# PepperPlus-RI

The robot interface is a high-level API for controlling the robot. It implements the API as designed: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication.

This is an implementation for the Pepper robot, using the Pepper SDK and Python 2.7 as required by the SDK.



## Installation

- [Linux](./docs/installation/linux.md)
- [macOS](./docs/installation/macos.md)
- [Windows](./docs/installation/windows.md)



### Git Hooks

To activate automatic linting, formatting, branch name checks and commit message checks, run (after installing requirements):

```bash
pre-commit install
pre-commit install --hook-type commit-msg
```



## Usage

On Linux and macOS:

```shell
PYTHONPATH=src python -m robot_interface.main
```

On Windows:

```shell
$env:PYTHONPATH="src"; python -m robot_interface.main
```

With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.

There's also a `--microphone` argument that can be used to choose a microphone to use. If not given, the program will try the default microphone. If you don't know the name of the microphone, pass the argument with any value, and it will list the names of available microphones.



## Testing

To run the unit tests, on Linux and macOS:

```shell
PYTHONPATH=src pytest test/
```

On Windows:

```shell
$env:PYTHONPATH="src"; pytest test/
```

### Coverage

For coverage, add `--cov=robot_interface` as an argument to `pytest`. 



## Documentation
Generate documentation web pages using:

### Linux & macOS
```bash
PYTHONPATH=src sphinx-apidoc -F -o docs src/robot_interface
```

### Windows
```bash
$env:PYTHONPATH="src"; sphinx-apidoc -F -o docs src/control_backend
```

Optionally, in the `conf.py` file in the new `docs` folder, change preferences. 

In the `docs` folder:

### Linux & macOS
```bash
make html
```

### Windows
```bash
.\make.bat html
```