Dev

.github/workflows/tests.yml

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+name: tests
+
+on:
+  push:
+    paths:
+      - '**'
+  pull_request:
+    paths:
+      - '**'
+
+jobs:
+  lint:
+    name: Lint (ruff + mypy)
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+          cache: pip
+          cache-dependency-path: pyproject.toml
+      - name: Install dev dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -e ".[dev]"
+      - name: Ruff (lint)
+        run: ruff check parol6
+      - name: Ruff (format check)
+        run: ruff format --check parol6
+      - name: MyPy
+        run: mypy parol6
+  test:
+    name: ${{ matrix.os }} / Python ${{ matrix.python-version }}
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 30
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        python-version: ['3.10', '3.11']
+
+    steps:
+      - name: Checkout repository (with submodules)
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+          cache-dependency-path: pyproject.toml
+
+      - name: Upgrade pip and install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -e ".[dev]" pytest-timeout
+
+      - name: Show environment
+        run: |
+          python -V
+          pip list
+
+      - name: Run tests (skip hardware)
+        env:
+          PYTHONUNBUFFERED: '1'
+          PYTHONUTF8: '1'
+        run: |
+          pytest

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# venv
+venv/
+ENV/
+env/
+.env
+.venv
+
+# virtualenv
+#   Use '.env' for consistency.
+# .env
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# VS Code
+.vscode/
+
+serial_port.txt

.pre-commit-config.yaml

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+default_language_version:
+  python: python3.11
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-merge-conflict
+      - id: check-added-large-files
+
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.6.9
+    hooks:
+      - id: ruff
+        args: ["--fix"]
+      - id: ruff-format
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.11.2
+    hooks:
+      - id: mypy
+        name: mypy (parol6)
+        files: ^parol6/
+        pass_filenames: false
+        args: ["parol6"]
+        stages: [commit, push]
+        additional_dependencies:
+          - numpy==1.26.4
+          - spatialmath-python==1.1.14
+          - scipy==1.11.4