add examples folder and add an example for a charging station poc

[WilliamTakeshi]

This PR adds a one folder for experimental scripts to prototype and validate experiments DotBot simulator. Also it adds one experiment as an example.

The new folder has 4 files:

1. dotbot_api.py: Exposes a small REST-based API used to control and move DotBots via HTTP.
2. vec2.py: A lightweight collection of basic 2D vector operations, used by orca.py.
3. orca.py: Implements Optimal Reciprocal Collision Avoidance (ORCA) to compute collision-free velocities for each robot.
4. charging_station_poc.py: The main entry point that ties everything together. It defines the high-level behavior, it splits in 2 big loops (queueing, charging + parking) and drives the robots toward their goals using ORCA and the DotBot Waypoint API.

let me know if you guys have any question!

[aabadie]

Thanks! I'll look into the PR later but FYI, there's already the rest.py for exact same purpose at dotbot_api.py. Also just name the directory "examples".

[WilliamTakeshi]

Ok! will update to use rest.py.

Also will update the name!

[aabadie]

Can you move the charging station code into its own examples subdirectory, e.g "examples/charging_station" ?
Maybe the term charging station is too specific, it's more a "collision avoidance" example, no?
Also remove "poc" suffix from file and function names.

[codecov]

Codecov Report

❌ Patch coverage is 85.82677% with 54 lines in your changes missing coverage. Please review.
✅ Project coverage is 80.15%. Comparing base (12a6e1e) to head (0acdef2).
⚠️ Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
dotbot/examples/orca.py	68.00%	40 Missing ⚠️
dotbot/examples/charging_station.py	91.36%	12 Missing ⚠️
dotbot/examples/vec2.py	96.29%	1 Missing ⚠️
dotbot/tests/test_experiment_charging_station.py	98.64%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #198      +/-   ##
==========================================
+ Coverage   79.27%   80.15%   +0.88%     
==========================================
  Files          21       25       +4     
  Lines        2157     2535     +378     
==========================================
+ Hits         1710     2032     +322     
- Misses        447      503      +56     

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[WilliamTakeshi]

@aabadie I split the charging station into 2 parts and added tests for them. Let me know if you need explanation or the testcases are not thoroughly enough

1. queue
2. Charging + parking

Also added testcases for new functions and renamed some functions/files.

[geonnave]

Could we use websockets to fetch the active dotbots instead of HTTP polling?

[WilliamTakeshi]

Good idea, I am testing on another branch too see if makes sense on the scalability or the gains are low

[aabadie]

This needs a rebase now that #199 is merged

[aabadie]

@aabadie I split the charging station into 2 parts and added tests for them. Let me know if you need explanation or the testcases are not thoroughly enough

1. queue

2. Charging + parking

Also added testcases for new functions and renamed some functions/files.

Thanks! That looks really good. In the charging station example module, the queue_and_charge function is not tested (while queue and charge are, individually). Do you really need that function?
The coverage is enough TBH, already better than the current state of the rest of the code.

Can you address the remaining comments so we can move forward and merge this?

[WilliamTakeshi]

I removed the function and moved to main, but I don't know if this makes a difference.

0acdef2 (#198)

Everything is rebased on the new main!

@aabadie I split the charging station into 2 parts and added tests for them. Let me know if you need explanation or the testcases are not thoroughly enough

1. queue

2. Charging + parking

Also added testcases for new functions and renamed some functions/files.

Thanks! That looks really good. In the charging station example module, the queue_and_charge function is not tested (while queue and charge are, individually). Do you really need that function? The coverage is enough TBH, already better than the current state of the rest of the code.

Can you address the remaining comments so we can move forward and merge this?

[aabadie]

Let's gooo