Merge remote-tracking branch 'origin/master' into add-vectornav-imu

.github/workflows/ci.yaml

@@ -100,7 +100,7 @@ jobs:
 
   deploy-docs:
     name: Deploy docs from master
-    runs-on: ubuntu-20.04
+    runs-on: self-hosted
     needs:
       - super-ci
     if: github.ref == 'refs/heads/master'
@@ -118,18 +118,17 @@ jobs:
           name: docs-ci-html-${{ github.sha }}
           path: ${{ github.workspace }}/build/docs
 
-      # We need to install rsync for GitHub Pages deploy action
-      - name: Install rsync
-        run: |
-          sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync
-
       # Publish the artifact to the GitHub Pages branch
-      - name: Push docs to GitHub Pages
-        uses: JamesIves/github-pages-deploy-action@v4
-        with:
-          token: ${{ secrets.INVESTIGATOR_BOT_TOKEN }}
-          branch: main
-          repository-name: uf-mil/uf-mil.github.io
-          folder: ${{ github.workspace }}/build/docs
-          target-folder: docs
-          commit-message: Updating docs to ${{ github.sha }}
+      - name: Push docs to mil.ufl.edu
+        run: |
+          # Install sshpass
+          sudo apt-get install sshpass
+          # Upload contents of local folder to remote folder
+          sshpass -p ${{ secrets.MIL_UFL_SFTP_PASS }} \
+            sftp -o StrictHostKeyChecking=no \
+            -P ${{ secrets.MIL_UFL_SFTP_PORT }} [email protected] << EOF
+          cd htdocs/docs
+          lcd ${{ github.workspace }}/build/docs
+          put -r .
+          exit
+          EOF

.github/workflows/gh_pages.yaml → .github/workflows/docs.yaml

@@ -12,7 +12,7 @@ concurrency:
 
 jobs:
   deploy:
-    runs-on: ubuntu-20.04
+    runs-on: self-hosted
     steps:
       - name: Wait to let checks appear
         run: sleep 1m
@@ -47,31 +47,32 @@ jobs:
           commit: ${{ github.event.pull_request.head.sha }}
           path: ${{ github.workspace }}/pr-docs
 
-      # We need to install rsync for GitHub Pages deploy action
-      - name: Install rsync
-        run: |
-          sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync
-
       - name: Move folders
         if: github.event.action != 'closed'
         run: |
           cd ${{ github.workspace }}/pr-docs
           mv docs-ci-html-${{ github.event.pull_request.head.sha }} ${{ github.event.number }}
           echo "datetime=$(TZ=America/New_York date '+%Y-%m-%d %H:%M %Z')" >> $GITHUB_ENV
 
+      ############################
+      # If commit was an update/refresh (not close)
+      ############################
       # Publish the artifact to the GitHub Pages branch
-      - name: Push preview to GitHub Pages
-        uses: JamesIves/github-pages-deploy-action@v4
+      - name: Upload docs to mil.ufl.edu
         if: github.event.action != 'closed'
-        with:
-          token: ${{ secrets.INVESTIGATOR_BOT_TOKEN }}
-          branch: main
-          git-config-name: uf-mil-bot
-          git-config-email: [email protected]
-          repository-name: uf-mil/uf-mil.github.io
-          folder: ${{ github.workspace }}/pr-docs/${{ github.event.number }}
-          target-folder: pr-docs/${{ github.event.number }}
-          commit-message: "Adding PR preview for PR ${{ github.event.number }}"
+        run: |
+          # Install sshpass
+          sudo apt-get install sshpass
+          # Upload contents of local folder to remote folder
+          sshpass -p ${{ secrets.MIL_UFL_SFTP_PASS }} \
+            sftp -o StrictHostKeyChecking=no \
+            -P ${{ secrets.MIL_UFL_SFTP_PORT }} [email protected] << EOF
+          mkdir htdocs/pr-docs/${{ github.event.number }}
+          cd htdocs/pr-docs/${{ github.event.number }}
+          lcd ${{ github.workspace }}/pr-docs/${{ github.event.number }}
+          put -r .
+          exit
+          EOF
 
       # Create/update stickied comment
       - name: Update stickied comment
@@ -86,7 +87,7 @@ jobs:
 
 
             The **docs preview** for this PR is available at
-            https://uf-mil.github.io/pr-docs/${{ github.event.number }}.
+            https://mil.ufl.edu/pr-docs/${{ github.event.number }}.
 
 
             ```css
@@ -102,24 +103,21 @@ jobs:
 
             Have a great day! Go gators! 🐊
 
+      ############################
+      # If commit was closed
+      ############################
       # If the PR is closed, remove the files
-      - name: Prepare empty folder
+      - name: Delete pr-docs folder on mil.ufl.edu
         if: github.event.action == 'closed'
         run: |
-          echo "emptydir=$(mktemp -d)" >> $GITHUB_ENV
-
-      - name: Prepare deletion folders
-        uses: JamesIves/github-pages-deploy-action@v4
-        if: github.event.action == 'closed'
-        with:
-          token: ${{ secrets.INVESTIGATOR_BOT_TOKEN }}
-          branch: main
-          git-config-name: uf-mil-bot
-          git-config-email: [email protected]
-          repository-name: uf-mil/uf-mil.github.io
-          folder: ${{ env.emptydir }}
-          target-folder: pr-docs/${{ github.event.number }}
-          commit-message: Removing PR preview for PR ${{ github.event.number }}
+          # Install lftp
+          sudo apt-get install lftp
+          # Upload docs
+          lftp -u mil,${{ secrets.MIL_UFL_SFTP_PASS }} \
+            -p ${{ secrets.MIL_UFL_SFTP_PORT }} sftp://mil.ufl.edu << EOF
+          rm -r htdocs/pr-docs/${{ github.event.number }}
+          exit
+          EOF
 
       # Create/update stickied comment
       - name: Update stickied comment

.pre-commit-config.yaml

@@ -11,36 +11,36 @@ ci:
 
 repos:
   - repo: https://github.com/adrienverge/yamllint.git
-    rev: v1.33.0
+    rev: v1.35.1
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 24.1.1
+    rev: 24.3.0
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v17.0.6
+    rev: v18.1.2
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
-    rev: v2.2.1
+    rev: v2.3.1
     hooks:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.6
+    rev: v0.10.0.1
     hooks:
       - id: shellcheck
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
         args: [--severity=warning, --exclude=SC1090]
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.7.0-4
+    rev: v3.8.0-1
     hooks:
       - id: shfmt
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.2.0'
+    rev: 'v0.3.4'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]

NaviGator/gnc/navigator_path_planner/nodes/path_planner.py

@@ -454,9 +454,7 @@ def move_cb(self, msg: MoveAction) -> Optional[bool]:
                 print(f"\nMove {self.move_count}\n----")
                 print(f"Behavior: {self.enroute_behavior.__name__[10:]}")
                 print(
-                    "Reached goal region: {}".format(
-                        self.enroute_behavior.planner.plan_reached_goal,
-                    ),
+                    f"Reached goal region: {self.enroute_behavior.planner.plan_reached_goal}",
                 )
                 print(f"Goal bias: {np.round(self.goal_bias, 2)}")
                 print(f"Tree size: {self.tree.size}")
@@ -1027,9 +1025,7 @@ def reevaluate_plan(self) -> None:
                             self.failure_reason = "collided"
                     else:
                         print(
-                            "\nFound collision on current path!\nTime till collision: {}".format(
-                                time_till_collision,
-                            ),
+                            f"\nFound collision on current path!\nTime till collision: {time_till_collision}",
                         )
                         self.time_till_issue = time_till_collision
                         for behavior in self.behaviors_list:
@@ -1495,9 +1491,7 @@ def ogrid_cb(self, msg: OccupancyGrid) -> None:
         elapsed = abs(self.rostime() - start)
         if elapsed > 1:
             print(
-                "\n(WARNING: ogrid callback is taking {} seconds)\n".format(
-                    np.round(elapsed, 2),
-                ),
+                f"\n(WARNING: ogrid callback is taking {np.round(elapsed, 2)} seconds)\n",
             )
 
     def odom_cb(self, msg: Odometry) -> None:

NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py

@@ -177,10 +177,7 @@ def from_urdf(
 
                 if t_ratio < 0:
                     raise Exception(
-                        "Thruster mapper does not allow mechanical reduction of {} for {}.".format(
-                            t_ratio,
-                            transmission.name,
-                        ),
+                        f"Thruster mapper does not allow mechanical reduction of {t_ratio} for {transmission.name}.",
                     )
 
                 ratio[i] = t_ratio

NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/station_hold.py

@@ -15,10 +15,7 @@ def __init__(self):
     def _client_cb(self, terminal_state, result):
         if terminal_state != 3:
             rospy.logwarn(
-                "Station hold goal failed (Status={}, Result={})".format(
-                    TerminalState.to_string(terminal_state),
-                    result.result,
-                ),
+                f"Station hold goal failed (Status={TerminalState.to_string(terminal_state)}, Result={result.result})",
             )
             return
         rospy.loginfo("Station holding!")

NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py

@@ -71,12 +71,7 @@ async def get_target_bays(self):
         self.bay_1 = (bay_1_shape, bay_1_color)
         self.bay_2 = (bay_2_shape, bay_2_color)
         print_good(
-            "Docking in Bay (Shape={}, Color={}) then (Shape={}, Color={})".format(
-                bay_1_shape,
-                bay_1_color,
-                bay_2_shape,
-                bay_2_color,
-            ),
+            f"Docking in Bay (Shape={bay_1_shape}, Color={bay_1_color}) then (Shape={bay_2_shape}, Color={bay_2_color})",
         )
 
     async def get_waypoint(self):

NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py

@@ -140,10 +140,7 @@ def is_done(objects, positions):
             filter_and_sort,
         )
         self.send_feedback(
-            "Going through gate of objects {} and {}".format(
-                left_obj.labeled_classification,
-                right_obj.labeled_classification,
-            ),
+            f"Going through gate of objects {left_obj.labeled_classification} and {right_obj.labeled_classification}",
         )
         gate = self.get_gate(left, right, p)
         await self.go_thru_gate(gate)
@@ -393,10 +390,7 @@ def is_done(objects, positions):
         self.objects_passed.add(red.id)
         gate = self.get_gate(white_position, red_position, robot_position)
         self.send_feedback(
-            "Going through start gate formed by {} and {}".format(
-                white.labeled_classification,
-                red.labeled_classification,
-            ),
+            f"Going through start gate formed by {white.labeled_classification} and {red.labeled_classification}",
         )
         await self.go_thru_gate(gate, AFTER=-2)
 

NaviGator/mission_control/navigator_missions/navigator_missions/navigator.py

@@ -800,12 +800,7 @@ async def get(self, raise_exception: bool = True):
         value = await self.nh.get_param(self.param)
         if not self._valid(value):
             raise Exception(
-                "Value {} is invalid for param {}\nValid values: {}\nDescription: {}".format(
-                    value,
-                    self.param,
-                    self.options,
-                    self.description,
-                ),
+                f"Value {value} is invalid for param {self.param}\nValid values: {self.options}\nDescription: {self.description}",
             )
         else:
             return value
@@ -816,12 +811,7 @@ async def exists(self) -> bool:
     async def set(self, value):
         if not self._valid(value):
             raise Exception(
-                "Value {} is invalid for param {}\nValid values: {}\nDescription: {}".format(
-                    value,
-                    self.param,
-                    self.options,
-                    self.description,
-                ),
+                f"Value {value} is invalid for param {self.param}\nValid values: {self.options}\nDescription: {self.description}",
             )
         await self.nh.set_param(self.param, value)
 

NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py

@@ -111,10 +111,7 @@ def is_done(objects, positions):
             filter_and_sort,
         )
         self.send_feedback(
-            "Going through gate of objects {} and {}".format(
-                left_obj.labeled_classification,
-                right_obj.labeled_classification,
-            ),
+            f"Going through gate of objects {left_obj.labeled_classification} and {right_obj.labeled_classification}",
         )
         gate = self.get_gate(left, right, p)
         await self.go_thru_gate(gate)
@@ -336,10 +333,7 @@ def is_done(objects, positions):
         self.objects_passed.add(red.id)
         gate = self.get_gate(white_position, red_position, robot_position)
         self.send_feedback(
-            "Going through start gate formed by {} and {}".format(
-                white.labeled_classification,
-                red.labeled_classification,
-            ),
+            f"Going through start gate formed by {white.labeled_classification} and {red.labeled_classification}",
         )
         await self.go_thru_gate(gate, AFTER=-2)
 

NaviGator/perception/navigator_vision/nodes/classifier.py

@@ -219,10 +219,7 @@ def process_boxes(self, msg):
                 #        self.CLASSES[a.results[0].id],
                 #    )
                 # )
-                cmd = "{}={}".format(
-                    self.last_objects.objects[closest_to_box].id,
-                    self.CLASSES[a.results[0].id],
-                )
+                cmd = f"{self.last_objects.objects[closest_to_box].id}={self.CLASSES[a.results[0].id]}"
                 self.database_client(ObjectDBQueryRequest(cmd=cmd))
 
         if not self.is_perception_task:

NaviGator/perception/navigator_vision/nodes/database_color.py

@@ -377,10 +377,7 @@ def _get_closest_color(self, hue_angle):
                 likely_color = color
 
         fprint(
-            "Likely color: {} with an hue error of {} rads.".format(
-                likely_color,
-                np.round(error, 3),
-            ),
+            f"Likely color: {likely_color} with an hue error of {np.round(error, 3)} rads.",
         )
         return [likely_color, error]
 
@@ -468,11 +465,7 @@ def do_observe(self, *args):
                     return
 
                 fprint(
-                    "No valid image found for t={} ({}) dt: {}".format(
-                        time_of_marker.to_sec(),
-                        t.to_sec(),
-                        (rospy.Time.now() - t).to_sec(),
-                    ),
+                    f"No valid image found for t={time_of_marker.to_sec()} ({t.to_sec()}) dt: {(rospy.Time.now() - t).to_sec()}",
                     msg_color="red",
                 )
                 return

NaviGator/perception/navigator_vision/nodes/vrx_classifier.py

@@ -210,15 +210,9 @@ def process_boxes(self, msg):
 
                 classified.add(self.last_objects.objects[closest_to_box].id)
                 print(
-                    "Object {} classified as {}".format(
-                        self.last_objects.objects[closest_to_box].id,
-                        self.CLASSES[a.results[0].id],
-                    ),
-                )
-                cmd = "{}={}".format(
-                    self.last_objects.objects[closest_to_box].id,
-                    self.CLASSES[a.results[0].id],
+                    f"Object {self.last_objects.objects[closest_to_box].id} classified as {self.CLASSES[a.results[0].id]}",
                 )
+                cmd = f"{self.last_objects.objects[closest_to_box].id}={self.CLASSES[a.results[0].id]}"
                 self.database_client(ObjectDBQueryRequest(cmd=cmd))
 
         if not self.is_perception_task: