Python formatting tools

.github/workflows/run-tests.yml

@@ -30,7 +30,7 @@ jobs:
           git submodule update --init --recursive --remote
           pip install -r ./modules/common/requirements.txt
 
-      # Install pathing dependencies
+      # Install project dependencies
       - name: Install project dependencies
         run: |
           python -m pip install --upgrade pip
@@ -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

.gitignore

@@ -7,4 +7,4 @@ __pycache__/
 venv/
 
 # Logging
-*log*
+logs/

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

@@ -4,15 +4,12 @@
 
 import dronekit
 
+from . import generate_command
 
-MAVLINK_TAKEOFF_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
-MAVLINK_LANDING_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL
-MAVLINK_TAKEOFF_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
-MAVLINK_LANDING_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_LAND
 
-
-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.
 
@@ -25,47 +22,17 @@ 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.
     """
     if len(commands) == 0:
         return False, None
 
-    takeoff_command = dronekit.Command(
-        0,
-        0,
-        0,
-        MAVLINK_TAKEOFF_FRAME,
-        MAVLINK_TAKEOFF_COMMAND,
-        0,
-        0,
-        0,  # param1
-        0,
-        0,
-        0,
-        0,
-        0,
-        altitude,
-    )
+    takeoff_command = generate_command.takeoff(altitude)
     commands.insert(0, takeoff_command)
 
-    landing_command = dronekit.Command(
-        0,
-        0,
-        0,
-        MAVLINK_LANDING_FRAME,
-        MAVLINK_LANDING_COMMAND,
-        0,
-        0,
-        0,  # param1
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-    )
+    landing_command = generate_command.landing()
     commands.append(landing_command)
 
     return True, commands

modules/add_takeoff_and_rtl_command.py

@@ -4,15 +4,12 @@
 
 import dronekit
 
+from . import generate_command
 
-MAVLINK_TAKEOFF_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
-MAVLINK_RTL_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL
-MAVLINK_TAKEOFF_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_TAKEOFF
-MAVLINK_RTL_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH
 
-
-def add_takeoff_and_rtl_command(commands: "list[dronekit.Command]",
-                                altitude: float) -> "tuple[bool, list[dronekit.Command] | None]":
+def add_takeoff_and_rtl_command(
+    commands: "list[dronekit.Command]", altitude: float
+) -> "tuple[bool, list[dronekit.Command] | None]":
     """
     Prepends a takeoff command and appends a RTL command to a list of dronekit commands.
 
@@ -25,47 +22,17 @@ def add_takeoff_and_rtl_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.
     """
     if len(commands) == 0:
         return False, None
 
-    takeoff_command = dronekit.Command(
-        0,
-        0,
-        0,
-        MAVLINK_TAKEOFF_FRAME,
-        MAVLINK_TAKEOFF_COMMAND,
-        0,
-        0,
-        0,  # param1
-        0,
-        0,
-        0,
-        0,
-        0,
-        altitude,
-    )
+    takeoff_command = generate_command.takeoff(altitude)
     commands.insert(0, takeoff_command)
 
-    rtl_command = dronekit.Command(
-        0,
-        0,
-        0,
-        MAVLINK_RTL_FRAME,
-        MAVLINK_RTL_COMMAND,
-        0,
-        0,
-        0,  # param1
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-    )
+    rtl_command = generate_command.return_to_launch()
     commands.append(rtl_command)
 
     return True, commands

modules/check_stop_condition.py

@@ -4,17 +4,16 @@
 
 import dronekit
 
+from . import generate_command
 from . import upload_commands
 
 
-MAVLINK_RTL_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL
-MAVLINK_RTL_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH
+DRONE_TIMEOUT = 30.0  # seconds
 
 
-def check_stop_condition(start_time: float, 
-                         current_time: float, 
-                         drone: dronekit.Vehicle, 
-                         maximum_flight_time: float) -> bool:
+def check_stop_condition(
+    start_time: float, current_time: float, drone: dronekit.Vehicle, maximum_flight_time: float
+) -> bool:
     """
     Check if drone exceeds the maximum flight time limit and replace with new mission of returning to launch.
 
@@ -27,35 +26,20 @@ def check_stop_condition(start_time: float,
     drone: dronekit.Vehicle
         The connected drone.
     maximum_flight_time: float
-        Max flight time for drone in seconds. 
-    
+        Max flight time for drone in seconds.
+
     Returns
     -------
     bool: True if max flight time was exceeded, False otherwise.
     """
     if current_time - start_time < maximum_flight_time:
         return False
 
-    rtl_command = dronekit.Command(
-        0,
-        0,
-        0,
-        MAVLINK_RTL_FRAME,
-        MAVLINK_RTL_COMMAND,
-        0,
-        0,
-        0,  # param1
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-    )
+    rtl_command = generate_command.return_to_launch()
 
     # Invoke upload_commands to clear previous commands and direct drone back to launch location
-    result = upload_commands.upload_commands(drone, [rtl_command])
+    result = upload_commands.upload_commands(drone, [rtl_command], DRONE_TIMEOUT)
     if not result:
-        print("Unable to upload rtl command to drone command sequence.")
+        print("Unable to upload RTL command to drone command sequence.")
 
     return True

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