IMPROVEMENT: Drop support for python 3.9

.github/workflows/pylint.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.8", "3.11"]
+        python-version: ["3.9", "3.11"]
     steps:
 
     - name: Checkout

MethodicConfigurator/annotate_params.py

@@ -31,7 +31,7 @@
 from sys import exc_info as sys_exc_info
 from sys import exit as sys_exit
 from types import TracebackType
-from typing import Any, Dict, List, Optional, Tuple
+from typing import Any, Optional
 from xml.etree import ElementTree as ET  # no parsing, just data-structure manipulation
 
 from defusedxml import ElementTree as DET  # just parsing, no data-structure manipulation
@@ -141,7 +141,7 @@ def __eq__(self, other: object) -> bool:
         return False
 
     @staticmethod
-    def load_param_file_into_dict(param_file: str) -> Dict[str, "Par"]:
+    def load_param_file_into_dict(param_file: str) -> dict[str, "Par"]:
         """
         Loads an ArduPilot parameter file into a dictionary with name, value pairs.
 
@@ -151,7 +151,7 @@ def load_param_file_into_dict(param_file: str) -> Dict[str, "Par"]:
         Returns:
         dict: A dictionary containing the parameters from the file.
         """
-        parameter_dict: Dict[str, Par] = {}
+        parameter_dict: dict[str, Par] = {}
         try:
             with open(param_file, encoding="utf-8") as f_handle:
                 for i, f_line in enumerate(f_handle, start=1):
@@ -202,7 +202,7 @@ def validate_parameter(param_file, parameter_dict, i, original_line, comment, pa
                 raise SystemExit(f"Caused by line {i} of file {param_file}: {original_line}") from exc
 
     @staticmethod
-    def missionplanner_sort(item: str) -> Tuple[str, ...]:
+    def missionplanner_sort(item: str) -> tuple[str, ...]:
         """
         Sorts a parameter name according to the rules defined in the Mission Planner software.
 
@@ -217,7 +217,7 @@ def missionplanner_sort(item: str) -> Tuple[str, ...]:
         return tuple(parts)
 
     @staticmethod
-    def format_params(param_dict: Dict[str, "Par"], file_format: str = "missionplanner") -> List[str]:  # pylint: disable=too-many-branches
+    def format_params(param_dict: dict[str, "Par"], file_format: str = "missionplanner") -> list[str]:  # pylint: disable=too-many-branches
         """
         Formats the parameters in the provided dictionary into a list of strings.
 
@@ -266,7 +266,7 @@ def format_params(param_dict: Dict[str, "Par"], file_format: str = "missionplann
         return formatted_params
 
     @staticmethod
-    def export_to_param(formatted_params: List[str], filename_out: str) -> None:
+    def export_to_param(formatted_params: list[str], filename_out: str) -> None:
         """
         Exports a list of formatted parameters to an ArduPilot parameter file.
 
@@ -288,7 +288,7 @@ def export_to_param(formatted_params: List[str], filename_out: str) -> None:
             raise SystemExit(f"ERROR: writing to file {filename_out}: {e}") from e
 
     @staticmethod
-    def print_out(formatted_params: List[str], name: str) -> None:
+    def print_out(formatted_params: list[str], name: str) -> None:
         """
         Print out the contents of the provided list.
         If the list is too large, print only the ones that fit on the screen and
@@ -389,8 +389,8 @@ def get_xml_data(base_url: str, directory: str, filename: str, vehicle_type: str
     return DET.fromstring(xml_data)
 
 
-def load_default_param_file(directory: str) -> Dict[str, "Par"]:
-    param_default_dict: Dict[str, Par] = {}
+def load_default_param_file(directory: str) -> dict[str, "Par"]:
+    param_default_dict: dict[str, Par] = {}
     # Load parameter default values if the 00_default.param file exists
     try:
         param_default_dict = Par.load_param_file_into_dict(os_path.join(directory, "00_default.param"))
@@ -416,7 +416,7 @@ def remove_prefix(text: str, prefix: str) -> str:
     return text
 
 
-def split_into_lines(string_to_split: str, maximum_line_length: int) -> List[str]:
+def split_into_lines(string_to_split: str, maximum_line_length: int) -> list[str]:
     """
     Splits a string into lines of a maximum length.
 
@@ -432,7 +432,7 @@ def split_into_lines(string_to_split: str, maximum_line_length: int) -> List[str
     return [line.rstrip() for line in doc_lines]
 
 
-def create_doc_dict(root: ET.Element, vehicle_type: str, max_line_length: int = 100) -> Dict[str, Any]:
+def create_doc_dict(root: ET.Element, vehicle_type: str, max_line_length: int = 100) -> dict[str, Any]:
     """
     Create a dictionary of parameter documentation from the root element of the parsed XML data.
 
@@ -443,7 +443,7 @@ def create_doc_dict(root: ET.Element, vehicle_type: str, max_line_length: int =
         Dict[str, Any]: A dictionary of parameter documentation.
     """
     # Dictionary to store the parameter documentation
-    doc: Dict[str, Any] = {}
+    doc: dict[str, Any] = {}
 
     # Use the findall method with an XPath expression to find all "param" elements
     for param in root.findall(".//param"):
@@ -457,7 +457,7 @@ def create_doc_dict(root: ET.Element, vehicle_type: str, max_line_length: int =
 
         human_name = param.get("humanName")
         documentation = param.get("documentation")
-        documentation_lst: List[str] = []
+        documentation_lst: list[str] = []
         if documentation:
             documentation_lst = split_into_lines(documentation, max_line_length)
         # the keys are the "name" attribute of the "field" sub-elements
@@ -488,7 +488,7 @@ def create_doc_dict(root: ET.Element, vehicle_type: str, max_line_length: int =
     return doc
 
 
-def format_columns(values: Dict[str, Any], max_width: int = 105, max_columns: int = 4) -> List[str]:
+def format_columns(values: dict[str, Any], max_width: int = 105, max_columns: int = 4) -> list[str]:
     """
     Formats a dictionary of values into column-major horizontally aligned columns.
     It uses at most max_columns columns
@@ -545,7 +545,7 @@ def extract_parameter_name(item: str) -> str:
     return match.group(0) if match else item
 
 
-def missionplanner_sort(item: str) -> Tuple[str, ...]:
+def missionplanner_sort(item: str) -> tuple[str, ...]:
     """
     MissionPlanner parameter sorting function
     """
@@ -584,10 +584,10 @@ def extract_parameter_name_and_validate(line: str, filename: str, line_nr: int)
 
 
 def update_parameter_documentation(
-    doc: Dict[str, Any],
+    doc: dict[str, Any],
     target: str = ".",
     sort_type: str = "none",
-    param_default_dict: Optional[Dict] = None,
+    param_default_dict: Optional[dict] = None,
     delete_documentation_annotations=False,
 ) -> None:
     """
@@ -742,7 +742,7 @@ def get_xml_url(vehicle_type: str, firmware_version: str) -> str:
 
 def parse_parameter_metadata(
     xml_url: str, xml_dir: str, xml_file: str, vehicle_type: str, max_line_length: int
-) -> Dict[str, Any]:
+) -> dict[str, Any]:
     xml_root = get_xml_data(xml_url, xml_dir, xml_file, vehicle_type)
     return create_doc_dict(xml_root, vehicle_type, max_line_length)
 

MethodicConfigurator/ardupilot_methodic_configurator.py

@@ -17,7 +17,6 @@
 from logging import getLevelName as logging_getLevelName
 from logging import info as logging_info
 from sys import exit as sys_exit
-from typing import Tuple
 
 from MethodicConfigurator import _, __version__
 from MethodicConfigurator.backend_filesystem import LocalFilesystem
@@ -61,7 +60,7 @@ def argument_parser():
     return add_common_arguments_and_parse(parser)
 
 
-def connect_to_fc_and_read_parameters(args) -> Tuple[FlightController, str]:
+def connect_to_fc_and_read_parameters(args) -> tuple[FlightController, str]:
     flight_controller = FlightController(args.reboot_time)
 
     error_str = flight_controller.connect(args.device, log_errors=False)

MethodicConfigurator/backend_filesystem.py

@@ -21,7 +21,7 @@
 from re import compile as re_compile
 from shutil import copy2 as shutil_copy2
 from shutil import copytree as shutil_copytree
-from typing import Any, Dict, List, Tuple
+from typing import Any
 from zipfile import ZipFile
 
 from requests import get as requests_get
@@ -82,16 +82,16 @@ class LocalFilesystem(VehicleComponents, ConfigurationSteps, ProgramSettings):
     """
 
     def __init__(self, vehicle_dir: str, vehicle_type: str, fw_version: str, allow_editing_template_files: bool):
-        self.file_parameters: Dict[str, Dict[str, Par]] = {}
+        self.file_parameters: dict[str, dict[str, Par]] = {}
         VehicleComponents.__init__(self)
         ConfigurationSteps.__init__(self, vehicle_dir, vehicle_type)
         ProgramSettings.__init__(self)
         self.vehicle_type = vehicle_type
         self.fw_version = fw_version
         self.allow_editing_template_files = allow_editing_template_files
-        self.param_default_dict: Dict[str, Par] = {}
+        self.param_default_dict: dict[str, Par] = {}
         self.vehicle_dir = vehicle_dir
-        self.doc_dict: Dict[str, Any] = {}
+        self.doc_dict: dict[str, Any] = {}
         if vehicle_dir is not None:
             self.re_init(vehicle_dir, vehicle_type)
 
@@ -215,7 +215,7 @@ def __extend_and_reformat_parameter_documentation_metadata(self):  # pylint: dis
                 prefix_parts += [f"Default: {default_value}"]
             param_info["doc_tooltip"] = ("\n").join(prefix_parts)
 
-    def read_params_from_files(self) -> Dict[str, Dict[str, "Par"]]:
+    def read_params_from_files(self) -> dict[str, dict[str, "Par"]]:
         """
         Reads intermediate parameter files from a directory and stores their contents in a dictionary.
 
@@ -227,7 +227,7 @@ def read_params_from_files(self) -> Dict[str, Dict[str, "Par"]]:
         - Dict[str, Dict[str, 'Par']]: A dictionary with filenames as keys and as values
                                        a dictionary with (parameter names, values) pairs.
         """
-        parameters: Dict[str, Dict[str, Par]] = {}
+        parameters: dict[str, dict[str, Par]] = {}
         if os_path.isdir(self.vehicle_dir):
             # Regular expression pattern for filenames starting with two digits followed by an underscore and ending in .param
             pattern = re_compile(r"^\d{2}_.*\.param$")
@@ -261,7 +261,7 @@ def str_to_bool(s):
             return False
         return None
 
-    def export_to_param(self, params: Dict[str, "Par"], filename_out: str, annotate_doc: bool = True) -> None:
+    def export_to_param(self, params: dict[str, "Par"], filename_out: str, annotate_doc: bool = True) -> None:
         """
         Exports a dictionary of parameters to a .param file and optionally annotates the documentation.
 
@@ -293,7 +293,7 @@ def vehicle_configuration_file_exists(self, filename: str) -> bool:
             os_path.join(self.vehicle_dir, filename)
         )
 
-    def __all_intermediate_parameter_file_comments(self) -> Dict[str, str]:
+    def __all_intermediate_parameter_file_comments(self) -> dict[str, str]:
         """
         Retrieves all comments associated with parameters from intermediate parameter files.
 
@@ -311,7 +311,7 @@ def __all_intermediate_parameter_file_comments(self) -> Dict[str, str]:
                     ret[param] = info.comment
         return ret
 
-    def annotate_intermediate_comments_to_param_dict(self, param_dict: Dict[str, float]) -> Dict[str, "Par"]:
+    def annotate_intermediate_comments_to_param_dict(self, param_dict: dict[str, float]) -> dict[str, "Par"]:
         """
         Annotates comments from intermediate parameter files to a parameter value-only dictionary.
 
@@ -331,7 +331,7 @@ def annotate_intermediate_comments_to_param_dict(self, param_dict: Dict[str, flo
             ret[param] = Par(float(value), ip_comments.get(param, ""))
         return ret
 
-    def categorize_parameters(self, param: Dict[str, "Par"]) -> Tuple[Dict[str, "Par"], Dict[str, "Par"], Dict[str, "Par"]]:
+    def categorize_parameters(self, param: dict[str, "Par"]) -> tuple[dict[str, "Par"], dict[str, "Par"], dict[str, "Par"]]:
         """
         Categorize parameters into three categories based on their default values and documentation attributes.
 
@@ -393,7 +393,7 @@ def add_configuration_file_to_zip(self, zipf, filename):
         if self.vehicle_configuration_file_exists(filename):
             zipf.write(os_path.join(self.vehicle_dir, filename), arcname=filename)
 
-    def zip_files(self, files_to_zip: List[Tuple[bool, str]]):
+    def zip_files(self, files_to_zip: list[tuple[bool, str]]):
         """
         Zips the intermediate parameter files that were written to, including specific summary files.
 
@@ -469,7 +469,7 @@ def tempcal_imu_result_param_tuple(self):
         tempcal_imu_result_param_filename = "03_imu_temperature_calibration_results.param"
         return [tempcal_imu_result_param_filename, os_path.join(self.vehicle_dir, tempcal_imu_result_param_filename)]
 
-    def copy_fc_values_to_file(self, selected_file: str, params: Dict[str, float]):
+    def copy_fc_values_to_file(self, selected_file: str, params: dict[str, float]):
         ret = 0
         if selected_file in self.file_parameters:
             for param, v in self.file_parameters[selected_file].items():
@@ -553,7 +553,7 @@ def get_eval_variables(self):
             variables["doc_dict"] = self.doc_dict
         return variables
 
-    def copy_fc_params_values_to_template_created_vehicle_files(self, fc_parameters: Dict[str, float]):
+    def copy_fc_params_values_to_template_created_vehicle_files(self, fc_parameters: dict[str, float]):
         eval_variables = self.get_eval_variables()
         for param_filename, param_dict in self.file_parameters.items():
             for param_name, param in param_dict.items():
@@ -570,18 +570,18 @@ def copy_fc_params_values_to_template_created_vehicle_files(self, fc_parameters:
             Par.export_to_param(Par.format_params(param_dict), os_path.join(self.vehicle_dir, param_filename))
         return ""
 
-    def write_param_default_values(self, param_default_values: Dict[str, "Par"]) -> bool:
+    def write_param_default_values(self, param_default_values: dict[str, "Par"]) -> bool:
         param_default_values = dict(sorted(param_default_values.items()))
         if self.param_default_dict != param_default_values:
             self.param_default_dict = param_default_values
             return True
         return False
 
-    def write_param_default_values_to_file(self, param_default_values: Dict[str, "Par"], filename: str = "00_default.param"):
+    def write_param_default_values_to_file(self, param_default_values: dict[str, "Par"], filename: str = "00_default.param"):
         if self.write_param_default_values(param_default_values):
             Par.export_to_param(Par.format_params(self.param_default_dict), os_path.join(self.vehicle_dir, filename))
 
-    def get_download_url_and_local_filename(self, selected_file: str) -> Tuple[str, str]:
+    def get_download_url_and_local_filename(self, selected_file: str) -> tuple[str, str]:
         if (
             selected_file in self.configuration_steps
             and "download_file" in self.configuration_steps[selected_file]
@@ -593,7 +593,7 @@ def get_download_url_and_local_filename(self, selected_file: str) -> Tuple[str,
                 return src, os_path.join(self.vehicle_dir, dst)
         return "", ""
 
-    def get_upload_local_and_remote_filenames(self, selected_file: str) -> Tuple[str, str]:
+    def get_upload_local_and_remote_filenames(self, selected_file: str) -> tuple[str, str]:
         if (
             selected_file in self.configuration_steps
             and "upload_file" in self.configuration_steps[selected_file]

MethodicConfigurator/backend_filesystem_configuration_steps.py

@@ -17,7 +17,6 @@
 from logging import info as logging_info
 from logging import warning as logging_warning
 from os import path as os_path
-from typing import Tuple
 
 from MethodicConfigurator import _
 from MethodicConfigurator.annotate_params import Par
@@ -175,7 +174,7 @@ def jump_possible(self, selected_file: str):
             return self.configuration_steps[selected_file].get("jump_possible", {})
         return {}
 
-    def get_documentation_text_and_url(self, selected_file: str, prefix_key: str) -> Tuple[str, str]:
+    def get_documentation_text_and_url(self, selected_file: str, prefix_key: str) -> tuple[str, str]:
         documentation = self.configuration_steps.get(selected_file, {}) if self.configuration_steps else None
         if documentation is None:
             text = _(

MethodicConfigurator/backend_flightcontroller.py

@@ -17,7 +17,7 @@
 from os import readlink as os_readlink
 from time import sleep as time_sleep
 from time import time as time_time
-from typing import Dict, List, Optional, Tuple
+from typing import Optional
 
 import serial.tools.list_ports
 import serial.tools.list_ports_common
@@ -188,7 +188,7 @@ def __request_banner(self):
                 0,
             )
 
-    def __receive_banner_text(self) -> List[str]:
+    def __receive_banner_text(self) -> list[str]:
         """Starts listening for STATUS_TEXT MAVLink messages."""
         start_time = time_time()
         banner_msgs: list[str] = []
@@ -324,7 +324,7 @@ def __process_autopilot_version(self, m, banner_msgs) -> str:
             self.info.product = fc_product  # force the one from the banner because it is more reliable
         return ""
 
-    def download_params(self, progress_callback=None) -> Tuple[Dict[str, float], Dict[str, "Par"]]:
+    def download_params(self, progress_callback=None) -> tuple[dict[str, float], dict[str, "Par"]]:
         """
         Requests all flight controller parameters from a MAVLink connection.
 
@@ -352,7 +352,7 @@ def download_params(self, progress_callback=None) -> Tuple[Dict[str, float], Dic
         logging_info(_("MAVFTP is not supported by the %s flight controller, fallback to MAVLink"), comport_device)
         return self.__download_params_via_mavlink(progress_callback), {}
 
-    def __download_params_via_mavlink(self, progress_callback=None) -> Dict[str, float]:
+    def __download_params_via_mavlink(self, progress_callback=None) -> dict[str, float]:
         comport_device = getattr(self.comport, "device", "")
         logging_debug(_("Will fetch all parameters from the %s flight controller"), comport_device)
 
@@ -389,7 +389,7 @@ def __download_params_via_mavlink(self, progress_callback=None) -> Dict[str, flo
                 break
         return parameters
 
-    def download_params_via_mavftp(self, progress_callback=None) -> Tuple[Dict[str, float], Dict[str, "Par"]]:
+    def download_params_via_mavftp(self, progress_callback=None) -> tuple[dict[str, float], dict[str, "Par"]]:
         if self.master is None:
             return {}, {}
         mavftp = MAVFTP(self.master, target_system=self.master.target_system, target_component=self.master.target_component)