Merge PR LiamBindle#38 (lukedempsey/PyVESC): interface update, firmware flashing, params

Resolves the modify/delete conflicts by porting master's changes into the
PR's flattened layout (pyvesc/VESC.py + pyvesc/messages/):
- multi-CAN-ID heartbeat (PR LiamBindle#37): alive message list, start_heartbeat(can_id=)
- **kwargs (can_id) passthrough on set_rpm/set_current/set_duty_cycle/set_servo
- COMM_FORWARD_CAN = 34 (verified against current vedderb/bldc datatypes.h)
- drop module-level alive_msg from setters

Fixes on top of the PR:
- restore the public API (pyvesc.encode/decode/messages/VESC) gutted by the
  emptied __init__.py files; simple.py and docs autoclass refs work again
- decode(): skip unparseable garbage instead of TypeError/infinite loop;
  forward recv= to VESCMessage.unpack
- move dummy test-message IDs to 0xE0+ so they don't collide with real
  registered commands; all 9 tests + params self-tests pass
- setup.py: package list for the new layout, python_requires>=3.6
- update examples/docs for scalar'd SetDutyCycle (fraction) and 3-tuple decode
- remove .DS_Store, ignore .venv

Co-Authored-By: Claude Fable 5 <[email protected]>

Author: Jotham-B

.gitignore

@@ -5,3 +5,7 @@ docs/build/
 MANIFEST
 dist/
 pyvesc.egg-info/
+build/
+unit_test_report.xml
+.DS_Store
+.venv/

docs/source/conf.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# flake8: noqa
 # -*- coding: utf-8 -*-
 #
 # PyVESC documentation build configuration file, created by

docs/source/index.rst

@@ -36,8 +36,8 @@ PyVESC can be used to go from a message (VESCMessage) to a packet (bytes).
 
 .. code-block:: python
 
-  # make a SetDutyCycle message
-  my_msg = pyvesc.SetDutyCycle(1e5)
+  # make a SetDutyCycle message (duty cycle is a fraction in [-1, 1])
+  my_msg = pyvesc.SetDutyCycle(0.5)
   print(my_msg.duty_cycle) # prints value of my_msg.duty_cycle
   my_packet = pyvesc.encode(my_msg)
   # my_packet (type: bytes) can now be sent over your UART connection
@@ -48,7 +48,7 @@ being filled by your UART connection)
 .. code-block:: python
 
   # buff is bytes filled from your UART connection
-  my_msg, consumed = pyvesc.decode(buff)
+  my_msg, consumed, _ = pyvesc.decode(buff)
   buff = buff[consumed:]  # remove consumed bytes from the buffer
   if my_msg:
     print(my_msg.duty_cycle)    # prints value of my_msg.duty_cycle