[pre-commit.ci] auto fixes from pre-commit.com hooks

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CWRUbotix · Jul 8, 2024 · b52961d · b52961d
1 parent b1cb975
commit b52961d
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Showing 134 changed files with 1,257 additions and 1,089 deletions.
diff --git a/src/float/setup.py b/src/float/setup.py
@@ -7,8 +7,7 @@
     version='1.2.0',
     packages=[PACKAGE_NAME],
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + PACKAGE_NAME]),
+        ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
         ('share/' + PACKAGE_NAME, ['package.xml']),
     ],
     install_requires=['setuptools'],

diff --git a/src/float/test/test_clang_format.py b/src/float/test/test_clang_format.py
@@ -7,11 +7,10 @@
 import pytest
 from ament_clang_format.main import main
 
-
-INO_EXTENSION = ".ino"
-SKETCHES = ["float_transceiver", "surface_transceiver"]
-SRC = "src"
-INCLUDE = "include"
+INO_EXTENSION = '.ino'
+SKETCHES = ['float_transceiver', 'surface_transceiver']
+SRC = 'src'
+INCLUDE = 'include'
 
 
 @pytest.mark.linter
@@ -20,7 +19,10 @@ def test_clang_format() -> None:
 
     regular_cpp = [
         *[os.path.join(os.getcwd(), folder) for folder in [SRC, INCLUDE]],
-        *[os.path.join(os.getcwd(), folder, folder + INO_EXTENSION) for folder in SKETCHES]
+        *[
+            os.path.join(os.getcwd(), folder, folder + INO_EXTENSION)
+            for folder in SKETCHES
+        ],
     ]
 
     config_file = os.path.join(os.getcwd(), '.clang-format.yaml')

diff --git a/src/pi/camera_streamer/launch/camera_launch.py b/src/pi/camera_streamer/launch/camera_launch.py
@@ -1,4 +1,5 @@
 """camera_streamer launch file."""
+
 from launch.launch_description import LaunchDescription
 from launch_ros.actions import Node
 
@@ -18,39 +19,38 @@ def generate_launch_description() -> LaunchDescription:
 
     # USB 3.0 front (fisheye)
     front_cam_node: Node = Node(
-        exec_name="front_cam",
-        package="v4l2_camera",
-        executable="v4l2_camera_node",
-        namespace="front_cam",
+        exec_name='front_cam',
+        package='v4l2_camera',
+        executable='v4l2_camera_node',
+        namespace='front_cam',
         parameters=[
-            {"video_device":
-             "/dev/v4l/by-id/usb-3.0_USB_Camera_3.0_USB_Camera-video-index0"},
-            {"image_size": [640, 480]},
-            {"time_per_frame": [1, 30]}
+            {
+                'video_device': '/dev/v4l/by-id/usb-3.0_USB_Camera_3.0_USB_Camera-video-index0'
+            },
+            {'image_size': [640, 480]},
+            {'time_per_frame': [1, 30]},
         ],
-        remappings=[("/pi/front_cam/image_raw", "/tether/front_cam/image_raw")],
+        remappings=[('/pi/front_cam/image_raw', '/tether/front_cam/image_raw')],
         emulate_tty=True,
-        output='screen'
+        output='screen',
     )
 
     # USB 3.0 bottom
     bottom_cam_node: Node = Node(
-        exec_name="bottom_cam",
-        package="v4l2_camera",
-        executable="v4l2_camera_node",
-        namespace="bottom_cam",
+        exec_name='bottom_cam',
+        package='v4l2_camera',
+        executable='v4l2_camera_node',
+        namespace='bottom_cam',
         parameters=[
-            {"video_device":
-             "/dev/v4l/by-id/usb-3.0_USB_Camera_3.0_USB_Camera_2020042501-video-index0"},
-            {"image_size": [640, 480]},
-            {"time_per_frame": [1, 30]}
+            {
+                'video_device': '/dev/v4l/by-id/usb-3.0_USB_Camera_3.0_USB_Camera_2020042501-video-index0'
+            },
+            {'image_size': [640, 480]},
+            {'time_per_frame': [1, 30]},
         ],
-        remappings=[("/pi/bottom_cam/image_raw", "/tether/bottom_cam/image_raw")],
+        remappings=[('/pi/bottom_cam/image_raw', '/tether/bottom_cam/image_raw')],
         emulate_tty=True,
-        output='screen'
+        output='screen',
     )
 
-    return LaunchDescription([
-        front_cam_node,
-        bottom_cam_node
-    ])
+    return LaunchDescription([front_cam_node, bottom_cam_node])
diff --git a/src/pi/camera_streamer/setup.py b/src/pi/camera_streamer/setup.py
@@ -1,4 +1,5 @@
 """setup.py for camera_streamer module."""
+
 import os
 from glob import glob
 
@@ -11,12 +12,13 @@
     version='1.2.0',
     packages=[PACKAGE_NAME],
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + PACKAGE_NAME]),
+        ('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
         ('share/' + PACKAGE_NAME, ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', PACKAGE_NAME, 'launch'),
-         glob('launch/*launch.[pxy][yma]*'))
+        (
+            os.path.join('share', PACKAGE_NAME, 'launch'),
+            glob('launch/*launch.[pxy][yma]*'),
+        ),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

diff --git a/src/pi/camera_streamer/test/test_flake8.py b/src/pi/camera_streamer/test/test_flake8.py
@@ -13,15 +13,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_flake8.main import main_with_errors
 import pytest
+from ament_flake8.main import main_with_errors
 
 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8() -> None:
     """Tests flake8 on this module."""
     error_code, errors = main_with_errors(argv=[])
-    assert error_code == 0, \
-        f'Found {len(errors)} code style errors / warnings:\n' + \
-        '\n'.join(errors)
+    assert error_code == 0, (
+        f'Found {len(errors)} code style errors / warnings:\n' + '\n'.join(errors)
+    )
diff --git a/src/pi/camera_streamer/test/test_mypy.py b/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
 
@@ -9,6 +10,6 @@
 @pytest.mark.linter
 def test_mypy() -> None:
     """Tests mypy on this module."""
-    path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
-    error_code = main(argv=["--config", path])
+    path = os.path.join(os.getcwd(), '..', '..', '..', 'pyproject.toml')
+    error_code = main(argv=['--config', path])
     assert error_code == 0, 'Found code style errors / warnings'
diff --git a/src/pi/camera_streamer/test/test_pep257.py b/src/pi/camera_streamer/test/test_pep257.py
@@ -23,6 +23,6 @@
 @pytest.mark.pep257
 def test_pep257() -> None:
     """Tests pep257 on this module."""
-    path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
+    path = os.path.join(os.getcwd(), '..', '..', '..', 'pyproject.toml')
     error_code = main(argv=['.', 'test', '--config', path])
     assert error_code == 0, 'Found code style errors / warnings'
diff --git a/src/pi/flood_detection/flood_detection/flood_detector.py b/src/pi/flood_detection/flood_detection/flood_detector.py
@@ -1,14 +1,14 @@
+import lgpio
 import rclpy
 from rclpy.node import Node
+
 from rov_msgs.msg import Flooding
-import lgpio
 
 # Pins used for GPIO
 DETECT_PIN = 17
 
 
 class FloodDetector(Node):
-
     def __init__(self) -> None:
         super().__init__('gpio_reader', parameter_overrides=[])
         self.publisher = self.create_publisher(Flooding, 'flooding', 10)
@@ -23,9 +23,9 @@ def timer_callback(self) -> None:
 
         # If any of the sensors detect water, send true to /tether/flooding
         msg = Flooding()
-        msg.flooding = (flood_reading == lgpio.HIGH)
+        msg.flooding = flood_reading == lgpio.HIGH
         if msg.flooding:
-            self.get_logger().error("The ebay is flooding")
+            self.get_logger().error('The ebay is flooding')
         self.publisher.publish(msg)
 
 

diff --git a/src/pi/flood_detection/flood_detection/gpio_reader_dry_run.py b/src/pi/flood_detection/flood_detection/gpio_reader_dry_run.py
@@ -20,10 +20,10 @@ def main() -> None:
         data = lgpio.gpio_read(gpio_chip, DETECT_PIN)
 
         if data != old_data or first_run:
-            print("Pin 17: %s" % data)
+            print('Pin 17: %s' % data)
 
             if data:
-                print("\nBad Flooding Thing")
+                print('\nBad Flooding Thing')
 
             first_run = False
 

diff --git a/src/pi/flood_detection/launch/flood_detection_launch.py b/src/pi/flood_detection/launch/flood_detection_launch.py
@@ -17,9 +17,7 @@ def generate_launch_description() -> LaunchDescription:
         executable='flood_detector',
         emulate_tty=True,
         output='screen',
-        remappings=[('/pi/flooding', '/tether/flooding')]
+        remappings=[('/pi/flooding', '/tether/flooding')],
     )
 
-    return LaunchDescription([
-        flood_detection
-    ])
+    return LaunchDescription([flood_detection])
diff --git a/src/pi/flood_detection/setup.py b/src/pi/flood_detection/setup.py
@@ -1,6 +1,7 @@
-from setuptools import setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import setup
 
 package_name = 'flood_detection'
 
@@ -9,12 +10,13 @@
     version='1.2.0',
     packages=[package_name],
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'),
-         glob('launch/*launch.[pxy][yma]*'))
+        (
+            os.path.join('share', package_name, 'launch'),
+            glob('launch/*launch.[pxy][yma]*'),
+        ),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -26,7 +28,7 @@
     entry_points={
         'console_scripts': [
             'flood_detector = flood_detection.flood_detector:main',
-            'dry_run = flood_detection.gpio_reader_dry_run:main'
+            'dry_run = flood_detection.gpio_reader_dry_run:main',
         ],
     },
 )
diff --git a/src/pi/flood_detection/test/test_flake8.py b/src/pi/flood_detection/test/test_flake8.py
@@ -12,14 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_flake8.main import main_with_errors
 import pytest
+from ament_flake8.main import main_with_errors
 
 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8() -> None:
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, 'Found %d code style errors / warnings:\n' % len(
+        errors
+    ) + '\n'.join(errors)
diff --git a/src/pi/flood_detection/test/test_mypy.py b/src/pi/flood_detection/test/test_mypy.py
@@ -1,6 +1,7 @@
 """Test mypy on this module."""
 
 import os
+
 import pytest
 from ament_mypy.main import main
 
@@ -9,6 +10,6 @@
 @pytest.mark.linter
 def test_mypy() -> None:
     """Tests mypy on this module."""
-    path = os.path.join(os.getcwd(), "..", "..", "..", "pyproject.toml")
-    error_code = main(argv=["--config", path])
+    path = os.path.join(os.getcwd(), '..', '..', '..', 'pyproject.toml')
+    error_code = main(argv=['--config', path])
     assert error_code == 0, 'Found code style errors / warnings'
diff --git a/src/pi/flood_detection/test/test_pep257.py b/src/pi/flood_detection/test/test_pep257.py
@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_pep257.main import main
 import pytest
+from ament_pep257.main import main
 
 
 @pytest.mark.linter

diff --git a/src/pi/manipulators/launch/manip_launch.py b/src/pi/manipulators/launch/manip_launch.py
@@ -3,38 +3,33 @@
 
 
 def generate_launch_description() -> LaunchDescription:
-
     manip_node = Node(
-        package="manipulators",
-        executable="manipulators",
+        package='manipulators',
+        executable='manipulators',
         parameters=[
-            {"left": 2},
-            {"right": 3},
+            {'left': 2},
+            {'right': 3},
             # {"light": 2},
         ],
-        remappings=[("/pi/manipulator_control", "/tether/manipulator_control")],
+        remappings=[('/pi/manipulator_control', '/tether/manipulator_control')],
         emulate_tty=True,
-        output="screen"
+        output='screen',
     )
 
     lgpio_manip_node = Node(
-        package="manipulators",
-        executable="lgpio_manipulator",
-        remappings=[("/pi/manipulator_control", "/tether/manipulator_control")],
+        package='manipulators',
+        executable='lgpio_manipulator',
+        remappings=[('/pi/manipulator_control', '/tether/manipulator_control')],
         emulate_tty=True,
-        output="screen"
+        output='screen',
     )
 
     valve_manip_node = Node(
-        package="manipulators",
-        executable="valve_manipulator",
-        remappings=[("/pi/valve_manipulator", "/tether/valve_manipulator")],
+        package='manipulators',
+        executable='valve_manipulator',
+        remappings=[('/pi/valve_manipulator', '/tether/valve_manipulator')],
         emulate_tty=True,
-        output="screen"
+        output='screen',
     )
 
-    return LaunchDescription([
-        manip_node,
-        lgpio_manip_node,
-        valve_manip_node
-    ])
+    return LaunchDescription([manip_node, lgpio_manip_node, valve_manip_node])
diff --git a/src/pi/manipulators/manipulators/lgpio_manipulator.py b/src/pi/manipulators/manipulators/lgpio_manipulator.py
@@ -11,15 +11,14 @@
 
 
 class Manipulator(Node):
-
     def __init__(self) -> None:
         super().__init__('lgpio_manipulator')
 
         self.create_subscription(
             Manip,
             'manipulator_control',
             self.manip_callback,
-            qos_profile_system_default
+            qos_profile_system_default,
         )
 
         self.gpio_handle = lgpio.gpiochip_open(0)
@@ -31,12 +30,12 @@ def manip_callback(self, message: Manip) -> None:
         manip_id = message.manip_id
         activated = message.activated
 
-        if manip_id == "left":
+        if manip_id == 'left':
             if activated:
                 lgpio.gpio_write(self.gpio_handle, MANIP_PIN_ONE, lgpio.HIGH)
             else:
                 lgpio.gpio_write(self.gpio_handle, MANIP_PIN_ONE, lgpio.LOW)
-        elif manip_id == "right":
+        elif manip_id == 'right':
             if activated:
                 lgpio.gpio_write(self.gpio_handle, MANIP_PIN_TWO, lgpio.HIGH)
             else: