Merge pull request #53 from jjshoots/multidogfight

Multidogfight

.github/workflows/linux-test.yml

@@ -28,4 +28,8 @@ jobs:
           pip install .[dev]
       - name: Release Test
         run: |
-          xvfb-run -s "-screen 0 1024x768x24" pytest tests/*.py -vvv
+          xvfb-run -s "-screen 0 1024x768x24" pytest --cov tests/*.py -vvv
+      - name: Upload coverage reports to Codecov
+        uses: codecov/[email protected]
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}

.gitignore

@@ -149,4 +149,3 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
-

.pre-commit-config.yaml

@@ -1,18 +1,60 @@
----
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+exclude: "^docs/"
 repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-symlinks
+      - id: destroyed-symlinks
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-toml
+      - id: check-ast
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: detect-private-key
+      - id: debug-statements
   - repo: https://github.com/codespell-project/codespell
     rev: v2.3.0
     hooks:
       - id: codespell
+        args: ['--skip=^docs/']
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.0.0
+    hooks:
+      - id: flake8
+        args:
+          - '--per-file-ignores=*/__init__.py:F401'
+          - --max-complexity=30
+          - --max-line-length=456
+          - --show-source
+          - --statistics
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.16.0
+    hooks:
+      - id: pyupgrade
+        args: ["--py38-plus"]
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args:
+        - "--profile=black"
+  - repo: https://github.com/python/black
+    rev: 24.4.2
+    hooks:
+      - id: black
+  - repo: https://github.com/pycqa/pydocstyle
+    rev: 6.3.0
+    hooks:
+      - id: pydocstyle
         args:
-          - --ignore-words-list=null
-        exclude: docs/
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.6.3
-    hooks:
-      - id: ruff
-        args: [ --fix ]
-      - id: ruff-format
+          - --source
+          - --explain
+          - --convention=google
+        additional_dependencies: ["tomli"]
   - repo: local
     hooks:
       - id: pyright
@@ -21,6 +63,6 @@ repos:
         language: node
         pass_filenames: false
         types: [python]
-        additional_dependencies: ["pyright"]
+        additional_dependencies: ["pyright@1.1.347"]
         args:
           - --project=pyproject.toml

PyFlyt/core/abstractions/base_controller.py

@@ -18,7 +18,6 @@ def step(self, state: np.ndarray, setpoint: np.ndarray) -> np.ndarray:
         """Step the controller.
 
         Args:
-        ----
             state (np.ndarray): state
             setpoint (np.ndarray): setpoint
 

PyFlyt/core/abstractions/base_drone.py

@@ -19,7 +19,6 @@ class DroneClass(ABC):
     Each drone inheriting from this class must have several attributes and methods implemented before they can be considered usable.
 
     Args:
-    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         start_pos (np.ndarray): an `(3,)` array for the starting X, Y, Z position for the drone.
         start_orn (np.ndarray): an `(3,)` array for the starting X, Y, Z orientation for the drone.
@@ -83,7 +82,6 @@ def __init__(
         """Defines the default configuration for UAVs, to be used in conjunction with the Aviary class.
 
         Args:
-        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             start_pos (np.ndarray): an `(3,)` array for the starting X, Y, Z position for the drone.
             start_orn (np.ndarray): an `(3,)` array for the starting X, Y, Z orientation for the drone.
@@ -269,7 +267,6 @@ def register_controller(
         """Default register_controller.
 
         Args:
-        ----
             controller_id (int): ID to bind to this controller
             controller_constructor (type[ControlClass]): A class pointer to the controller implementation, must be subclass of `ControlClass`.
             base_mode (int): Whether this controller uses outputs of an underlying controller as setpoints.

PyFlyt/core/abstractions/base_wind_field.py

@@ -48,7 +48,6 @@ def __call__(self, time: float, position: np.ndarray) -> np.ndarray:
         """When given the time float and a position as an (n, 3) array, must return a (n, 3) array representing the local wind velocity.
 
         Args:
-        ----
             time (float): float representing the timestep of the simulation in seconds.
             position (np.ndarray): (n, 3) array representing a series of n positions to sample wind velocites.
 
@@ -64,10 +63,7 @@ def _check_wind_field_validity(wind_field):
         assert np.issubdtype(
             test_velocity.dtype, np.floating
         ), f"Returned wind velocity must be type float, got {test_velocity.dtype}."
-        assert (
-            test_velocity.shape
-            == (
-                5,
-                3,
-            )
+        assert test_velocity.shape == (
+            5,
+            3,
         ), f"Returned wind velocity must be array of shape (n, 3), got (n+({test_velocity.shape[0] - 5}), {test_velocity.shape[1:]})."

PyFlyt/core/abstractions/boosters.py

@@ -17,7 +17,6 @@ class Boosters:
     Additionally, some boosters, typically of the solid fuel variety, cannot be extinguished and reignited, a property we call reignitability.
 
     Args:
-    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
@@ -57,7 +56,6 @@ def __init__(
         """Used for simulating an array of boosters.
 
         Args:
-        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
@@ -111,7 +109,7 @@ def __init__(
         self.max_fuel_rate = max_fuel_rate
         self.max_inertia = max_inertia
         self.max_thrust = max_thrust
-        self.thrust_unit = np.expand_dims(thrust_unit, axis=-1)
+        self.thrust_unit = thrust_unit[..., None]
         self.reignitable = np.array(reignitable, dtype=bool)
         self.min_thrust = min_thrust
         self.ratio_min_throttle = self.min_thrust / self.max_thrust
@@ -123,7 +121,6 @@ def reset(self, starting_fuel_ratio: float | np.ndarray = 1.0):
         """Reset the boosters.
 
         Args:
-        ----
             starting_fuel_ratio (float | np.ndarray): ratio amount of fuel that the booster is reset to.
 
         """
@@ -143,7 +140,6 @@ def get_states(self) -> np.ndarray:
         - (c0, c1, ..., cn) represent the current throttle state
 
         Returns:
-        -------
             np.ndarray: A (3 * num_boosters, ) array
 
         """
@@ -165,7 +161,6 @@ def physics_update(
         """Converts booster settings into forces on the booster and inertia change on fuel tank.
 
         Args:
-        ----
             ignition (np.ndarray): (num_boosters,) array of booleans for engine on or off.
             pwm (np.ndarray): (num_boosters,) array of floats between [0, 1] for min or max thrust.
             rotation (np.ndarray): (num_boosters, 3, 3) rotation matrices to rotate each booster's thrust axis around, this is readily obtained from the `gimbals` component.
@@ -178,13 +173,10 @@ def physics_update(
             pwm <= 1.0
         ), f"{pwm=} has values out of bounds of 0.0 and 1.0."
         if rotation is not None:
-            assert (
-                rotation.shape
-                == (
-                    self.num_boosters,
-                    3,
-                    3,
-                )
+            assert rotation.shape == (
+                self.num_boosters,
+                3,
+                3,
             ), f"`rotation` should be of shape (num_boosters, 3, 3), got {rotation.shape}"
 
         # compute thrust mass inertia
@@ -225,7 +217,6 @@ def _compute_thrust_mass_inertia(
         """_compute_thrust_mass_inertia.
 
         Args:
-        ----
             ignition (np.ndarray): (num_boosters,) array of booleans for engine on or off.
             pwm (np.ndarray): (num_boosters,) array of floats between [0, 1] for min or max thrust.
 

PyFlyt/core/abstractions/boring_bodies.py

@@ -14,7 +14,6 @@ class BoringBodies:
     The `BoringBodies` component is used to represent a normal body moving through the air.
 
     Args:
-    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
@@ -38,7 +37,6 @@ def __init__(
         """Used for simulating a body moving through the air.
 
         Args:
-        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
@@ -81,7 +79,6 @@ def state_update(self, rotation_matrix: np.ndarray):
         """Updates the local surface velocity of the boring body.
 
         Args:
-        ----
             rotation_matrix (np.ndarray): (3, 3) rotation_matrix of the main body
 
         """
@@ -101,7 +98,7 @@ def state_update(self, rotation_matrix: np.ndarray):
         # rotate all velocities to be in body frame
         if rotation_matrix.shape == (len(self.body_ids), 3, 3):
             body_velocities = np.matmul(
-                rotation_matrix, np.expand_dims(body_velocities, -1)
+                rotation_matrix, body_velocities[..., None]
             ).squeeze(-1)
         elif rotation_matrix.shape == (3, 3):
             body_velocities = np.matmul(rotation_matrix, body_velocities.T).T

PyFlyt/core/abstractions/camera.py

@@ -20,7 +20,6 @@ class Camera:
     On image capture, the camera returns an RGBA image, a depth map, and a segmentation map with pixel values representing the IDs of objects in the environment.
 
     Args:
-    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         uav_id (int): ID of the drone.
         camera_id (int): integer representing the ID of the link that the camera is attached to.
@@ -50,7 +49,6 @@ def __init__(
         """Used for implementing camera modules.
 
         Args:
-        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             uav_id (int): ID of the drone.
             camera_id (int): integer representing the ID of the link that the camera is attached to.
@@ -102,7 +100,6 @@ def view_mat(self) -> np.ndarray:
         """Generates the view matrix for the camera depending on the current orientation and implicit parameters.
 
         Returns:
-        -------
             np.ndarray: view matrix.
 
         """
@@ -163,7 +160,6 @@ def capture_image(self) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
         """Captures the 3 relevant images from the camera.
 
         Returns:
-        -------
             tuple[np.ndarray, np.ndarray, np.ndarray]: rgbaImg, depthImg, segImg
 
         """

PyFlyt/core/abstractions/gimbals.py

@@ -17,7 +17,6 @@ class Gimbals:
     Each gimbal can rotate about two arbitrary axis that may not be orthogonal to each other.
 
     Args:
-    ----
         p (bullet_client.BulletClient): PyBullet physics client ID.
         physics_period (float): physics period of the simulation.
         np_random (np.random.RandomState): random number generator of the simulation.
@@ -41,7 +40,6 @@ def __init__(
         """Used for simulating an array of gimbals.
 
         Args:
-        ----
             p (bullet_client.BulletClient): PyBullet physics client ID.
             physics_period (float): physics period of the simulation.
             np_random (np.random.RandomState): random number generator of the simulation.
@@ -125,7 +123,6 @@ def get_states(self) -> np.ndarray:
         """Gets the current state of the components.
 
         Returns:
-        -------
             np.ndarray: a (2 * num_gimbals, ) array where every pair of values represents the current state of the gimbal
 
         """
@@ -149,11 +146,9 @@ def compute_rotation(self, gimbal_command: np.ndarray) -> np.ndarray:
         """Returns a rotation vector after the gimbal rotation.
 
         Args:
-        ----
             gimbal_command (np.ndarray): (num_gimbals, 2) array of floats between [-1, 1].
 
         Returns:
-        -------
             rotation_vector (np.ndarray): (num_gimbals, 3, 3) rotation matrices for all gimbals.
 
         """
@@ -192,15 +187,13 @@ def _jitted_compute_rotation(
         """Compute the rotation matrix given the gimbal action values.
 
         Args:
-        ----
             gimbal_angles (np.ndarray): gimbal_angles
             w1 (np.ndarray): w1 from self
             w2 (np.ndarray): w2 from self
             w1_squared (np.ndarray): w1_squared from self
             w2_squared (np.ndarray): w2_squared from self
 
         Returns:
-        -------
             tuple[np.ndarray, np.ndarray]:
 
         """