formatting

robot/__init__.py

@@ -10,12 +10,12 @@
 
 from robot.wrapper import Robot, NoCameraPresent
 from robot.greengiant import OUTPUT, INPUT, INPUT_ANALOG, INPUT_PULLUP
-from robot.vision import MARKER_ARENA,MARKER_CUBE_WINKIE,MARKER_CUBE_GILLIKIN, MARKER_CUBE_QUADLING,MARKER_CUBE_MUNCHKIN, MARKER_DEFAULT, RoboConUSBCamera
+from robot.vision import MARKER_ARENA, MARKER_CUBE_WINKIE, MARKER_CUBE_GILLIKIN, MARKER_CUBE_QUADLING, MARKER_CUBE_MUNCHKIN, MARKER_DEFAULT, RoboConUSBCamera
 
 MINIUM_VERSION = (3, 6)
 if sys.version_info <= MINIUM_VERSION:
     raise ImportError("Expected python {} but instead got {}".format(
         MINIUM_VERSION, sys.version_info))
 
 __all__ = ["Robot", "NoCameraPresent", "OUTPUT", "INPUT", "INPUT_ANALOG",
-           "INPUT_PULLUP", "MARKER_ARENA","MARKER_CUBE_WINKIE","MARKER_CUBE_GILLIKIN", "MARKER_CUBE_QUADLING","MARKER_CUBE_MUNCHKIN", "MARKER_DEFAULT"]
+           "INPUT_PULLUP", "MARKER_ARENA", "MARKER_CUBE_WINKIE", "MARKER_CUBE_GILLIKIN", "MARKER_CUBE_QUADLING", "MARKER_CUBE_MUNCHKIN", "MARKER_DEFAULT"]

robot/calibrate_camera.py

@@ -14,13 +14,15 @@
 KD = 5
 K_READING_COUNTS = 0.5
 
+
 def _get_reading():
     while True:
         try:
             return R.see()[0].dist
         except IndexError:
             print("saw nothing")
 
+
 def _get_reading_number(error):
     result = int(K_READING_COUNTS / error)
     result = abs(result)
@@ -30,6 +32,7 @@ def _get_reading_number(error):
         result = 6
     return result
 
+
 R = robot.Robot()
 result = {}
 
@@ -57,10 +60,12 @@ def _get_reading_number(error):
         previous_error = error
         error = TARGET - average_dist
 
-        print("Tried: {} got dist {} error: {}".format(value, average_dist, error))
-        print("    Max: {} min: {} range: {}".format(max(dists), min(dists), max(dists) - min(dists)))
+        print("Tried: {} got dist {} error: {}".format(
+            value, average_dist, error))
+        print("    Max: {} min: {} range: {}".format(
+            max(dists), min(dists), max(dists) - min(dists)))
         print("    P = {} reading_counts {}".format(error * KP, reading_counts))
 
     result[res] = (value, value)
 
-pprint.pprint(result)
+pprint.pprint(result)

robot/cytron.py

@@ -47,7 +47,8 @@ def __init__(self, max_motor_voltage):
 
         # because we care about heating effects in the motors, we have to scale by
         # the square of the ratio
-        self.power_scaling_factor = (max_motor_voltage / _MAX_OUTPUT_VOLTAGE) ** 2
+        self.power_scaling_factor = (
+            max_motor_voltage / _MAX_OUTPUT_VOLTAGE) ** 2
 
         self._percentages = [0, 0]
         self._dir = [_DIR_PIN_1, _DIR_PIN_2]
@@ -65,7 +66,8 @@ def __init__(self, max_motor_voltage):
     def __getitem__(self, index):
         """Returns the current PWM value in RC units. Adds a sign to represent"""
         if index not in (1, 2):
-            raise IndexError(f"motor index must be in (1,2) but instead got {index}")
+            raise IndexError(
+                f"motor index must be in (1,2) but instead got {index}")
 
         index -= 1
         return self._percentages[index]
@@ -74,7 +76,8 @@ def __setitem__(self, index, percent):
         """Clamps input value, converts from percentage to wiring pi format and
         sets a PWM format"""
         if index not in (1, 2):
-            raise IndexError(f"motor index must be in (1,2) but instead got {index}")
+            raise IndexError(
+                f"motor index must be in (1,2) but instead got {index}")
 
         index -= 1
         percent = clamp(percent, -100, 100)

robot/greengiant.py

@@ -1,9 +1,11 @@
 """A set of constants and interfaces for controlling the green giant over I2C"""
 
+
 def clamp(value, smallest, largest):
     """Return `value` if in bounds else returns the exceeded bound"""
     return max(smallest, min(value, largest))
 
+
 def _decrement_pin_index(index):
     """Validate then decrement the pin index.
 
@@ -17,6 +19,7 @@ def _decrement_pin_index(index):
 
     return index
 
+
 OUTPUT = "OUTPUT"
 INPUT = "INPUT"
 INPUT_ANALOG = "INPUT_ANALOG"
@@ -104,6 +107,7 @@ def read_high_low_data(bus, high_addr, low_addr):
 class GreenGiantInternal(object):
     """Intertions for use with the user
     not intended to be part of the robot API"""
+
     def __init__(self, bus):
         self._bus = bus
         self.enabled_12v = False
@@ -151,7 +155,8 @@ def mode(self):
     def mode(self, mode):
         self._mode = mode
         mask = _GG_GPIO_MASKS[mode]
-        self._bus.write_byte_data(_GG_I2C_ADDR, _GG_CONTROL_START + self._index, mask)
+        self._bus.write_byte_data(
+            _GG_I2C_ADDR, _GG_CONTROL_START + self._index, mask)
 
     @property
     def digital(self):
@@ -168,7 +173,8 @@ def digital(self, value):
                           f"requiring pin_mode {OUTPUT} but instead pin_mode is "
                           f"{self._mode}")
 
-        self._bus.write_byte_data(_GG_I2C_ADDR, _GG_DIGITAL_START + self._index, int(value))
+        self._bus.write_byte_data(
+            _GG_I2C_ADDR, _GG_DIGITAL_START + self._index, int(value))
 
     @property
     def analog(self):
@@ -182,9 +188,10 @@ def analog(self):
         raw_adc_max = 0xFFC0
 
         analog_addr = _GG_ANALOG_START + (self._index * 2)
-        raw_adc_value = read_high_low_data(self._bus, analog_addr, analog_addr + 1)
+        raw_adc_value = read_high_low_data(
+            self._bus, analog_addr, analog_addr + 1)
 
-        return  (raw_adc_value / raw_adc_max) * self._adc_max
+        return (raw_adc_value / raw_adc_max) * self._adc_max
 
     def __bool__(self):
         """Return a bool if in a digital mode or a float if in an analogue"""
@@ -197,6 +204,7 @@ def __bool__(self):
 
 class GreenGiantGPIOPinList():
     """A list of pins indexed from 1"""
+
     def __init__(self, bus, adc_max):
         self._list = [GreenGiantGPIOPin(bus, i, adc_max)
                       for i in range(4)]
@@ -211,6 +219,7 @@ def __setitem__(self, index, value):
 
 class GreenGiantPWM():
     """An object implementing a descriptor protocol to control the servos"""
+
     def __init__(self, bus):
         self._bus = bus
 

robot/log.py

@@ -3,10 +3,13 @@
 import logging
 
 # Python 2.6's logging doesn't have NullHandler
+
+
 class NullHandler(logging.Handler):
     def emit(self, record):
         pass
 
+
 # Default to sending our log messages nowhere
 logger = logging.getLogger("sr")
 logger.addHandler(NullHandler())

robot/reset.py

@@ -13,6 +13,7 @@
 import robot.cytron as c
 import robot.greengiant as gg
 
+
 def reset():
     """Resets the robot components to their default state.
     Used by Shepherd when the Stop button is pressed.

robot/vision.py

@@ -20,7 +20,6 @@
 import robot.apriltags3 as AT
 
 
-
 # TODO put all of the paths together
 IMAGE_TO_SHEPHERD_PATH = "/home/pi/shepherd/shepherd/static/image.jpg"
 
@@ -101,10 +100,10 @@ class Capture(NamedTuple):
 
 # MARKER_: Marker Data Types
 # MARKER_TYPE_: Marker Types
-MARKER_TYPE, MARKER_OFFSET, MARKER_COUNT, MARKER_SIZE, MARKER_COLOUR,MARKER_SPECIES = (
-    'type', 'offset', 'count', 'size', 'colour','species')
-MARKER_ARENA,MARKER_CUBE_WINKIE,MARKER_CUBE_GILLIKIN,MARKER_CUBE_QUADLING,MARKER_CUBE_MUNCHKIN,MARKER_DEFAULT = "arena", "winkie", "gillikin","quadling","munchkin","default"
-ARENA,CUBE = "arena","cube"
+MARKER_TYPE, MARKER_OFFSET, MARKER_COUNT, MARKER_SIZE, MARKER_COLOUR, MARKER_SPECIES = (
+    'type', 'offset', 'count', 'size', 'colour', 'species')
+MARKER_ARENA, MARKER_CUBE_WINKIE, MARKER_CUBE_GILLIKIN, MARKER_CUBE_QUADLING, MARKER_CUBE_MUNCHKIN, MARKER_DEFAULT = "arena", "winkie", "gillikin", "quadling", "munchkin", "default"
+ARENA, CUBE = "arena", "cube"
 # NOTE Data about each marker
 #     MARKER_OFFSET: Offset
 #     MARKER_COUNT: Number of markers of type that exist
@@ -352,7 +351,6 @@ def __init__(self,
                  bounding_box=True,
                  usb_stick=False,
                  send_to_sheep=False,
-
                  save=True):
 
         super(PostProcessor, self).__init__()
@@ -402,12 +400,12 @@ def _draw_bounding_box(self, frame, detections):
                               polygon_is_closed,
                               colour,
                               thickness=self._bounding_box_thickness*3)
-            else: 
-                 cv2.polylines(frame,
-                               [integer_corners],
-                               polygon_is_closed,
-                               colour,
-                               thickness=self._bounding_box_thickness)
+            else:
+                cv2.polylines(frame,
+                              [integer_corners],
+                              polygon_is_closed,
+                              colour,
+                              thickness=self._bounding_box_thickness)
 
         return frame
 
@@ -484,7 +482,7 @@ def __init__(self,
         self.camera = camera
 
         self.frames_to_postprocess = queue.Queue(max_queue_size)
-        self.post_processor = PostProcessor(self,zone = self.zone)
+        self.post_processor = PostProcessor(self, zone=self.zone)
 
     def stop(self):
         """Cleanup to prevent leaking hardware resource"""

robot/wrapper.py

@@ -27,6 +27,7 @@ class to their respecitve classes
 # this boot cycle. This is to highlight weird behaviour in the arena
 COPY_STAT_FILE = "/tmp/usb_file_uploaded"
 
+
 def setup_logging(level):
     """Display the just the message when logging events
     Sets the logging level to `level`"""
@@ -43,6 +44,7 @@ def setup_logging(level):
 
 class NoCameraPresent(Exception):
     """Camera not connected."""
+
     def __str__(self):
         return "No camera found."
 
@@ -73,7 +75,8 @@ def __init__(self,
         # check if copy stat file exists and read it if it does then delete it
         try:
             with open(COPY_STAT_FILE, "r") as f:
-                _logger.info("Robot code copied %s from USB\n", f.read().strip())
+                _logger.info("Robot code copied %s from USB\n",
+                             f.read().strip())
             os.remove(COPY_STAT_FILE)
         except IOError:
             pass
@@ -92,8 +95,8 @@ def __init__(self,
             self.mode = start_data['mode']
         else:
             _logger.warning("Robot initalized but usercode running before"
-                           "`robot.wait_start`. Robot will not wait for the "
-                           "start button until `robot.wait_start` is called.")
+                            "`robot.wait_start`. Robot will not wait for the "
+                            "start button until `robot.wait_start` is called.")
 
     def subsystem_init(self, camera):
         """Allows for initalisation of subsystems after instansating `Robot()`
@@ -117,7 +120,6 @@ def subsystem_init(self, camera):
 
         self._vision = vision.Vision(self.zone, camera=self.camera)
 
-
     def report_hardware_status(self):
         """Print out a nice log message at the start of each robot init with
         the hardware status"""
@@ -132,13 +134,14 @@ def report_hardware_status(self):
                                   "changing for a charged battery")
 
         if self._gg_version != 3:
-            self._warnings.append("Green Giant version not 3 but instead {}".format(self._gg_version))
-
-        camera_type_str = "Camera:            {}".format(self.camera.__class__.__name__)
+            self._warnings.append(
+                "Green Giant version not 3 but instead {}".format(self._gg_version))
 
+        camera_type_str = "Camera:            {}".format(
+            self.camera.__class__.__name__)
 
-        #Adds the secret poem every now and then!
-        if random.randint(0,100) == 1:
+        # Adds the secret poem every now and then!
+        if random.randint(0, 100) == 1:
             _logger.info("Today your task is a challenging one")
             _logger.info("Gifts for the wizard and deliveries to run")
             _logger.info("But due to the unfortunate timing you can not go")
@@ -147,14 +150,17 @@ def report_hardware_status(self):
             _logger.info("Starting in your home (where ever it is found)")
             _logger.info("Then taking gifts from your robots zone ")
             _logger.info("Delivering it to the wizard on its own")
-            _logger.info("To the road is good and to the emerald palace is ideal ")
-            _logger.info("And if in another country you get some but a point they will steal")
+            _logger.info(
+                "To the road is good and to the emerald palace is ideal ")
+            _logger.info(
+                "And if in another country you get some but a point they will steal")
             _logger.info("There are many things that are to be considered")
             _logger.info("But remember to bring your gifts for the wizard")
 
         # print report of hardware
         _logger.info("------HARDWARE REPORT------")
-        _logger.info("Time:   %s", datetime.now().strftime('%Y-%m-%d %H:%M:%S'))
+        _logger.info("Time:   %s", datetime.now().strftime(
+            '%Y-%m-%d %H:%M:%S'))
         _logger.info("Patch Version:     0")
         _logger.info(battery_str)
         _logger.info("ADC Max:           %.2fv", self._adc_max)
@@ -267,7 +273,8 @@ def wait_start(self):
 
         if self.startfifo is None:
             self._start_pressed = True
-            _logger.info("No startfifo so using defaults (Zone: {})".format(self.zone))
+            _logger.info(
+                "No startfifo so using defaults (Zone: {})".format(self.zone))
             return
 
         blink_thread = threading.Thread(target=self._wait_start_blink)