build: add directory-oriented make workflows

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":