An Easier Way to Insert Custom ESC Plugins (#492)

* Moved ESC plugin registration into the devices module. (#489)

* Provided a more user-friendly interface. (#489)

* Bug fixed: plugins not instantiated. (#489)

* Docs. (#489)

Author: ATATC

README.md

@@ -10,7 +10,7 @@
 
 LEADS is a lightweight embedded assisted driving system. It is designed to simplify the development of instrumentation,
 control, and analysis systems for racing cars. It is written in well-organized Python and C/C++ and has impressive
-performance.It is not only out-of-the-box but also fully customizable. It provides multiple abstract layers that allow
+performance. It is not only out-of-the-box but also fully customizable. It provides multiple abstract layers that allow
 users to pull out the components and rearrange them into a new project. You can either configure the existing executable
 modules ([LEADS VeC](https://leads-docs.projectneura.org/en/latest/vec)) simply through a JSON file or write your own
 codes based on the framework as easily as building a LEGO.
@@ -83,7 +83,7 @@ The LEADS framework ensures that its applications, including LEADS VeC, have ext
 provide promising safety, but still, always keep our
 [Safety Instructions](https://leads-docs.projectneura.org/en/latest/vec/safety-instructions.html) in mind.
 
-Most of the codes are written in Python and the dependencies are carefully chosen so that LEADS runs everywhere Python
+Most of the codes are written in Python, and the dependencies are carefully chosen so that LEADS runs everywhere Python
 runs. In addition, on platforms like Arduino where we must use other programming languages, we try hard to keep
 consistency.
 
@@ -131,7 +131,7 @@ configuration.
 <details>
 <summary>DTCS (Dynamic Traction Control System)</summary>
 
-DTCS helps you control the amount of rear wheel slip by detecting and comparing the speed difference between all wheels.
+DTCS helps you control the amount of rear-wheel slip by detecting and comparing the speed difference between all wheels.
 It allows a certain amount of drift while ensuring grip.
 
 </details>
@@ -167,7 +167,7 @@ provide a manual mode where all assistance is forcibly disabled. You can simply
 
 </details>
 
-Plugins can be easily customized and installed in LEADS. It also comes with several existing ones including 4 ESC
+Plugins can be easily customized and installed in LEADS. It also comes with several existing ones, including 4 ESC
 plugins that realize 4 ESC systems. All 4 systems have 4 calibrations: standard, aggressive, sport, and off. Their
 intervention comes later than the previous respectively.
 
@@ -230,7 +230,7 @@ data was recorded.
 <summary>AI-enhanced data analysis and driver training</summary>
 
 Powered by rich datasets, our ambition is to change car racing as a whole, just as AlphaGo changed Go. This blueprint
-has never been such easy as today thanks to AI.
+has never been so easy as today thanks to AI.
 
 ![lap-analysis](docs/assets/lap-analysis.png)
 
@@ -674,6 +674,9 @@ jobs:
 ```python
 from leads import controller, MAIN_CONTROLLER
 from leads_emulation import RandomController
+from leads_vec.utils import register_plugins
+
+register_plugins()  # required
 
 
 @controller(MAIN_CONTROLLER)

leads_vec/__init__.py

@@ -6,3 +6,4 @@
 from leads_vec.run import *
 from leads_vec.__entry__ import __entry__
 from leads_vec.config import *
+from leads_vec.utils import *

leads_vec/cli.py

@@ -9,7 +9,7 @@
 from pynput.keyboard import Listener as _Listener, Key as _Key, KeyCode as _KeyCode
 from screeninfo import get_monitors as _get_monitors
 
-from leads import LEADS, SystemLiteral, require_config, register_context, DTCS, ABS, EBI, ATBS, ESCMode, L, \
+from leads import LEADS, SystemLiteral, require_config, register_context, ESCMode, L, \
     EventListener, DataPushedEvent, UpdateEvent, has_device, GPS_RECEIVER, get_device, InterventionEvent, \
     SuspensionEvent, Event, LEFT_INDICATOR, RIGHT_INDICATOR, format_duration, BRAKE_INDICATOR, REAR_VIEW_CAMERA, \
     FRONT_VIEW_CAMERA, LEFT_VIEW_CAMERA, RIGHT_VIEW_CAMERA, SuspensionExitEvent
@@ -157,10 +157,6 @@ def main() -> int:
     cfg = require_config()
     ctx = LEADS(data_seq_size=cfg.data_seq_size, num_laps_timed=cfg.num_laps_timed)
     register_context(ctx)
-    ctx.plugin(SystemLiteral.DTCS, DTCS())
-    ctx.plugin(SystemLiteral.ABS, ABS())
-    ctx.plugin(SystemLiteral.EBI, EBI())
-    ctx.plugin(SystemLiteral.ATBS, ATBS())
     w = Pot(cfg.width, cfg.height, cfg.refresh_rate, CustomRuntimeData(), fullscreen=cfg.fullscreen,
             no_title_bar=cfg.no_title_bar, theme_mode=cfg.theme_mode)
     root = w.root()

leads_vec/devices.py

@@ -11,6 +11,7 @@
 from leads_gpio import NMEAGPSReceiver, LEDGroup, LED, LEDGroupCommand, LEDCommand, Entire, Transition, Button, \
     ButtonCallback, CPUMonitor
 from leads_vec.config import Config
+from leads_vec.utils import register_plugins
 from leads_video import Base64Camera, get_camera
 
 config: Config = require_config()
@@ -28,6 +29,8 @@
 BRAKE_PEDAL_PIN: int = config.get("brake_pedal_pin", 3)
 VOLTAGE_SENSOR_PIN: int = config.get("voltage_sensor_pin", 4)
 
+register_plugins()
+
 
 @controller(MAIN_CONTROLLER)
 class VeCController(Controller):

leads_vec/utils.py

@@ -0,0 +1,19 @@
+from leads import LEADS as _LEADS, Plugin as _Plugin, SystemLiteral as _SystemLiteral, DTCS as _DTCS, ABS as _ABS, \
+    EBI as _EBI, ATBS as _ATBS, set_on_register_context as _set_on_register_context
+from leads.types import OnRegister as _OnRegister
+
+
+def register_plugins(plugins: dict[str, _Plugin] | None = None) -> None:
+    if not plugins:
+        plugins = {_SystemLiteral.DTCS: _DTCS(), _SystemLiteral.ABS: _ABS(), _SystemLiteral.EBI: _EBI(),
+                   _SystemLiteral.ATBS: _ATBS()}
+
+    def _on_register_context(chain: _OnRegister[_LEADS]) -> _OnRegister[_LEADS]:
+        def _(ctx: _LEADS) -> None:
+            chain(ctx)
+            for k, p in plugins.items():
+                ctx.plugin(k, p)
+
+        return _
+
+    _set_on_register_context(_on_register_context)