Merge 598273e into bc82191

upkie · May 1, 2024 · c842a83 · c842a83
2 parents bc82191 + 598273e
commit c842a83
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Showing 108 changed files with 438 additions and 334 deletions.
diff --git a/.bazelrc b/.bazelrc
@@ -24,19 +24,6 @@ test --test_tag_filters=-lint
 test:lint --build_tests_only
 test:lint --test_tag_filters=lint
 
-## Target platform: 32-bit Raspberry Pi OS
-
-build:pi32 --compilation_mode=opt
-build:pi32 --compiler=clang
-build:pi32 --cpu=armeabihf
-build:pi32 --crosstool_top=@rpi_bazel//tools/cc_toolchain:toolchain
-
-test:pi32 --compilation_mode=opt
-test:pi32 --compiler=clang
-test:pi32 --cpu=armeabihf
-test:pi32 --crosstool_top=@rpi_bazel//tools/cc_toolchain:toolchain
-test:pi32 --test_output=errors
-
 # Target platform: 64-bit Raspberry Pi OS
 
 build:pi64 --compilation_mode=opt

diff --git a/.github/workflows/bazel.yml → .github/workflows/ci.yml b/.github/workflows/bazel.yml → .github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: build
+name: CI
 
 on:
     push:
@@ -7,37 +7,48 @@ on:
         branches: [ main ]
 
 jobs:
-    build:
+    build_host:
+        name: "Build for ${{ matrix.os }} host platform"
         runs-on: ${{ matrix.os }}
         strategy:
             fail-fast: false
             matrix:
                 os: [ubuntu-latest, macos-latest]
-                python-version: ["3.8", "3.9", "3.10", "3.11"]
 
         steps:
             - name: "Checkout sources"
               uses: actions/checkout@v4
               with:
                   submodules: recursive
 
-            - name: "Set up Python ${{ matrix.python-version }}"
-              uses: actions/setup-python@v4
+            - name: "Build the library with default configuration"
+              env:
+                  BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }}
+              run: |
+                  tools/bazelisk build --compilation_mode=fastbuild //...
+
+    build_pi3hat:
+        name: "Build for the pi3hat target platform"
+        runs-on: ubuntu-latest
+
+        steps:
+            - name: "Checkout sources"
+              uses: actions/checkout@v4
               with:
-                  python-version: "${{ matrix.python-version }}"
+                  submodules: recursive
 
-            - name: "Install PyPI dependencies"
+            - name: "Install build dependencies"
               run: |
-                  python -m pip install --upgrade pip
-                  pip install msgpack
+                  sudo apt-get update && sudo apt-get install -y libtinfo5
 
-            - name: "Build the library"
+            - name: "Build targets for the pi64 configuration"
               env:
                   BAZELISK_GITHUB_TOKEN: ${{ secrets.BAZELISK_GITHUB_TOKEN }}
               run: |
-                  tools/bazelisk build --compilation_mode=fastbuild //...
+                  tools/bazelisk build //vulp/actuation/tests:pi3hat_interface_test --config pi64
 
     coverage:
+        name: "Coverage"
         runs-on: ubuntu-latest
         steps:
             - name: "Checkout sources"
@@ -66,6 +77,7 @@ jobs:
                   path-to-lcov: ${{ github.workspace }}/bazel-out/_coverage/_coverage_report.dat
 
     lint:
+        name: "Lint code"
         runs-on: ubuntu-latest
         steps:
             - name: "Checkout sources"
@@ -84,6 +96,7 @@ jobs:
                   tools/bazelisk test --compilation_mode=fastbuild --config lint //...
 
     test:
+        name: "Test for ${{ matrix.os }} with python-${{ matrix.python-version }}"
         runs-on: ${{ matrix.os }}
         strategy:
             fail-fast: false
@@ -116,6 +129,6 @@ jobs:
     ci_success:
         name: "CI success"
         runs-on: ubuntu-latest
-        needs: [build, coverage, lint, test]
+        needs: [build_host, build_pi3hat, coverage, lint, test]
         steps:
             - run: echo "CI workflow completed successfully"
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
@@ -1,4 +1,4 @@
-name: docs
+name: Documentation
 
 on:
     push:

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,35 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Build test for the pi3hat interface
+- BulletInterface: internal ``get_link_index`` memoization
+- BulletInterface: introduce "monitor" configuration dictionary
+- BulletInterface: report contacts to bodies specified in configuration
+- CICD: Add a workflow for the pi3hat build test
+- Introduce ``observe`` method in actuation interfaces
+
+### Changed
+
+- CICD: Rename bazel.yml to ci.yml for consistency with other repos
+- Pi3HatInterface: make ``get_angular_velocity`` private
+- Pi3HatInterface: make ``get_attitude`` private
+- Pi3HatInterface: make ``get_linear_acceleration`` private
+- Pi3HatInterface: make ``imu_data`` private
+
+### Fixed
+
+- CICD: Clean up redundant Python build jobs
+
+### Removed
+
+- Clean up unused ``MockInterface::get_angular_velocity``
+- Clean up unused ``MockInterface::get_attitude``
+- Clean up unused ``MockInterface::get_linear_acceleration``
+- Remove ``imu_data`` getter from actuation interfaces
+- Remove ``observe_imu`` function from observations
+
 ## [2.2.2] - 2024-03-28
 
 ### Added

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -2,7 +2,7 @@
 
 There are many ways you can contribute to the project. Here are some ideas:
 
-- Build a new robot using mjbots actuators and report any friction you encounter using it with Vulp
+- Build a new robot using mjbots actuators and report your experience using Vulp on it
 - Pick one of the [open issues](https://github.com/upkie/vulp/issues?q=is%3Aissue+is%3Aopen)
 - Suggest improvements to the [documentation](https://upkie.github.io/vulp/)
 

diff --git a/CPPLINT.cfg b/CPPLINT.cfg
@@ -1,10 +1,11 @@
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 # Don't search for other CPPLINT.cfg files in parent directories.
 set noparent

diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # Vulp – Robot/simulation switch
 
-[![CI](https://github.com/upkie/vulp/actions/workflows/bazel.yml/badge.svg)](https://github.com/upkie/vulp/actions/workflows/bazel.yml)
+[![CI](https://github.com/upkie/vulp/actions/workflows/ci.yml/badge.svg)](https://github.com/upkie/vulp/actions/workflows/ci.yml)
 [![Documentation](https://github.com/upkie/vulp/actions/workflows/docs.yml/badge.svg)](https://upkie.github.io/vulp/)
 [![Coverage](https://coveralls.io/repos/github/upkie/vulp/badge.svg?branch=main)](https://coveralls.io/github/upkie/vulp?branch=main)
 ![C++ version](https://img.shields.io/badge/C++-17-blue.svg?style=flat)

diff --git a/tools/lint/BUILD b/tools/lint/BUILD
@@ -1,12 +1,13 @@
 # -*- python -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 package(default_visibility = ["//visibility:public"])
 

diff --git a/tools/lint/clang_format_lint.py b/tools/lint/clang_format_lint.py
@@ -1,13 +1,14 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 import os
 import shutil

diff --git a/tools/lint/cpplint.bzl b/tools/lint/cpplint.bzl
@@ -1,12 +1,13 @@
 # -*- python -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 load("@rules_python//python:defs.bzl", "py_test")
 
@@ -39,8 +40,7 @@ def _extract_labels(srcs):
         return list(srcs)
 
     # The select() syntax returns an object we (apparently) can't inspect.
-    # TODO(jwnimmer-tri) Figure out how to cpplint these files.  For now,
-    # folks will have to pass extra_srcs when calling cpplint() macro.
+    # Folks will have to pass extra_srcs when calling cpplint() macro.
     return []
 
 def _is_source_label(label):

diff --git a/tools/lint/lint.bzl b/tools/lint/lint.bzl
@@ -1,12 +1,13 @@
 # -*- python -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 load("//tools/lint:cpplint.bzl", "cpplint")
 load("//tools/lint:python_lint.bzl", "python_lint")

diff --git a/tools/lint/python_lint.bzl b/tools/lint/python_lint.bzl
@@ -1,12 +1,13 @@
 # -*- python -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and permission
 # notice:
 #
-#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 #     SPDX-License-Identifier: BSD-3-Clause
+#     Copyright 2012-2016 Robot Locomotion Group @ CSAIL
 
 load("@rules_python//python:defs.bzl", "py_test")
 
@@ -76,7 +77,7 @@ def python_lint(
             ]
         else:
             # The select() syntax returns an object we (apparently) can't
-            # inspect.  TODO(jwnimmer-tri) Figure out how to lint these files.
+            # inspect.
             files = []
 
         # Add a lint test if necessary.

diff --git a/tools/shm/clean.cpp b/tools/shm/clean.cpp
@@ -1,5 +1,5 @@
-// Copyright 2022 Stéphane Caron
 // SPDX-License-Identifier: Apache-2.0
+// Copyright 2022 Stéphane Caron
 
 #include <fcntl.h>
 #include <spdlog/spdlog.h>

diff --git a/tools/workspace/BUILD b/tools/workspace/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/bullet/BUILD b/tools/workspace/bullet/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/github_archive.bzl b/tools/workspace/github_archive.bzl
@@ -1,12 +1,13 @@
 # -*- python -*-
 #
+# SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 #
 # This file incorporates work covered by the following copyright and
 # permission notice:
 #
-#     Copyright 2018 Josh Pieper, jjp@pobox.com.
 #     SPDX-License-Identifier: Apache-2.0
+#     Copyright 2018 Josh Pieper, jjp@pobox.com.
 
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 

diff --git a/tools/workspace/mpacklog/BUILD b/tools/workspace/mpacklog/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/palimpsest/BUILD b/tools/workspace/palimpsest/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/palimpsest/repository.bzl b/tools/workspace/palimpsest/repository.bzl
@@ -1,14 +1,14 @@
 # -*- python -*-
 
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
 def palimpsest_repository():
     """
     Clone repository from GitHub and make its targets available for binding.
     """
-    http_archive(
+    git_repository(
         name = "palimpsest",
-        sha256 = "244ffe888888bc12d6d5270020993a79e56ddb38f2beafa7647f17cf0192d4c9",
-        strip_prefix = "palimpsest-2.0.0",
-        url = "https://github.com/upkie/palimpsest/archive/refs/tags/v2.0.0.tar.gz",
+        remote = "https://github.com/upkie/palimpsest",
+        commit = "f52bcfeeda2da839107d6121e0c8ef1a0c42522e",
+        shallow_since = "1655469414 -0400"
     )
diff --git a/tools/workspace/pi3hat/BUILD b/tools/workspace/pi3hat/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/pi3hat/repository.bzl b/tools/workspace/pi3hat/repository.bzl
@@ -1,6 +1,4 @@
 # -*- python -*-
-#
-# Copyright 2022 Stéphane Caron
 
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 

diff --git a/tools/workspace/pycodestyle/BUILD b/tools/workspace/pycodestyle/BUILD
@@ -2,7 +2,3 @@
 #
 # This file makes our directory a Bazel package, allowing for neighboring *.bzl
 # files to be loaded.
-
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-add_lint_tests()
diff --git a/tools/workspace/upkie_description/repository.bzl b/tools/workspace/upkie_description/repository.bzl
@@ -11,6 +11,6 @@ def upkie_description_repository():
     git_repository(
         name = "upkie_description",
         remote = "https://github.com/upkie/upkie_description",
-        commit = "cbba6ddad34f640a09e436d76147494aee687a5e",
-        shallow_since = "1652897584 +0200"
+        commit = "b04b4dcb53eeb1af3ccabbfdcff00c5c88d548ac",
+        shallow_since = "1708617524 +0100"
     )
diff --git a/vulp/actuation/BUILD b/vulp/actuation/BUILD
@@ -89,6 +89,7 @@ cc_library(
 cc_library(
     name = "bullet_interface",
     hdrs = [
+        "BulletContactData.h",
         "BulletImuData.h",
         "BulletInterface.h",
         "BulletJointProperties.h",