build: add directory-oriented make workflows

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__":