build: add directory-oriented make workflows

firmware/tools/sitl/Cargo.toml

@@ -16,7 +16,9 @@ kaptan-flight-config = { path = "../../libs/kaptan-flight-config" }
 kaptan-flight-runtime = { path = "../../libs/kaptan-flight-runtime" }
 kaptan-log = { path = "../../libs/kaptan-log" }
 kaptan-math = { path = "../../libs/kaptan-math" }
-kaptan-navigation = { path = "../../libs/kaptan-navigation", features = ["sitl"] }
+kaptan-navigation = { path = "../../libs/kaptan-navigation", features = [
+  "sitl",
+] }
 kaptan-safety = { path = "../../libs/kaptan-safety" }
 kaptan-time = { path = "../../libs/kaptan-time" }
 minicbor = "0.25"

firmware/tools/sitl/Makefile

@@ -0,0 +1,34 @@
+override SHELL := /bin/sh
+override MAKEFLAGS += --no-print-directory
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override PYTHON := python3
+
+override PRIMARY_GOAL := $(firstword $(MAKECMDGOALS))
+
+run: ## Run kaptan-sim with the remaining command-line arguments
+	@exec python3 ../../../scripts/make-argv.py exec run ./kaptan-sim
+
+ifeq ($(PRIMARY_GOAL),run)
+
+.PHONY: run
+
+.DEFAULT:
+	@:
+
+else
+
+.PHONY: help run _check
+
+help: ## Show simulation commands
+	@printf '%s\n' 'Simulation' '' \
+		'Application arguments are passed through the root Makefile:' \
+		'  make firmware/tools/sitl -- move 5 3 1 --wait'
+
+_check:
+	$(PYTHON) world-structure-test.py
+	$(PYTHON) -m unittest test_kaptan_sim.py
+
+endif

firmware/tools/sitl/e2e-smoke.sh

@@ -12,18 +12,18 @@ compose_file="$project_root/tools/sitl/compose.yaml"
 python3 "$project_root/tools/sitl/world-structure-test.py"
 
 cleanup() {
-    status=$?
-    trap - EXIT
-    # Preserve the first failing command's result, but retain enough evidence
-    # to distinguish a client/lease failure from a Gazebo or container start
-    # failure in CI. `down` otherwise removes the only useful diagnostics.
-    if [ "$status" -ne 0 ]; then
-        echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
-        docker compose -f "$compose_file" ps >&2 || true
-        docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
-    fi
-    docker compose -f "$compose_file" down --remove-orphans || true
-    exit "$status"
+	status=$?
+	trap - EXIT
+	# Preserve the first failing command's result, but retain enough evidence
+	# to distinguish a client/lease failure from a Gazebo or container start
+	# failure in CI. `down` otherwise removes the only useful diagnostics.
+	if [ "$status" -ne 0 ]; then
+		echo "SITL smoke failed (exit $status); compose state and recent logs follow:" >&2
+		docker compose -f "$compose_file" ps >&2 || true
+		docker compose -f "$compose_file" logs --no-color --tail 250 >&2 || true
+	fi
+	docker compose -f "$compose_file" down --remove-orphans || true
+	exit "$status"
 }
 trap cleanup EXIT
 trap 'exit 130' INT

firmware/tools/sitl/kaptan-sim

@@ -50,9 +50,13 @@ GROUND_PLANE_TOLERANCE_METRES = 0.10
 def arguments() -> argparse.Namespace:
     parser = argparse.ArgumentParser(description=__doc__)
     subcommands = parser.add_subparsers(dest="command", required=True)
-    ready = subcommands.add_parser("ready", help="wait for estimator and simulated sensors")
+    ready = subcommands.add_parser(
+        "ready", help="wait for estimator and simulated sensors"
+    )
     ready.add_argument("--timeout", type=float, default=20.0)
-    move = subcommands.add_parser("move", help="command absolute local north/east/up metres")
+    move = subcommands.add_parser(
+        "move", help="command absolute local north/east/up metres"
+    )
     move.add_argument("north", type=float)
     move.add_argument("east", type=float)
     move.add_argument("up", type=float)
@@ -78,9 +82,15 @@ def arguments() -> argparse.Namespace:
         "land",
         help="descend to an explicit local landing point and revoke virtual motor authority",
     )
-    land.add_argument("north", type=float, help="absolute local north landing coordinate in metres")
-    land.add_argument("east", type=float, help="absolute local east landing coordinate in metres")
-    land.add_argument("--wait", action="store_true", help="wait for the terminal landed result")
+    land.add_argument(
+        "north", type=float, help="absolute local north landing coordinate in metres"
+    )
+    land.add_argument(
+        "east", type=float, help="absolute local east landing coordinate in metres"
+    )
+    land.add_argument(
+        "--wait", action="store_true", help="wait for the terminal landed result"
+    )
     land.add_argument(
         "--verify-truth",
         action="store_true",
@@ -122,7 +132,9 @@ def latest_simulation_time(
         if magic != b"KSC1" or version != VERSION:
             continue
         if latest is not None and simulation_time < latest:
-            raise RuntimeError("Gazebo simulation clock reset; restart the command in the new epoch")
+            raise RuntimeError(
+                "Gazebo simulation clock reset; restart the command in the new epoch"
+            )
         latest = simulation_time
 
 
@@ -145,7 +157,10 @@ def wait_ready(socket_: socket.socket, timeout: float) -> None:
         if latest is not None and latest & READY == READY:
             return
     if latest is None:
-        raise RuntimeError("host SITL is not running; run docker compose -f tools/sitl/compose.yaml up -d --build")
+        raise RuntimeError(
+            "host SITL is not running; run docker compose -f "
+            "firmware/tools/sitl/compose.yaml up -d --build from the repository root"
+        )
     names = (
         (ESTIMATOR_READY, "estimator initialization"),
         (IMU_FRESH, "fresh simulator IMU"),
@@ -174,10 +189,7 @@ def truth_sample_within_tolerance(
         or velocity > velocity_tolerance
         or attitude_error > attitude_tolerance
         or (require_stopped_motors and not motors_stopped)
-        or (
-            require_ground_plane
-            and ground_plane_error > GROUND_PLANE_TOLERANCE_METRES
-        )
+        or (require_ground_plane and ground_plane_error > GROUND_PLANE_TOLERANCE_METRES)
     )
 
 
@@ -217,11 +229,16 @@ def verify_truth(
                 keepalive is not None
                 and control_socket is not None
                 and simulation_time is not None
-                and (next_keepalive_time is None or simulation_time >= next_keepalive_time)
+                and (
+                    next_keepalive_time is None
+                    or simulation_time >= next_keepalive_time
+                )
             ):
                 control_socket.sendto(keepalive, CONTROL)
                 next_keepalive_time = simulation_time + GOAL_KEEPALIVE_MICROSECONDS
-            payload = recv(truth_socket, min(acquisition_deadline, time.monotonic() + 0.01))
+            payload = recv(
+                truth_socket, min(acquisition_deadline, time.monotonic() + 0.01)
+            )
             if payload is None or len(payload) != TRUTH_PACKET.size:
                 continue
             (
@@ -261,8 +278,12 @@ def verify_truth(
                 attitude_w**2 + attitude_x**2 + attitude_y**2 + attitude_z**2
             )
             if not math.isfinite(quaternion_norm) or abs(quaternion_norm - 1.0) > 1e-3:
-                raise RuntimeError("Gazebo truth contained a non-unit attitude quaternion")
-            attitude_error = 2.0 * math.acos(min(1.0, abs(attitude_w) / quaternion_norm))
+                raise RuntimeError(
+                    "Gazebo truth contained a non-unit attitude quaternion"
+                )
+            attitude_error = 2.0 * math.acos(
+                min(1.0, abs(attitude_w) / quaternion_norm)
+            )
             motors = (motor_1, motor_2, motor_3, motor_4)
             maximum_motor_fraction = max(abs(motor) for motor in motors)
             motors_stopped = all(abs(motor) <= 0.01 for motor in motors)
@@ -449,7 +470,9 @@ def command_goal(
         if magic != b"KSL1" or version != VERSION or received_id != goal_id:
             continue
         if lifecycle == GOAL_REJECTED:
-            raise RuntimeError(f"{action} was rejected because SITL was not estimator-ready")
+            raise RuntimeError(
+                f"{action} was rejected because SITL was not estimator-ready"
+            )
         if lifecycle == GOAL_ACTIVE:
             active = True
             print(f"{action} active: north={north:g} m, east={east:g} m, up={up:g} m")
@@ -512,7 +535,9 @@ def main() -> int:
             or not math.isfinite(values.truth_hold_seconds)
         )
         if tolerances:
-            raise ValueError("truth tolerances and hold duration must be finite and positive")
+            raise ValueError(
+                "truth tolerances and hold duration must be finite and positive"
+            )
     with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as client:
         client.bind(USER_CONTROL)
         if values.command == "ready":

firmware/tools/sitl/test_kaptan_sim.py

@@ -37,7 +37,9 @@ class TruthAcceptanceTests(unittest.TestCase):
         )
 
     def test_move_truth_contract_allows_an_armed_hover(self):
-        self.assertTrue(self.acceptable(motors_stopped=False, ground_plane_error=1.0, landing=False))
+        self.assertTrue(
+            self.acceptable(motors_stopped=False, ground_plane_error=1.0, landing=False)
+        )
 
     def test_landing_truth_contract_requires_zero_motors_and_ground_plane(self):
         self.assertFalse(self.acceptable(motors_stopped=False))
@@ -77,23 +79,28 @@ class TruthAcceptanceTests(unittest.TestCase):
         arguments = command_goal.call_args.args
         self.assertEqual(arguments[0:2], (control_socket, clock_socket))
         magic, version, goal_id, north, east, up = self.client.GOAL.unpack(arguments[2])
-        self.assertEqual((magic, version, north, east, up), (b"KSD1", 1, 1.0, -2.0, 0.0))
+        self.assertEqual(
+            (magic, version, north, east, up), (b"KSD1", 1, 1.0, -2.0, 0.0)
+        )
         self.assertEqual(arguments[3], goal_id)
-        self.assertEqual(arguments[4:], (
-            1.0,
-            -2.0,
-            0.0,
-            60.0,
-            True,
-            True,
-            0.75,
-            0.25,
-            0.35,
-            0.75,
-            self.client.GOAL_LANDED,
-            True,
-            "land",
-        ))
+        self.assertEqual(
+            arguments[4:],
+            (
+                1.0,
+                -2.0,
+                0.0,
+                60.0,
+                True,
+                True,
+                0.75,
+                0.25,
+                0.35,
+                0.75,
+                self.client.GOAL_LANDED,
+                True,
+                "land",
+            ),
+        )
 
 
 if __name__ == "__main__":

firmware/tools/sitl/world-structure-test.py

@@ -67,7 +67,9 @@ def check_world() -> None:
     world = root.find("./world")
     if world is None:
         fail("missing world")
-    model_names = {model_element.get("name") for model_element in world.findall("model")}
+    model_names = {
+        model_element.get("name") for model_element in world.findall("model")
+    }
     if model_names != {"ground", "sitl_reference_map", "kaptan_sitl_quad"}:
         fail(
             "the declared flat-world model may contain only ground, the visual reference map, "
@@ -76,7 +78,9 @@ def check_world() -> None:
 
     ground = model(root, "ground")
     ground_collisions = ground.findall(".//collision")
-    if [collision.get("name") for collision in ground_collisions] != ["ground_collision"]:
+    if [collision.get("name") for collision in ground_collisions] != [
+        "ground_collision"
+    ]:
         fail("ground must retain exactly one flat collision plane")
     if ground_collisions[0].find("geometry/plane") is None:
         fail("ground collision must remain a flat plane")
@@ -89,11 +93,15 @@ def check_world() -> None:
     if reference_map.findall(".//collision"):
         fail("reference map must remain visual-only and cannot add obstacle physics")
     if reference_map.findall(".//transparency"):
-        fail("reference map must not use unsupported SDF transparency material children")
+        fail(
+            "reference map must not use unsupported SDF transparency material children"
+        )
     reference_link = named(reference_map, "link", "reference_link")
     actual_marks = {visual.get("name") for visual in reference_link.findall("visual")}
     if actual_marks != {"landing_pad"}:
-        fail(f"reference map may contain only the landing pad; found {sorted(actual_marks)!r}")
+        fail(
+            f"reference map may contain only the landing pad; found {sorted(actual_marks)!r}"
+        )
 
     quad = model(root, "kaptan_sitl_quad")
     if pose(quad)[:3] != (0.0, 0.0, 0.14):
@@ -122,7 +130,9 @@ def check_world() -> None:
         "body_collision",
         *(f"landing_foot_{foot}_collision" for foot in foot_positions),
     }
-    actual_quad_collisions = {collision.get("name") for collision in base_link.findall("collision")}
+    actual_quad_collisions = {
+        collision.get("name") for collision in base_link.findall("collision")
+    }
     if actual_quad_collisions != expected_quad_collisions:
         fail(
             "quad collision geometry must remain its body and four declared landing feet; "
@@ -130,8 +140,12 @@ def check_world() -> None:
         )
 
     sensors = quad.findall(".//sensor")
-    if [(sensor.get("name"), sensor.get("type")) for sensor in sensors] != [("imu", "imu")]:
-        fail("this local-state SITL world must not imply unmodeled visual/range/flow sensors")
+    if [(sensor.get("name"), sensor.get("type")) for sensor in sensors] != [
+        ("imu", "imu")
+    ]:
+        fail(
+            "this local-state SITL world must not imply unmodeled visual/range/flow sensors"
+        )
 
 
 if __name__ == "__main__":