exosuit.run()
 if __name__ == "__main__":
     main()
 ```

pyproject.toml

@@ -5,31 +5,31 @@ description = "IMU sensor codes in Python for the exosuit"
 readme = "README.md"
 authors = [{ name = "Tsmorz", email = "tony.smoragiewicz@tum.de" }]
 requires-python = ">=3.11,<3.14"
+homepage = "https://github.com/TUM-Aries-Lab/exosuit-python"
 
 # --- Core dependencies: NO hardware here ---
 dependencies = [
   "numpy>=2.2.3",
   "loguru>=0.7.3",
+  "motor-python>=0.0.3",
+  "imu-python>=0.0.3",
 ]
 
 [dependency-groups]
 dev = [
   "ruff>=0.6.9",
-  "mypy>=1.11",
   "pytest>=8.3",
   "pytest-cov>=6.0",
   "pre-commit>=4.1.0",
   "coveralls>=4.0.1",
   "pyright>=1.1.407",
 ]
 hw = [
+    "jetson-gpio>=2.1.12",
 ]
 no_hw = [
 ]
 
-[project.urls]
-homepage = "https://github.com/TUM-Aries-Lab/exosuit-python"
-
 [tool.ruff]
 line-length = 88
 fix = true

repo_tree.py

@@ -17,6 +17,7 @@
 START_MARKER = "<!-- TREE-START -->"
 END_MARKER = "<!-- TREE-END -->"
 ENCODING = "utf-8"
+README = "README.md"
 
 # Manual ignores are still allowed
 MANUAL_IGNORE = {
@@ -109,11 +110,12 @@ def generate_markdown_tree() -> str:
 
 def update_readme_block(readme_path: Path) -> None:
     """Replace the section between markers with the generated tree."""
+    logger.info(f"Updating README tree for '{readme_path.name}'.")
     readme = readme_path.read_text(encoding=ENCODING).splitlines()
 
     if START_MARKER not in readme or END_MARKER not in readme:
         raise RuntimeError(
-            f"README.md must contain '{START_MARKER}' and '{END_MARKER}' markers."
+            f"{README} must contain '{START_MARKER}' and '{END_MARKER}' markers."
         )
 
     start = readme.index(START_MARKER) + 1
@@ -134,7 +136,7 @@ def main() -> None:
     args = parser.parse_args()
 
     if args.update_readme:
-        update_readme_block(Path("README.md"))
+        update_readme_block(Path(README))
     else:
         logger.info(generate_markdown_tree())
 

src/exosuit_python/__main__.py

@@ -3,7 +3,24 @@
 import argparse
 
 from exosuit_python.definitions import DEFAULT_LOG_LEVEL, LogLevel
-from exosuit_python.exosuit import main
+from exosuit_python.exosuit import Exosuit, ExosuitConfig
+from exosuit_python.utils import setup_logger
+
+
+def main(log_level: str, stderr_level: str) -> None:  # pragma: no cover
+    """Run the main pipeline.
+
+    :param log_level: The log level to use.
+    :param stderr_level: The std err level to use.
+    :return: None
+    """
+    setup_logger(log_level=log_level, stderr_level=stderr_level)
+
+    config = ExosuitConfig(frequency=100)
+    exosuit = Exosuit(config=config)
+    exosuit.run()
+    exosuit.cleanup()
+
 
 if __name__ == "__main__":  # pragma: no cover
     parser = argparse.ArgumentParser("Run the pipeline.")

src/exosuit_python/exosuit.py

@@ -1,19 +1,48 @@
 """Sample doc string."""
 
+from dataclasses import dataclass
+
 from loguru import logger
 
-from exosuit_python.definitions import DEFAULT_LOG_LEVEL
-from exosuit_python.utils import setup_logger
 
+@dataclass
+class ExosuitConfig:
+    """Exosuit configuration."""
+
+    frequency: float
+
+
+class Exosuit:
+    """Tendon-based soft exoskeleton."""
+
+    def __init__(self, config: ExosuitConfig):
+        self.config = config
+
+        self._is_running: bool = False
+
+        self.motor_left = "motor"  # place holder
+        self.motor_right = "motor"  # place holder
+
+        self.imu_left = "imu"  # place holder
+        self.imu_right = "imu"  # place holder
+
+    def run(self):
+        """Start the soft exoskeleton."""
+        self.start()
 
-def main(
-    log_level: str = DEFAULT_LOG_LEVEL, stderr_level: str = DEFAULT_LOG_LEVEL
-) -> None:
-    """Run the main pipeline.
+    def start(self):
+        """Start the IMUs and Motors."""
+        logger.info(f"Starting Exosuit at '{self.config.frequency}' Hz.")
+        try:
+            logger.debug("Starting IMUs")
+            logger.debug("Starting Motors")
+            logger.debug("Starting Controller")
+            self._is_running = True
+        except Exception as err:
+            logger.info(f"Exosuit exception: '{err}'.")
 
-    :param log_level: The log level to use.
-    :param stderr_level: The std err level to use.
-    :return: None
-    """
-    setup_logger(log_level=log_level, stderr_level=stderr_level)
-    logger.info("Hello, world!")
+    def cleanup(self):
+        """Clean up the soft exoskeleton."""
+        logger.info("Cleaning up exosuit.")
+        self._is_running = False
+        logger.success("Exosuit shutdown.")

tests/exosuit_test.py

@@ -1,8 +1,18 @@
 """Test the main program."""
 
-from exosuit_python.exosuit import main
+from exosuit_python.exosuit import Exosuit, ExosuitConfig
 
 
-def test_main():
+def test_exosuit():
     """Test the main function."""
-    assert main() is None
+    # Arrange
+    config = ExosuitConfig(frequency=100)
+
+    # Act
+    exosuit = Exosuit(config)
+    exosuit.run()
+
+    # Assert
+    assert exosuit._is_running
+    exosuit.cleanup()
+    assert not exosuit._is_running

tests/utils_test.py

@@ -3,15 +3,15 @@
 from pathlib import Path
 from tempfile import TemporaryDirectory
 
-from exosuit_python.definitions import LogLevel
+from exosuit_python.definitions import DEFAULT_LOG_FILENAME, LogLevel
 from exosuit_python.utils import setup_logger
 
 
 def test_logger_init() -> None:
     """Test logger initialization."""
     with TemporaryDirectory() as log_dir:
         log_dir_path = Path(log_dir)
-        log_filepath = setup_logger(filename="log_file", log_dir=log_dir_path)
+        log_filepath = setup_logger(filename=DEFAULT_LOG_FILENAME, log_dir=log_dir_path)
         assert Path(log_filepath).exists()
     assert not Path(log_filepath).exists()