Merge main branch into feature branch 285

.editorconfig

@@ -10,7 +10,7 @@ insert_final_newline = true
 trim_trailing_whitespace = true
 
 [*.py]
-max_line_length = 80
+max_line_length = 88
 indent_size = 4
 
 [*.md]

.flake8

@@ -1,7 +1,3 @@
 [flake8]
-exclude= code/planning/src/behavior_agent/behavior_tree.py,
-         code/planning/src/behavior_agent/behaviours/__init__.py,
-         code/planning/src/behavior_agent/behaviours,
-         code/planning/__init__.py,
-         doc/02_development/templates/template_class_no_comments.py,
-         doc/02_development/templates/template_class.py
+max-line-length = 88
+extend-ignore = E203,E701

.github/workflows/add-to-project.yml

@@ -1,4 +1,4 @@
-name: Add bugs to bugs project
+name: Add issue to project
 
 on:
   issues:

.github/workflows/build.yml

@@ -1,9 +1,10 @@
-name: Build, publish and run tests
+name: Build and push image
 
 on:
-  push:
-    branches: [ 'main' ]
-  pull_request:
+  workflow_run:
+    workflows: ["Check code format", "Linter markdown and code"]
+    types:
+      - completed
 
 env:
   REGISTRY: ghcr.io
@@ -38,19 +39,6 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Bump version and push tag
-        # only run on push to main
-        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
-        id: tag
-        uses: mathieudutour/[email protected]
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          release_branches: main
-
-      - name: Get commit hash
-        id: hash
-        run: echo "hash=$(git rev-parse --short HEAD)" >> $GITHUB_OUTPUT
-
       - name: Build and push Docker image
         id: build
         uses: docker/build-push-action@v3
@@ -59,72 +47,6 @@ jobs:
           file: ./build/docker/build/Dockerfile
           push: true
           # tag 'latest' and version on push to main, otherwise use the commit hash
-          tags: |
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ steps.tag.outputs.new_version == '' && steps.hash.outputs.hash || steps.tag.outputs.new_version }}
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.event_name == 'push' && github.ref == 'refs/heads/main' && 'latest' || steps.hash.outputs.hash }}
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
           cache-from: type=gha
           cache-to: type=gha,mode=max
-
-      - name: Output version
-        id: version
-        # take either the created tag or the commit hash
-        run: echo "version=${{ steps.tag.outputs.new_version == '' && steps.hash.outputs.hash || steps.tag.outputs.new_version }}" >> $GITHUB_OUTPUT
-  drive:
-    runs-on: self-hosted
-    needs: build-and-push-image
-    # run only on pull request for now
-    if: github.event_name == 'pull_request'
-    env:
-      AGENT_VERSION: ${{ needs.build-and-push-image.outputs.version }}
-      COMPOSE_FILE: ./build/docker-compose_cicd.yaml
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v3
-      - name: Print environment variables (DEBUG)
-        run: |
-          echo "AGENT_VERSION=${AGENT_VERSION}"
-          echo "COMPOSE_FILE=${COMPOSE_FILE}"
-      - name: Get commit hash
-        id: hash
-        run: echo "hash=$(git rev-parse --short HEAD)" >> $GITHUB_OUTPUT
-      - name: Set AGENT_VERSION from hash (workaround)
-        run: echo "AGENT_VERSION=${{ steps.hash.outputs.hash }}" >> $GITHUB_ENV
-      - name: Run docker-compose
-        run: docker compose up --quiet-pull --exit-code-from agent
-      - name: Copy results
-        run: docker compose cp agent:/tmp/simulation_results.json .
-      - name: Stop docker-compose
-        # always run this step, to clean up even on error
-        if: always()
-        run: docker compose down -v
-      # add rendered JSON as comment to the pull request
-      - name: Add simulation results as comment
-        if: github.event_name == 'pull_request'
-        uses: actions/github-script@v6
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          # this script reads the simulation_results.json and creates a comment on the pull request with the results.
-          script: |
-            const fs = require('fs');
-            // read the simulation results
-            const results = fs.readFileSync('./simulation_results.json', 'utf8');
-            let resultsJson = JSON.parse(results);
-            // create a markdown table of the results
-            let resultsTable = resultsJson.values.map((values, i) => {
-              return `| ${resultsJson.labels[i]} | ${values} |`;
-            });
-            // create a markdown table header
-            let resultsTableHeader = `| Metric | Value |`;
-            // create a markdown table divider
-            let resultsTableDivider = `| --- | --- |`;
-            // add everything to the resultsTable
-            resultsTable = resultsTableHeader + '\n' + resultsTableDivider + '\n' + resultsTable.join('\n');
-            // add the results as a comment to the pull request
-            github.rest.issues.createComment({
-              issue_number: context.issue.number,
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              body: "## Simulation results\n" + resultsTable
-            });
-      - name: Prune all images older than 30 days from self-hosted runner
-        run: docker image prune -a --force --filter "until=720h"

.github/workflows/drive.yaml

@@ -0,0 +1,63 @@
+name: Evaluate agent
+
+on:
+  workflow_run:
+    workflows: ["Build and push image"]
+    types:
+      - completed
+
+jobs:
+  drive:
+    runs-on: self-hosted
+    needs: build-and-push-image
+    # run only on pull request for now
+    if: github.event_name == 'pull_request'
+    env:
+      AGENT_VERSION: latest
+      COMPOSE_FILE: ./build/docker-compose.cicd.yaml
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - name: Print environment variables (DEBUG)
+        run: |
+          echo "AGENT_VERSION=${AGENT_VERSION}"
+          echo "COMPOSE_FILE=${COMPOSE_FILE}"
+      - name: Run docker-compose
+        run: docker compose up --quiet-pull --exit-code-from agent
+      - name: Copy results
+        run: docker compose cp agent:/tmp/simulation_results.json .
+      - name: Stop docker-compose
+        # always run this step, to clean up even on error
+        if: always()
+        run: docker compose down -v
+      # add rendered JSON as comment to the pull request
+      - name: Add simulation results as comment
+        if: github.event_name == 'pull_request'
+        uses: actions/github-script@v6
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          # this script reads the simulation_results.json and creates a comment on the pull request with the results.
+          script: |
+            const fs = require('fs');
+            // read the simulation results
+            const results = fs.readFileSync('./simulation_results.json', 'utf8');
+            let resultsJson = JSON.parse(results);
+            // create a markdown table of the results
+            let resultsTable = resultsJson.values.map((values, i) => {
+              return `| ${resultsJson.labels[i]} | ${values} |`;
+            });
+            // create a markdown table header
+            let resultsTableHeader = `| Metric | Value |`;
+            // create a markdown table divider
+            let resultsTableDivider = `| --- | --- |`;
+            // add everything to the resultsTable
+            resultsTable = resultsTableHeader + '\n' + resultsTableDivider + '\n' + resultsTable.join('\n');
+            // add the results as a comment to the pull request
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: "## Simulation results\n" + resultsTable
+            });
+      - name: Prune all images older than 30 days from self-hosted runner
+        run: docker image prune -a --force --filter "until=720h"

.github/workflows/format.yaml

@@ -0,0 +1,21 @@
+name: Check code format
+
+on:
+  pull_request:
+    branches:
+      - "main"
+
+jobs:
+    format:
+        name: Check code files format
+        runs-on: ubuntu-latest
+        steps:
+          - name: Check out the repo
+            uses: actions/checkout@v2
+          # Execute the python formatter
+          - name: Run the python formatter
+            uses: addnab/docker-run-action@v3
+            with:
+              image: pyfound/black
+              options: -v ${{ github.workspace}}:/apps
+              run: black --check ./apps/

.github/workflows/linter.yml

@@ -1,6 +1,9 @@
-name: linter
+name: Linter markdown and code
 
-on: pull_request
+on:
+  pull_request:
+    branches:
+      - "main"
 
 jobs:
     linter:
@@ -13,16 +16,13 @@ jobs:
           - name: Run the markdown linter
             uses: addnab/docker-run-action@v3
             with:
-                image: peterdavehello/markdownlint:0.32.2
-                options: -v ${{ github.workspace }}:/md
-                run: |
-                    markdownlint .
+              image: peterdavehello/markdownlint:0.32.2
+              options: -v ${{ github.workspace }}:/md
+              run: markdownlint .
            # Execute the python linter (executes even if the previous step failed)
           - name: Run the python linter
-            if: always()
             uses: addnab/docker-run-action@v3
             with:
               image: alpine/flake8
               options: -v ${{ github.workspace }}:/apps
-              run: |
-                flake8 code
+              run: flake8 .

.markdownlint.yaml

@@ -6,7 +6,7 @@ MD013:
   tables: false
 
 MD004:
-  style: "consistent"
+  style: dash
 
 MD051: false
 

.vscode/extensions.json

@@ -8,6 +8,10 @@
         "njpwerner.autodocstring",
         "ms-azuretools.vscode-docker",
         "ms-python.flake8",
-        "bierner.markdown-mermaid"
+        "bierner.markdown-mermaid",
+        "richardkotze.git-mob",
+        "ms-vscode-remote.remote-containers",
+        "valentjn.vscode-ltex",
+        "ms-python.black-formatter"
     ]
 }

.vscode/settings.json

@@ -1,7 +1,6 @@
 {
     "githubIssues.issueBranchTitle": "${issueNumber}-${sanitizedIssueTitle}",
     "githubIssues.queries": [
-
         {
             "label": "My Issues",
             "query": "default"
@@ -19,5 +18,13 @@
             "query": "state:open repo:${owner}/${repository} sort:created-desc"
         }
     ],
-    "ltex.language": "en-US"
+    "ltex.language": "en-US",
+    "docker.commands.composeUp": [
+        {
+            "label": "Compose Up",
+            "template": "xhost +local: && USERNAME=$(whoami) USER_UID=$(id -u) USER_GID=$(id -g) ${composeCommand} ${configurationFile} up"
+        }
+    ],
+    "workbench.iconTheme": "vscode-icons",
+    "editor.formatOnSave": true
 }

README.md

@@ -1,6 +1,6 @@
-# Praktikum Autonomes Fahren 2023 - PAF23
+# Praktikum Autonomes Fahren - PAF
 
-This repository contains the source code for the "Praktikum Autonomes Fahren" at the Chair of Mechatronics from the University of Augsburg in the winter semester of 2023/2024.
+This repository contains the source code for the "Praktikum Autonomes Fahren" at the Chair of Mechatronics from the University of Augsburg.
 The goal of the project is to develop a self-driving car that can navigate through a simulated environment.
 The project is based on the [CARLA simulator](https://carla.org/) and uses the [ROS](https://www.ros.org/) framework for communication between the different components.
 In the future, the project aims to contribute to the [CARLA Autonomous Driving Challenge](https://leaderboard.carla.org/challenge/).
@@ -21,32 +21,22 @@ To be able to execute and develop the project, you need a Linux system equipped
 
 As the project is still in early development, these requirements are subject to change.
 
-## Installation
+## Getting started
 
-To run the project you have to install [b5](https://github.com/team23/b5)
-and [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support,
+### Installation
+
+To run the project you have to install [docker](https://docs.docker.com/engine/install/) with NVIDIA GPU support,
 [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
-`b5` is used to simplify some of the docker commands and to provide a more user-friendly interface.
 `docker` and `nvidia-docker` are used to run the project in a containerized environment with GPU support.
 
-Afterwards, you can set up and execute the project with the following two commands:
-
-```bash
-# Setup project
-b5 install
-
-# Run project
-b5 run
-```
-
-More detailed instructions about setup and execution can be found [here](./doc/01_general/Readme.md).
-
-More available b5 commands are documented [here](./doc/01_general/03_commands.md).
+More detailed instructions about the setup can be found [here](./doc/general/installation.md).
 
 ## Development
 
-If you contribute to this project please read the guidelines first. They can be found [here](./doc/02_development/Readme.md).
+To get an overview of the current architecture of the agent you can look at the general documentation [here](./doc/general/architecture.md). The individual components are explained in the README files of their subfolders.
+
+If you contribute to this project please read the guidelines first. They can be found [here](./doc/development/README.md).
 
 ## Research
 
-The research on existing projects we did can be found [here](./doc/03_research/Readme.md).
+The research on existing projects we did can be found [here](./doc/research/README.md).