CI + Testing + Bugfixes for path + misc. fixes + linting

.github/workflows/ci.yml

@@ -2,9 +2,12 @@ name: CI
 
 on:
   push:
-    branches: [ main ]
+    branches: [ main , 'v*', 'dev*']
   pull_request:
-    branches: [ main ]
+    branches: [ main , 'v*' ]
+
+permissions:
+  contents: read
 
 jobs:
   build:
@@ -13,17 +16,31 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.8", "3.9"]
+        python-version: ["3.9", "3.10", "3.11"]
 
     steps:
+    - name: Install openGL
+      run: sudo apt install freeglut3-dev
+
     - uses: actions/checkout@v2
 
     - name: Set up Python ${{ matrix.python-version }}
       uses: actions/setup-python@v2
       with:
         python-version: ${{ matrix.python-version }}
 
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install flake8 pytest
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+
     - name: Install
       run: |
         python -m pip install --upgrade pip
         pip install -e .
+
+    - name: Test with pytest
+      run: |
+        pytest
+

.github/workflows/lint.yml

@@ -0,0 +1,44 @@
+name: Linting Checks
+
+on:
+  push:
+    branches: [ main , 'v*', 'dev_*']
+  pull_request:
+    branches: [ main , 'v*' ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.9"]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install flake8 pytest
+        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+
+    - name: Install
+      run: |
+        python -m pip install --upgrade pip
+        pip install -e .
+
+    - name: Lint with flake8
+      run: |
+        # stop the build if there are Python syntax errors or undefined names
+        # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+        flake8 . --statistics --exit-zero

LICENSE

@@ -1,6 +1,7 @@
 MIT License
 
 Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
+Copyright (c) 2023 Hongrui Zheng, Renukanandan Tumu, Luigi Berducci, Ahmad Amine
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

Pipfile

@@ -0,0 +1,32 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+gymnasium = "*"
+numpy = "<1.25"
+pillow = ">=9.0.1"
+scipy = ">=1.7.3"
+pyglet = "<1.5"
+pyyaml = ">=5.3.1"
+yamldataclassconfig = "*"
+requests = "*"
+pyopengl = "*"
+numba = "*"
+shapely = "*"
+opencv-python = "*"
+f110-gym = {file = "."}
+
+[dev-packages]
+flake8 = "*"
+black = "*"
+ipykernel = "*"
+pytest = "*"
+isort = "*"
+autoflake = "*"
+matplotlib = "*"
+
+[requires]
+python_version = "3.10"
+python_full_version = "3.10.11"

README.md

@@ -1,5 +1,7 @@
 ![Python 3.8 3.9](https://github.com/f1tenth/f1tenth_gym/actions/workflows/ci.yml/badge.svg)
 ![Docker](https://github.com/f1tenth/f1tenth_gym/actions/workflows/docker.yml/badge.svg)
+![Code Style](https://github.com/f1tenth/f1tenth_gym/actions/workflows/lint.yml/badge.svg)
+
 # The F1TENTH Gym environment
 
 This is the repository of the F1TENTH Gym environment.

docs/conf.py

@@ -1,88 +1,82 @@
+# flake8: noqa
 import os
-import sys
+
 import sphinx_rtd_theme
 
-source_suffix = '.rst'
-source_encoding = 'utf-8-sig'
+source_suffix = ".rst"
+source_encoding = "utf-8-sig"
 
 # -- Language ----------------------------------------------------------------
-env_tags = os.getenv('SPHINX_TAGS')
-if env_tags != None:
-    for tag in env_tags.split(','):
-        print('Adding Sphinx tag: %s' % tag.strip())
+env_tags = os.getenv("SPHINX_TAGS")
+if env_tags is not None:
+    for tag in env_tags.split(","):
+        print("Adding Sphinx tag: %s" % tag.strip())
         tags.add(tag.strip())
 
-language = os.getenv('READTHEDOCS_LANGUAGE', 'en')
-is_i18n = tags.has('i18n')
+language = os.getenv("READTHEDOCS_LANGUAGE", "en")
+is_i18n = tags.has("i18n")
 
 # -- Theme -------------------------------------------------------------------
-on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
-html_theme = 'sphinx_rtd_theme'
+on_rtd = os.environ.get("READTHEDOCS", None) == "True"
+html_theme = "sphinx_rtd_theme"
 html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 if on_rtd:
     using_rtd_theme = True
 html_theme_options = {
     # 'typekit_id': 'hiw1hhg',
     # 'analytics_id': '',
     # 'sticky_navigation': True  # Set to False to disable the sticky nav while scrolling.
-    'logo_only': False,  # if we have a html_logo below, this shows /only/ the logo with no title text
-    'collapse_navigation': False,  # Collapse navigation (False makes it tree-like)
-    'prev_next_buttons_location': 'bottom',
+    "logo_only": False,  # if we have a html_logo below, this shows /only/ the logo with no title text
+    "collapse_navigation": False,  # Collapse navigation (False makes it tree-like)
+    "prev_next_buttons_location": "bottom",
     # 'display_version': True,  # Display the docs version
     # 'navigation_depth': 4,  # Depth of the headers shown in the navigation bar
 }
 html_context = {
-    "display_github": not is_i18n, # Integrate GitHub
-    "github_user": "f1tenth", # Username
-    "github_repo": "f1tenth_gym", # Repo name
-    "github_version": "exp_py", # Version
-    "conf_py_path": "/docs/", # Path in the checkout to the docs root
+    "display_github": not is_i18n,  # Integrate GitHub
+    "github_user": "f1tenth",  # Username
+    "github_repo": "f1tenth_gym",  # Repo name
+    "github_version": "exp_py",  # Version
+    "conf_py_path": "/docs/",  # Path in the checkout to the docs root
 }
 
-html_favicon = 'assets/f1_stickers_02.png'
+html_favicon = "assets/f1_stickers_02.png"
 
-html_css_files = [
-    'css/custom.css'
-]
+html_css_files = ["css/custom.css"]
 
-html_js_files = [
-    'css/custom.js'
-]
-html_logo = 'assets/f1tenth_gym.svg'
+html_js_files = ["css/custom.js"]
+html_logo = "assets/f1tenth_gym.svg"
 
 # -- Project information -----------------------------------------------------
 
-project = 'f1tenth_gym'
+project = "f1tenth_gym"
 copyright = "2021, Hongrui Zheng, Matthew O'Kelly, Aman Sinha"
-author = 'Hongrui Zheng'
+author = "Hongrui Zheng"
 
 # The full version, including alpha/beta/rc tags
-release = 'latest'
-version = 'latest'
+release = "latest"
+version = "latest"
 
 
 # -- General configuration ---------------------------------------------------
 
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = [ "breathe", "sphinx_rtd_theme", "sphinx.ext.autosectionlabel"
-]
+extensions = ["breathe", "sphinx_rtd_theme", "sphinx.ext.autosectionlabel"]
 
 # Breathe configuration
-breathe_projects = {
-        "f1tenth_gym":"./xml"
-        }
+breathe_projects = {"f1tenth_gym": "./xml"}
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]

examples/random_trackgen.py

@@ -30,13 +30,13 @@
     - shapely
     - opencv-python
 """
+import math
 import pathlib
 
 import cv2
-import math
+import matplotlib.pyplot as plt
 import numpy as np
 import shapely.geometry as shp
-import matplotlib.pyplot as plt
 
 
 def main(args):
@@ -54,7 +54,7 @@ def main(args):
             track, track_int, track_ext = create_track()
             convert_track(track, track_int, track_ext, i, outdir)
             print(f"[info] saved track {i} in {outdir}/")
-        except:
+        except Exception as _:  # noqa: F841
             print("[error] failed to create track. Retrying...")
             continue
         print()
@@ -162,7 +162,7 @@ def create_track():
     assert i1 != -1
     assert i2 != -1
 
-    track = track[i1 : i2 - 1]
+    track = track[i1: i2 - 1]
     first_beta = track[0][1]
     first_perp_x = math.cos(first_beta)
     first_perp_y = math.sin(first_beta)

examples/waypoint_follow.py

@@ -1,11 +1,8 @@
 import time
-import yaml
+
 import gymnasium as gym
 import numpy as np
-from argparse import Namespace
-
 from numba import njit
-
 from pyglet.gl import GL_POINTS
 
 """
@@ -233,7 +230,7 @@ def _get_current_waypoint(self, waypoints, lookahead_distance, position, theta):
             lookahead_point, i2, t2 = first_point_on_trajectory_intersecting_circle(
                 position, lookahead_distance, wpts, t1, wrap=True
             )
-            if i2 == None:
+            if i2 is None:
                 return None
             current_waypoint = np.empty((3,), dtype=np.float32)
             # x, y

gym/f110_gym/envs/__init__.py

@@ -1,6 +1 @@
-from f110_gym.envs.integrator import *
-from f110_gym.envs.dynamic_models import *
-from f110_gym.envs.f110_env import F110Env
-from f110_gym.envs.laser_models import *
-from f110_gym.envs.base_classes import *
-from f110_gym.envs.collision_models import *
+from .f110_env import F110Env  # noqa: F401 This is needed to make easy imports work

gym/f110_gym/envs/action.py

@@ -1,6 +1,6 @@
 from abc import abstractmethod
 from enum import Enum
-from typing import Any, Tuple, Dict
+from typing import Any, Dict, Tuple
 
 import gymnasium as gym
 import numpy as np

gym/f110_gym/envs/base_classes.py

@@ -27,12 +27,11 @@
 Author: Hongrui Zheng
 """
 import numpy as np
-
-from f110_gym.envs import DynamicModel
+from f110_gym.envs.dynamic_models import DynamicModel
 from f110_gym.envs.action import CarAction
+from f110_gym.envs.collision_models import collision_multiple, get_vertices
 from f110_gym.envs.integrator import EulerIntegrator, IntegratorType
 from f110_gym.envs.laser_models import ScanSimulator2D, check_ttc_jit, ray_cast
-from f110_gym.envs.collision_models import get_vertices, collision_multiple
 
 
 class RaceCar(object):
@@ -496,8 +495,6 @@ def step(self, control_inputs):
             observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.
         """
 
-        agent_scans = []
-
         # looping over agents
         for i, agent in enumerate(self.agents):
             # update each agent's pose
@@ -513,7 +510,7 @@ def step(self, control_inputs):
         for i, agent in enumerate(self.agents):
             # update agent's information on other agents
             opp_poses = np.concatenate(
-                (self.agent_poses[0:i, :], self.agent_poses[i + 1 :, :]), axis=0
+                (self.agent_poses[0:i, :], self.agent_poses[i + 1:, :]), axis=0
             )
             agent.update_opp_poses(opp_poses)