merging future branch

Author: petercorke

.github/CONTRIBUTING.md

@@ -0,0 +1,35 @@
+# Contributing to the Robotics Toolbox
+
+## Reporting issues
+
+When reporting issues please include as much detail as possible about your
+operating system, roboticstoolbox version and python version. Whenever possible, please
+also include a brief, self-contained code example that demonstrates the problem.
+
+## Contributing code
+
+Thanks for your interest in contributing code!
+
+We welcome all kinds of contributions including:
+
++ New features
++ Bug and issue fixes
++ Cleaning, adding or adding to documentation and docstrings
++ Adding or fixing Python types
+
+
+Keep in mind the following when making your contribution:
+
++ Keep pull requests to a **single** feature/bug fix. This makes it much easier to review and merge. If you wish to contribure multiple different fixes or features, that means you should make multiple pull requests.
+
++ For API changes, propose the API change in the discussions first before opening a pull request.
+
++ Code additions should be formatted using [black](https://pypi.org/project/black/). Our configuration for black can be found in the [pyproject.toml](https://github.com/petercorke/robotics-toolbox-python/blob/master/pyproject.toml) file under the heading `[tool.black]`. Avoid reformatting code using other formatters.
+
++ Code addition should be linted using [flake8](https://pypi.org/project/flake8/). Our configuration for black can be found in the [pyproject.toml](https://github.com/petercorke/robotics-toolbox-python/blob/master/pyproject.toml) file under the heading `[tool.flake8]`.
+
++ Any code addition needs to be covered by unit tests and not break existing tests. Our unit tests live in `robotics-toolbox-python/tests/`. You can install the dev dependencies using the command `pip install -e '.[dev,docs]'`. You can run the test suite using the command `pytest --cov=roboticstoolbox/ --cov-report term-missing`. Check the output to make sure your additions have been covered by the unit tests.
+
++ All methods and classes need to be documented with an appropriate docstring. See our [style guide](https://github.com/petercorke/robotics-toolbox-python/wiki/Documentation-Style-Guide) for documentation. Keep the ordering and formatting as described by the style guide.
+
++ New additions should be typed appropriately. See our typing [style guide]().

.github/build-wheels.sh

@@ -0,0 +1,65 @@
+name: Build all Wheels
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+      
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, windows-2019, macos-11]
+        include:
+          - os: ubuntu-20.04
+            cibw_archs: "aarch64"
+            
+    steps:
+    
+      # Set up emulation for arm on linux
+      - name: Set up QEMU
+        if: matrix.cibw_archs == 'aarch64'
+        uses: docker/setup-qemu-action@v2
+        with:
+          platforms: arm64
+      - uses: actions/checkout@v3
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.11.3
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v3
+        with:
+          path: dist/*.tar.gz
+          
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/download-artifact@v3
+        with:
+          # unpacks default artifact into dist/
+          name: artifact
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_PASSWORD }}
+          
+          

.github/workflows/cibuildwheel.yml

@@ -49,7 +49,7 @@ jobs:
         pytest --cov=roboticstoolbox --cov-report xml:coverage.xml
         coverage report
     - name: upload coverage to Codecov
-      uses: codecov/codecov-action@master
+      uses: codecov/codecov-action@v3
       with:
         file: ./coverage.xml
   sphinx:

.github/workflows/codeql_future.yml

@@ -1,3 +1,5 @@
+.DS_Store
+
 .pyodide*/**
 *.doctree
 
@@ -137,7 +139,6 @@ dmypy.json
 ### ROS ###
 devel/
 logs/
-bin/
 msg_gen/
 srv_gen/
 msg/*Action.msg