Python formatting tools

.github/workflows/run-tests.yml

@@ -40,6 +40,13 @@ jobs:
       - name: Install zbar library
         run: sudo apt-get install libzbar0
 
+      # Run linters and formatters
+      - name: Linters and formatters
+        run: |
+          black --check .
+          flake8 .
+          pylint .
+
       # Run tests with PyTest
       - name: Run tests
         run: pytest -vv

connection_check.py

@@ -1,6 +1,7 @@
 """
 For testing MAVLink connection with DroneKit-Python.
 """
+
 import time
 
 import dronekit
@@ -99,19 +100,30 @@ def read_data(drone: dronekit.Vehicle) -> bool:
     print("Next waypoint index: " + str(command_sequence.next))
 
 
-if __name__ == "__main__":
+def main() -> int:
+    """
+    Main function.
+    """
     # TODO: Fails when wait_ready=True, debugging why this is
     # wait_ready=False is dangerous
-    drone = dronekit.connect(CONNECTION_ADDRESS, wait_ready=False)
+    dronekit_vehicle = dronekit.connect(CONNECTION_ADDRESS, wait_ready=False)
 
     if WRITE_TEST:
-        write_test_mission(drone)
+        write_test_mission(dronekit_vehicle)
 
     if READ_TEST:
         for _ in range(0, 40):
-            read_data(drone)
+            read_data(dronekit_vehicle)
             time.sleep(0.5)
 
-    drone.close()
+    dronekit_vehicle.close()
+
+    return 0
+
+
+if __name__ == "__main__":
+    result_main = main()
+    if result_main < 0:
+        print(f"ERROR: Status code: {result_main}")
 
     print("Done!")

modules/add_takeoff_and_landing_command.py

@@ -11,8 +11,9 @@
 MAVLINK_LANDING_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH
 
 
-def add_takeoff_and_landing_command(commands: "list[dronekit.Command]",
-                                    altitude: float) -> "tuple[bool, list[dronekit.Command] | None]":
+def add_takeoff_and_landing_command(
+    commands: "list[dronekit.Command]", altitude: float
+) -> "tuple[bool, list[dronekit.Command] | None]":
     """
     Prepends a takeoff command and appends a landing command to a list of dronekit commands.
 
@@ -25,7 +26,7 @@ def add_takeoff_and_landing_command(commands: "list[dronekit.Command]",
 
     Returns
     -------
-    tuple[bool, list[dronekit.Command] | None]: 
+    tuple[bool, list[dronekit.Command] | None]:
         (False, None) if empty commands list,
         (True, dronekit commands with takeoff and land commands that can be sent to the drone) otherwise.
     """

modules/diversion_qr_to_waypoint_list.py

@@ -1,6 +1,7 @@
 """
 Function to parse diversion QR string into a list of vertices and a rejoin waypoint.
 """
+
 import re
 
 
@@ -16,7 +17,7 @@ def diversion_qr_to_waypoint_list(qr_text: str) -> "tuple[bool, tuple[list[str],
 
     Returns
     -------
-    tuple[bool, tuple[list[Waypoint], Waypoint] | None] 
+    tuple[bool, tuple[list[Waypoint], Waypoint] | None]
         Returns False, None if the string is invalid or if the list is empty.
     """
     # Check if string is of valid form
@@ -25,11 +26,14 @@ def diversion_qr_to_waypoint_list(qr_text: str) -> "tuple[bool, tuple[list[str],
         return False, None
 
     # Separate qr_text into diversion_waypoints and rejoin_waypoint strings
-    diversion_waypoints_string, sep, rejoin_waypoint_string = qr_text.partition('.')
+    diversion_waypoints_string, _, rejoin_waypoint_string = qr_text.partition(".")
 
     # Extract semicolon-separated list of diversion waypoint names without leading/trailing whitespace
     diversion_waypoints = [
-        text.strip(" ") for text in diversion_waypoints_string.replace("Avoid the area bounded by:", "", 1).split(";")
+        text.strip(" ")
+        for text in diversion_waypoints_string.replace("Avoid the area bounded by:", "", 1).split(
+            ";"
+        )
     ]
 
     # Remove remaining cases of empty names

modules/load_waypoint_name_to_coordinates_map.py

@@ -1,13 +1,15 @@
 """
 Name-coordinate mapping from CSV file.
 """
+
 import pathlib
 
 from .common.kml.modules import location_ground
 
 
-def load_waypoint_name_to_coordinates_map(waypoint_file_path: pathlib.Path) \
-    -> "tuple[bool, dict[str, location_ground.LocationGround]]":
+def load_waypoint_name_to_coordinates_map(
+    waypoint_file_path: pathlib.Path,
+) -> "tuple[bool, dict[str, location_ground.LocationGround]]":
     """
     Creates a name to coordinate dictionary from the CSV file.
     """
@@ -18,12 +20,14 @@ def load_waypoint_name_to_coordinates_map(waypoint_file_path: pathlib.Path) \
     with open(waypoint_file_path, encoding="utf-8") as file:
         for line in file:
             # Skip header and empty lines
-            parts = line.split(',')
+            parts = line.split(",")
             if line in "name,latitude,longitude\n" or len(parts) < 3:
                 continue
 
             name, latitude, longitude = parts
-            name_to_coordinates_map[name] = location_ground.LocationGround(name, float(latitude), float(longitude))
+            name_to_coordinates_map[name] = location_ground.LocationGround(
+                name, float(latitude), float(longitude)
+            )
 
     if len(name_to_coordinates_map) > 0:
         return True, name_to_coordinates_map

modules/qr_input.py

@@ -45,7 +45,7 @@ def qr_input(device: "int | str") -> "tuple[bool, str | None]":
             break
 
         # Exit early on manual quit
-        if cv2.waitKey(1) == ord('q'):
+        if cv2.waitKey(1) == ord("q"):
             break
 
     # Cleanup

modules/qr_to_waypoint_names.py

@@ -1,11 +1,12 @@
 """
 Module to parse QR string to waypoints.
 """
+
 import re
 
 
 def qr_to_waypoint_names(qr_text: str) -> "tuple[bool, list[str] | None]":
-    """ 
+    """
     Function for parsing QR text into list of waypoints.
     Example of valid string: "Follow route: Waterloo; Aerial; Robotics; Group 15"
     Example of invalid string: "Avoid the area bounded by: Zulu; Bravo; Tango; Uniform.  Rejoin the route at Lima"

modules/waypoint_names_to_coordinates.py

@@ -5,15 +5,15 @@
 from .common.kml.modules import location_ground
 
 
-def waypoint_names_to_coordinates(waypoint_names: "list[str]",
-                                  waypoint_mapping: "dict[str, location_ground.LocationGround]") \
-    -> "tuple[bool, list[location_ground.LocationGround]]":
+def waypoint_names_to_coordinates(
+    waypoint_names: "list[str]", waypoint_mapping: "dict[str, location_ground.LocationGround]"
+) -> "tuple[bool, list[location_ground.LocationGround]]":
     """
     Converts a list of waypoint names to their corresponding coordinates based on a waypoint mapping.
 
     Args:
         waypoint_names (list[str]): A list of waypoint names.
-        waypoint_mapping (dict[str, LocationGround]): A dictionary mapping waypoint names to their 
+        waypoint_mapping (dict[str, LocationGround]): A dictionary mapping waypoint names to their
             corresponding LocationGround objects with coordinates.
 
     Returns:

modules/waypoint_tracking.py

@@ -6,8 +6,9 @@
 import dronekit
 
 
-def get_current_waypoint_info(drone: dronekit.Vehicle) \
-    -> "tuple[bool, tuple[int, tuple[float, float] | None] | None]":
+def get_current_waypoint_info(
+    drone: dronekit.Vehicle,
+) -> "tuple[bool, tuple[int, tuple[float, float] | None] | None]":
     """
     Function to retrieve information about the current waypoint sequence and destination
 
@@ -19,7 +20,7 @@ def get_current_waypoint_info(drone: dronekit.Vehicle) \
     Returns
     -------
     tuple[bool, tuple[int, tuple[float, float] | None] | None]:
-        (True, destination waypoint information), where information is (index, location). 
+        (True, destination waypoint information), where information is (index, location).
         location can be None.
     """
     # Download the mission commands from the drone

modules/waypoints_dict_to_list.py

@@ -5,8 +5,9 @@
 from .common.kml.modules import location_ground
 
 
-def waypoints_dict_to_list(waypoint_name_to_coordinates: "dict[str, location_ground.LocationGround]") \
-    -> "tuple[bool, list[location_ground.LocationGround]]":
+def waypoints_dict_to_list(
+    waypoint_name_to_coordinates: "dict[str, location_ground.LocationGround]",
+) -> "tuple[bool, list[location_ground.LocationGround]]":
     """
     Converts dictionary of waypoints into a list.
 

modules/waypoints_to_commands.py

@@ -12,8 +12,9 @@
 ACCEPT_RADIUS = 10
 
 
-def waypoints_to_commands(waypoints: "list[location_ground.LocationGround]",
-                          altitude: int) -> "tuple[bool, list[dronekit.Command] | None]":
+def waypoints_to_commands(
+    waypoints: "list[location_ground.LocationGround]", altitude: int
+) -> "tuple[bool, list[dronekit.Command] | None]":
     """
     Convert list of waypoints to dronekit commands.
 
@@ -26,7 +27,7 @@ def waypoints_to_commands(waypoints: "list[location_ground.LocationGround]",
 
     Returns
     -------
-    tuple[bool, list[dronekit.Command] | None]: 
+    tuple[bool, list[dronekit.Command] | None]:
         (False, None) if empty waypoints list,
         (True, dronekit commands that can be sent to the drone) otherwise dronekit commands that can be sent to the drone.
     """

path_2023.py

@@ -1,6 +1,7 @@
 """
-Task 1 path.
+Reads waypoints from QR code and sends drone commands.
 """
+
 import pathlib
 import time
 
@@ -27,19 +28,20 @@
 DELAY = 0.1  # seconds
 
 
-# Required for checks
-# pylint: disable-next=too-many-branches,too-many-return-statements
-def run() -> int:
+# Code copied into path_2024.py
+# pylint: disable=duplicate-code
+def main() -> int:
     """
-    Reads waypoints from QR code and sends drone commands.
+    Main function.
     """
     # Wait ready is false as the drone may be on the ground
-    drone = dronekit.connect(CONNECTION_ADDRESS, wait_ready = False)
+    drone = dronekit.connect(CONNECTION_ADDRESS, wait_ready=False)
 
-    result, waypoint_name_to_coordinates = \
+    result, waypoint_name_to_coordinates = (
         load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_map(
             WAYPOINT_FILE_PATH,
         )
+    )
     if not result:
         print("ERROR: load_waypoint_name_to_coordinates_map")
         return -1
@@ -53,7 +55,8 @@ def run() -> int:
 
     result, _ = ground_locations_to_kml.ground_locations_to_kml(
         waypoints_list,
-        KML_FILE_PREFIX, KML_FILE_PARENT_DIRECTORY,
+        KML_FILE_PREFIX,
+        KML_FILE_PARENT_DIRECTORY,
     )
     if not result:
         print("ERROR: Unable to generate KML file")
@@ -82,8 +85,9 @@ def run() -> int:
         print("Error: waypoints_to_commands")
         return -1
 
-    result, takeoff_landing_commands = \
+    result, takeoff_landing_commands = (
         add_takeoff_and_landing_command.add_takeoff_and_landing_command(waypoint_commands, ALTITUDE)
+    )
     if not result:
         print("Error: add_takeoff_and_landing_command")
         return -1
@@ -111,11 +115,12 @@ def run() -> int:
     return 0
 
 
+# pylint: enable=duplicate-code
+
+
 if __name__ == "__main__":
-    # Not a constant
-    # pylint: disable-next=invalid-name
-    result_run = run()
-    if result_run < 0:
-        print("ERROR")
+    result_main = main()
+    if result_main < 0:
+        print(f"ERROR: Status code: {result_main}")
 
-    print("Done")
+    print("Done!")

path_2024.py

@@ -1,6 +1,7 @@
 """
-Path template.
+Reads in hardcoded waypoints from CSV file and sends drone commands.
 """
+
 import pathlib
 import time
 
@@ -23,21 +24,20 @@
 DELAY = 0.1  # seconds
 
 
-# Required for checks
-# pylint: disable-next=too-many-return-statements
-def run() -> int:
+def main() -> int:
     """
-    Reads in hardcoded waypoints from CSV file and sends drone commands.
+    Main function.
     """
     # Wait ready is false as the drone may be on the ground
-    drone = dronekit.connect(CONNECTION_ADDRESS, wait_ready = False)
+    drone = dronekit.connect(CONNECTION_ADDRESS, wait_ready=False)
 
     # Read in hardcoded waypoints from CSV file
     # Waypoints are stored in order of insertion, starting with the top row
-    result, waypoint_name_to_coordinates = \
+    result, waypoint_name_to_coordinates = (
         load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_map(
             WAYPOINT_FILE_PATH,
         )
+    )
     if not result:
         print("ERROR: load_waypoint_name_to_coordinates_map")
         return -1
@@ -51,7 +51,8 @@ def run() -> int:
 
     result, _ = ground_locations_to_kml.ground_locations_to_kml(
         waypoints_list,
-        KML_FILE_PREFIX, KML_FILE_PARENT_DIRECTORY,
+        KML_FILE_PREFIX,
+        KML_FILE_PARENT_DIRECTORY,
     )
     if not result:
         print("ERROR: Unable to generate KML file")
@@ -65,11 +66,12 @@ def run() -> int:
         print("Error: waypoints_to_commands")
         return -1
 
-    result, takeoff_landing_commands = \
+    result, takeoff_landing_commands = (
         add_takeoff_and_landing_command.add_takeoff_and_landing_command(
             waypoint_commands,
             ALTITUDE,
         )
+    )
     if not result:
         print("Error: add_takeoff_and_landing_command")
         return -1
@@ -98,10 +100,8 @@ def run() -> int:
 
 
 if __name__ == "__main__":
-    # Not a constant
-    # pylint: disable-next=invalid-name
-    result_run = run()
-    if result_run < 0:
-        print("ERROR")
+    result_main = main()
+    if result_main < 0:
+        print(f"ERROR: Status code: {result_main}")
 
-    print("Done")
+    print("Done!")