Move to uv

.github/workflows/ci.yml

@@ -10,65 +10,69 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
-      - name: Set up python
-        uses: actions/setup-python@v2
+      - name: Install uv
+        uses: astral-sh/setup-uv@v4
         with:
-          python-version: 3.8
+          version: "0.5.10"
 
-      - name: Set up env
-        run: python -m pip install -e .[docs,dev]
+      - name: Install tkinter for GUI
+        run: sudo apt install python3-tk -y
 
-      - name: Run black
-        run: black --check .
+      - name: Set up env
+        run: uv sync --all-extras
 
-      - name: Run isort
-        run: isort .
+      - name: Run ruff format
+        run: uv run ruff format
 
-      - name: Run pylint for mdp folder
-        run: pylint src/behavior_generation_lecture_python/mdp --errors-only
+      - name: Run ruff linter for mdp folder
+        run: uv run ruff check src/behavior_generation_lecture_python/mdp
 
       - name: Run mypy for mdp folder
-        run: mypy src/behavior_generation_lecture_python/mdp
+        run: uv run mypy src/behavior_generation_lecture_python/mdp
 
       - name: Test
         run: |
           export DISPLAY=:99
           Xvfb :99 &
-          pytest
+          uv run pytest
 
       - name: Check coverage
         run: |
           export DISPLAY=:99
           Xvfb :99 &
-          pytest --cov=src --cov-fail-under=85
+          uv run pytest --cov=src --cov-fail-under=85
 
       - name: Copy notebooks to docs folder
         run: cp -r notebooks/* docs/notebooks
 
       - name: Build docs
-        run: mkdocs build
+        run: |
+          uv run ipython kernel install --user --name=behavior_generation_lecture
+          uv run mkdocs build
 
   deploy-pages:
     runs-on: ubuntu-latest
     needs: [test]
     if: github.ref == 'refs/heads/main'
     concurrency: deploy-${{ github.ref }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
-      - name: Set up python
-        uses: actions/setup-python@v2
+      - name: Install uv
+        uses: astral-sh/setup-uv@v4
         with:
-          python-version: 3.8
+          version: "0.5.10"
 
       - name: Set up env
-        run: python -m pip install -e .[docs]
+        run: uv sync --all-extras
 
       - name: Copy notebooks to docs folder
         run: cp -r notebooks/* docs/notebooks
 
-      - run: mkdocs gh-deploy --force
+      - run: |
+          uv run ipython kernel install --user --name=behavior_generation_lecture
+          uv run mkdocs gh-deploy --force
 
 

README.md

@@ -1,8 +1,9 @@
 # Python Code for the Lecture "Verhaltensgenerierung für Fahrzeuge" (Behavior Generation for Vehicles) at KIT
 
+[![uv](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/uv/main/assets/badge/v0.json)](https://github.com/astral-sh/uv)
+[![Ruff](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json)](https://github.com/astral-sh/ruff)
 ![GitHub CI](https://github.com/KIT-MRT/behavior_generation_lecture_python/actions/workflows/ci.yml/badge.svg) 
 ![License](https://img.shields.io/github/license/kit-mrt/behavior_generation_lecture_python)
-![Code Style](https://img.shields.io/badge/code%20style-black-000000.svg)
 
 This repository contains the python code for the lecture ["Verhaltensgenerierung für Fahrzeuge" (Behavior Generation for Vehicles)](https://www.mrt.kit.edu/lehre_WS_Verhaltensgenerierung_Fahrzeuge.php) at KIT.
 It is targeted towards both, exemplifying the content of the lecture, and giving a brief introduction to software development. (Please bare with us, the code is largely ported from matlab.)
@@ -11,21 +12,25 @@ An API documentation for new parts of the code and exemplary jupyter notebooks c
 
 ## Preparing the environment
 
-We encourage the usage of [conda](https://conda.io/) or [virtualenv](https://virtualenv.pypa.io) instead of installing packages to your system directly.
+We use [`uv`](https://docs.astral.sh/uv/) as package and project manager. Having `uv` installed, run
 
-Having activated your environment
+```sh
+# clone this repo
+git clone https://github.com/KIT-MRT/behavior_generation_lecture_python.git
 
-- install this package in editable mode: `pip install --editable .`
+# change into the repo folder
+cd behavior_generation_lecture_python
+
+# set up a virtual env and install the requirements
+uv sync
+```
 
 <details>
-<summary>Making venv kernels available to jupyter?</summary>
+<summary>Making uv kernels available to jupyter?</summary>
 <br>
 <ul>
-<li>from without the venv, install ipykernel <code>pip install --user ipykernel</code></li>
-<li>list the current venvs available in jupyter: <code>jupyter kernelspec list</code> (your venv is not yet in there)</li>
-<li>activate the venv <code>source activate venv-name</code></li>
-<li>add the venv to the kernel list: <code>python -m ipykernel install --user --name=venv-name-for-jupyter</code>, where <code>venv-name-for-jupyter</code> can but must not match the name of the activated venv</li>
-<li>check that the venv is in the list: <code>jupyter kernelspec list</code></li>
+<li>create a kernel <code>uv run ipython kernel install --user --name=behavior_generation_lecture</code></li>
+<li>run jupyter <code>uv run --with jupyter jupyter lab</code> and chose kernel <code>behavior_generation_lecture</code> in the browser
 </ul>
 </details>
 

docs/gen_ref_pages.py

@@ -17,7 +17,7 @@
     full_doc_path = Path("reference", doc_path)
 
     parts = tuple(module_path.parts)
-    if not "mdp" in parts and not "graph_search" in parts:
+    if "mdp" not in parts and "graph_search" not in parts:
         continue  # todo: add other modules here once docstrings added
 
     if parts[-1] == "__init__":
@@ -36,5 +36,4 @@
     mkdocs_gen_files.set_edit_path(full_doc_path, path)
 
 with mkdocs_gen_files.open("reference/SUMMARY.md", "w") as nav_file:
-
     nav_file.writelines(nav.build_literate_nav())

notebooks/a_star_notebook.ipynb

@@ -3,6 +3,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "b0c1f089",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -15,11 +16,11 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "d2311a94",
    "metadata": {},
    "outputs": [],
    "source": [
     "def main():\n",
-    "\n",
     "    nodes_list = [\n",
     "        [\"HH\", 170, 620, [\"H\", \"B\"]],\n",
     "        [\"H\", 150, 520, [\"B\", \"L\", \"F\", \"HH\"]],\n",
@@ -48,6 +49,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "ef38e2e0",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -57,9 +59,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
@@ -71,7 +73,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.12"
+   "version": "3.9.6"
   }
  },
  "nbformat": 4,

notebooks/compare_models_notebook.ipynb

@@ -3,23 +3,32 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "f5d345f8",
    "metadata": {},
    "outputs": [],
    "source": [
+    "import os\n",
     "import numpy as np\n",
     "import matplotlib.pyplot as plt\n",
     "\n",
     "import behavior_generation_lecture_python.vehicle_models.model_comparison as cm\n",
     "from behavior_generation_lecture_python.utils.plot_vehicle import plot_vehicle as pv\n",
     "from behavior_generation_lecture_python.utils.vizard import vizard as vz\n",
     "\n",
-    "%matplotlib inline\n",
-    "# use '%matplotlib notebook' to interact with the vizard"
+    "\n",
+    "interactive_widgets = not os.getenv(\"CI\") == \"true\"\n",
+    "if interactive_widgets:\n",
+    "    # Use widget backend locally, to be able to interact with the plots\n",
+    "    %matplotlib widget\n",
+    "else:\n",
+    "    # Use inline backend in CI, to render the notebooks for the hosted docs\n",
+    "    %matplotlib inline"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "ed1fe982",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -76,16 +85,17 @@
     "    (point_r_lin,) = ax2.plot([], [], marker=\"o\", color=\"blue\", ms=3)\n",
     "\n",
     "    def update(i, *fargs):\n",
+    "        slice_ = slice(i + 1, i + 2)\n",
     "        [l.remove() for l in reversed(ax1.lines)]\n",
     "        ax1.plot(x[: i + 1], y[: i + 1], \"b-\", linewidth=0.5)\n",
-    "        point1.set_data(x[i + 1], y[i + 1])\n",
+    "        point1.set_data(x[slice_], y[slice_])\n",
     "        pv.plot_vehicle(ax1, x[i], y[i], psi[i], delta_vals[i])\n",
     "\n",
-    "        point_delta.set_data(ti[i + 1], delta_vals[i + 1])\n",
-    "        point_beta.set_data(ti[i + 1], beta[i + 1])\n",
-    "        point_r.set_data(ti[i + 1], r[i + 1])\n",
-    "        point_beta_lin.set_data(ti[i + 1], beta_lin[i + 1])\n",
-    "        point_r_lin.set_data(ti[i + 1], r_lin[i + 1])\n",
+    "        point_delta.set_data(ti[slice_], delta_vals[slice_])\n",
+    "        point_beta.set_data(ti[slice_], beta[slice_])\n",
+    "        point_r.set_data(ti[slice_], r[slice_])\n",
+    "        point_beta_lin.set_data(ti[slice_], beta_lin[slice_])\n",
+    "        point_r_lin.set_data(ti[slice_], r_lin[slice_])\n",
     "        for farg in fargs:\n",
     "            print(farg)\n",
     "\n",
@@ -96,6 +106,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "d0828333",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -105,9 +116,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
@@ -119,7 +130,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.12"
+   "version": "3.9.6"
   }
  },
  "nbformat": 4,

notebooks/lateral_control_riccati_notebook.ipynb

@@ -3,9 +3,11 @@
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "cee10281",
    "metadata": {},
    "outputs": [],
    "source": [
+    "import os\n",
     "import numpy as np\n",
     "import matplotlib.pyplot as plt\n",
     "\n",
@@ -17,13 +19,19 @@
     "    DEFAULT_VEHICLE_PARAMS,\n",
     ")\n",
     "\n",
-    "%matplotlib inline\n",
-    "# use '%matplotlib notebook' to interact with the vizard"
+    "interactive_widgets = not os.getenv(\"CI\") == \"true\"\n",
+    "if interactive_widgets:\n",
+    "    # Use widget backend locally, to be able to interact with the plots\n",
+    "    %matplotlib widget\n",
+    "else:\n",
+    "    # Use inline backend in CI, to render the notebooks for the hosted docs\n",
+    "    %matplotlib inline"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "4813563b",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -66,7 +74,7 @@
     "    def update(i, *fargs):\n",
     "        [l.remove() for l in reversed(ax.lines[1:])]\n",
     "        ax.plot(x[: i + 1], y[: i + 1], \"b-\", linewidth=0.5)\n",
-    "        point1.set_data(x[i], y[i])\n",
+    "        point1.set_data(x[i : i + 1], y[i : i + 1])\n",
     "        pv.plot_vehicle(ax, x[i], y[i], psi[i], delta[i])\n",
     "        for farg in fargs:\n",
     "            print(farg)\n",
@@ -78,9 +86,8 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "metadata": {
-    "scrolled": false
-   },
+   "id": "e8e63277",
+   "metadata": {},
    "outputs": [],
    "source": [
     "main()"
@@ -89,9 +96,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
@@ -103,7 +110,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.12"
+   "version": "3.9.6"
   }
  },
  "nbformat": 4,