clean files

src/pi/camera_streamer/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/pi/heartbeat/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/pi/manipulators/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/pi/pi_main/launch/pi_launch.py

@@ -73,15 +73,13 @@ def generate_launch_description() -> LaunchDescription:
         )
     )
 
-    realsense_path: str = get_package_share_directory('realsense')
+    realsense_path: str = get_package_share_directory("realsense")
 
     # Launches Realsense
     realsense_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            os.path.join(
-                realsense_path, 'launch', 'realsense_launch.py'
-            )
-        ])
+        PythonLaunchDescriptionSource(
+            [os.path.join(realsense_path, "launch", "realsense_launch.py")]
+        )
     )
 
     # Launches ip_publisher node.
@@ -106,7 +104,7 @@ def generate_launch_description() -> LaunchDescription:
             # cam_launch,
             realsense_launch,
             ip_publisher_node,
-            heartbeat_launch
+            heartbeat_launch,
         ]
     )
 

src/pi/pi_main/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/pi/pixhawk_communication/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/pi/realsense/launch/realsense_launch.py

@@ -23,16 +23,14 @@ def generate_launch_description() -> LaunchDescription:
 
     # Launches Realsense
     realsense_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            os.path.join(
-                realsense_path, 'launch', 'rs_launch.py'
-            )
-        ]),
+        PythonLaunchDescriptionSource([os.path.join(realsense_path, "launch", "rs_launch.py")]),
         # Values are width x height x fps.
-        launch_arguments={'depth_module.profile': '640x360x30',
-                          'initial_reset': 'true',
-                          'rgb_camera.profile': '640x360x30',
-                          'align_depth.enable': 'true'}.items()
+        launch_arguments={
+            "depth_module.profile": "640x360x30",
+            "initial_reset": "true",
+            "rgb_camera.profile": "640x360x30",
+            "align_depth.enable": "true",
+        }.items(),
     )
 
     realsense_action = GroupAction(

src/pi/realsense/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/surface/flight_control/flight_control/manual_control_node.py

@@ -1,81 +1,70 @@
 from collections.abc import MutableSequence
 
 import rclpy
+from flight_control.pixhawk_instruction import PixhawkInstruction
+from mavros_msgs.msg import OverrideRCIn
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_sensor_data, qos_profile_system_default
 from rclpy.subscription import Subscription
 from sensor_msgs.msg import Joy
-from mavros_msgs.msg import OverrideRCIn
 
 from rov_msgs.msg import CameraControllerSwitch, Manip
 
-from flight_control.pixhawk_instruction import PixhawkInstruction
-
 # Button meanings for PS5 Control might be different for others
-X_BUTTON:        int = 0  # Manipulator 0
-O_BUTTON:        int = 1  # Manipulator 1
-TRI_BUTTON:      int = 2  # Manipulator 2
-SQUARE_BUTTON:   int = 3  # Manipulator 3
-L1:              int = 4
-R1:              int = 5
-L2:              int = 6
-R2:              int = 7
-PAIRING_BUTTON:  int = 8
-MENU:            int = 9
-PS_BUTTON:       int = 10
-LJOYPRESS:       int = 11
-RJOYPRESS:       int = 12
+X_BUTTON: int = 0  # Manipulator 0
+O_BUTTON: int = 1  # Manipulator 1
+TRI_BUTTON: int = 2  # Manipulator 2
+SQUARE_BUTTON: int = 3  # Manipulator 3
+L1: int = 4
+R1: int = 5
+L2: int = 6
+R2: int = 7
+PAIRING_BUTTON: int = 8
+MENU: int = 9
+PS_BUTTON: int = 10
+LJOYPRESS: int = 11
+RJOYPRESS: int = 12
 # Joystick Directions 1 is up/left -1 is down/right
 # X is forward/backward Y is left/right
 # L2 and R2 1 is not pressed and -1 is pressed
-LJOYY:           int = 0
-LJOYX:           int = 1
+LJOYY: int = 0
+LJOYX: int = 1
 L2PRESS_PERCENT: int = 2
-RJOYY:           int = 3
-RJOYX:           int = 4
+RJOYY: int = 3
+RJOYX: int = 4
 R2PRESS_PERCENT: int = 5
-DPADHOR:         int = 6
-DPADVERT:        int = 7
+DPADHOR: int = 6
+DPADVERT: int = 7
 
 
 class ManualControlNode(Node):
     def __init__(self) -> None:
-        super().__init__('manual_control_node',
-                         parameter_overrides=[])
+        super().__init__("manual_control_node", parameter_overrides=[])
 
         self.rc_pub: Publisher = self.create_publisher(
-            OverrideRCIn,
-            'mavros/rc/override',
-            qos_profile_system_default
+            OverrideRCIn, "mavros/rc/override", qos_profile_system_default
         )
 
         self.subscription: Subscription = self.create_subscription(
-            Joy,
-            'joy',
-            self.controller_callback,
-            qos_profile_sensor_data
+            Joy, "joy", self.controller_callback, qos_profile_sensor_data
         )
 
         # Manipulators
         self.manip_publisher: Publisher = self.create_publisher(
-            Manip,
-            'manipulator_control',
-            qos_profile_system_default
+            Manip, "manipulator_control", qos_profile_system_default
         )
 
         # Cameras
         self.camera_toggle_publisher = self.create_publisher(
-            CameraControllerSwitch,
-            "camera_switch",
-            qos_profile_system_default
+            CameraControllerSwitch, "camera_switch", qos_profile_system_default
         )
 
         self.manip_buttons: dict[int, ManipButton] = {
             X_BUTTON: ManipButton("claw0"),
             O_BUTTON: ManipButton("claw1"),
-            TRI_BUTTON: ManipButton("light")
+            TRI_BUTTON: ManipButton("light"),
         }
 
         self.seen_left_cam = False
@@ -96,7 +85,7 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
             vertical=axes[RJOYX],  # Right Joystick Z
             forward=axes[LJOYX],  # Left Joystick X
             lateral=-axes[LJOYY],  # Left Joystick Y
-            yaw=(axes[R2PRESS_PERCENT] - axes[L2PRESS_PERCENT]) / 2  # L2/R2 buttons
+            yaw=(axes[R2PRESS_PERCENT] - axes[L2PRESS_PERCENT]) / 2,  # L2/R2 buttons
         )
 
         # Smooth out adjustments
@@ -120,8 +109,9 @@ def manip_callback(self, msg: Joy) -> None:
                 log_msg: str = f"manip_id= {manip_button.claw}, manip_active= {new_manip_state}"
                 self.get_logger().info(log_msg)
 
-                manip_msg: Manip = Manip(manip_id=manip_button.claw,
-                                         activated=manip_button.is_active)
+                manip_msg: Manip = Manip(
+                    manip_id=manip_button.claw, activated=manip_button.is_active
+                )
                 self.manip_publisher.publish(manip_msg)
 
             manip_button.last_button_state = just_pressed

src/surface/flight_control/launch/flight_control_launch.py

@@ -4,19 +4,23 @@
 
 def generate_launch_description() -> LaunchDescription:
     manual_control_node = Node(
-        package='flight_control',
-        executable='manual_control_node',
-        remappings=[('/surface/manipulator_control', '/tether/manipulator_control'),
-                    ('/surface/mavros/rc/override', '/tether/mavros/rc/override')],
+        package="flight_control",
+        executable="manual_control_node",
+        remappings=[
+            ("/surface/manipulator_control", "/tether/manipulator_control"),
+            ("/surface/mavros/rc/override", "/tether/mavros/rc/override"),
+        ],
         emulate_tty=True,
         output="screen",
     )
 
     auto_docking_node = Node(
-        package='flight_control',
-        executable='auto_docking_node',
-        remappings=[('/surface/manipulator_control', '/tether/manipulator_control'),
-                    ('/surface/mavros/rc/override', '/tether/mavros/rc/override')],
+        package="flight_control",
+        executable="auto_docking_node",
+        remappings=[
+            ("/surface/manipulator_control", "/tether/manipulator_control"),
+            ("/surface/mavros/rc/override", "/tether/mavros/rc/override"),
+        ],
         emulate_tty=True,
         output="screen",
     )

src/surface/flight_control/launch/keyboard_control_launch.py

@@ -5,9 +5,9 @@
 
 def generate_launch_description() -> LaunchDescription:
     keyboard_control_node = Node(
-        package='flight_control',
-        executable='keyboard_control_node',
-        remappings=[('/surface/mavros/rc/override', '/tether/mavros/rc/override')],
+        package="flight_control",
+        executable="keyboard_control_node",
+        remappings=[("/surface/mavros/rc/override", "/tether/mavros/rc/override")],
         emulate_tty=True,
         output="screen",
     )

src/surface/flight_control/test/test_mypy.py

@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -11,4 +12,4 @@ def test_mypy() -> None:
     """Tests mypy on this module."""
     path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
     error_code = main(argv=["--config", path])
-    assert error_code == 0, 'Found code style errors / warnings'
+    assert error_code == 0, "Found code style errors / warnings"

src/surface/gui/gui/event_nodes/client.py

@@ -33,8 +33,9 @@ def __init__(
         self.expected_namespace = expected_namespace
 
         self.cli = self.create_client(srv_type, topic)
-        Thread(target=self.__connect_to_service, daemon=True,
-               name=f'{self.name}_connect_to_service').start()
+        Thread(
+            target=self.__connect_to_service, daemon=True, name=f"{self.name}_connect_to_service"
+        ).start()
 
     def __connect_to_service(
         self,

src/surface/gui/gui/event_nodes/server.py

@@ -3,9 +3,9 @@
 from threading import Thread
 from typing import Callable
 
-from rclpy.service import SrvType, SrvTypeRequest, SrvTypeResponse
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
+from rclpy.service import SrvType, SrvTypeRequest, SrvTypeResponse
 
 
 class GUIEventServer(Node):