Update Auto Dev from main

.github/workflows/ci.yml

@@ -0,0 +1,35 @@
+name: CI
+
+on:
+  push:
+    branches: ["**"]
+  pull_request:
+    branches: ["**"]
+
+jobs:
+  lint-and-test:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+
+      - name: Install dependencies
+        run: pip install -r requirements.txt
+
+      - name: Lint with black
+        run: black --check .
+
+      - name: Lint with ruff
+        run: ruff check .
+
+      - name: Type-check with mypy
+        run: mypy . --ignore-missing-imports
+
+      - name: Run tests with pytest
+        run: pytest tests/ -v

.gitignore

@@ -0,0 +1 @@
+*.pyc

__init__.py

@@ -1 +1 @@
-from .modpods import *
+from .modpods import *  # noqa: F403

pyproject.toml

@@ -0,0 +1,23 @@
+[tool.black]
+line-length = 88
+target-version = ["py310", "py311", "py312"]
+
+[tool.ruff]
+line-length = 88
+target-version = "py310"
+
+[tool.ruff.lint]
+select = ["E", "F", "W", "I"]
+ignore = ["E501"]
+
+[tool.mypy]
+ignore_missing_imports = true
+no_strict_optional = true
+warn_return_any = true
+check_untyped_defs = true
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+markers = [
+    "slow: marks tests as slow (uses large data files or long simulations)",
+]

requirements.txt

@@ -0,0 +1,21 @@
+# Core dependencies for modpods
+numpy>=1.24
+pandas>=2.0
+scipy>=1.10
+matplotlib>=3.7
+control>=0.9
+pysindy>=2.0
+cvxpy>=1.3
+networkx>=3.0
+pyswmm>=2.0
+pystorms>=1.0
+statsmodels>=0.14
+dill>=0.3
+
+# Testing
+pytest>=7.0
+
+# Linting
+black>=23.0
+ruff>=0.1
+mypy>=1.0

spring-cart-interactive.py

@@ -1,93 +1,120 @@
 # not at all working
 
-import numpy as np
+import ipywidgets as widgets
 import matplotlib.pyplot as plt
+import numpy as np
+from ipywidgets import interact
 from matplotlib import animation
 from scipy.integrate import solve_ivp
-import ipywidgets as widgets
-from ipywidgets import interact
 
 # Parameters
-m_cart = 1.0   # Mass of the cart (kg)
-m_pend = 0.1   # Mass of the pendulum (kg)
-l_pend = 1.0   # Length of the pendulum (m)
-g = 9.81       # Gravitational acceleration (m/s^2)
+m_cart = 1.0  # Mass of the cart (kg)
+m_pend = 0.1  # Mass of the pendulum (kg)
+l_pend = 1.0  # Length of the pendulum (m)
+g = 9.81  # Gravitational acceleration (m/s^2)
 damping = 0.1  # Damping factor
 
 # Control Parameters (PD Controller)
 Kp = 100.0  # Proportional gain
-Kd = 20.0   # Derivative gain
+Kd = 20.0  # Derivative gain
+
 
 # Linearized system dynamics
 def linear_system(t, state, stiffness, control_input, disturbance):
     x, x_dot, theta, theta_dot = state
     sin_theta = np.sin(theta)
     cos_theta = np.cos(theta)
-    
+
     # Control input through spring
     u = -Kp * theta - Kd * theta_dot + control_input
     u_spring = stiffness * u
-    
+
     # Equations of motion (linearized)
-    x_ddot = (u_spring + disturbance - m_pend * l_pend * theta_dot**2 * sin_theta + m_pend * g * sin_theta * cos_theta) / \
-             (m_cart + m_pend * sin_theta**2)
+    x_ddot = (
+        u_spring
+        + disturbance
+        - m_pend * l_pend * theta_dot**2 * sin_theta
+        + m_pend * g * sin_theta * cos_theta
+    ) / (m_cart + m_pend * sin_theta**2)
     theta_ddot = (g * sin_theta - cos_theta * x_ddot) / l_pend
-    
+
     return [x_dot, x_ddot, theta_dot, theta_ddot]
 
+
 # Solve the system with initial conditions
 def solve_pendulum(stiffness, control_input, disturbance, t_max=10):
     t_span = (0, t_max)
     y0 = [0, 0, np.pi / 12, 0]  # Initial conditions: [x, x_dot, theta, theta_dot]
     t_eval = np.linspace(0, t_max, 300)
-    
+
     # Integrate the system
-    sol = solve_ivp(linear_system, t_span, y0, args=(stiffness, control_input, disturbance), t_eval=t_eval, method='RK45')
+    sol = solve_ivp(
+        linear_system,
+        t_span,
+        y0,
+        args=(stiffness, control_input, disturbance),
+        t_eval=t_eval,
+        method="RK45",
+    )
     return sol.t, sol.y
 
+
 # Animate the system
 def animate_pendulum(stiffness, control_input, disturbance):
     t, y = solve_pendulum(stiffness, control_input, disturbance)
-    x = y[0, :]   # Cart position
+    x = y[0, :]  # Cart position
     theta = y[2, :]  # Pendulum angle
-    
+
     fig, ax = plt.subplots(figsize=(8, 4))
     ax.set_xlim(-5, 5)
     ax.set_ylim(-2, 2)
-    
+
     # Elements of the system: cart and pendulum
-    cart, = ax.plot([], [], 'o-', lw=2)
-    pendulum, = ax.plot([], [], 'o-', lw=2)
-    
+    (cart,) = ax.plot([], [], "o-", lw=2)
+    (pendulum,) = ax.plot([], [], "o-", lw=2)
+
     def init():
         cart.set_data([], [])
         pendulum.set_data([], [])
         return cart, pendulum
-    
+
     def update(frame):
         cart.set_data([x[frame] - 0.5, x[frame] + 0.5], [0, 0])  # Draw cart
-        pendulum.set_data([x[frame], x[frame] + l_pend * np.sin(theta[frame])],
-                          [0, -l_pend * np.cos(theta[frame])])  # Draw pendulum
+        pendulum.set_data(
+            [x[frame], x[frame] + l_pend * np.sin(theta[frame])],
+            [0, -l_pend * np.cos(theta[frame])],
+        )  # Draw pendulum
         return cart, pendulum
-    
+
     # Slow down animation
-    ani = animation.FuncAnimation(fig, update, frames=len(t), init_func=init, blit=True, interval=100)  # Interval adjusted to 100ms
-
-    plt.title('Inverted Pendulum on Cart')
+    animation.FuncAnimation(
+        fig, update, frames=len(t), init_func=init, blit=True, interval=100
+    )  # Interval adjusted to 100ms
+
+    plt.title("Inverted Pendulum on Cart")
     plt.grid(True)
     plt.show()
 
+
 # Interactive widgets for spring stiffness, control input, and disturbance
-stiffness_slider = widgets.FloatSlider(min=0.1, max=10.0, step=0.1, value=1.0, description="Spring Stiffness")
-control_input_slider = widgets.FloatSlider(min=-10.0, max=10.0, step=0.1, value=0.0, description="Control Input")
-disturbance_slider = widgets.FloatSlider(min=-5.0, max=5.0, step=0.1, value=0.0, description="Disturbance")
+stiffness_slider = widgets.FloatSlider(
+    min=0.1, max=10.0, step=0.1, value=1.0, description="Spring Stiffness"
+)
+control_input_slider = widgets.FloatSlider(
+    min=-10.0, max=10.0, step=0.1, value=0.0, description="Control Input"
+)
+disturbance_slider = widgets.FloatSlider(
+    min=-5.0, max=5.0, step=0.1, value=0.0, description="Disturbance"
+)
 
 # Ensure ipywidgets work in Jupyter by using `interact`
-if 'get_ipython' in globals():  # Checks if running in a Jupyter environment
-    interact(animate_pendulum,
-             stiffness=stiffness_slider,
-             control_input=control_input_slider,
-             disturbance=disturbance_slider)
+if "get_ipython" in globals():  # Checks if running in a Jupyter environment
+    interact(
+        animate_pendulum,
+        stiffness=stiffness_slider,
+        control_input=control_input_slider,
+        disturbance=disturbance_slider,
+    )
 else:
     # If not running in Jupyter, manually call animation for default parameters
     animate_pendulum(1.0, 0.0, 0.0)