jaagut · Oct 5, 2026
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: monthly
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
@@ -1,16 +1,37 @@
-name: Code style checks
+name: Quality checks
 
 on:
   pull_request:
   push:
-    branches: [main]
+    branches: [master]
+
+permissions:
+  contents: read
+
+concurrency:
+  group: quality-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
-  pre-commit:
+  format:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7.0.1
+      - uses: prefix-dev/setup-pixi@v0.10.2
+        with:
+          pixi-version: v0.79.0
+          cache: true
+          environments: format
+      - run: pixi run --locked -e format lint
+
+  test:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
-      - name: Install cppcheck
-        run: sudo apt install cppcheck -y
-      - uses: pre-commit/action@v3.0.0
+      - uses: actions/checkout@v7.0.1
+      - uses: prefix-dev/setup-pixi@v0.10.2
+        with:
+          pixi-version: v0.79.0
+          cache: true
+          environments: default
+      - run: pixi run --locked test
+      - run: pixi run --locked package
diff --git a/.gitignore b/.gitignore
@@ -1,200 +1,19 @@
-# Created by .ignore support plugin (hsz.mobi)
-### JetBrains template
-# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and Webstorm
-# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
-
-# auto-generated documentation
-**/docs/_build
-**/docs/_out
-**/docs/cppapi
-**/docs/pyapi
-
-# User-specific stuff:
-.idea/workspace.xml
-.idea/tasks.xml
-.idea/*
-
-# Sensitive or high-churn files:
-.idea/dataSources/
-.idea/dataSources.ids
-.idea/dataSources.xml
-.idea/dataSources.local.xml
-.idea/sqlDataSources.xml
-.idea/dynamic.xml
-.idea/uiDesigner.xml
-
-# Gradle:
-.idea/gradle.xml
-.idea/libraries
-
-# Mongo Explorer plugin:
-.idea/mongoSettings.xml
-
-## File-based project format:
-*.iws
-
-## Plugin-specific files:
-
-# IntelliJ
-/out/
-
-# mpeltonen/sbt-idea plugin
-.idea_modules/
-
-# JIRA plugin
-atlassian-ide-plugin.xml
-
-# Crashlytics plugin (for Android Studio and IntelliJ)
-com_crashlytics_export_strings.xml
-crashlytics.properties
-crashlytics-build.properties
-fabric.properties
-### ROS template
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-*/cfg/cpp/
-*/src/*/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
-### Python template
-# Byte-compiled / optimized / DLL files
+.pixi/
+.venv/
+.idea/
+.vscode/
 __pycache__/
 *.py[cod]
-*$py.class
-
-# C extensions
-*.so
-
-# Distribution / packaging
-.Python
-env/
-develop-eggs/
-dist/
-downloads/
-eggs/
-.eggs/
-lib64/
-parts/
-sdist/
-var/
 *.egg-info/
-.installed.cfg
-*.egg
-
-# PyInstaller
-#  Usually these files are written by a python script from a template
-#  before PyInstaller builds the exe, so as to inject date/other infos into it.
-*.manifest
-*.spec
-
-# Installer logs
-pip-log.txt
-pip-delete-this-directory.txt
-
-# Unit test / coverage reports
-htmlcov/
-.tox/
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
 .coverage
 .coverage.*
-.cache
-nosetests.xml
 coverage.xml
-*,cover
-.hypothesis/
-
-# Translations
-*.mo
-*.pot
-
-# Django stuff:
-*.log
-local_settings.py
-
-# Flask stuff:
-instance/
-.webassets-cache
-
-# Scrapy stuff:
-.scrapy
-
-# Sphinx documentation
+htmlcov/
+build/
+dist/
+install/
+log/
 docs/_build/
-
-# PyBuilder
-target/
-
-# Jupyter Notebook
-.ipynb_checkpoints
-
-# pyenv
-.python-version
-.pyenv2
-
-# celery beat schedule file
-celerybeat-schedule
-
-# dotenv
-.env
-
-# virtualenv
-.venv/
-venv/
-ENV/
-
-# Spyder project settings
-.spyderproject
-
-# Rope project settings
-.ropeproject
-
-# auto-generated documentation
-**/docs/_build
-**/docs/_out
-**/docs/cppapi
-**/docs/pyapi
-
-.ruff_cache/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,20 +1,22 @@
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.6
-  hooks:
-    - id: ruff
-      args:
-        - "--fix"
-        - "--exit-non-zero-on-fix"
-    - id: ruff-format
-- repo: https://github.com/pocc/pre-commit-hooks
-  rev: v1.3.5
-  hooks:
-    - id: clang-format
-      args:
-        - "-i"
-    - id: cppcheck
-      args:
-        - "--suppress=missingInclude"
-        - "--suppress=unmatchedSuppression"
-        - "--suppress=unusedFunction"
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.16.10
+    hooks:
+      - id: ruff-check
+        args: [--fix, --exit-non-zero-on-fix, --show-fixes]
+      - id: ruff-format
+        stages: [pre-commit]
+      - id: ruff-format
+        name: ruff-format (diff)
+        args: [--diff]
+        stages: [manual]
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,37 @@
+# Developing DSD
+
+Use [Pixi](https://pixi.sh) to run checks in the same locked environment as CI.
+The default environment contains Python test tools and the ROS dependencies used
+by the core. The visualization environment adds RQT and Qt; the format environment
+contains only code quality tools.
+
+```sh
+pixi run --locked test
+pixi run --locked package
+pixi run --locked -e format format
+pixi run --locked -e format lint
+```
+
+`format` applies fixes. Review its changes before committing. `lint` checks
+formatting without applying formatter changes, following the `bitbots_main`
+pre-commit stages. C++ and CMake hooks are omitted because this repository has
+neither language.
+
+When changing dependencies, edit `pixi.toml`, run `pixi install` to regenerate the
+lockfile, and commit both files. Keep ROS and GUI dependencies out of the format
+environment. ROS package dependencies also belong in the corresponding
+`package.xml`; ordinary Python runtime dependencies belong in `setup.py`.
+
+Both packages retain their ament Python layout and support standard Python
+distribution builds. `package` builds source distributions and wheels and checks
+that ROS resources are present and test fixtures are excluded.
+
+Add focused regression tests for parser or runtime changes. Runtime tests use
+small fake elements and assert observable stack and event behavior. Tests that
+exercise DDS or Qt belong alongside the relevant package's tests and must run
+with their real dependencies. Report hardware validation separately from these
+checks.
+
+Changes to scheduling, action outcomes, error recovery, parameter syntax, or
+registration should describe compatibility and migration. Use issues to compare
+options before introducing a new public contract.
diff --git a/LICENSE b/LICENSE
@@ -16,4 +16,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+SOFTWARE.
diff --git a/dynamic_stack_decider/MANIFEST.in b/dynamic_stack_decider/MANIFEST.in
@@ -0,0 +1 @@
+include README.md
diff --git a/dynamic_stack_decider/README.md b/dynamic_stack_decider/README.md
@@ -0,0 +1,7 @@
+# dynamic_stack_decider
+
+A framework for persistent actions selected by reevaluable decision trees.
+
+See the [repository documentation](https://github.com/bit-bots/dynamic_stack_decider)
+for usage and development instructions. ROS dependencies are installed through
+rosdep or the repository's Pixi environment.
diff --git a/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py b/dynamic_stack_decider/dynamic_stack_decider/abstract_stack_element.py
@@ -1,5 +1,5 @@
 from abc import ABCMeta, abstractmethod
-from typing import TYPE_CHECKING, Union
+from typing import TYPE_CHECKING
 
 from dynamic_stack_decider.logger import get_logger
 
@@ -68,7 +68,7 @@ def perform(self, reevaluate=False):
 
         :param reevaluate: True if the current method call is a reevaluate of the state. Meaning the module is not on top of the stack.
         """
-        msg = "You should override perform() in %s" % self.__class__.__name__
+        msg = f"You should override perform() in {self.__class__.__name__}"
         raise NotImplementedError(msg)
 
     def interrupt(self):
@@ -77,7 +77,7 @@ def interrupt(self):
         """
         self._dsd.interrupt()
 
-    def publish_debug_data(self, label: str, data: Union[dict, list, int, float, str, bool]):
+    def publish_debug_data(self, label: str, data: dict | list | int | float | str | bool):
         """
         Publish debug data. Can be viewed using the DSD visualization