pyproject.toml

[build-system]
requires = ["setuptools>=61.0.0", "wheel", "numpy>=2.0.0"]
build-backend = "setuptools.build_meta"

[project]
name = "lsy_drone_racing"
version = "0.0.1"
description = "LSY Autonomous Drone Racing Project Course"
readme = "README.md"
license = { file = "LICENSE" }
requires-python = ">=3.10"
classifiers = [
    "License :: OSI Approved :: MIT License",
    "Programming Language :: Python",
    "Programming Language :: Python :: 3",
    "Intended Audience :: Developers",
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
]


########################
# Pip Dependencies
########################
dependencies = ["fire >= 0.6.0", "numpy", "toml >= 0.10.2"]

[project.optional-dependencies]
# option[sim]: basic simulation
sim = [
    "gymnasium[array-api] >= 1.2.0",
    "ml-collections >= 1.0",
    "packaging >= 24.0",
    "drone-models",
    "drone-controllers",
    "crazyflow>=0.1.0",
    "jax >= 0.7",
    "warp-lang",
]
# option[gpu]: simulation with gpu
gpu = ["jax[cuda12]"]
# option[deploy]: deploy to real drones
deploy = [
    "cflib2 @ git+https://github.com/bitcraze/crazyflie-lib-python-v2.git@d87b796",
    "drone-estimators",
]
# option[rl]: train rl policy
rl = ["torch == 2.8.0", "wandb"]
# option[gamepad]: use a gamepad as input for your drone
gamepad = ["pygame"]

[tool.setuptools.packages]
find = {}

[tool.setuptools.package-data]
lsy_drone_racing = ["envs/assets/*.xml", "envs/assets/*.png"]

[tool.pytest.ini_options]
markers = ["unit", "integration"]

########################
# Pixi Sessions
########################
[tool.pixi.workspace]
channels = ["conda-forge"]
platforms = ["linux-64"]

[tool.pixi.dependencies]
python = ">=3.11.12,<3.14"
pip = ">=25.0.1,<26"
ruff = "*"
# Compilers needed for acados
compilers = ">=1.9.0, <1.11.0"
cmake = "==3.26.0"  # Pinned for motion_capture_tracking
make = "==4.4.1"  # Pinned for motion_capture_tracking
openblas = ">=0.3.30,<0.4"

[tool.pixi.pypi-dependencies]
lsy_drone_racing = { path = ".", editable = true }

[tool.pixi.feature.sim.activation]
scripts = ["tools/setup_acados.sh"]

[tool.pixi.tasks]
evaluate = { cmd = "python scripts/evaluate.py", description = "Evaluate the controller" }

### environments
[tool.pixi.environments]
default = { features = ["sim"], solve-group = "default" }
deploy = { features = ["sim", "gpu", "kilted", "deploy"] }
gpu = { features = ["sim", "gpu"], solve-group = "default" }
tests = { features = ["sim", "rl", "tests"], solve-group = "default" }
gpu-tests = { features = ["sim", "gpu", "tests"], solve-group = "default" }
gamepad = { features = ["sim", "gamepad"], solve-group = "default" }
profile = { features = ["sim", "profile", "gpu"], solve-group = "default" }
docs = { features = ["docs"] }

## feature [kilted]
[tool.pixi.feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]

[tool.pixi.feature.kilted.dependencies]
# Build tools
pkg-config = "*"
ninja = "*"
# ROS specific tools
rosdep = "*"
colcon-common-extensions = "*"
# Kilted specific tools
ros-kilted-desktop = "*"
ros2-distro-mutex = "0.12.*"  # Pinned for motion_capture_tracking

[tool.pixi.feature.kilted.activation]
scripts = ["tools/setup_mocap.sh"]

## feature [deploy]
[tool.pixi.feature.deploy.dependencies]
packaging = ">=24,<26"  # Necessary for cflib2
maturin = ">=1.13.3,<2"
rust = ">=1.95.0,<1.96"

## feature [tests]
[tool.pixi.feature.tests.tasks]
tests = { cmd = "pytest -v tests", description = "Run tests" }

[tool.pixi.feature.tests.dependencies]
pytest = "*"

[tool.pixi.feature.profile.dependencies]
pyinstrument = "*"

## feature [docs]
[tool.pixi.feature.docs.dependencies]
python = ">=3.10"
properdocs = ">=1.5.0"
mkdocs-material = ">=9.0.0"

[tool.pixi.feature.docs.pypi-dependencies]
mkdocs-autorefs = ">=1.2.0"
mkdocstrings = { extras = ["python"], version = ">=0.26.0" }
mkdocs-gen-files = ">=0.5.0"
mkdocs-literate-nav = ">=0.6.0"
mkdocs-section-index = ">=0.3.0"
mkdocs-charts-plugin = ">=0.0.10"

[tool.pixi.feature.docs.tasks]
docs-build = { cmd = "properdocs build", description = "Build docs" }
docs-serve = { cmd = "properdocs serve --livereload", description = "Serve docs locally" }

########################
# Linting and formatting settings
########################
[tool.ruff]
# Exclude a variety of commonly ignored directories.
exclude = [
    ".git",
    ".git-rewrite",
    ".ipynb_checkpoints",
    ".pyenv",
    ".pytest_cache",
    ".pytype",
    ".ruff_cache",
    ".venv",
    ".vscode",
    "__pypackages__",
    "_build",
    "build",
    "dist",
    "site-packages",
    "venv",
]

line-length = 100
indent-width = 4
target-version = "py311"

[tool.ruff.lint]
select = ["E", "F", "I", "D", "TCH", "ANN"]
ignore = ["ANN401"]
fixable = ["ALL"]
unfixable = []

[tool.ruff.lint.isort]  # Prevent ruff from reporting conflicting settings with isort
split-on-trailing-comma = false

[tool.ruff.lint.per-file-ignores]
"benchmarks/*" = ["D100", "D103"]
"tests/*" = ["D100", "D103", "D104"]


[tool.ruff.lint.pydocstyle]
convention = "google"

[tool.ruff.lint.flake8-annotations]
suppress-dummy-args = true
suppress-none-returning = true

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
skip-magic-trailing-comma = true
line-ending = "auto"
docstring-code-format = true
docstring-code-line-length = "dynamic"