Change type hints of the most List arguments to Sequence in pyflix

These arguments are effectively immutable, so Sequence makes more sense - the user may use tuples in addition to lists.

.github/workflows/build.yml

@@ -13,7 +13,7 @@ jobs:
     env:
         ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
     - name: Build firmware for ESP32
@@ -29,7 +29,7 @@ jobs:
     - name: Build firmware for Flix2
       run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2'
     - name: Upload binaries
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: firmware-binary
         path: flix/build
@@ -41,7 +41,7 @@ jobs:
   build_macos:
     runs-on: macos-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: brew install arduino-cli
     - name: Build firmware
@@ -52,7 +52,7 @@ jobs:
   build_windows:
     runs-on: windows-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Arduino CLI
       run: choco install arduino-cli
     - name: Install Make
@@ -73,7 +73,7 @@ jobs:
         DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Gazebo
       run: |
         sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
@@ -84,7 +84,16 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - uses: actions/upload-artifact@v4
+    - name: Run simulator
+      env:
+        GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
+        GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
+      run: |
+        OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr)
+        if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then
+          exit 1
+        fi
+    - uses: actions/upload-artifact@v7
       with:
         name: gazebo-plugin-binary
         path: gazebo/build/*.so
@@ -96,7 +105,7 @@ jobs:
     steps:
     - name: Install Arduino CLI
       run: brew install arduino-cli
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
       run: |
         rm -f /usr/local/bin/2to3*

.github/workflows/docs.yml

@@ -16,7 +16,7 @@ jobs:
   markdownlint:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install markdownlint
       run: npm install -g markdownlint-cli2
     - name: Run markdownlint
@@ -25,13 +25,16 @@ jobs:
   build_book:
     runs-on: ubuntu-latest
     needs: markdownlint
+    env:
+      BINARIES: ${{ github.event_name == 'push' && (github.ref_name == 'master' || github.ref_name == 'dev') && github.repository == 'okalachev/flix' }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install mdBook
       run: cargo install mdbook --vers 0.4.43 --locked
     - name: Build book
       run: cd docs && mdbook build
     - name: Wait for Build to complete
+      if: ${{ env.BINARIES }}
       uses: lewagon/wait-on-check-action@v1.9.1
       with:
         ref: ${{ github.sha }}
@@ -39,6 +42,7 @@ jobs:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         wait-interval: 30
     - name: Find firmware binaries
+      if: ${{ env.BINARIES }}
       id: build_run
       run: |
         RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id')
@@ -46,7 +50,8 @@ jobs:
       env:
         GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     - name: Download firmware binaries
-      uses: actions/download-artifact@v4
+      if: ${{ env.BINARIES }}
+      uses: actions/download-artifact@v7
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
         repository: ${{ github.repository }}
@@ -54,6 +59,7 @@ jobs:
         name: firmware-binary
         path: docs/build
     - name: Create shortcuts for firmware binaries
+      if: ${{ env.BINARIES }}
       working-directory: docs/build
       run: |
         for FQBN in esp32.esp32.*; do
@@ -64,12 +70,12 @@ jobs:
           ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin"
         done
     - name: Upload artifact
-      uses: actions/upload-pages-artifact@v3
+      uses: actions/upload-pages-artifact@v5
       with:
         path: docs/build
 
   deploy:
-    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+    if: ${{ github.event_name == 'push' && github.ref_name == 'master' }}
     concurrency:
       group: "pages"
       cancel-in-progress: true
@@ -81,4 +87,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v5

.github/workflows/tools.yml

@@ -10,7 +10,7 @@ jobs:
   csv_to_ulog:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Build csv_to_ulog
       run: cd tools/csv_to_ulog && mkdir build && cd build && cmake .. && make
     - name: Test csv_to_ulog
@@ -22,13 +22,13 @@ jobs:
   pyflix:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Python build tools
       run: pip install build
     - name: Build pyflix
       run: python3 -m build tools
     - name: Upload artifacts
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: pyflix
         path: |
@@ -37,7 +37,7 @@ jobs:
   python_tools:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
     - name: Install Python dependencies
       run: pip install -r tools/requirements.txt
     - name: Test csv_to_mcap tool
@@ -46,3 +46,23 @@ jobs:
         echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
         ./csv_to_mcap.py log.csv
         test $(stat -c %s log.mcap) -eq 883
+  sloc:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v7
+    - run: sudo apt-get install -y cloc jq
+    - name: Print source lines of code
+      run: cloc --by-file-by-lang flix
+    - name: Checkout previous revision
+      uses: actions/checkout@v7
+      with:
+        ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.sha || github.event.before }}
+        path: prev
+    - name: Annotate total source lines
+      run: |
+        SLOC_CURR=$(cloc flix --json | jq -r '.SUM.code')
+        SLOC_PREV=$(cloc prev/flix --json | jq -r '.SUM.code')
+        DIFF=$(printf '%+d' "$((SLOC_CURR - SLOC_PREV))")
+        echo "* Current SLOC: $SLOC_CURR" >> $GITHUB_STEP_SUMMARY
+        echo "* Previous SLOC: $SLOC_PREV" >> $GITHUB_STEP_SUMMARY
+        echo "* Diff: $DIFF" >> $GITHUB_STEP_SUMMARY

Makefile

@@ -4,10 +4,10 @@ PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/
 export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
 
 build: .core .libs
-	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA)
+	arduino-cli compile flix --fqbn $(BOARD) --build-property "build.core_debug_level=1" $(EXTRA)
 
 upload: build
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix
+	arduino-cli upload flix --fqbn $(BOARD) -p "$(PORT)"
 
 erase:
 	arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool
@@ -27,8 +27,8 @@ libs .libs:
 	touch .libs
 
 upload_proxy: .core .libs
-	arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy
-	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy
+	arduino-cli compile tools/espnow-proxy --fqbn $(BOARD)
+	arduino-cli upload tools/espnow-proxy --fqbn $(BOARD) -p "$(PORT)"
 
 gazebo/build cmake: gazebo/CMakeLists.txt
 	mkdir -p gazebo/build

flix/parameters.ino

@@ -22,7 +22,7 @@ struct Parameter {
 	const char *name; // max length is 15
 	bool integer;
 	union { float *f; int *i; }; // pointer to the variable
-	float inital; // default value
+	float initial; // default value
 	float cache; // what's stored in flash
 	void (*callback)(); // called after parameter change
 	Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {};
@@ -150,7 +150,7 @@ void setupParameters() {
 	storage.begin("flix");
 	// Read parameters from storage
 	for (auto &parameter : parameters) {
-		parameter.inital = parameter.getValue();
+		parameter.initial = parameter.getValue();
 		if (storage.isKey(parameter.name)) {
 			parameter.setValue(storage.getFloat(parameter.name));
 		}
@@ -211,10 +211,10 @@ void printParameters(const char *filter) {
 	for (auto &parameter : parameters) {
 		if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
 
-		if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed
+		if (floatEquals(parameter.getValue(), parameter.initial)) { // parameter changed
 			print("%-15s  %-13g\n", parameter.name, parameter.getValue());
 		} else {
-			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.inital);
+			print("%-15s  %-13g  [%g]\n", parameter.name, parameter.getValue(), parameter.initial);
 		}
 	}
 }

flix/pid.h

@@ -18,7 +18,7 @@ public:
 
 	LowPassFilter<float> lpf; // low pass filter for derivative term
 
-	PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) :
+	PID(float p, float i = 0, float d = 0, float windup = INFINITY, float dAlpha = 1, float dtMax = 0.1) :
 		p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {}
 
 	float update(float error) {

gazebo/wifi.h

@@ -14,6 +14,7 @@
 // Mocks
 int wifiMode = 1;
 int wifiLongRange = 0;
+int wifiBroadcast = 0;
 int espnowChannel = 6;
 const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3;
 

tools/pyflix/flix.py

@@ -243,7 +243,7 @@ class Flix:
             time.sleep(1)
 
     @staticmethod
-    def _mavlink_to_flu(v: List[float]) -> List[float]:
+    def _mavlink_to_flu(v: Sequence[float]) -> List[float]:
         if len(v) == 3:  # vector
             return [v[0], -v[1], -v[2]]
         elif len(v) == 4:  # quaternion
@@ -252,8 +252,8 @@ class Flix:
             raise ValueError(f'List must have 3 (vector) or 4 (quaternion) elements')
 
     @staticmethod
-    def _flu_to_mavlink(v: List[float]) -> List[float]:
-        return Flix._mavlink_to_flu(v)
+    def _flu_to_mavlink(v: Sequence[float]) -> List[float]:
+        return Flix._mavlink_to_flu(v)  # flu to mavlink is the same as mavlink to flu
 
     def _command_send(self, command: int, params: Sequence[float]):
         if len(params) != 7:
@@ -320,13 +320,13 @@ class Flix:
     def set_armed(self, armed: bool):
         self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0))
 
-    def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
+    def set_position(self, position: Sequence[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1):
         raise NotImplementedError('Position control is not implemented yet')
 
-    def set_velocity(self, velocity: List[float], yaw: Optional[float] = None):
+    def set_velocity(self, velocity: Sequence[float], yaw: Optional[float] = None):
         raise NotImplementedError('Velocity control is not implemented yet')
 
-    def set_attitude(self, attitude: List[float], thrust: float):
+    def set_attitude(self, attitude: Sequence[float], thrust: float):
         if len(attitude) == 3:
             attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q  # type: ignore
         elif len(attitude) != 4:
@@ -339,7 +339,7 @@ class Flix:
                 [attitude[0], attitude[1], attitude[2], attitude[3]],
                 0, 0, 0, thrust)
 
-    def set_rates(self, rates: List[float], thrust: float):
+    def set_rates(self, rates: Sequence[float], thrust: float):
         if len(rates) != 3:
             raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]')
         if not (0 <= thrust <= 1):
@@ -351,7 +351,7 @@ class Flix:
                 [1, 0, 0, 0],
                 rates[0], rates[1], rates[2], thrust)
 
-    def set_motors(self, motors: List[float]):
+    def set_motors(self, motors: Sequence[float]):
         if len(motors) != 4:
             raise ValueError('motors must have 4 values')
         if not all(0 <= m <= 1 for m in motors):