unl-nimbus-lab
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diff --git a/‎.devcontainer/devcontainer.json
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diff --git a/‎.github/CONTRIBUTING.md
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diff --git a/‎.github/ISSUE_TEMPLATE/bug_report.md
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+###################################################################
+# Base Stage: Includes only the packages required for production
+###################################################################
+FROM python:3 as base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Update pip to latest version
+RUN pip3 install --upgrade pip
+
+# Install all required Python packages
+RUN pip3 install \
+    pandas \
+    monotonic \
+    pymavlink \
+    pyserial
+
+
+###################################################################
+# Development Stage: Creates a development environment
+###################################################################
+FROM base as development
+
+# Install dev apt packages
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends \
+    apt-utils \
+    python3-dev \
+    nano \
+    vim \
+    git \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN pip3 install \
+    pipenv \
+    black \
+    flake8 \
+    isort \
+    pydocstyle \
+    mypy \
+    bandit \
+    coverage \
+    pre-commit \
+    tox
+
+ARG USERNAME=developer
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Add non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add the .local/bin directory to the path
+ENV PATH "${PATH}:/home/$USERNAME/.local/bin"
@@ -0,0 +1,96 @@
+{
+  "name": "pymavswarm",
+  "dockerFile": "Dockerfile",
+  "build": {
+    "args": {
+      "WORKSPACE": "${containerWorkspaceFolder}"
+    }
+  },
+  "remoteUser": "developer",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged"
+  ],
+  "settings": {
+    "terminal.integrated.profiles.linux": {
+      "bash": {
+        "path": "/bin/bash"
+      }
+    },
+    "terminal.integrated.defaultProfile.linux": "bash",
+    "editor.formatOnSave": true,
+    "editor.tabSize": 4,
+    "editor.defaultFormatter": "esbenp.prettier-vscode",
+    "editor.rulers": [88],
+    "rewrap.autoWrap.enabled": true,
+    "rewrap.wrappingColumn": 80,
+    "rewrap.wholeComment": true,
+    "python.linting.enabled": true,
+    "python.linting.flake8Enabled": true,
+    "python.linting.pylintEnabled": false,
+    "python.linting.pydocstyleEnabled": true,
+    "python.linting.mypyEnabled": true,
+    "python.formatting.provider": "black",
+    "python.formatting.blackPath": "/usr/local/bin/black",
+    "python.testing.unittestArgs": [
+      "-v",
+      "-s",
+      "./pymavswarm",
+      "-p",
+      "test*.py"
+    ],
+    "python.testing.pytestEnabled": false,
+    "python.testing.unittestEnabled": true,
+    "python.sortImports.args": [
+      "--profile",
+      "black",
+      "--project",
+      "pymavswarm"
+    ],
+    "[python]": {
+      "editor.rulers": [88],
+      "editor.tabSize": 4,
+      "editor.defaultFormatter": "ms-python.python",
+      "editor.codeActionsOnSave": {
+        "source.organizeImports": true
+      }
+    },
+    "[markdown]": {
+      "editor.rulers": [80],
+      "editor.defaultFormatter": "DavidAnson.vscode-markdownlint"
+    },
+    "[dockerfile]": {
+      "editor.quickSuggestions": {
+        "strings": true
+      },
+      "editor.defaultFormatter": "ms-azuretools.vscode-docker"
+    },
+    "[toml]": {
+      "editor.defaultFormatter": "tamasfe.even-better-toml"
+    },
+    "autoDocstring.startOnNewLine": false,
+    "search.exclude": {
+      "**/node_modules": true,
+      "**/bower_components": true,
+      "**/*.code-search": true,
+      "**/build": true,
+      "**/install": true,
+      "**/log": true
+    }
+  },
+  "extensions": [
+    "ms-azuretools.vscode-docker",
+    "ms-python.python",
+    "njpwerner.autodocstring",
+    "ms-python.vscode-pylance",
+    "DavidAnson.vscode-markdownlint",
+    "esbenp.prettier-vscode",
+    "LittleFoxTeam.vscode-python-test-adapter",
+    "tamasfe.even-better-toml"
+  ],
+  "postStartCommand": "pip3 install -e ."
+}
@@ -0,0 +1,167 @@
+# Contributing to pymavswarm
+
+Thank you for considering contributing to `pymavswarm`! This document serves
+to provide a set of guidelines for contributing.
+
+Contributions include but are not restricted to:
+
+- Contributing to the `pymavswarm` codebase
+- Writing documentation
+- Writing tests
+- Performing field tests
+- Reporting bugs
+- Answering [discussion questions](https://github.com/unl-nimbus-lab/pymavswarm/discussions)
+
+## Workflow
+
+- Send all pull requests to the `main` branch (unless otherwise requested)
+- Limit each pull request to resolving a single [issue](https://github.com/unl-nimbus-lab/pymavswarm/issues)
+- It is your responsibility to ensure that your development branch is up-to-date
+with the `main` branch. You may either rebase on `main` or merge `main` into
+your development branch.
+- Always test and document your code. We also encourage performing field tests
+for significant changes.
+- Ensure that your changes pass our CI. We will not review your PR until the CI
+passes.
+
+## Setting up a local development environment
+
+`pymavswarm` provides two ways to configure a local development environment:
+
+1. Using our [VSCode development container](https://code.visualstudio.com/docs/remote/containers)
+2. Using [Pipenv](https://pipenv.pypa.io/en/latest/)
+
+A VSCode development container has been provided to offer a fully sandboxed
+development environment. This environment includes all development Python
+packages (e.g., `pre-commit`) used by the `pymavswarm` development team and
+utilizes a variety of VSCode packages that make it easy to run tests and to
+ensure that all style conventions are followed. Follow the instructions
+[here](https://code.visualstudio.com/docs/remote/containers) to learn how to
+install and launch development containers using VSCode. Once these steps have
+been completed, launch the `pymavswarm` project using the provided development
+image. Launching the development image will also install `pymavswarm` in
+editable mode.
+
+A `Pipfile` has also been provided to enable support for creating and managing
+a [virtual environment](https://virtualenv.pypa.io/en/latest/) using
+[Pipenv](https://pipenv.pypa.io/en/latest/). To use a virtual environment,
+first ensure that `pipenv` has been [installed](https://pipenv.pypa.io/en/latest/).
+After successfully installing `pipenv`, navigate to the base `pymavswarm/`
+directory:
+
+```bash
+cd path/to/pymavswarm/
+```
+
+Next, install the project dependencies:
+
+```bash
+pipenv install --dev
+```
+
+We also recommend installing `pymavswarm` in editable mode:
+
+```bash
+pip3 install -e .
+```
+
+Finally, launch the virtual environment:
+
+```bash
+pipenv shell
+```
+
+At this point, running the project tests should work and pass (in both the
+development container and the virtual environment):
+
+```bash
+python3 -m unittest
+```
+
+## Coding guidelines
+
+The following section documents the `pymavswarm` coding guidelines (e.g.,
+styling, convention, etc.)
+
+### Linting
+
+`pymavswarm` uses `pre-commit` to run code formatting checks such as `black`,
+`flake8`, `pydocstyle`, and `isort`. If you have installed the project
+using one of our recommended local development configurations, you may run
+`pre-commit` using the following command:
+
+```bash
+pre-commit run --all-files
+```
+
+We *strongly* recommend running `pre-commit` before committing your code to
+ensure that your commit follows our code style conventions. Any warnings from
+these checks will cause the CI to fail.
+
+### Type hints
+
+`pymavswarm` uses [PEP 484](https://peps.python.org/pep-0484/) type-hints. Any
+new development should use type hints. When using type-hints, it is preferred
+that built-in types are used (see [PEP 585](https://peps.python.org/pep-0585/)).
+The `Optional` type-hint should be avoided in favor of `| None`. For example,
+rather than
+
+```python
+from typing import Optional
+
+agent_location: Optional[Location] = None
+```
+
+You should use
+
+```python
+from __future__ import annotations
+
+agent_location: Location | None = None
+```
+
+Commonly used types will appear in `pymavswarm._types`. These should be used
+where applicable.
+
+## Writing documentation
+
+`pymavswarm` uses Sphinx to generate online developer documentation from
+docstrings. Broadly, docstrings should adhere to
+[PEP 257](https://peps.python.org/pep-0257/), unless otherwise specified.
+
+All docstrings should use triple quotation marks. Multi-line docstrings should
+start on new-lines. Parameters and their types should be prefaced with `:param`
+and `:type`, respectively. All methods should have a short summary. An extended
+summary should be used when an in-depth explanation of a method is required.
+
+The following example demonstrates the Sphinx markdown conventions used by
+`pymavswarm`:
+
+```python
+def compute_location(current_location: Location | None = None) -> Location | None:
+    """
+    Demonstrate how to write a docstring.
+
+    Docstrings are a great way to add developer documentation.
+
+    :param current_location: current location of an agent, defaults to None
+    :type current_location: Location | None, optional
+    :return: computed agent location
+    :rtype: Location | None
+    """
+    return current_location
+```
+
+### Testing
+
+Unit tests should be implemented using `unittest`. Unit tests should be
+implemented whenever possible. Functional tests should be named `def test_*`.
+It is suggested that field tests are also performed when adding a code
+contribution; however, this is not required (we understand that not everyone
+has a fleet of drones laying around).
+
+## Support
+
+If you have questions regarding your contribution, please create a new
+discussion post on the `pymavswarm` [Discussions](https://github.com/unl-nimbus-lab/pymavswarm/discussions)
+board.
@@ -1,38 +1,43 @@
 ---
 name: Bug report
-about: Create a report to help us improve
-title: ''
-labels: bug
-assignees: ''
+about: Create a bug report
+title: "[BUG]: "
+labels: "bug"
+assignees: ""
 
 ---
 
-**Describe the bug**
-A clear and concise description of what the bug is.
+## Describe the bug
 
-**To Reproduce**
-Steps to reproduce the behavior:
-1. Go to '...'
-2. Click on '....'
-3. Scroll down to '....'
-4. See error
+*A clear and concise description of what the bug is.*
 
-**Expected behavior**
-A clear and concise description of what you expected to happen.
+## To Reproduce
 
-**Screenshots**
-If applicable, add screenshots to help explain your problem.
+*Steps to reproduce the behavior:*
 
-**Desktop (please complete the following information):**
- - OS: [e.g. iOS]
- - Browser [e.g. chrome, safari]
- - Version [e.g. 22]
+1. *Go to '...'*
+2. *Click on '....'*
+3. *Scroll down to '....'*
+4. *See error*
 
-**Smartphone (please complete the following information):**
- - Device: [e.g. iPhone6]
- - OS: [e.g. iOS8.1]
- - Browser [e.g. stock browser, safari]
- - Version [e.g. 22]
+## Expected behavior
 
-**Additional context**
-Add any other context about the problem here.
+*A clear and concise description of what you expected to happen.*
+
+## Screenshots
+
+*If applicable, provide the traceback for the error. Ensure that this traceback
+is provided using code formatting.*
+
+## Project Version
+
+*Provide the version that the issue occurred on (e.g. 0.1.0)*
+
+## Desktop
+
+*Please provide information regarding hardware platform that this error
+occurred on (e.g., Raspberry Pi 4 running Ubuntu 22.04)*
+
+## Additional context
+
+*Add any other context about the problem here.*