Merge pull request #992 from anarkiwi/lint

lint pass and pytype support for mavlink-api.

.github/workflows/ci-test.yml

@@ -63,6 +63,9 @@ jobs:
       - name: Code Quality - Black
         run: |
           poetry run black gamutrf --check
+          poetry run black utils --check
+          poetry run black torchserve --check
+          poetry run black augment --check
       - name: Code Quality - Pylint
         run: |
           poetry run pylint --fail-under=6 gamutrf/
@@ -71,7 +74,9 @@ jobs:
           PYTHONPATH: /usr/local/lib/python3.10/dist-packages:/usr/lib/python3/dist-packages
         run: |
           sudo pip3 install pytype=="$(grep -E "pytype = " pyproject.toml | grep -Eo "[0-9\.]+")" && \
-            pytype -k gamutrf/
+            sudo pip3 install -U pyserial && \
+            pytype -k gamutrf/ && \
+            pytype -k utils/mavlink-api
       - name: Test with pytest
         env:
           PYTHONPATH: /usr/local/lib/python3.10/dist-packages:/usr/lib/python3/dist-packages

utils/mavlink-api/mavlink-api.py

@@ -1,8 +1,7 @@
-from flask import Flask, jsonify
-from pymavlink import mavutil
 import threading
 import time
-import serial
+from flask import Flask, jsonify
+from pymavlink import mavutil  # pytype: disable=import-error
 
 app = Flask(__name__)
 
@@ -16,6 +15,7 @@ def __init__(self):
         self.latitude = None
         self.longitude = None
         self.altitude = None
+        self.heading = None
         self.relative_alt = None
         self.time_usec = None
         self.vx = None
@@ -32,7 +32,7 @@ def __init__(self):
         self.mavlink_thread.daemon = True
         self.mavlink_thread.start()
 
-    def GLOBAL_POSITION_INT_parser(self, data: dict = None) -> dict:
+    def GLOBAL_POSITION_INT_parser(self, data=None):
         """Selected required data from data received from Pixhawk, and
         convert to required units.
         Args:
@@ -41,7 +41,7 @@ def GLOBAL_POSITION_INT_parser(self, data: dict = None) -> dict:
             clean_data (dict): Required data to be published
         """
         # If data supplied, else use last msg
-        if data == None:
+        if data is None:
             data = self.latest_GLOBAL_POSITION_INT_msg.to_dict()
 
         # Check for stale GPS
@@ -57,15 +57,12 @@ def GLOBAL_POSITION_INT_parser(self, data: dict = None) -> dict:
         self.vx = data["vx"] / 100.0  # meters/second
         self.vy = data["vy"] / 100.0  # meters/second
         self.vz = data["vz"] / 100.0  # meters/second
-        return
 
-    def GPS_RAW_INT_parser(self, data: dict = None) -> dict:
+    def GPS_RAW_INT_parser(self, data=None):
         """Selected required data from data received from Pixhawk, and
         convert to required units.
         Args:
             data (dict): Data received from the Pixhawk device
-        Returns:
-            clean_data (dict): Required data to be published
 
         GPS_FIX_TYPE
         [Enum] Type of GPS fix
@@ -82,7 +79,7 @@ def GPS_RAW_INT_parser(self, data: dict = None) -> dict:
         8	    GPS_FIX_TYPE_PPP	    PPP, 3D position.
         """
         # If data supplied, else use last msg
-        if data == None:
+        if data is None:
             data = self.latest_GPS_RAW_INT_msg.to_dict()
 
         # Check for stale GPS
@@ -92,8 +89,6 @@ def GPS_RAW_INT_parser(self, data: dict = None) -> dict:
         self.time_usec = data["time_usec"]  # UNIX Epoch time uSec
         self.gps_fix_type = data["fix_type"]
 
-        return
-
     def gps_stale_check(self):
         # Check for stale GPS data
         if (time.time() - self.latest_GPS_RAW_INT_timestamp > self.STALE_TIMEOUT) or (
@@ -160,8 +155,7 @@ def get_latest_gps_fix_status():
             ),
             200,
         )
-    else:
-        return jsonify({"error": "No GPS data available"}), 404
+    return jsonify({"error": "No GPS data available"}), 404
 
 
 @app.route("/gps-data", methods=["GET"])
@@ -170,8 +164,7 @@ def get_latest_gps_data():
         mavlink_gps_handler.GLOBAL_POSITION_INT_parser()
         msg = mavlink_gps_handler.create_gps_json_payload()
         return jsonify(msg), 200
-    else:
-        return jsonify({"error": "No GPS data available"}), 404
+    return jsonify({"error": "No GPS data available"}), 404
 
 
 @app.route("/heading", methods=["GET"])
@@ -187,12 +180,11 @@ def get_latest_heading():
             ),
             200,
         )
-    else:
-        return jsonify({"error": "No heading data available"}), 404
+    return jsonify({"error": "No heading data available"}), 404
 
 
 def main():
-    app.run(host="0.0.0.0", port=8888) # nosec
+    app.run(host="0.0.0.0", port=8888)  # nosec
 
 
 if __name__ == "__main__":

utils/mavlink-api/pyproject.toml

@@ -6,7 +6,7 @@ authors = ["lk-iqt <[email protected]>"]
 readme = "README.md"
 
 [tool.poetry.dependencies]
-python = "^3.11"
+python = ">=3.10,<3.13"
 Flask = "^3.0.0"
 pymavlink = "^2.4.40"
 pyserial = "^3.5"

utils/mavlink-api/utils/gps-test.py

@@ -1,28 +1,25 @@
-import requests
 import json
 import logging
-import os
-import socket
 import time
-import csv
-import time
-from datetime import datetime
 
 import gpsd
 import httpx
 
+
 def get_adafruit_gps():
     try:
         if gpsd.gpsd_stream is None:
             gpsd.connect(host="127.0.0.1", port=2947)
         packet = gpsd.get_current()
-        vals= {"timestamp": time.time(),
-                "position": packet.position(),
-                "altitude": packet.altitude(),
-                "gps_time": packet.get_time().timestamp(),
-                "map_url": packet.map_url(),
-                "heading": None,
-                "gps": "fix"}
+        vals = {
+            "timestamp": time.time(),
+            "position": packet.position(),
+            "altitude": packet.altitude(),
+            "gps_time": packet.get_time().timestamp(),
+            "map_url": packet.map_url(),
+            "heading": None,
+            "gps": "fix",
+        }
     except (BrokenPipeError, gpsd.NoFixError, AttributeError) as err:
         logging.error("could not update with GPS: %s", err)
         vals = {
@@ -36,10 +33,11 @@ def get_adafruit_gps():
         }
     return vals
 
+
 def get_pixhawk_gps():
     try:
         external_gps_msg = json.loads(httpx.get(f"http://127.0.0.1:8888/gps-data").text)
-        
+
         vals = {
             "timestamp": time.time(),
             "position": (
@@ -66,17 +64,21 @@ def get_pixhawk_gps():
         }
     return vals
 
+
 def write_to_csv(filename, data):
-    with open(filename, 'a', newline='') as csvfile:
+    with open(filename, "a", newline="") as csvfile:
         fieldnames = data.keys()
+        import csv
+
         writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
         if csvfile.tell() == 0:
             writer.writeheader()
         writer.writerow(data)
 
+
 # Define the file names for the CSV files
-adafruit_csv_filename = 'adafruit_gps_data.csv'
-pixhawk_csv_filename = 'pixhawk_gps_data.csv'
+adafruit_csv_filename = "adafruit_gps_data.csv"
+pixhawk_csv_filename = "pixhawk_gps_data.csv"
 
 while True:
     # Get data from Adafruit GPS
@@ -92,4 +94,4 @@ def write_to_csv(filename, data):
         print("Pixhawk GPS data written to CSV")
 
     # Wait for one minute before the next iteration
-    time.sleep(60)
+    time.sleep(60)

utils/mavlink-api/utils/mavlink_serial_test.py

@@ -1,7 +1,7 @@
 #! /usr/bin/env python3
 
 import sys
-from pymavlink import mavutil
+from pymavlink import mavutil  # pytype: disable=import-error
 
 if len(sys.argv) < 2:
     print("Usage: python mavlink_serial_test.py <serial_port>")