xs
107 lines
3.7 KiB
TOML
107 lines
3.7 KiB
TOML
# =============================================================================
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# pyproject.toml —— 标准 PEP 621 项目元数据(workspace 模式)。
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#
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# 设计取舍:
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# - ROS2 实际构建/运行仍走 colcon + ament_python(ROS2 官方工具链);
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# - 本文件提供 *额外* 的标准 Python 入口,让本机 IDE / 类型检查 /
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# pytest / ruff 能识别为 Python 项目,且不污染系统 Python。
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# - 真正运行 ROS2 节点时,需要在容器内 / WSL 内 source /opt/ros/humble/setup.bash,
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# 因为 rclpy / sensor_msgs 等只有 apt 上的发行版,Windows 无 wheels。
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#
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# venv 工作流:
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# 本机: ./tools/setup_venv.sh (Linux/WSL) 或 ./tools/setup_venv.ps1 (Windows)
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# 进入开发: source .venv/bin/activate (Linux) 或 .venv\Scripts\Activate.ps1 (Win)
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# pytest: pytest src/py_pubsub/test # 纯逻辑测试
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# 全套测试: colcon test (在 Docker 容器内) # 真 ROS2 测试
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# =============================================================================
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[build-system]
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# 不用 setuptools 实际构建,只是给 IDE 一个工具入口。
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# 各 ROS2 ament_python 包各自的 setup.py 由 colcon 调用。
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requires = ["setuptools>=61", "wheel"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "ros2-learning-suite"
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version = "0.1.0"
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description = "ROS2 Humble 全栈实战:Topics/Services/Actions/TF2/URDF/Vision(具身智能入门)"
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readme = "README.md"
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requires-python = ">=3.10"
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license = { text = "Apache-2.0" }
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authors = [{ name = "xs", email = "dev@example.com" }]
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keywords = ["ros2", "humble", "robotics", "embodied-ai", "vla", "tf2", "urdf"]
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# 标准 Python 依赖(运行时不强制,运行时 ROS2 客户端库来自 apt)。
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dependencies = [
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# 测试/工具依赖见 requirements-dev.txt;这里只列运行相关的纯 Python 库。
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"numpy>=1.23",
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]
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[project.optional-dependencies]
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# pip install -e .[dev] 装开发工具
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dev = [
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"pytest>=7",
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"pytest-cov>=4",
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"pytest-timeout>=2",
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"mypy>=1.5",
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"ruff>=0.1",
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"black>=23",
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"flake8>=6",
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"types-setuptools",
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]
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# pip install -e .[vision] 装视觉相关
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vision = [
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"opencv-python-headless>=4.7",
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]
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[project.urls]
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Documentation = "https://docs.ros.org/en/humble/"
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Source = "https://github.com/ros2"
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[tool.setuptools]
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# 不让 setuptools 试图打包本根目录——各子包由 ament_python 单独构建。
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py-modules = []
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# ---------------- pytest 配置 ----------------
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[tool.pytest.ini_options]
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# 让 pytest 自动找到 src/ 下所有 test_*.py / *_test.py
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testpaths = ["src"]
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python_files = ["test_*.py", "*_test.py"]
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python_classes = ["Test*"]
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python_functions = ["test_*"]
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addopts = [
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"-ra",
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"--strict-markers",
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"--tb=short",
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]
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# 标记:需要 ROS2 环境(容器内跑),用 pytest -m "not ros" 在本机只跑纯逻辑测试
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markers = [
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"ros: 需要 ROS2 运行环境(rclpy / sensor_msgs / tf2)",
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"inproc: 同进程内 spin 跑得通,不依赖外部 ROS daemon",
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]
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# ---------------- ruff 配置(快速 lint) ----------------
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[tool.ruff]
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line-length = 100
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target-version = "py310"
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extend-exclude = [".venv", "build", "install", "log", "src/*/build"]
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[tool.ruff.lint]
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select = ["E", "F", "W", "I", "UP", "B", "C4"]
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ignore = ["E501", "B008"] # 容忍长行 / 函数调用默认值
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[tool.ruff.lint.per-file-ignores]
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"src/**/test_*.py" = ["B011"] # 测试允许 assert False
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# ---------------- mypy 配置(静态类型检查) ----------------
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[tool.mypy]
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python_version = "3.10"
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ignore_missing_imports = true # rclpy / sensor_msgs 在 venv 里看不到
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warn_unused_ignores = true
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no_implicit_optional = true
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# ---------------- black 配置 ----------------
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[tool.black]
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line-length = 100
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target-version = ["py310"]
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extend-exclude = '((\\.venv|build|install|log)/)' |