Formatting fixes

.github/workflows/run-tests.yml

@@ -39,6 +39,13 @@ jobs:
       - name: Install zbar library
         run: sudo apt-get install libzbar0
 
+      # Run linters and formatters
+      - name: Linters and formatters
+        run: |
+          black --check .
+          flake8 .
+          pylint .
+
       # Install dependencies and run tests with PyTest
       - name: Run PyTest
         run: pytest -vv

.gitignore

@@ -4,8 +4,7 @@
 
 # Python
 __pycache__/
-.pytest_cache/
 venv/
 
 # Logging
-*log*
+logs/

README.md

@@ -3,19 +3,3 @@
 Common code across WARG repositories.
 
 Follow the [instructions](https://uwarg-docs.atlassian.net/l/cp/2a6u0duY).
-
-## comms
-
-Python serialization and deserialization for Autonomy.
-
-## camera
-
-Python video ingest from camera device.
-
-## mavlink
-
-Connection to drone using the MAVLink protocol.
-
-## qr
-
-QR scanning and text output.

camera/modules/camera_device.py

@@ -1,6 +1,7 @@
 """
-Camera device using OpenCV
+Camera device using OpenCV.
 """
+
 import sys
 import time
 
@@ -10,15 +11,15 @@
 
 class CameraDevice:
     """
-    Wrapper for camera
+    Wrapper for camera.
     """
 
-    def __init__(self, name: "int | str", save_nth_image: int = 0, save_name: str = ""):
+    def __init__(self, name: "int | str", save_nth_image: int = 0, save_name: str = "") -> None:
         """
-        name: Device name or index (e.g. /dev/video0 )
+        name: Device name or index (e.g. /dev/video0 ).
         (optional) save_nth_image: For debugging, saves every nth image.
             A value of 0 indicates no images should be saved
-        (optional) save_name: For debugging, file name for saved images
+        (optional) save_name: For debugging, file name for saved images.
         """
         self.__camera = cv2.VideoCapture(name)
         assert self.__camera.isOpened()
@@ -32,7 +33,10 @@ def __init__(self, name: "int | str", save_nth_image: int = 0, save_name: str =
         if save_name != "":
             self.__filename_prefix = save_name + "_" + str(int(time.time())) + "_"
 
-    def __del__(self):
+    def __del__(self) -> None:
+        """
+        Destructor.
+        """
         self.__camera.release()
 
     def get_image(self) -> "tuple[bool, np.ndarray]":
@@ -41,9 +45,9 @@ def get_image(self) -> "tuple[bool, np.ndarray]":
         """
         result, image = self.__camera.read()
         if not result:
-            return result, image
+            return False, None
 
-        if self.__divisor != 0:
+        if self.__filename_prefix != "" and self.__divisor != 0:
             if self.__counter % self.__divisor == 0:
                 filename = self.__filename_prefix + str(self.__counter) + ".png"
                 cv2.imwrite(filename, image)

camera/test_camera.py

@@ -2,15 +2,20 @@
 Test camera physically.
 """
 
+import pathlib
+
 import cv2
 
 from camera.modules.camera_device import CameraDevice
 
 
-IMAGE_LOG_PREFIX = "log_image"
+IMAGE_LOG_PREFIX = pathlib.Path("logs", "log_image")
 
 
-if __name__ == "__main__":
+def main() -> int:
+    """
+    Main function.
+    """
     device = CameraDevice(0, 100, IMAGE_LOG_PREFIX)
 
     while True:
@@ -24,7 +29,15 @@
         cv2.imshow("Camera", image)
 
         # Delay for 1 ms
-        if cv2.waitKey(1) & 0xFF == ord('q'):
+        if cv2.waitKey(1) & 0xFF == ord("q"):
             break
 
+    return 0
+
+
+if __name__ == "__main__":
+    result_main = main()
+    if result_main < 0:
+        print(f"ERROR: Status code: {result_main}")
+
     print("Done!")

camera_qr_example.py

@@ -8,8 +8,10 @@
 from qr.modules import qr_scanner
 
 
-if __name__ == "__main__":
-
+def main() -> int:
+    """
+    Main function.
+    """
     camera = camera_device.CameraDevice(0, 0, "")
 
     text = ""
@@ -30,4 +32,12 @@
 
     print(text)
 
+    return 0
+
+
+if __name__ == "__main__":
+    result_main = main()
+    if result_main < 0:
+        print(f"ERROR: Status code: {result_main}")
+
     print("Done!")

kml/modules/ground_locations_to_kml.py

@@ -1,6 +1,7 @@
 """
 Module to convert ground locations list to kml document.
 """
+
 import pathlib
 import time
 
@@ -9,9 +10,11 @@
 from . import location_ground
 
 
-def ground_locations_to_kml(ground_locations: "list[location_ground.LocationGround]",
-                     document_name_prefix: str,
-                     save_directory: pathlib.Path) -> "tuple[bool, pathlib.Path | None]":
+def ground_locations_to_kml(
+    ground_locations: "list[location_ground.LocationGround]",
+    document_name_prefix: str,
+    save_directory: pathlib.Path,
+) -> "tuple[bool, pathlib.Path | None]":
     """
     Generates KML file from a list of ground locations.
 

kml/modules/location_ground.py

@@ -2,6 +2,7 @@
 Class to use instead of tuple for coordinates.
 """
 
+
 class LocationGround:
     """
     LocationGround class represents a geographical ground location with
@@ -17,7 +18,8 @@ class LocationGround:
         __eq__(other): Checks if two LocationGround objects are equal.
         __repr__(): Returns a string representation of the LocationGround object.
     """
-    def __init__(self, name: str, latitude: float, longitude: float):
+
+    def __init__(self, name: str, latitude: float, longitude: float) -> None:
         """
         Constructor for the LocationGround object.
 
@@ -48,7 +50,8 @@ def __eq__(self, other: "LocationGround") -> bool:
 
     def __repr__(self) -> str:
         """
-        String representation
+        String representation.
         """
-        return \
+        return (
             f"LocationGround: {self.name}, latitude: {self.latitude}, longitude: {self.longitude}"
+        )

kml/test_ground_locations_to_kml.py

@@ -1,6 +1,7 @@
 """
 Test Process.
 """
+
 import pathlib
 
 import pytest
@@ -13,8 +14,13 @@
 EXPECTED_KML_DOCUMENT_PATH = pathlib.Path(PARENT_DIRECTORY, "expected_document.kml")
 
 
+# Test functions use test fixture signature names and access class privates
+# No enable
+# pylint: disable=protected-access,redefined-outer-name
+
+
 @pytest.fixture
-def locations():
+def locations() -> "list[location_ground.LocationGround]":  # type: ignore
     """
     List of LocationGround.
     """
@@ -25,8 +31,9 @@ def locations():
     ]
 
 
-def test_locations_to_kml_with_save_path(locations: "list[location_ground.LocationGround]",
-                                         tmp_path: pathlib.Path):
+def test_locations_to_kml_with_save_path(
+    locations: "list[location_ground.LocationGround]", tmp_path: pathlib.Path
+) -> None:
     """
     Basic test case to save KML to the correct path when provided.
     """
@@ -51,5 +58,6 @@ def test_locations_to_kml_with_save_path(locations: "list[location_ground.Locati
     assert actual_kml_file_path.suffix == ".kml"
 
     # Compare the contents of the generated KML file with the static KML file
-    assert actual_kml_file_path.read_text(encoding="utf-8") \
-        == EXPECTED_KML_DOCUMENT_PATH.read_text(encoding="utf-8")
+    assert actual_kml_file_path.read_text(encoding="utf-8") == EXPECTED_KML_DOCUMENT_PATH.read_text(
+        encoding="utf-8"
+    )

mavlink/modules/drone_odometry.py

@@ -1,22 +1,21 @@
 """
 Position and orientation of drone.
 """
+
 import math
 
 
-# Basically a struct
-# pylint: disable=too-few-public-methods
 class DronePosition:
     """
     WGS 84 following ISO 6709 (latitude before longitude).
     """
+
     __create_key = object()
 
     @classmethod
-    def create(cls,
-               latitude: "float | None",
-               longitude: "float | None",
-               altitude: "float | None") -> "tuple[bool, DronePosition | None]":
+    def create(
+        cls, latitude: "float | None", longitude: "float | None", altitude: "float | None"
+    ) -> "tuple[bool, DronePosition | None]":
         """
         latitude, longitude in decimal degrees.
         altitude in metres.
@@ -35,11 +34,9 @@ def create(cls,
 
         return True, DronePosition(cls.__create_key, latitude, longitude, altitude)
 
-    def __init__(self,
-                 class_private_create_key,
-                 latitude: float,
-                 longitude: float,
-                 altitude: float):
+    def __init__(
+        self, class_private_create_key: object, latitude: float, longitude: float, altitude: float
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -49,25 +46,21 @@ def __init__(self,
         self.longitude = longitude
         self.altitude = altitude
 
-# pylint: enable=too-few-public-methods
-
 
-# Basically a struct
-# pylint: disable=too-few-public-methods
 class DroneOrientation:
     """
     Yaw, pitch, roll following NED system (x forward, y right, z down).
     Specifically, intrinsic (Tait-Bryan) rotations in the zyx/3-2-1 order.
     """
+
     __create_key = object()
 
     @classmethod
     # Required for checks
     # pylint: disable-next=too-many-return-statements
-    def create(cls,
-               yaw: "float | None",
-               pitch: "float | None",
-               roll: "float | None") -> "tuple[bool, DroneOrientation | None]":
+    def create(
+        cls, yaw: "float | None", pitch: "float | None", roll: "float | None"
+    ) -> "tuple[bool, DroneOrientation | None]":
         """
         yaw, pitch, roll in radians.
         """
@@ -91,7 +84,9 @@ def create(cls,
 
         return True, DroneOrientation(cls.__create_key, yaw, pitch, roll)
 
-    def __init__(self, class_private_create_key, yaw: float, pitch: float, roll: float):
+    def __init__(
+        self, class_private_create_key: object, yaw: float, pitch: float, roll: float
+    ) -> None:
         """
         Private constructor, use create() method.
         """
@@ -101,21 +96,18 @@ def __init__(self, class_private_create_key, yaw: float, pitch: float, roll: flo
         self.pitch = pitch
         self.roll = roll
 
-# pylint: enable=too-few-public-methods
-
 
-# Basically a struct
-# pylint: disable=too-few-public-methods
 class DroneOdometry:
     """
     Wrapper for DronePosition and DroneOrientation.
     """
+
     __create_key = object()
 
     @classmethod
-    def create(cls,
-               position: DronePosition,
-               orientation: DroneOrientation) -> "tuple[bool, DroneOdometry | None]":
+    def create(
+        cls, position: DronePosition, orientation: DroneOrientation
+    ) -> "tuple[bool, DroneOdometry | None]":
         """
         Position and orientation in one class.
         """
@@ -127,10 +119,12 @@ def create(cls,
 
         return True, DroneOdometry(cls.__create_key, position, orientation)
 
-    def __init__(self,
-                 class_private_create_key,
-                 position: DronePosition,
-                 orientation: DroneOrientation):
+    def __init__(
+        self,
+        class_private_create_key: object,
+        position: DronePosition,
+        orientation: DroneOrientation,
+    ) -> None:
         """
         Private constructor, use create() method.
         """