sierra-research 1.3.11__tar.gz → 1.5.0__tar.gz

{sierra_research-1.3.11 → sierra_research-1.5.0}/.coveragerc

@@ -10,6 +10,11 @@ exclude_lines =
     raise NotImplementedError
 
 [run]
+relative_files = True
+source =
+    sierra
+    /__w/sierra/sierra
+    /home/runner/work/sierra/sierra
 
 concurrency = multiprocessing
 parallel = true
@@ -21,3 +26,6 @@ omit =
      /usr/*
 
      */docs/*
+
+     noxfile.py
+     */sierra-cli

sierra_research-1.5.0/.dir-locals.el

@@ -0,0 +1,40 @@
+;;; Directory Local Variables
+;;; For more information see (info "(emacs) Directory Variables")
+
+((nil .
+      ((eval progn
+             (require 'editing-init)
+             (add-to-list 'projectile-globally-ignored-directories "docs/_build/")
+             (add-to-list 'projectile-globally-ignored-directories "docs/autoapi")
+             (add-to-list 'projectile-globally-ignored-directories "sierra.egg-info/")
+             (add-to-list 'projectile-globally-ignored-directories "dist/")
+             (add-to-list 'projectile-globally-ignored-directories ".pytype/")
+             (add-to-list 'projectile-globally-ignored-directories ".mypy_cache/")
+             (add-to-list 'projectile-globally-ignored-directories ".ruff_cache/")
+             (add-to-list 'projectile-globally-ignored-directories ".pytest_cache/")
+             (add-to-list 'projectile-globally-ignored-directories "__pycache__")
+             (add-to-list 'projectile-globally-ignored-directories ".nox/")
+             (add-to-list 'projectile-globally-ignored-directories ".venv/")
+             (add-to-list 'projectile-globally-ignored-file-suffixes "*.html")
+             (add-to-list 'projectile-globally-ignored-file-suffixes "*.pickle")
+             (add-to-list 'projectile-globally-ignored-file-suffixes "*.pkl")
+             (add-to-list 'projectile-globally-ignored-file-suffixes "*.png")
+             (add-to-list 'projectile-globally-ignored-file-suffixes "*.doctree")
+             (add-to-list 'grep-find-ignored-directories "docs/_build/")
+             (add-to-list 'grep-find-ignored-directories "sierra.egg-info/")
+             (add-to-list 'grep-find-ignored-directories "dist/")
+             (add-to-list 'grep-find-ignored-files "*.html")
+             (add-to-list 'grep-find-ignored-files "*.css")
+             (add-to-list 'grep-find-ignored-files "*.txt")
+             (add-to-list 'grep-find-ignored-files "*.png")
+             (add-to-list 'grep-find-ignored-files "*.doctree")
+             (add-to-list 'grep-find-ignored-files "*.pickle")
+             )))
+
+ (python-mode .
+              ((eval . (blacken-mode 1)))
+              )
+ )
+
+
+;;; end of .dir-locals.el

{sierra_research-1.3.11 → sierra_research-1.5.0}/.github/actions/sample-project-setup/action.yml

@@ -1,8 +1,8 @@
 name: 'Setup SIERRA sample project'
 description: 'Setup SIERRA project for CI and testing'
 inputs:
-  platform:  # id of input
-    description: 'The SIERRA platform to setup for'
+  engine:  # id of input
+    description: 'The SIERRA engine to setup for'
     required: true
   rosdistro:
     description: 'The version of ROS to test with'
@@ -14,11 +14,10 @@ runs:
     ############################################################################
     # Common setup
     ############################################################################
-    - name: Setup python (all OSes)
-      uses: actions/setup-python@v5
-      with:
-        python-version: ${{ matrix.python-version }}
-        cache: 'pip'
+    - name: Get branch for sample project
+      shell: bash
+      run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+      id: extract_branch
 
     - name: Clone sample project
       shell: bash
@@ -32,7 +31,16 @@ runs:
         cd sierra-sample-project
         git pull
         fi
-        git checkout devel
+        echo "Sample project cloned into $(pwd)"
+
+        # The master rbranch of SIERRA/sample project are always kept in
+        # sync. Otherwise, all flowdown changes for whatever I'm doing in SIERRA
+        # will end up on the devel branch in the sample project repo.
+        if [ ${{ steps.extract_branch.outputs.branch}} == "master" ]; then
+           git checkout master
+        else
+           git checkout devel
+        fi
 
     - name: Get number of CPU cores
       uses: SimenB/github-actions-cpu-cores@v1
@@ -50,7 +58,7 @@ runs:
     ############################################################################
     # ARGoS setup
     ############################################################################
-    - uses: nick-fields/retry@v2
+    - uses: nick-fields/retry@v3
       name: Install ARGoS deps (OSX)
       if: runner.os == 'macOS'
       with:
@@ -69,15 +77,15 @@ runs:
           # fails (I think ARGoS segfaults).
           brew install pkg-config cmake libpng freeimage lua
 
-    - name: Install and cache ARGoS dependencies (Linux)
-      if: runner.os == 'Linux'
-      uses: awalsh128/cache-apt-pkgs-action@latest
+
+    - name: Re-setup python (OSX)
+      if: runner.os == 'macOS'
+      uses: astral-sh/setup-uv@v5
       with:
-        packages: libfreeimage-dev libfreeimageplus-dev qtbase5-dev freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev lua5.3 libgraphviz-dev ccache
-        version: ${{ runner.os }}
+        python-version: ${{ matrix.python-version }}
 
     - name: Install ARGoS
-      if: inputs.platform == 'argos'
+      if: runner.os == 'macOS' && inputs.engine == 'argos'
       shell: bash
       run: |
         git clone https://github.com/ilpincy/argos3.git
@@ -90,12 +98,18 @@ runs:
           -DARGOS_DOCUMENTATION=OFF \
           ../src
         make -j ${{ steps.cpu-cores.outputs.count }}
-        sudo make install
+        if command -v "sudo" &> /dev/null; then
+           sudo make install
+        else
+           make install
+        fi
+        cd ../../
+        rm -rf argos3
 
     - name: Build SIERRA project for ARGoS
-      if: inputs.platform == 'argos'
+      if: inputs.engine == 'argos'
       shell: bash
-      working-directory: ${{ github.workspace }} # Needed to match with scripts/argos-integration-tests.sh
+      working-directory: ${{ github.workspace }}
 
       run: |
         cd sierra-sample-project/argos
@@ -110,32 +124,14 @@ runs:
     ############################################################################
     # ROS1+Gazebo setup
     ############################################################################
-    - name: Install ROS1 platform dependency
-      if: inputs.platform == 'ros1gazebo'
-      uses: ros-tooling/setup-ros@v0.7
-      with:
-        required-ros-distributions: ${{ inputs.rosdistro }}
-
-    - name: Install SIERRA ROSbridge system dependencies (Linux)
-      if: inputs.platform == 'ros1gazebo'
-      uses: awalsh128/cache-apt-pkgs-action@latest
-      with:
-        packages: ros-${{ inputs.rosdistro }}-desktop-full ros-${{ inputs.rosdistro }}-turtlebot3-description ros-${{ inputs.rosdistro }}-turtlebot3-msgs ros-${{ inputs.rosdistro }}-turtlebot3-gazebo ros-${{ inputs.rosdistro }}-turtlebot3-bringup python${{ matrix.python-version }} python${{ matrix.python-version }}-dev python${{ matrix.python-version }}-venv python3-apt python3-cairo intltool python3-wheel python3-rospkg python3-empy
-        version: ${{ runner.os }}
-
-    - name: Install SIERRA ROSbridge python dependencies (Linux)
-      if: inputs.platform == 'ros1gazebo'
+    - name: Install SIERRA ROSBridge dependency (ubuntu)
+      if: inputs.engine == 'ros1gazebo'
       shell: bash
       run: |
-        # 2023/1/18: You still need install these even after installing stuff
-        # with apt AND if the sysem python matches your current python. I don't
-        # know why.
-        pip3 install empy \
-                     rospkg \
-                     wheel \
-                     pyparsing \
-                     pyqt5 \
-                     pysip \
+        source /opt/ros/${{ inputs.rosdistro }}/setup.bash
+
+
+        pip3 install pysip \
                      numpy \
                      matplotlib \
                      pyyaml \
@@ -145,13 +141,9 @@ runs:
                      pydev \
                      pyopengl \
                      opencv-python \
-                     catkin_tools
-
-    - name: Install SIERRA ROSBridge dependency (ubuntu)
-      if: inputs.platform == 'ros1gazebo'
-      shell: bash
-      run: |
-        source /opt/ros/${{ inputs.rosdistro }}/setup.bash
+                     catkin_tools \
+                     rospkg \
+                     empy
 
         git clone https://github.com/jharwell/sierra_rosbridge.git
         cd sierra_rosbridge
@@ -160,9 +152,18 @@ runs:
         catkin config --extend /opt/ros/${{ inputs.rosdistro }}
         catkin config --install -DCMAKE_INSTALL_PREFIX=$HOME/.local
         catkin build
+        cd ..
+        rm -rf sierra_rosbridge
+
 
     ############################################################################
     # ROS1+Robot setup
     ############################################################################
 
     # None needed for the moment--stage 1 XML generation only.
+
+    ############################################################################
+    # JSONSim setup
+    ############################################################################
+
+    # None needed for the moment

{sierra_research-1.3.11 → sierra_research-1.5.0}/.github/workflows/analysis-top.yml

@@ -9,6 +9,7 @@ on:
   push:
     paths:
       - 'sierra/**'
+      - '.github/**'
 
   schedule:
     - cron: '0 0 1 * *'
@@ -18,20 +19,11 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  analyze-ci-ubuntu-2004:
+  analyze-ci-ubuntu-2404:
     uses: ./.github/workflows/analyze-nox.yml
     secrets: inherit
     with:
-      os: ubuntu-20.04
+      container: jharwell/ubuntu24.04-sierra:latest
 
-  analyze-ci-ubuntu-2204:
-    uses: ./.github/workflows/analyze-nox.yml
-    secrets: inherit
-    with:
-      os: ubuntu-22.04
-
-  analyze-ci-osx:
-    uses: ./.github/workflows/analyze-nox.yml
-    secrets: inherit
-    with:
-      os: macos-13
+  # 2025-09-02 [JRH]: Static analysis is pretty much always the same across
+  # OSes, so testing on e.g. OSX here adds minimal confidence.

{sierra_research-1.3.11 → sierra_research-1.5.0}/.github/workflows/analyze-nox.yml

@@ -3,23 +3,21 @@ name: OS Static Analysis
 on:
   workflow_call:
     inputs:
-      os:
+      container:
         required: True
         type: string
 
 jobs:
   nox:
-    runs-on: ${{ inputs.os }}
+    runs-on: ubuntu-latest
+    container: ${{ inputs.container }}
     strategy:
       matrix:
-        os:
-          - ${{ inputs.os }}
-
         # 2024/08/26: Test the earliest and latest supported version, to speed
-        # up CI.
+        # up CI. Well, that's what it should do, but linting doesn't work for >
+        # 3.10 (see pyproject.toml for details).
         python-version:
-          - 3.8
-          - 3.11
+          - "3.10"
 
         session:
           - lint
@@ -27,21 +25,11 @@ jobs:
           - analyze_pytype
           - analyze_mypy
 
-        exclude:
-          - python-version: 3.11
-            os: ubuntu-20.04
-
-          - python-version: 3.8
-            os: ubuntu-22.04
-
     steps:
       - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: kenchan0130/actions-system-info@master
-        id: system-info
-
       - name: Run nox
         run: |
-          nox \
+          uv sync -p ${{ matrix.python-version }} --group dev && \
+          uv run -p ${{ matrix.python-version }} nox \
             --pythons ${{ matrix.python-version }} \
             --sessions ${{ matrix.session }}

sierra_research-1.5.0/.github/workflows/core.yml

@@ -0,0 +1,51 @@
+name: SIERRA Core CI
+
+on:
+  workflow_call:
+
+jobs:
+  plumbing:
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    strategy:
+      matrix:
+        container:
+          - jharwell/ubuntu24.04-sierra:latest
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - "3.10"
+          - 3.12
+
+        session:
+          - core_cmdline_opts
+          - core_env_vars
+          - core_builtin_bc
+          - core_parallelism
+          - core_stage1_bivar
+          - core_stage2_bivar
+          - core_stage3_bivar
+          - core_stage4_bivar
+          - core_stage5_univar
+          - core_stage5_bivar
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          engine: argos
+
+      - uses: nick-fields/retry@v3
+        with:
+          timeout_minutes: 30
+          max_attempts: 3
+          shell: bash
+          command: uv run nox -p ${{ matrix.python-version }} -s ${{ matrix.session }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-core-${{ matrix.session }}-${{ matrix.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error

sierra_research-1.5.0/.github/workflows/coverage-top.yml

@@ -0,0 +1,175 @@
+name: Smoke Coverage Top-level
+
+# Run:
+#
+# - Every month.  Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
+#
+on:
+  push:
+    paths:
+      - 'sierra/**'
+      - '.github/**'
+
+  schedule:
+    - cron: '0 0 1 * *'
+
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # 2024/08/27: We don't test the core with OSX, because if it works on linux,
+  # it should work on OSX. Plus, the plugin tests utilize a lot of "core"
+  # functionality, it the core is already largely tested on OSX via that
+  # route. Plugins are another story, and are explicitly tested on OSX where
+  # feasible.
+  core-smoke-tests:
+    uses: ./.github/workflows/core.yml
+    secrets: inherit
+
+  plugin-smoke-tests:
+    uses: ./.github/workflows/plugin.yml
+    secrets: inherit
+
+  unit-tests:
+    uses: ./.github/workflows/unit-tests.yml
+    secrets: inherit
+
+  coverage-smoke:
+    runs-on: ubuntu-latest
+
+    needs:
+      - core-smoke-tests
+      - plugin-smoke-tests
+      - unit-tests
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/download-artifact@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v6
+
+      - name: Generate coverage report
+        shell: bash
+        run: |
+          # ls -al . || true
+          # ls -al ci-*-Linux-${{ matrix.python-version }}-coverage/.* || true
+          # ls -al ci-*-Linux-${{ matrix.python-version }}-coverage/* || true
+          # find . -name "ci-*-Linux-${{ matrix.python-version }}-coverage*"
+
+          # This is necessary for coverage since we run all integration tests in
+          # nox, otherwise coverage can't find e.g., the sierra-cli executable
+          # and we can't upload coverage.
+          uv sync -p 3.9 --group dev
+          source .venv/bin/activate
+
+          which sierra-cli
+          sierra-cli --version
+          which coverage
+          which nox
+          pwd
+
+          coverage \
+            combine \
+            --debug=pathmap \
+            $(find . -name "ci-*-coverage*")
+
+          coverage \
+            report \
+            --ignore-errors \
+            --fail-under=80
+
+          coverage \
+            xml \
+            --ignore-errors
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-integration-coverage-xml
+          path: coverage.xml
+
+      - name: Coveralls
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          COVERALLS_REPO_TOKEN: ${{ secrets.COVERALLS_REPO_TOKEN }}
+
+        run: |
+          uv run -p 3.9 coveralls
+
+  create-release:
+    runs-on: ubuntu-latest
+    needs:
+      - coverage-smoke
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v6
+
+      - name: Generate manpages
+        shell: bash
+        run: |
+          # 3.10 is known to work with the current configuration to generate
+          # docs.
+          uv sync -p 3.10 --group dev
+
+          # Hatch will only pickup manpages with shared-data if they are INSIDE
+          # a package directory. Since we don't want to commit this to source
+          # control, we copy in in CI here.
+          mkdir -p sierra/data/man
+
+          # 3.10 is known to work with the current configuration to generate
+          # docs.
+          cd docs && uv run -p 3.10 sphinx-build -b man . _build/man
+          cd ..
+          cp docs/_build/man/*.1 sierra/data/man/
+          cp docs/_build/man/*.7 sierra/data/man/
+
+          # Build the package and verify manpages were included
+          uv build && python3 -m zipfile -l dist/sierra_research-*.whl |grep man
+
+      - name: Set beta release tag
+        if: github.ref == 'refs/heads/devel'
+        shell: bash
+        run: |
+          uv sync --group ci
+          echo RELEASE_TAG=$(uv run pyproject-info project.version | tr -d '"').beta >> $GITHUB_ENV
+
+      - name: Github beta release
+        if: github.ref == 'refs/heads/devel'
+        uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: ${{ secrets.BOT_RELEASE_TOKEN }}
+          automatic_release_tag: ${{ env.RELEASE_TAG }}
+          prerelease: true
+          title: "Development release ${{ env.RELEASE_TAG }}"
+
+      - name: Set release tag
+        if: github.ref == 'refs/heads/master'
+        shell: bash
+        run: |
+          uv sync --group ci
+          echo RELEASE_TAG=$(uv run pyproject-info project.version | tr -d '"') >> $GITHUB_ENV
+
+      - name: Github release
+        if: github.ref == 'refs/heads/master'
+        uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          # 2025-04-29 [JRH]: This is NOT the usual secrets.GITHUB_TOKEN because
+          # as of now, you can't trigger a workflow (such as the publish
+          # workflow) with the same token that THIS workflow was triggered with,
+          # because...reasons.
+          #
+          # The workaround is to create a fine-grained token for my account,
+          # give it permissions only for the SIERRA repo, and set it as a CI
+          # secret. THEN the publish workflow will be triggered on successful
+          # release publishing.
+          repo_token: ${{ secrets.BOT_RELEASE_TOKEN }}
+          automatic_release_tag: ${{ env.RELEASE_TAG }}
+          prerelease: false
+          title: "Release ${{ env.RELEASE_TAG }}"