docs: add MPPI rollout sampling and EKF estimation showcase GIFs #80
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| name: CI | ||
| on: | ||
| push: | ||
| branches: [ "main", "develop" ] | ||
| pull_request: | ||
| branches: [ "main", "develop" ] | ||
| jobs: | ||
| dependency-contract: | ||
| runs-on: ubuntu-latest | ||
| env: | ||
| JAX_PLATFORM_NAME: cpu | ||
| UV_CACHE_DIR: /tmp/.uv-cache | ||
| JAX_COMPILATION_CACHE_DIR: /tmp/jax_cache | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Set up Python 3.10 | ||
| uses: actions/setup-python@v5 | ||
| with: | ||
| python-version: "3.10" | ||
| - name: Cache uv | ||
| uses: actions/cache@v4 | ||
| with: | ||
| path: /tmp/.uv-cache | ||
| key: ${{ runner.os }}-uv-${{ hashFiles('uv.lock') }} | ||
| restore-keys: | | ||
| ${{ runner.os }}-uv- | ||
| - name: Install base package (no extras) | ||
| env: | ||
| UV_SYSTEM_PYTHON: 1 | ||
| run: | | ||
| pip install uv | ||
| uv pip install -e . | ||
| - name: Validate optional dependency contracts | ||
| run: | | ||
| python - <<'PY' | ||
| import importlib.util | ||
| import os | ||
| import runpy | ||
| import tempfile | ||
| from pathlib import Path | ||
| import jax.numpy as jnp | ||
| cache_root = Path(tempfile.gettempdir()) / "cbfkit_optional_dep_cache" | ||
| cache_root.mkdir(parents=True, exist_ok=True) | ||
| mpl_cache = cache_root / "mpl" | ||
| xdg_cache = cache_root / "xdg" | ||
| mpl_cache.mkdir(parents=True, exist_ok=True) | ||
| xdg_cache.mkdir(parents=True, exist_ok=True) | ||
| os.environ.setdefault("MPLCONFIGDIR", str(mpl_cache)) | ||
| os.environ.setdefault("XDG_CACHE_HOME", str(xdg_cache)) | ||
| import cbfkit.utils.visualization as visualization | ||
| if importlib.util.find_spec("casadi") is None: | ||
| module_path = Path("src/cbfkit/optimization/quadratic_program/qp_solver_casadi.py") | ||
| qp_solver_casadi_ns = runpy.run_path(str(module_path)) | ||
| solve = qp_solver_casadi_ns["solve"] | ||
| try: | ||
| solve(jnp.eye(1), jnp.zeros((1,))) | ||
| except ImportError as exc: | ||
| if "cbfkit[casadi]" not in str(exc): | ||
| raise AssertionError( | ||
| "CasADi missing-path error must include guidance for `cbfkit[casadi]`." | ||
| ) from exc | ||
| else: | ||
| raise AssertionError("Expected ImportError with installation guidance for CasADi.") | ||
| if not visualization.HAS_MATPLOTLIB: | ||
| try: | ||
| visualization.require_visualization() | ||
| except ImportError as exc: | ||
| if "cbfkit[vis]" not in str(exc): | ||
| raise AssertionError( | ||
| "Visualization missing-path error must include guidance for `cbfkit[vis]`." | ||
| ) from exc | ||
| else: | ||
| raise AssertionError( | ||
| "Expected ImportError with installation guidance for visualization." | ||
| ) | ||
| print("optional dependency contract checks passed") | ||
| PY | ||
| extra-profile-smoke: | ||
| needs: dependency-contract | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| matrix: | ||
| profile: ["test", "codegen", "vis", "casadi"] | ||
| env: | ||
| JAX_PLATFORM_NAME: cpu | ||
| UV_CACHE_DIR: /tmp/.uv-cache | ||
| MPLCONFIGDIR: /tmp/.mplconfig | ||
| XDG_CACHE_HOME: /tmp/.xdg-cache | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Set up Python 3.10 | ||
| uses: actions/setup-python@v5 | ||
| with: | ||
| python-version: "3.10" | ||
| - name: Cache uv | ||
| uses: actions/cache@v4 | ||
| with: | ||
| path: /tmp/.uv-cache | ||
| key: ${{ runner.os }}-uv-${{ hashFiles('uv.lock') }} | ||
| restore-keys: | | ||
| ${{ runner.os }}-uv- | ||
| - name: Install profile and run smoke checks | ||
| env: | ||
| UV_SYSTEM_PYTHON: 1 | ||
| run: | | ||
| pip install uv | ||
| case "${{ matrix.profile }}" in | ||
| test) | ||
| uv pip install -e ".[test]" | ||
| python - <<'PY' | ||
| import pytest | ||
| import dotenv | ||
| print("test profile smoke ok", pytest.__version__, bool(dotenv)) | ||
| PY | ||
| ;; | ||
| codegen) | ||
| uv pip install -e ".[codegen]" | ||
| python - <<'PY' | ||
| from cbfkit.codegen.create_new_system.generate_model import generate_model | ||
| assert callable(generate_model) | ||
| print("codegen profile smoke ok") | ||
| PY | ||
| ;; | ||
| vis) | ||
| uv pip install -e ".[vis]" | ||
| python - <<'PY' | ||
| import cbfkit.utils.visualization as visualization | ||
| visualization.require_visualization() | ||
| print("vis profile smoke ok") | ||
| PY | ||
| ;; | ||
| casadi) | ||
| uv pip install -e ".[casadi]" | ||
| python - <<'PY' | ||
| import jax.numpy as jnp | ||
| from cbfkit.optimization.quadratic_program.qp_solver_casadi import solve | ||
| P = jnp.eye(1) | ||
| q = jnp.zeros((1,)) | ||
| G = jnp.array([[1.0], [-1.0]]) | ||
| h = jnp.array([1.0, 1.0]) | ||
| sol, status = solve(P, q, G, h) | ||
| assert sol.shape == (1,) | ||
| assert status in (0, 1) | ||
| print("casadi profile smoke ok", int(status)) | ||
| PY | ||
| ;; | ||
| *) | ||
| echo "Unknown profile: ${{ matrix.profile }}" >&2 | ||
| exit 2 | ||
| ;; | ||
| esac | ||
| build: | ||
| needs: [dependency-contract, extra-profile-smoke] | ||
| runs-on: ubuntu-latest | ||
| env: | ||
| JAX_PLATFORM_NAME: cpu | ||
| UV_CACHE_DIR: /tmp/.uv-cache | ||
| JAX_COMPILATION_CACHE_DIR: /tmp/jax_cache | ||
| strategy: | ||
| matrix: | ||
| python-version: ["3.10", "3.11", "3.12"] | ||
| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Set up Python ${{ matrix.python-version }} | ||
| uses: actions/setup-python@v5 | ||
| with: | ||
| python-version: ${{ matrix.python-version }} | ||
| - name: Cache uv | ||
| uses: actions/cache@v4 | ||
| with: | ||
| path: /tmp/.uv-cache | ||
| key: ${{ runner.os }}-uv-${{ hashFiles('uv.lock') }} | ||
| restore-keys: | | ||
| ${{ runner.os }}-uv- | ||
| - name: Cache JAX compilation | ||
| uses: actions/cache@v4 | ||
| with: | ||
| path: /tmp/jax_cache | ||
| key: ${{ runner.os }}-jax-${{ github.sha }} | ||
| restore-keys: | | ||
| ${{ runner.os }}-jax- | ||
| - name: Install dependencies | ||
| env: | ||
| UV_SYSTEM_PYTHON: 1 | ||
| run: | | ||
| pip install uv | ||
| if [ "${{ matrix.python-version }}" == "3.10" ]; then | ||
| uv pip install -e ".[test,codegen]" ruff mypy | ||
| else | ||
| uv pip install -e ".[test,codegen]" | ||
| fi | ||
| - name: Lint with ruff | ||
| if: matrix.python-version == '3.10' | ||
| env: | ||
| UV_SYSTEM_PYTHON: 1 | ||
| run: | | ||
| # Run ruff check. Exit non-zero on failure. | ||
| ruff check src | ||
| - name: Type check with mypy | ||
| if: matrix.python-version == '3.10' | ||
| env: | ||
| UV_SYSTEM_PYTHON: 1 | ||
| run: | | ||
| mypy src/cbfkit || true | ||
| - name: Test with pytest | ||
| run: | | ||
| pytest -m "not slow" tests | ||
| - name: Test slow tests | ||
| if: matrix.python-version == '3.10' | ||
| env: | ||
| CBFKIT_TEST_MODE: "1" | ||
| run: | | ||
| pytest -m "slow" tests | ||
