refactor all

.github/workflows/docs.yml

@@ -0,0 +1,61 @@
+name: Deploy Docs
+
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - "cbfpy/**.py"
+      - "docs/**"
+      - "examples/**.py"
+      - "pyproject.toml"
+      - ".github/workflows/docs.yml"
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: true
+
+env:
+  PYTHON_VERSION: "3.10"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up Python ${{ env.PYTHON_VERSION }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install ".[dev]"
+
+      - name: Build docs
+        run: sphinx-build -W docs/source docs/build
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build
+
+  deploy:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/pr-check.yml

@@ -6,68 +6,75 @@ on:
       - main
     paths:
       - "cbfpy/**.py"
+      - "docs/**"
       - "examples/**.py"
       - "tests/**.py"
-      - "poetry.lock"
+      - "pyproject.toml"
       - ".github/workflows/pr-check.yml"
 
 env:
-  PYTHON_VERSION: 3.8
+  PYTHON_VERSION: "3.10"
 
 jobs:
   test:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Set up Python ${{ env.PYTHON_VERSION }}
-        uses: actions/setup-python@v3
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ env.PYTHON_VERSION }}
 
-      - name: Cache Poetry cache
-        uses: actions/cache@v3
-        id: poetry_cache
-        with:
-          path: ~/.cache/pypoetry
-          key: poetry-cache-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install ".[test]"
+
+      - name: Run tests
+        run: python -m pytest
+
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
 
-      - name: Cache Packages
-        uses: actions/cache@v3
-        id: package_cache
+      - name: Set up Python ${{ env.PYTHON_VERSION }}
+        uses: actions/setup-python@v5
         with:
-          path: ~/.local
-          key: poetry-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+          python-version: ${{ env.PYTHON_VERSION }}
 
-      - name: Install Poetry
-        run: curl -sSL https://install.python-poetry.org | python3 -
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install ".[dev]"
 
-      - name: Install Dependencies
-        if: steps.poetry_cache.outputs.cache-hit != 'true' && steps.package_cache.outputs.cache-hit != 'true'
-        run: poetry install
+      - name: Ruff check
+        run: ruff check .
 
-      - name: Python Test
-        run: poetry run task test
+      - name: Ruff format check
+        run: ruff format --check .
 
-  lint:
+      - name: Mypy
+        run: mypy .
+
+  docs:
     runs-on: ubuntu-latest
-    needs: [test]
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
-      - name: Cache Poetry cache
-        uses: actions/cache@v3
+      - name: Set up Python ${{ env.PYTHON_VERSION }}
+        uses: actions/setup-python@v5
         with:
-          path: ~/.cache/pypoetry
-          key: poetry-cache-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+          python-version: ${{ env.PYTHON_VERSION }}
 
-      - name: Cache Packages
-        uses: actions/cache@v3
-        with:
-          path: ~/.local
-          key: poetry-${{ env.PYTHON_VERSION }}-${{ hashFiles('**/poetry.lock') }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install ".[dev]"
 
-      - name: Python Lint
-        run: poetry run task lint
+      - name: Build docs
+        run: sphinx-build -W docs/source docs/build

.gitignore

@@ -1,13 +1,21 @@
-*__pycache__
+__pycache__/
 *.pyc
-.mypy_cache
-.pytest_cache
-/docs/source/*
-/docs/build/*
-!/docs/source/conf.py
+*.egg-info/
+dist/
+.venv/
+
+# type checker / linter
+.mypy_cache/
+.ruff_cache/
+
+# test
+.pytest_cache/
 .coverage
 coverage.xml
-cov_html
-.ruff_cache
-.venv
-dist
+cov_html/
+
+# docs
+/docs/build/
+/docs/source/_build/
+/docs/source/Makefile
+/docs/source/make.bat

.pre-commit-config.yaml

@@ -1,26 +1,19 @@
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v5.0.0
     hooks:
       - id: trailing-whitespace
         args: [--markdown-linebreak-ext=md]
       - id: end-of-file-fixer
       - id: mixed-line-ending
         args: [--fix=lf]
       - id: check-added-large-files
-        args: ["--maxkb=10000"] # 10MB
+        args: ["--maxkb=10000"]
       - id: check-toml
       - id: check-yaml
-  - repo: https://github.com/pycqa/isort
-    rev: 5.11.4
-    hooks:
-      - id: isort
-  - repo: https://github.com/psf/black
-    rev: 22.12.0
-    hooks:
-      - id: black
-        language_version: python3
-  - repo: https://github.com/charliermarsh/ruff-pre-commit
-    rev: "v0.0.221"
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.9.10
     hooks:
       - id: ruff
+        args: [--fix]
+      - id: ruff-format

.vscode/extensions.json

@@ -1,7 +1,8 @@
 {
 	"recommendations": [
 		"ms-python.python",
-		"njpwerner.autodocstring",
+		"charliermarsh.ruff",
+		"ms-python.mypy-type-checker",
 		"ryanluker.vscode-coverage-gutters"
 	]
 }

.vscode/settings.json

@@ -1,9 +1,13 @@
 {
-    "python.linting.mypyArgs": [
-        "--config-file=./pyproject.toml"
-    ],
     "python.testing.pytestEnabled": true,
     "python.testing.autoTestDiscoverOnSaveEnabled": true,
+    "[python]": {
+        "editor.defaultFormatter": "charliermarsh.ruff",
+        "editor.formatOnSave": true,
+        "editor.codeActionsOnSave": {
+            "source.organizeImports.ruff": "explicit"
+        }
+    },
     "coverage-gutters.showGutterCoverage": true,
     "coverage-gutters.showLineCoverage": true,
     "coverage-gutters.showRulerCoverage": true

README.md

@@ -1,19 +1,19 @@
 # cbfpy
 Python package for using simple control barrier function.
 
+[**Documentation**](https://toshi67026.github.io/cbfpy/)
+
 ## Requirements
-- poetry 1.3.1
+- Python >= 3.10
 
 ## Installation
-Create virtualenv and install dependencies defined for the project.
 ```sh
-poetry install
+pip install -e .
 ```
 
-Build and install locally with pip.
+With dev/test dependencies:
 ```sh
-poetry build
-python -m pip install cbfpy --find-links=dist
+pip install -e ".[dev,test]"
 ```
 
 ## Examples
@@ -24,49 +24,37 @@ python -m pip install cbfpy --find-links=dist
 
 ### Usage
 ```sh
-poetry run python examples/example_{cbf name}.py
+python examples/example_{cbf name}.py
 ```
 
-## Document
-Generate document from docstring.
-```sh
-poetry run task docs
-```
+## Documentation
+Documentation is automatically published to [GitHub Pages](https://toshi67026.github.io/cbfpy/) on push to main.
 
-Browse generated document by opening the html files in docs/build/ from your browser.
-<img src=assets/sphinx_cbfpy.png>
-
-## Tools
-### Format
-- isort
-- black
+To build locally:
 ```sh
-poetry run task fmt
+pip install -e ".[dev]"
+sphinx-build docs/source docs/build
 ```
+Then open `docs/build/index.html`.
 
-### Lint
-- black
-- ruff
-- mypy
+## Tools
+### Format & Lint
+- [ruff](https://docs.astral.sh/ruff/) (format + lint + import sort)
+- [mypy](https://mypy-lang.org/) (type check)
 ```sh
-poetry run task lint
+ruff format .
+ruff check --fix .
+mypy .
 ```
 
 ### Test
-- pytest
-- pytest-cov
 ```sh
-poetry run task test
+pytest
 ```
 The vscode extension [coverage-gutters](https://marketplace.visualstudio.com/items?itemName=ryanluker.vscode-coverage-gutters) can be used to display the test coverage.
 
 ### pre-commit
 Apply [config file](.pre-commit-config.yaml) for pre-commit.
 ```sh
-poetry run pre-commit install
-```
-
-### Export requirements.txt
-```sh
-poetry export -f requirements.txt --output requirements.txt --without-hashes
+pre-commit install
 ```

cbfpy/__init__.py

@@ -0,0 +1,28 @@
+from cbfpy.cbf import (
+    CBFBase,
+    CircleCBF,
+    GeneralCBF,
+    LiDARCBF,
+    Pnorm2dCBF,
+    ScalarCBF,
+    ScalarRangeCBF,
+    UnicycleCircleCBF,
+    UnicyclePnorm2dCBF,
+    rotation_matrix_2d,
+)
+from cbfpy.cbf_qp_solver import CBFNomQPSolver, CBFQPSolver
+
+__all__ = [
+    "CBFBase",
+    "CBFNomQPSolver",
+    "CBFQPSolver",
+    "CircleCBF",
+    "GeneralCBF",
+    "LiDARCBF",
+    "Pnorm2dCBF",
+    "ScalarCBF",
+    "ScalarRangeCBF",
+    "UnicycleCircleCBF",
+    "UnicyclePnorm2dCBF",
+    "rotation_matrix_2d",
+]