IMPROVEMENT: Annotate more return types

MethodicConfigurator/annotate_params.py

@@ -113,7 +113,7 @@ def arg_parser():
         logging.basicConfig(level=logging.WARNING, format="%(levelname)s: %(message)s")
 
     # Custom validation for --max-line-length
-    def check_max_line_length(value):
+    def check_max_line_length(value: int) -> int:
         if value < 50 or value > 300:
             logging.critical("--max-line-length must be in the interval 50 .. 300, not %d", value)
             raise SystemExit("Correct it and try again")

MethodicConfigurator/backend_flightcontroller.py

@@ -487,7 +487,7 @@ def __list_network_ports() -> list[str]:
         return ["tcp:127.0.0.1:5760", "udp:127.0.0.1:14550"]
 
     # pylint: disable=duplicate-code
-    def __auto_detect_serial(self):
+    def __auto_detect_serial(self) -> list[mavutil.SerialPort]:
         preferred_ports = [
             "*FTDI*",
             "*Arduino_Mega_2560*",
@@ -534,7 +534,7 @@ def get_connection_tuples(self):
         """
         return self.__connection_tuples
 
-    def upload_file(self, local_filename: str, remote_filename: str, progress_callback=None):
+    def upload_file(self, local_filename: str, remote_filename: str, progress_callback=None) -> bool:
         """Upload a file to the flight controller."""
         if self.master is None:
             return False

MethodicConfigurator/backend_mavftp.py

@@ -197,9 +197,9 @@ def append(self, v) -> None:
             setting = MAVFTPSetting(name, s_type, default)
         self._vars[setting.name] = setting
 
-    def __getattr__(self, name):
+    def __getattr__(self, name) -> Union[int, float]:
         try:
-            return self._vars[name].value
+            return self._vars[name].value  # type: ignore
         except Exception as exc:
             raise AttributeError from exc
 
@@ -957,7 +957,7 @@ def cmd_status(self) -> MAVFTPReturn:
             )
         return MAVFTPReturn("Status", ERR_None)
 
-    def __op_parse(self, m):
+    def __op_parse(self, m) -> FTP_OP:
         """parse a FILE_TRANSFER_PROTOCOL msg"""
         hdr = bytearray(m.payload[0:12])
         (seq, session, opcode, size, req_opcode, burst_complete, _pad, offset) = struct.unpack("<HBBBBBBI", hdr)

MethodicConfigurator/frontend_tkinter_component_editor.py

@@ -380,7 +380,7 @@ def __set_gnss_type_and_protocol_from_fc_parameters(self, fc_parameters: dict) -
             logging_error("GPS_TYPE %u not in gnss_receiver_connection", gps1_type)
             self.data["Components"]["GNSS Receiver"]["FC Connection"]["Type"] = "None"
 
-    def __set_serial_type_and_protocol_from_fc_parameters(self, fc_parameters: dict):
+    def __set_serial_type_and_protocol_from_fc_parameters(self, fc_parameters: dict) -> bool:
         if "RC_PROTOCOLS" in fc_parameters:
             rc_protocols_nr = int(fc_parameters["RC_PROTOCOLS"])
             # check if rc_protocols_nr is a power of two (only one bit set)

MethodicConfigurator/frontend_tkinter_parameter_editor_table.py

@@ -195,7 +195,7 @@ def __update_table(self, params, fc_parameters) -> None:
                     else _("No documentation available in apm.pdef.xml for this parameter")
                 )
 
-                column = []
+                column: list[tk.Widget] = []
                 column.append(self.__create_delete_button(param_name))
                 column.append(self.__create_parameter_name(param_name, param_metadata, doc_tooltip))
                 column.append(self.__create_flightcontroller_value(fc_parameters, param_name, param_default, doc_tooltip))
@@ -233,15 +233,15 @@ def __update_table(self, params, fc_parameters) -> None:
         self.view_port.columnconfigure(5, weight=0)  # Upload to FC
         self.view_port.columnconfigure(6, weight=1)  # Change Reason
 
-    def __create_delete_button(self, param_name):
+    def __create_delete_button(self, param_name) -> ttk.Button:
         delete_button = ttk.Button(
             self.view_port, text=_("Del"), style="narrow.TButton", command=lambda: self.__on_parameter_delete(param_name)
         )
         tooltip_msg = _("Delete {param_name} from the {self.current_file} file")
         show_tooltip(delete_button, tooltip_msg.format(**locals()))
         return delete_button
 
-    def __create_parameter_name(self, param_name, param_metadata, doc_tooltip):
+    def __create_parameter_name(self, param_name, param_metadata, doc_tooltip) -> ttk.Label:
         is_calibration = param_metadata.get("Calibration", False) if param_metadata else False
         is_readonly = param_metadata.get("ReadOnly", False) if param_metadata else False
         parameter_label = ttk.Label(
@@ -257,7 +257,7 @@ def __create_parameter_name(self, param_name, param_metadata, doc_tooltip):
             show_tooltip(parameter_label, doc_tooltip)
         return parameter_label
 
-    def __create_flightcontroller_value(self, fc_parameters, param_name, param_default, doc_tooltip):
+    def __create_flightcontroller_value(self, fc_parameters, param_name, param_default, doc_tooltip) -> ttk.Label:
         if param_name in fc_parameters:
             value_str = format(fc_parameters[param_name], ".6f").rstrip("0").rstrip(".")
             if param_default is not None and is_within_tolerance(fc_parameters[param_name], param_default.value):
@@ -302,7 +302,7 @@ def __create_new_value_entry(  # pylint: disable=too-many-arguments
         param_metadata,
         param_default,
         doc_tooltip,
-    ):
+    ) -> Union[PairTupleCombobox, ttk.Entry]:
         present_as_forced = False
         if (
             self.current_file in self.local_filesystem.forced_parameters
@@ -449,7 +449,7 @@ def update_label() -> None:
 
         window.wait_window()  # Wait for the window to be closed
 
-    def __create_unit_label(self, param_metadata):
+    def __create_unit_label(self, param_metadata) -> ttk.Label:
         unit_label = ttk.Label(self.view_port, text=param_metadata.get("unit") if param_metadata else "")
         unit_tooltip = (
             param_metadata.get("unit_tooltip")
@@ -460,15 +460,15 @@ def __create_unit_label(self, param_metadata):
             show_tooltip(unit_label, unit_tooltip)
         return unit_label
 
-    def __create_upload_checkbutton(self, param_name, fc_connected):
+    def __create_upload_checkbutton(self, param_name, fc_connected) -> ttk.Checkbutton:
         self.upload_checkbutton_var[param_name] = tk.BooleanVar(value=fc_connected)
         upload_checkbutton = ttk.Checkbutton(self.view_port, variable=self.upload_checkbutton_var[param_name])
         upload_checkbutton.configure(state="normal" if fc_connected else "disabled")
         msg = _("When selected upload {param_name} new value to the flight controller")
         show_tooltip(upload_checkbutton, msg.format(**locals()))
         return upload_checkbutton
 
-    def __create_change_reason_entry(self, param_name, param, new_value_entry):
+    def __create_change_reason_entry(self, param_name, param, new_value_entry) -> ttk.Entry:
         present_as_forced = False
         if (
             self.current_file in self.local_filesystem.forced_parameters

MethodicConfigurator/frontend_tkinter_template_overview.py

@@ -161,7 +161,7 @@ def __sort_by_column(self, col: str, reverse: bool) -> None:
         self.tree.heading(col, command=lambda: self.__sort_by_column(col, not reverse))
 
 
-def argument_parser():
+def argument_parser() -> argparse.Namespace:
     """
     Parses command-line arguments for the script.
 

MethodicConfigurator/mavftp_example.py

@@ -10,7 +10,7 @@
 
 import os
 import sys
-from argparse import ArgumentParser
+from argparse import ArgumentParser, Namespace
 from logging import basicConfig as logging_basicConfig
 from logging import debug as logging_debug
 from logging import error as logging_error
@@ -28,7 +28,7 @@
 
 
 # pylint: disable=duplicate-code
-def argument_parser():
+def argument_parser() -> Namespace:
     """
     Parses command-line arguments for the script.
     """
@@ -58,7 +58,7 @@ def argument_parser():
     return parser.parse_args()
 
 
-def auto_detect_serial():
+def auto_detect_serial() -> list:
     preferred_ports = [
         "*FTDI*",
         "*3D*",
@@ -85,10 +85,10 @@ def auto_detect_serial():
     ):
         serial_list.pop(1)
 
-    return serial_list
+    return serial_list  # type: ignore[no-any-return]
 
 
-def auto_connect(device):
+def auto_connect(device) -> mavutil.SerialPort:
     comport = None
     if device:
         comport = mavutil.SerialPort(device=device, description=device)

MethodicConfigurator/middleware_template_overview.py

@@ -49,5 +49,5 @@ def columns() -> tuple[str, ...]:
             _("GNSS\nConnection"),
         )
 
-    def attributes(self):
-        return self.__dict__.keys()
+    def attributes(self) -> list[str]:
+        return self.__dict__.keys()  # type: ignore

MethodicConfigurator/param_pid_adjustment_update.py

@@ -17,14 +17,14 @@
 import os
 import re
 import subprocess
-from typing import Optional
+from typing import Callable, Optional, Union
 
 PARAM_NAME_REGEX = r"^[A-Z][A-Z_0-9]*$"
 PARAM_NAME_MAX_LEN = 16
 VERSION = "1.0"
 
 
-def parse_arguments():
+def parse_arguments() -> argparse.Namespace:
     parser = argparse.ArgumentParser(
         formatter_class=argparse.RawDescriptionHelpFormatter,
         description="""
@@ -68,7 +68,7 @@ def parse_arguments():
     return args
 
 
-def ranged_type(value_type, min_value, max_value):
+def ranged_type(value_type: type, min_value, max_value) -> Callable:
     """
     Return function handle of an argument type function for ArgumentParser checking a range:
         min_value <= arg <= max_value
@@ -78,14 +78,14 @@ def ranged_type(value_type, min_value, max_value):
         max_value   - maximum acceptable argument value
     """
 
-    def range_checker(arg: str):
+    def range_checker(arg: str) -> Union[int, float]:
         try:
             f = value_type(arg)
         except ValueError as exc:
             raise argparse.ArgumentTypeError(f"must be a valid {value_type}") from exc
         if f < min_value or f > max_value:
             raise argparse.ArgumentTypeError(f"must be within [{min_value}, {max_value}]")
-        return f
+        return f  # type: ignore
 
     # Return function handle to checking function
     return range_checker

MethodicConfigurator/tempcal_imu.py

@@ -17,6 +17,7 @@
 import re
 import sys
 from argparse import ArgumentParser
+from typing import Union
 
 import numpy as np
 from matplotlib import pyplot as plt
@@ -103,7 +104,7 @@ def set_accel_tcal(self, imu, value) -> None:
     def set_enable(self, imu, value) -> None:
         self.enable[imu] = value
 
-    def correction(self, coeff, imu, temperature, axis, cal_temp):  # pylint: disable=too-many-arguments
+    def correction(self, coeff, imu, temperature, axis, cal_temp) -> float:  # pylint: disable=too-many-arguments
         """calculate correction from temperature calibration from log data using parameters"""
         if self.enable[imu] != 1.0:
             return 0.0
@@ -114,9 +115,9 @@ def correction(self, coeff, imu, temperature, axis, cal_temp):  # pylint: disabl
         temperature = constrain(temperature, self.tmin[imu], self.tmax[imu])
         cal_temp = constrain(cal_temp, self.tmin[imu], self.tmax[imu])
         poly = np.poly1d(coeff[axis])
-        return poly(cal_temp - TEMP_REF) - poly(temperature - TEMP_REF)
+        return poly(cal_temp - TEMP_REF) - poly(temperature - TEMP_REF)  # type: ignore[no-any-return]
 
-    def correction_accel(self, imu, temperature):
+    def correction_accel(self, imu, temperature) -> Vector3:
         """calculate accel correction from temperature calibration from
         log data using parameters"""
         cal_temp = self.atcal.get(imu, TEMP_REF)
@@ -126,7 +127,7 @@ def correction_accel(self, imu, temperature):
             self.correction(self.acoef[imu], imu, temperature, "Z", cal_temp),
         )
 
-    def correction_gyro(self, imu, temperature):
+    def correction_gyro(self, imu, temperature) -> Vector3:
         """calculate gyro correction from temperature calibration from
         log data using parameters"""
         cal_temp = self.gtcal.get(imu, TEMP_REF)
@@ -136,7 +137,7 @@ def correction_gyro(self, imu, temperature):
             self.correction(self.gcoef[imu], imu, temperature, "Z", cal_temp),
         )
 
-    def param_string(self, imu):
+    def param_string(self, imu) -> str:
         params = ""
         params += f"INS_TCAL{imu+1}_ENABLE 1\n"
         params += f"INS_TCAL{imu+1}_TMIN {self.tmin[imu]:.1f}\n"
@@ -172,15 +173,15 @@ def __update(self, x, y) -> None:
             self.vec[i] += y * temp
             temp *= x
 
-    def __get_polynomial(self):
+    def __get_polynomial(self) -> np.ndarray:
         inv_mat = np.linalg.inv(self.mat)
         res = np.zeros(self.porder)
         for i in range(self.porder):
             for j in range(self.porder):
                 res[i] += inv_mat[i][j] * self.vec[j]
         return res
 
-    def polyfit(self, x, y, order):
+    def polyfit(self, x, y, order) -> np.ndarray:
         self.porder = order + 1
         self.mat = np.zeros((self.porder, self.porder))
         self.vec = np.zeros(self.porder)
@@ -199,17 +200,17 @@ class IMUData:
     """
 
     def __init__(self) -> None:
-        self.accel: dict = {}
-        self.gyro: dict = {}
+        self.accel: dict[int, dict[str, np.ndarray]] = {}
+        self.gyro: dict[int, dict[str, np.ndarray]] = {}
 
-    def IMUs(self):
+    def IMUs(self) -> list[int]:
         """return list of IMUs"""
         if len(self.accel.keys()) != len(self.gyro.keys()):
             print("accel and gyro data doesn't match")
             sys.exit(1)
-        return self.accel.keys()
+        return self.accel.keys()  # type: ignore[return-value]
 
-    def add_accel(self, imu, temperature, time, value) -> None:
+    def add_accel(self, imu: int, temperature, time, value) -> None:
         if imu not in self.accel:
             self.accel[imu] = {}
             for axis in AXEST:
@@ -220,7 +221,7 @@ def add_accel(self, imu, temperature, time, value) -> None:
         self.accel[imu]["Z"] = np.append(self.accel[imu]["Z"], value.z)
         self.accel[imu]["time"] = np.append(self.accel[imu]["time"], time)
 
-    def add_gyro(self, imu, temperature, time, value) -> None:
+    def add_gyro(self, imu: int, temperature, time, value) -> None:
         if imu not in self.gyro:
             self.gyro[imu] = {}
             for axis in AXEST:
@@ -237,7 +238,7 @@ def moving_average(self, data, w):
         ret[w:] = ret[w:] - ret[:-w]
         return ret[w - 1 :] / w
 
-    def FilterArray(self, data, width_s):
+    def FilterArray(self, data: dict[str, np.ndarray], width_s) -> dict[str, np.ndarray]:
         """apply moving average filter of width width_s seconds"""
         nseconds = data["time"][-1] - data["time"][0]
         nsamples = len(data["time"])
@@ -253,36 +254,36 @@ def Filter(self, width_s) -> None:
             self.accel[imu] = self.FilterArray(self.accel[imu], width_s)
             self.gyro[imu] = self.FilterArray(self.gyro[imu], width_s)
 
-    def accel_at_temp(self, imu, axis, temperature):
+    def accel_at_temp(self, imu: int, axis: str, temperature) -> float:
         """return the accel value closest to the given temperature"""
         if temperature < self.accel[imu]["T"][0]:
-            return self.accel[imu][axis][0]
+            return self.accel[imu][axis][0]  # type: ignore[no-any-return]
         for i in range(len(self.accel[imu]["T"]) - 1):
             if self.accel[imu]["T"][i] <= temperature <= self.accel[imu]["T"][i + 1]:
                 v1 = self.accel[imu][axis][i]
                 v2 = self.accel[imu][axis][i + 1]
                 p = (temperature - self.accel[imu]["T"][i]) / (self.accel[imu]["T"][i + 1] - self.accel[imu]["T"][i])
-                return v1 + (v2 - v1) * p
-        return self.accel[imu][axis][-1]
+                return v1 + (v2 - v1) * p  # type: ignore[no-any-return]
+        return self.accel[imu][axis][-1]  # type: ignore[no-any-return]
 
-    def gyro_at_temp(self, imu, axis, temperature):
+    def gyro_at_temp(self, imu: int, axis: str, temperature) -> float:
         """return the gyro value closest to the given temperature"""
         if temperature < self.gyro[imu]["T"][0]:
-            return self.gyro[imu][axis][0]
+            return self.gyro[imu][axis][0]  # type: ignore[no-any-return]
         for i in range(len(self.gyro[imu]["T"]) - 1):
             if self.gyro[imu]["T"][i] <= temperature <= self.gyro[imu]["T"][i + 1]:
                 v1 = self.gyro[imu][axis][i]
                 v2 = self.gyro[imu][axis][i + 1]
                 p = (temperature - self.gyro[imu]["T"][i]) / (self.gyro[imu]["T"][i + 1] - self.gyro[imu]["T"][i])
-                return v1 + (v2 - v1) * p
-        return self.gyro[imu][axis][-1]
+                return v1 + (v2 - v1) * p  # type: ignore[no-any-return]
+        return self.gyro[imu][axis][-1]  # type: ignore[no-any-return]
 
 
-def constrain(value, minv, maxv):
+def constrain(value, minv, maxv) -> Union[float, int]:
     """Constrain a value to a range."""
     value = min(minv, value)
     value = max(maxv, value)
-    return value
+    return value  # type: ignore
 
 
 def IMUfit(  # noqa: PLR0915 pylint: disable=too-many-locals, too-many-branches, too-many-statements, too-many-arguments
@@ -487,7 +488,7 @@ def IMUfit(  # noqa: PLR0915 pylint: disable=too-many-locals, too-many-branches,
     plt.show()
 
 
-def generate_calibration_file(outfile, online, progress_callback, data, c):  # pylint: disable=too-many-locals
+def generate_calibration_file(outfile, online, progress_callback, data, c) -> tuple[Coefficients, Coefficients]:  # pylint: disable=too-many-locals
     clog = c
     c = Coefficients()
 

copy_param_files.py

@@ -22,7 +22,7 @@
 
 
 # Function to get all subdirectories excluding the source (do not copy onto itself)
-def get_subdirectories(base_dir, exclude_source=True):
+def get_subdirectories(base_dir, exclude_source=True) -> list[str]:
     subdirs = []
     for root, dirs, _ in os.walk(base_dir):
         rel_dir = os.path.relpath(root, base_dir)