Re-format files

.pre-commit-config.yaml

@@ -15,7 +15,7 @@ repos:
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 23.12.1
+    rev: 24.1.1
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
@@ -40,7 +40,7 @@ repos:
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.1.9'
+    rev: 'v0.2.0'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]

NaviGator/hardware_drivers/navigator_kill_board/navigator_kill_board/constants.py

@@ -17,6 +17,7 @@
 The computer can also command a kill (for example, if ROS notices a criticaly low battery)
 by sending the COMPUTER.KILL.REQUEST and undone with COMPUTER.CLEAR.REQUEST
 """
+
 constants = {
     "TIMEOUT_SECONDS": 8.0,  # How often board must be pinged to not set HEARTBERAT_REMOTE True
     # Note: not official documented, this is just a guess

NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py

@@ -27,9 +27,9 @@ def _check_voltage(self, msg):
             if not self._raised or self._severity != severity:
                 self.broadcaster.raise_alarm(
                     severity=severity,
-                    problem_description="battery critcaly low"
-                    if severity == 2
-                    else "battery low",
+                    problem_description=(
+                        "battery critcaly low" if severity == 2 else "battery low"
+                    ),
                     parameters={"voltage": voltage},
                 )
 

NaviGator/mission_control/navigator_missions/navigator_missions/move.py

@@ -149,7 +149,7 @@ async def run(self, args):
                     "yl": "yaw_left",
                     "yr": "yaw_right",
                 }
-                command = command if command not in shorthand else shorthand[command]
+                command = shorthand.get(command, command)
                 movement = getattr(self.move, command)
 
                 trans_move = command[:3] != "yaw"

NaviGator/utils/navigator_tools/nodes/navigator_status_tui

@@ -214,15 +214,13 @@ class nav_tui:
             if len(self.decode_fault_status(self.FL_fault)) == 0:
                 self.window.addstr(5, self.x / 2 - 7, "No faults", curses.color_pair(3))
             else:
-                n = 0
-                for fault in self.decode_fault_status(self.FL_fault):
+                for n, fault in enumerate(self.decode_fault_status(self.FL_fault)):
                     self.window.addstr(
                         5 + n,
                         self.x / 2 - 7,
                         "%s" % fault,
                         curses.color_pair(1),
                     )
-                    n += 1
 
             self.window.addstr(14, self.x / 2 - 7, "Back Left", color)
             if len(self.decode_fault_status(self.BL_fault)) == 0:

SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config

@@ -132,9 +132,11 @@ if __name__ == "__main__":
     with rosbag.Bag(sys.argv[1]) as bag:
         points = numpy.array(
             [
-                mil_ros_tools.rosmsg_to_numpy(msg.magnetic_field)
-                if hasattr(msg, "magnetic_field")
-                else mil_ros_tools.rosmsg_to_numpy(msg.vector)
+                (
+                    mil_ros_tools.rosmsg_to_numpy(msg.magnetic_field)
+                    if hasattr(msg, "magnetic_field")
+                    else mil_ros_tools.rosmsg_to_numpy(msg.vector)
+                )
                 for topic, msg, t in bag.read_messages(topics=["/imu/mag_raw"])
             ],
         )

SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py

@@ -36,13 +36,17 @@ def parse_string(threshes):
     def reconfigure(self, config, level):
         try:
             self.lower = np.array(self.parse_string(config["dyn_lower"]))
-            rospy.logwarn("HSV lower bound below minimum value") if (
-                self.lower < 0
-            ).any() else None
+            (
+                rospy.logwarn("HSV lower bound below minimum value")
+                if (self.lower < 0).any()
+                else None
+            )
             self.upper = np.array(self.parse_string(config["dyn_upper"]))
-            rospy.logwarn("HSV upper bound above maximum values") if (
-                self.upper[0] > 179
-            ).any() or (self.upper[1:] > 255).any() else None
+            (
+                rospy.logwarn("HSV upper bound above maximum values")
+                if (self.upper[0] > 179).any() or (self.upper[1:] > 255).any()
+                else None
+            )
 
         except ValueError as e:
             rospy.logwarn(f"Invalid dynamic reconfigure: {e}")

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_SVM_trainer.py

@@ -16,8 +16,7 @@
 class_list = np.array(0)
 
 # loop through the training images
-count = 0
-for i in os.listdir(os.path.abspath(folder)):
+for count, i in enumerate(os.listdir(os.path.abspath(folder))):
     # get the roi from the file
     path = folder + "/" + i
     roi_str = f.readline()
@@ -72,7 +71,6 @@
     class_temp = np.empty(len_myinvhog / 9)
     class_temp.fill(-1)
     class_list = np.append(class_list, class_temp)
-    count += 1
 
 # hack
 class_list = np.delete(class_list, [0])

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py

@@ -100,10 +100,11 @@ def train_on_data(observation_list, label_list, split_factor=4):
         s_time = time.time()
         process_round = 0
         # Split this into multiple passes in an attempt to free RAM (no idea if this works).
-        for x, y in zip(all_observations_split, all_labels_split):
+        for process_round, (x, y) in enumerate(
+            zip(all_observations_split, all_labels_split),
+        ):
             print(f"Training subset {process_round + 1}/{split_factor}.")
             boost.train(x, cv2.CV_ROW_SAMPLE, y, params=parameters)
-            process_round += 1
 
         print(f"Time to complete: {time.time() - s_time}")
         print("Done! Saving...")

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/marker_occ_grid.py

@@ -249,7 +249,6 @@ def polygon_generator(self, n=12):
 
 
 class MarkerOccGrid(OccGridUtils):
-
     """
     Handles updating occupancy grid when new data comes in.
     TODO: Upon call can return some path to go to in order to find them.

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/rviz.py

@@ -9,7 +9,6 @@
 
 
 class RvizVisualizer:
-
     """Cute tool for drawing both depth and height-from-bottom in RVIZ"""
 
     def __init__(self, topic="visualization/markers"):

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/visual_threshold_tools.py

@@ -63,7 +63,6 @@ def denormalize(val, _min, _max):
 
 
 class ExtentDialog(traits.api.HasTraits):
-
     """A dialog to graphically adjust the extents of a threshold range"""
 
     # Data extents

SubjuGator/perception/subjugator_perception/test/test_path_marker.py

@@ -17,7 +17,6 @@
 
 
 class TestPathMarker(unittest.TestCase):
-
     """
     Unit test for perception service finding orange path markers
     Plays several bags with known pixel coordinates of path marker,

SubjuGator/simulation/subjugator_gazebo/diagnostics/gazebo_tests/common.py

@@ -8,7 +8,6 @@
 
 
 class Job:
-
     """Inherit from this!"""
 
     _job_name = "generic job"

SubjuGator/simulation/subjugator_simulation/subjugator_sim_tools/shaders/shader_manager.py

@@ -36,7 +36,6 @@ def add_item(self, position, intensity):
 
 
 class ShaderManager:
-
     """
     This class is used when you want to have an entity switch out shaders at a specific time.
     If you want to add another rule for when to switch out shaders:

SubjuGator/simulation/subjugator_simulation/subjugator_sim_tools/shaders/shaders.py

@@ -65,7 +65,6 @@ def recursive_dictionary(self, path, text):
 
 
 class Shaders:
-
     """A Shaders class, which automatically contains all of the shaders
         in the shaders folder
     WTF?

SubjuGator/simulation/subjugator_simulation/subjugator_sim_tools/widgets/sub.py

@@ -83,7 +83,6 @@ def make_visual(self, physical, position, thrust_indicators=False):
         )
 
         class ThrustGetter:
-
             """This is a pretty garbage thing, and will be replaced by the scenegraph system"""
 
             def __init__(self, thruster_name, rdir):

SubjuGator/utils/subjugator_diagnostics/scripts/self_check.py

@@ -18,7 +18,6 @@
 
 
 class TemplateChecker:
-
     """Template for how each checker class should look.
     This provides interface functions for the main function to use. You don't have to
         implement them all in each checker.

docs/extensions/attributetable.py

@@ -2,6 +2,7 @@
 Credit goes to discord.py and its creators for creating most of this file:
 https://github.com/Rapptz/discord.py/blob/master/docs/extensions/attributetable.py
 """
+
 import importlib
 import inspect
 import re

docs/extensions/builder.py

@@ -2,6 +2,7 @@
 Credit goes to discord.py and its creators for creating most of this file:
 https://github.com/Rapptz/discord.py/blob/master/docs/extensions/attributetable.py
 """
+
 from sphinx.builders.html import StandaloneHTMLBuilder
 from sphinx.environment.adapters.indexentries import IndexEntries
 from sphinx.writers.html5 import HTML5Translator

mil_common/drivers/mil_pneumatic_actuator/nodes/pneumatic_actuator_node

@@ -37,7 +37,7 @@ class Actuator:
         if isinstance(config, int):
             return cls.from_int(config)
         type_str = config["type"]
-        pulse_time = config["pulse_time"] if "pulse_time" in config else None
+        pulse_time = config.get("pulse_time")
         open_id = config["ports"]["open_port"]["id"]
         open_default = config["ports"]["open_port"]["default"]
         if "close_port" in config["ports"]:

mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py

@@ -114,13 +114,11 @@ def __bytes__(self) -> bytes:
 
     @overload
     @classmethod
-    def _unpack_payload(cls, data: Literal[b""]) -> None:
-        ...
+    def _unpack_payload(cls, data: Literal[b""]) -> None: ...
 
     @overload
     @classmethod
-    def _unpack_payload(cls, data: bytes) -> bytes:
-        ...
+    def _unpack_payload(cls, data: bytes) -> bytes: ...
 
     @classmethod
     def _unpack_payload(cls, data: bytes) -> bytes | None:
@@ -455,13 +453,11 @@ def calculate_checksum(self, data: bytes) -> int:
 
     @overload
     @classmethod
-    def from_bytes(cls, data: Literal[b""]) -> None:
-        ...
+    def from_bytes(cls, data: Literal[b""]) -> None: ...
 
     @overload
     @classmethod
-    def from_bytes(cls: type[T], data: bytes) -> T:
-        ...
+    def from_bytes(cls: type[T], data: bytes) -> T: ...
 
     @classmethod
     def from_bytes(cls: type[T], data: bytes) -> T | None:

mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/sub9_driver.py

@@ -31,8 +31,9 @@ class SimulatedUSBtoCANStream(SimulatedSerial):
 
     def __init__(
         self,
-        devices: list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]]
-        | None = None,
+        devices: (
+            list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]] | None
+        ) = None,
     ):
         """
         Args:
@@ -214,16 +215,14 @@ def read_devices(
         self,
         *,
         simulated: Literal[True],
-    ) -> list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]]:
-        ...
+    ) -> list[tuple[type[SimulatedCANDeviceHandle], list[type[Packet]]]]: ...
 
     @overload
     def read_devices(
         self,
         *,
         simulated: Literal[False],
-    ) -> list[tuple[type[CANDeviceHandle], list[type[Packet]]]]:
-        ...
+    ) -> list[tuple[type[CANDeviceHandle], list[type[Packet]]]]: ...
 
     def read_devices(
         self,

mil_common/gnc/rawgps_common/src/rawgps_common/gps.py

@@ -649,9 +649,7 @@ def generate_satellite_message(
     for i in range(2):
         dt = t - eph.t_oc
         assert abs(dt) < week_length / 2
-        deltat_SV_L1 = (
-            eph.a_f0 + eph.a_f1 * dt + eph.a_f2 * dt**2 + deltat_r - eph.T_GD
-        )
+        deltat_SV_L1 = eph.a_f0 + eph.a_f1 * dt + eph.a_f2 * dt**2 + deltat_r - eph.T_GD
         t = t_SV - deltat_SV_L1
         if i == 1:
             sat_pos, deltat_r, sat_vel = eph.predict(t)
@@ -691,14 +689,16 @@ def generate_satellite_message(
         time=-pseudo_range / c - deltat_SV_L1,
         T_iono=T_iono,
         T_tropo=T_tropo,
-        carrier_distance=carrier_cycles * c / L1_f0
-        if carrier_cycles is not None
-        else nan,
+        carrier_distance=(
+            carrier_cycles * c / L1_f0 if carrier_cycles is not None else nan
+        ),
         doppler_velocity=doppler_freq * c / L1_f0,
         direction_enu=Vector3(*direction_enu),
-        velocity_plus_drift=doppler_freq * c / L1_f0 + direction.dot(sat_vel)
-        if doppler_freq is not None
-        else nan,
+        velocity_plus_drift=(
+            doppler_freq * c / L1_f0 + direction.dot(sat_vel)
+            if doppler_freq is not None
+            else nan
+        ),
     )
 
 

mil_common/mil_missions/mil_missions_core/__init__.py

@@ -4,6 +4,7 @@
 from to create robot-specific mission tasks. These mission classes can be imported
 by the mission runner and then run.
 """
+
 from .base_mission import BaseMission
 from .chain_with_timeout import MakeChainWithTimeout
 from .exceptions import (

mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py

@@ -304,12 +304,12 @@ def __init__(self, length=1.0, width=1.0):
         self.model_2D = np.zeros((50, 1, 2), dtype=np.int)
         # Approximate an ellipse with 50 points, so that verify_contour is reasonable fast still
         for idx, theta in enumerate(np.linspace(0.0, 2.0 * np.pi, num=50)):
-            self.model_2D[idx][0][
-                0
-            ] = self.length * 0.5 * scale + self.length * 0.5 * scale * np.cos(theta)
-            self.model_2D[idx][0][
-                1
-            ] = self.width * 0.5 * scale + self.width * 0.5 * scale * np.sin(theta)
+            self.model_2D[idx][0][0] = (
+                self.length * 0.5 * scale + self.length * 0.5 * scale * np.cos(theta)
+            )
+            self.model_2D[idx][0][1] = (
+                self.width * 0.5 * scale + self.width * 0.5 * scale * np.sin(theta)
+            )
 
     def get_corners(self, contour, debug_image=None):
         """

mil_common/perception/mil_vision/ros_tools/on_the_fly_thresholder.py

@@ -78,9 +78,11 @@ def __init__(self, img, thresh_type="bgr"):
     def update_mask(self):
         self.lower, self.upper = self.trackbars.get_bounds()
         self.mask = cv2.inRange(
-            self.image
-            if self.thresh_type == "bgr"
-            else cv2.cvtColor(self.image, cv2.COLOR_BGR2HSV),
+            (
+                self.image
+                if self.thresh_type == "bgr"
+                else cv2.cvtColor(self.image, cv2.COLOR_BGR2HSV)
+            ),
             self.lower,
             self.upper,
         )

mil_common/ros_alarms/nodes/alarm_server.py

@@ -178,9 +178,9 @@ def _create_alarm_handlers(self):
                 if alarm_name in self.alarms:
                     self.alarms[alarm_name].update(h.initial_alarm)
                 else:
-                    self.alarms[
-                        alarm_name
-                    ] = h.initial_alarm  # Update even if already added to server
+                    self.alarms[alarm_name] = (
+                        h.initial_alarm
+                    )  # Update even if already added to server
             elif (
                 alarm_name not in self.alarms
             ):  # Add default initial if not there already

mil_common/ros_alarms/ros_alarms/__init__.py

@@ -39,6 +39,7 @@
 
         Topic publishing any getting/setting updates that occur on alarms.
 """
+
 from .alarms import (
     Alarm,
     AlarmBroadcaster,