refactor(cpp): C++ modernization - typedef→using, code quality#133
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vlordier wants to merge 15 commits into
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refactor(cpp): C++ modernization - typedef→using, code quality#133vlordier wants to merge 15 commits into
vlordier wants to merge 15 commits into
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Comprehensive openspec specifications reviewed from: - ML/Autonomy: Modern RL framework, sensor fusion, domain randomization, multi-agent RL, training pipeline, benchmarks, dataset export, MLOps - Physics: Advanced aerodynamics, wind/turbulence, Pacejka tires, collision overhaul, material interactions, sensor noise, deformable terrain, underwater simulation - Performance: Zero-copy pipeline, render pooling, multi-vehicle scalability, async GPU readback, RPC optimization, fixed timestep - Engineering: Test suite, error handling, beacon refactor, API safety, settings validation, technical debt cleanup - Architecture: Plugin registry, communication abstraction, event bus, sensor pipeline, state management, settings decomposition Includes tracker.yaml with dependencies and 4-wave implementation roadmap.
Major additions: - Character system (SPEC-035 to SPEC-043): CharacterPawn foundation, locomotion (walk/run/crawl/roll), animation system (dance/gestures), Mixed SimMode for characters + vehicles, vehicle enter/exit with seat system, hiding/cover system, motorbike vehicle type, autonomous pedestrian AI with crowd simulation, skeleton-based pose estimation ground truth - Cosys-specific features (SPEC-044 to SPEC-051): annotation batch operations, external world sensor API, recording/playback system, detection pipeline enhancement, procedural generation API, lighting API, physics query/raycast API, ROS2 complete coverage Dependency fixes: - SPEC-022 (fixed timestep) now prerequisite for SPEC-009/010 - SPEC-028 (debt cleanup) now prerequisite for SPEC-023 (tests) - Removed circular dependency between SPEC-029 and SPEC-030 - Removed false dependency SPEC-032 on SPEC-029 - Upgraded SPEC-022 and SPEC-028 to P0 Roadmap restructured into 8 waves with PR review guidelines (max 1500 lines, one concern, < 2 weeks, split large specs).
- Add Python CI workflow with lint, typecheck, security audit, and tests - Add lint workflow with pre-commit, hadolint, and shellcheck - Add CodeQL security scanning for C++ code - Add dependencies workflow for automated uv updates - Add pre-commit configuration with ruff, pyupgrade, hadolint - Add .dockerignore for cleaner Docker builds All workflows run on Ubuntu with Python 3.12-3.14 support. Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Update pyproject.toml: hatchling backend, Python 3.12+ only - Add type annotations throughout client.py, types.py, utils.py - Add explicit __all__ exports in __init__.py - Remove unused pfm.py module (no longer referenced) - Add py.typed marker for PEP 561 compliance - Add comprehensive test suite with 19 passing tests - Add dev dependencies: pytest, ruff, mypy, pyupgrade Breaks compatibility with Python <3.12. Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Pin all apt package versions for reproducible builds - Pin pip package versions (pip==24.0, cosysairsim==3.3.1) - Replace sudo with gosu in Dockerfile_binary - Add --no-install-recommends to reduce image size - Add proper apt cache cleanup (rm -rf /var/lib/apt/lists/*) - Use COPY instead of ADD for local files (Dockerfile-ROS) - Fix variable expansion quotes (Dockerfile-ROS2) - Update pre-commit hadolint ignore rules All Dockerfiles now pass hadolint validation. Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Extract AirSimSettings_structs.hpp from AirSimSettings.hpp - Separate struct definitions from main settings class - Improves compilation times and code organization - Modernize FileSystem.hpp with std::filesystem - Replace custom path handling with std::filesystem - Reduce code from 416 to 277 lines - Update PID controller headers with modern C++ features - Use std::array instead of raw arrays - Use std::optional for optional parameters - Add SimJoyStick.cpp implementation - Update Unreal project files for 5.5 compatibility - Add C++17 standard enforcement in CMakeLists.txt Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Apply ruff formatting to all example scripts - Fix mixed indentation (spaces/tabs) in multi_agent_drone.py - Use double quotes consistently (PEP 8) - Use f-strings instead of % formatting where appropriate - Remove trailing whitespace and blank lines - Fix W293, E101, E711, E722, B007, F841 warnings Car examples: 19 files formatted Computer vision examples: 13 files formatted Environment examples: 7 files formatted Multirotor examples: 36 files formatted Segmentation examples: 6 files formatted Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Format detection, eventcamera_sim, imitation_learning examples - Format reinforcement_learning/airgym package - Fix F401 unused imports in airgym/envs/__init__.py - Fix B905 missing strict= in zip() for wav_reader.py - Update mkdocs.yml configuration - Fix ros2 package.xml: update maintainer, add URLs All Python scripts now pass ruff validation. Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Add 20 PR specifications for planned improvements - C++ modernization (std::optional, std::filesystem, smart pointers) - Python modernization (type annotations, explicit imports) - CI/CD improvements (Python CI, pre-commit, Docker, security) - Code quality (typedef→using, mutable defaults fix) - ROS2 cleanup and documentation modernization - Add AGENTS.md with development tools documentation - Add GitHub skills for openspec workflow automation - Add Claude Code skills and commands - Add OpenCode skills and commands - Add uv.lock for reproducible Python dependencies Specification system tracks planned changes across the codebase. Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Replace 'todo' comment with proper documentation in client.py - Implement write_lidarData_to_disk() in drone_lidar.py - Save point cloud data to ASCII file format - Use tempfile for automatic file naming - Add docstring explaining functionality Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
mkdocs.yml: - Add dark/light mode toggle with system preference detection - Add site_author and repo_name metadata - Add social links (GitHub, PyPI) - Add comprehensive markdown_extensions (admonition, pymdownx, etc.) - Add content.code features (copy, annotation) - Add search features (suggest, highlight) - Add navigation improvements (sections, expand, top button) - Fix edit_uri path .gitignore: - Add Python virtual environments (.venv, venv, ENV, env) - Add uv package manager files (uv.lock, .python-version) - Add pytest cache and coverage files - Add mypy cache files - Add ruff cache files - Add type stub files (*.pyi) Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Remove commented-out debug code in JSonDataLog.cs - Replace string format with interpolated strings in Px4DataLog.cs - Use fully qualified System.Diagnostics.Debug namespace - Simplify debug logging statements - Remove dead code blocks Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Add warnings module import - Replace logging.warning with warnings.warn for deprecated APIs: - simSetLightIntensity - moveByAngleZAsync - moveByAngleThrottleAsync - Use DeprecationWarning with stacklevel=2 for proper traceback - Ensures deprecation warnings are shown to users by default Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
- Remove logging module (no longer used after deprecation warning fixes) - All deprecated API warnings now use warnings.warn instead Co-authored-by: Qwen-Coder <qwen-coder@alibabacloud.com>
Replace C-style typedef with modern C++ using aliases in UpdatableContainer and GpsSimple for consistency with the rest of the codebase improvements.
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Summary
typedefwith modern C++usingaliases inUpdatableContainerandGpsSimpleChanges
AirLib/include/common/UpdatableContainer.hpp: 4×typedef→usingAirLib/include/sensors/gps/GpsSimple.hpp: 1×typedef→usingTest plan