pyproject.toml

[build-system]
requires = ["setuptools>=61.0", "setuptools-scm>=8"]
build-backend = "setuptools.build_meta"

[project]
name = "parol6"
dynamic = ["version"]
description = "Python library for controlling PAROL6 robot arms"

requires-python = ">=3.11"
dependencies = [
    # pinokin: Pinocchio-based FK/IK bindings
    # https://github.com/Jepson2k/pinokin/releases/tag/v0.1.8

    # macOS ARM64 (Apple Silicon)
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp311-cp311-macosx_15_0_arm64.whl ; python_version == '3.11' and platform_system == 'Darwin' and platform_machine == 'arm64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp312-cp312-macosx_15_0_arm64.whl ; python_version == '3.12' and platform_system == 'Darwin' and platform_machine == 'arm64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp313-cp313-macosx_15_0_arm64.whl ; python_version == '3.13' and platform_system == 'Darwin' and platform_machine == 'arm64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp314-cp314-macosx_15_0_arm64.whl ; python_version == '3.14' and platform_system == 'Darwin' and platform_machine == 'arm64'",

    # Windows AMD64
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp311-cp311-win_amd64.whl ; python_version == '3.11' and platform_system == 'Windows' and platform_machine == 'AMD64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp312-cp312-win_amd64.whl ; python_version == '3.12' and platform_system == 'Windows' and platform_machine == 'AMD64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp313-cp313-win_amd64.whl ; python_version == '3.13' and platform_system == 'Windows' and platform_machine == 'AMD64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp314-cp314-win_amd64.whl ; python_version == '3.14' and platform_system == 'Windows' and platform_machine == 'AMD64'",

    # Linux x86_64
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp311-cp311-manylinux_2_39_x86_64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'x86_64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp312-cp312-manylinux_2_39_x86_64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'x86_64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp313-cp313-manylinux_2_39_x86_64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'x86_64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp314-cp314-manylinux_2_39_x86_64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'x86_64'",

    # Linux aarch64 (ARM64)
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp311-cp311-manylinux_2_39_aarch64.whl ; python_version == '3.11' and platform_system == 'Linux' and platform_machine == 'aarch64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp312-cp312-manylinux_2_39_aarch64.whl ; python_version == '3.12' and platform_system == 'Linux' and platform_machine == 'aarch64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp313-cp313-manylinux_2_39_aarch64.whl ; python_version == '3.13' and platform_system == 'Linux' and platform_machine == 'aarch64'",
    "pinokin @ https://github.com/Jepson2k/pinokin/releases/download/v0.1.8/pinokin-0.1.8-cp314-cp314-manylinux_2_39_aarch64.whl ; python_version == '3.14' and platform_system == 'Linux' and platform_machine == 'aarch64'",

    "pyserial>=3.4",
    "scipy>=1.11.4",
    "ruckig>=0.12.2",
    "toppra>=0.6.3",
    "interpolatepy>=2.0.0",
    "numpy>=2.0,<2.5",  # numba (0.6x) requires numpy<2.5
    "numba>=0.59",
    "psutil>=5.9",
    "msgspec>=0.18",
    "ormsgpack>=1.4.0",
    "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@v0.6.2",
]

[tool.setuptools.packages.find]
include = ["parol6*"]

[project.optional-dependencies]
dev = [
    "ruff",
    "ty",
    "pytest",
    "pytest-asyncio",
    "pytest-timeout",
    "pre-commit",
    "trimesh",
    "fast-simplification",
    "rtree",
    "scipy-stubs",
    "types-pyserial",
]

[project.scripts]
parol6-server = "parol6.cli.server:main_entry"

[project.entry-points."waldoctl.robots"]
parol6 = "parol6.robot:Robot"

[tool.pytest.ini_options]
testpaths = ["tests"]
python_files = ["test_*.py"]
python_classes = ["Test*"]
python_functions = ["test_*"]
addopts = [
    "--strict-markers",
    "--strict-config",
    "-ra",
    "--junitxml=test-results.xml",
]
timeout = 45
timeout_method = "thread"
markers = [
    "unit: Unit tests that test individual components in isolation",
    "integration: Integration tests that test component interactions with FAKE_SERIAL",
    "e2e: End-to-end tests that exercise complete workflows",
    "examples: Standalone example scripts (binds port 5001, run with `pytest -m examples`)",
]
log_cli = false
log_level = "DEBUG"
filterwarnings = [
    "ignore::DeprecationWarning",
    "ignore::PendingDeprecationWarning",
]

[tool.ty]
# Dynamic Command union (built at import time from tagged structs)
# generates invalid-type-form in all files that reference it.
[[tool.ty.overrides]]
include = [
    "parol6/protocol/wire.py",
    "parol6/commands/base.py",
    "parol6/server/command_registry.py",
    "parol6/server/command_executor.py",
]
[tool.ty.overrides.rules]
invalid-type-form = "ignore"

# pinokin is a compiled extension; the lint env's build can predate
# CollisionChecker, so ty can't resolve that symbol (it resolves fine at runtime
# and against a matching pinokin build).
[[tool.ty.overrides]]
include = ["parol6/PAROL6_ROBOT.py"]
[tool.ty.overrides.rules]
unresolved-import = "ignore"

[tool.setuptools]
include-package-data = true

[tool.setuptools.package-data]
parol6 = ["urdf_model/**"]

[tool.setuptools_scm]
# Version comes from the latest git tag reachable from HEAD.